Subversion Repositories seema-scanner

Rev

Rev 70 | Rev 208 | Go to most recent revision | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 70 Rev 207
1 
 
 1 
 
2 
#ifndef SMReconstructionWorker_H
 2 
#ifndef SMReconstructionWorker_H
3 
#define SMReconstructionWorker_H
 3 
#define SMReconstructionWorker_H
4 
 
 4 
 
5 
#include "SMTypes.h"
 5 
#include "SMTypes.h"
6 
#include "SMCalibrationParameters.h"
 6 
#include "SMCalibrationParameters.h"
7 
#include "Algorithm.h"
 7 
#include "Algorithm.h"
8 
 
 8 
 
9 
#include <QObject>
 9 
#include <QObject>
10 
#include <QTime>
 10 
#include <QTime>
11 
 
 11 
 
12 
#include <opencv2/opencv.hpp>
 12 
#include <opencv2/opencv.hpp>
13 
#include <pcl/point_cloud.h>
 13 
#include <pcl/point_cloud.h>
14 
#include <pcl/point_types.h>
 14 
#include <pcl/point_types.h>
15 
 
 15 
 
16 
class SMReconstructionWorker : public QObject {
 16 
class SMReconstructionWorker : public QObject {
17 
    Q_OBJECT
 17 
    Q_OBJECT
18 
 
 18 
 
19 
    public:
 19 
    public:
20 
        SMReconstructionWorker(){}
 20 
        SMReconstructionWorker(){}
21 
        ~SMReconstructionWorker(){}
 21 
        ~SMReconstructionWorker(){}
22 
    public slots:
 22 
    public slots:
23 
        void setup();
 23 
        void setup();
24 
        void reconstructPointCloud(SMFrameSequence frameSequence);
 24 
        void reconstructPointCloud(const SMFrameSequence &frameSequence);
25 
        void reconstructPointClouds(std::vector<SMFrameSequence> frameSequences);
 25 
        void reconstructPointClouds(const std::vector<SMFrameSequence> &frameSequences);
26 
    signals:
 26 
    signals:
27 
        void newPointCloud(SMPointCloud pointCloud);
 27 
        void newPointCloud(SMPointCloud pointCloud);
28 
        void error(QString err);
 28 
        void error(const QString err);
29 
        void done();
 29 
        void done();
30 
    private:
 30 
    private:
31 
        void triangulate(std::vector<cv::Point2f>& q0, std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q);
 31 
        void triangulate(const std::vector<cv::Point2f>& q0, const std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q);
32 
 
 32 
 
33 
    private:
 33 
    private:
34 
        SMCalibrationParameters calibration;
 34 
        SMCalibrationParameters calibration;
35 
        QTime time;
 35 
        QTime time;
36 
        Algorithm *algorithm;
 36 
        Algorithm *algorithm;
37 
        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
 37 
        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
38 
};
 38 
};
39 
 
 39 
 
40 
#endif
 40 
#endif
41 
 
 41