Subversion Repositories seema-scanner

/*

 *

 SLStudio - Platform for Real-Time  Structured Light

 (c) 2013 -- 2014 Jakob Wilm, DTU, Kgs.Lyngby, Denmark

 *

*/

#ifndef SMTriangulationWorker_H

#define SMTriangulationWorker_H

#include <QObject>

#include <QTime>

#include "SMCalibrationParams.h"

#include "Triangulator.h"

#include <pcl/point_cloud.h>

#include <pcl/point_types.h>

class SMTriangulationWorker : public QObject {

    Q_OBJECT

    public:

        SMTriangulationWorker(unsigned int _frameWidth, unsigned int _frameHeight) : frameWidth(_frameWidth), frameHeight(_frameHeight), writeToDisk(false){}

        ~SMTriangulationWorker();

    public slots:

        void setup();

        void triangulatePointCloud(cv::Mat up, cv::Mat vp, cv::Mat mask, cv::Mat shading);

    signals:

        void imshow(const char* windowName, cv::Mat mat, unsigned int x, unsigned int y);

        void newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud);

        void error(QString err);

        //void finished();

    private:

        unsigned int frameWidth, frameHeight;

        bool writeToDisk;

        SMCalibrationParams *calibration;

        Triangulator *triangulator;

        QTime time;

};

#endif