Subversion Repositories seema-scanner

#ifndef SMReconstructionWorker_H
#define SMReconstructionWorker_H

#include "SMTypes.h"
#include "SMCalibrationParameters.h"
#include "Algorithm.h"

#include <QObject>
#include <QTime>

#include <opencv2/opencv.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

class SMReconstructionWorker : public QObject {
    Q_OBJECT

    public:
        SMReconstructionWorker(){}
        ~SMReconstructionWorker(){}
    public slots:
        void setup();
        void reconstructPointCloud(const SMFrameSequence &frameSequence);
        void reconstructPointClouds(const std::vector<SMFrameSequence> &frameSequences);
    signals:
        void newPointCloud(SMPointCloud pointCloud);
        void error(const QString err);
        void done();
    private:
        void triangulate(const std::vector<cv::Point2f>& q0,
                         const std::vector<cv::Point2f>& q1,
                         std::vector<cv::Point3f> &Q);

    private:
        SMCalibrationParameters calibration;
        QTime time;
        Algorithm *algorithm;
        cv::Mat lensMap0Horz, lensMap0Vert, lensMap1Horz, lensMap1Vert;
};

#endif