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#ifndef SMTriangulator_H
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#ifndef SMReconstructionWorker_H
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#define SMTriangulator_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 "Codec.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 SMTriangulator : 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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        SMTriangulator();
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        SMReconstructionWorker(){}
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        ~SMTriangulator();
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        ~SMReconstructionWorker(){}
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        void triangulateFromUp(cv::Mat &up, cv::Mat &xyz);
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        void triangulateFromVp(cv::Mat &vp, cv::Mat &xyz);
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        void triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz);
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        void triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud);
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    public slots:
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    public slots:
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        void setup();
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        void reconstructPointCloud(SMFrameSequence frameSequence);
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        void triangulatePointCloud(cv::Mat up, cv::Mat vp, cv::Mat mask, cv::Mat shading);
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        void reconstructPointClouds(std::vector<SMFrameSequence> frameSequences);
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    signals:
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    signals:
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        void imshow(const char* windowName, cv::Mat mat, unsigned int x, unsigned int y);
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        void newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud);
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        void newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud);
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        void error(QString err);
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        void error(QString err);
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        //void finished();
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        void done();
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    private:
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    private:
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        CalibrationParameters calibration;
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        void triangulateFromUp(cv::Mat up0, cv::Mat mask0,cv::Mat up1, cv::Mat mask1,cv::Mat &xyz);
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        void triangulateFromVp(cv::Mat vp0, cv::Mat mask0, cv::Mat vp1, cv::Mat mask1, cv::Mat &xyz);
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        void triangulateFromUpVp(cv::Mat up0, cv::Mat vp0, cv::Mat mask0, cv::Mat up1, cv::Mat vp1, cv::Mat mask1, cv::Mat &xyz);
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    private:
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        SMCalibrationParameters calibration;
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        CodecDir dir;
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        QTime time;
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        QTime time;
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        cv::Mat determinantTensor;
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        cv::Mat uc, vc;
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        Decoder *decoder;
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        cv::Mat lensMap1, lensMap2;
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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