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#ifndef SMReconstructionWorker_H
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#ifndef SMReconstructionWorker_H
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#define SMReconstructionWorker_H
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#define SMReconstructionWorker_H
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#include "SMTypes.h"
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#include "SMTypes.h"
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#include "SMCalibrationParameters.h"
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#include "SMCalibrationParameters.h"
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#include "Algorithm.h"
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#include "Algorithm.h"
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#include <QObject>
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#include <QObject>
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#include <QTime>
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#include <QTime>
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#include <opencv2/opencv.hpp>
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#include <opencv2/opencv.hpp>
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#include <pcl/point_cloud.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/point_types.h>
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class SMReconstructionWorker : public QObject {
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class SMReconstructionWorker : public QObject {
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    Q_OBJECT
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    Q_OBJECT
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    public:
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    public:
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        SMReconstructionWorker(){}
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        SMReconstructionWorker(){}
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        ~SMReconstructionWorker(){}
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        ~SMReconstructionWorker(){}
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    public slots:
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    public slots:
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        void setup();
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        void setup();
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        void reconstructPointCloud(const SMFrameSequence &frameSequence);
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        void reconstructPointCloud(const SMFrameSequence &frameSequence);
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        void reconstructPointClouds(const std::vector<SMFrameSequence> &frameSequences);
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        void reconstructPointClouds(const std::vector<SMFrameSequence> &frameSequences);
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    signals:
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    signals:
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        void newPointCloud(SMPointCloud pointCloud);
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        void newPointCloud(SMPointCloud pointCloud);
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        void error(const QString err);
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        void error(const QString err);
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        void done();
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        void done();
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    private:
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    private:
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        void triangulate(const std::vector<cv::Point2f>& q0, const std::vector<cv::Point2f>& q1, std::vector<cv::Point3f> &Q);
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        void triangulate(const std::vector<cv::Point2f>& q0,
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                         const std::vector<cv::Point2f>& q1,
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                         std::vector<cv::Point3f> &Q);
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    private:
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    private:
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        SMCalibrationParameters calibration;
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        SMCalibrationParameters calibration;
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        QTime time;
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        QTime time;
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        Algorithm *algorithm;
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        Algorithm *algorithm;
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        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
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        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
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};
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};
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#endif
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#endif
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