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Line 23... Line 23...
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    qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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    qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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    qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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    qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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    qRegisterMetaType< std::vector<SMCalibrationSet> >("std::vector<SMCalibrationSet>");
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    qRegisterMetaType< std::vector<SMCalibrationSet> >("std::vector<SMCalibrationSet>");
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    qRegisterMetaType<SMFrameSequence>("SMFrameSequence");
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    qRegisterMetaType<SMFrameSequence>("SMFrameSequence");
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    qRegisterMetaType< std::vector<SMFrameSequence> >("std::vector<SMFrameSequence>");
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    qRegisterMetaType< std::vector<SMFrameSequence> >("std::vector<SMFrameSequence>");
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    qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>("pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr");
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    qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGB>::Ptr>("pcl::PointCloud<pcl::PointXYZRGB>::Ptr");
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    qRegisterMetaType<SMPointCloud>("SMPointCloud");
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    qRegisterMetaType<SMPointCloud>("SMPointCloud");
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 30 
 
31 
    // Setup ui (requires stream operators registered)
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    // Setup ui (requires stream operators registered)
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    ui->setupUi(this);
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    ui->setupUi(this);
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 33 
 
Line 311... Line 311...
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    ui->calibrationRotationDial->setValue(ui->captureRotationDial->value());
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    ui->calibrationRotationDial->setValue(ui->captureRotationDial->value());
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}
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}
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void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
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void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
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 315 
 
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    captureData.push_back(frameSequence);
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    int id = captureData.size();
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    frameSequence.id = id;
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    int idx = captureData.size()-1;
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    captureData.push_back(frameSequence);
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    // Add identifier to list
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    // Add identifier to list
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    QTreeWidgetItem* item = new QTreeWidgetItem(ui->captureTreeWidget);
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    QTreeWidgetItem* item = new QTreeWidgetItem(ui->captureTreeWidget);
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    item->setText(0, QString("Frame Sequence %1 -- %2 deg").arg(idx).arg(frameSequence.rotationAngle));
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    item->setText(0, QString("Frame Sequence %1 -- %2 deg").arg(id).arg(frameSequence.rotationAngle));
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    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
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    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
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    item->setData(0, Qt::UserRole, QPoint(idx, -1));
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    item->setData(0, Qt::UserRole, QPoint(id, -1));
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    item->setCheckState(0, Qt::Checked);
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    item->setCheckState(0, Qt::Checked);
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    //ui->captureTreeWidget->addItem(item);
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    //ui->captureTreeWidget->addItem(item);
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328 
    for(int i=0; i<frameSequence.frames0.size(); i++){
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    for(int i=0; i<frameSequence.frames0.size(); i++){
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        QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
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        QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
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        subItem->setText(0, QString("frames %1").arg(i));
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        subItem->setText(0, QString("frames %1").arg(i));
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        subItem->setData(0, Qt::UserRole, QPoint(idx, i));
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        subItem->setData(0, Qt::UserRole, QPoint(id, i));
332 
    }
 333 
    }
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334 
    ui->reconstructButton->setEnabled(true);
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    ui->reconstructButton->setEnabled(true);
335 
}
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}
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    }
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    }
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}
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}
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407 
void SMScanner::on_reconstructButton_clicked(){
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void SMScanner::on_reconstructButton_clicked(){
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//    // set checked flags
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//    for(int i=0; i<captureData.size(); i++){
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//        captureData[i].checked = (ui->captureTreeWidget->item(i)->checkState() == Qt::Checked);
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//    }
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 - 
 
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    // Set up reconstruction thread
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    // Set up reconstruction thread
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    reconstructionWorker = new SMReconstructionWorker;
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    reconstructionWorker = new SMReconstructionWorker;
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    reconstructionWorkerThread = new QThread(this);
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    reconstructionWorkerThread = new QThread(this);
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    reconstructionWorkerThread->setObjectName("reconstructionWorkerThread");
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    reconstructionWorkerThread->setObjectName("reconstructionWorkerThread");
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    reconstructionWorker->moveToThread(reconstructionWorkerThread);
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    reconstructionWorker->moveToThread(reconstructionWorkerThread);
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    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
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    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
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    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
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    connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
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    // Start reconstructing
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    // Start reconstructing
428 
    QMetaObject::invokeMethod(reconstructionWorker, "setup");
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    QMetaObject::invokeMethod(reconstructionWorker, "setup");
- 
 
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- 
 
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    std::vector<SMFrameSequence> data;
- 
 
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    for(int i=0; i<captureData.size(); i++){
- 
 
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        if(!captureData[i].reconstructed & ui->captureTreeWidget->itemAt(QPoint(i, 0))->checkState(0) == Qt::Checked)
429 
    QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointClouds", Q_ARG(std::vector<SMFrameSequence>, captureData));
 428 
            QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointCloud", Q_ARG(SMFrameSequence, captureData[i]));
- 
 
 429 
    }
430 
 
 430 
 
431 
}
 431 
}
432 
 
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433 
void SMScanner::onNewPointCloud(SMPointCloud smCloud){
 433 
void SMScanner::onNewPointCloud(SMPointCloud smCloud){
434 
 
 434 
 
- 
 
 435 
    int id = smCloud.id;
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 436 
    captureData[id].reconstructed = true;
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435 
    pointCloudData.push_back(smCloud);
 438 
    pointCloudData.push_back(smCloud);
436 
    int id = pointCloudData.size()-1;
 - 
 
437 
 
 439 
 
438 
    // Add identifier to list
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    // Add identifier to list
439 
    QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(id).arg(smCloud.rotationAngle), ui->pointCloudsListWidget);
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    QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(id).arg(smCloud.rotationAngle), ui->pointCloudsListWidget);
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    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
 442 
    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
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    item->setData(Qt::UserRole, QVariant(id));
 443 
    item->setData(Qt::UserRole, QVariant(id));
Line 461... Line 463...
461 
//    QString type = saveDirectoryDialog.selectedNameFilter();
 463 
//    QString type = saveDirectoryDialog.selectedNameFilter();
462 
 
 464 
 
463 
    // save point clouds in ply format
 465 
    // save point clouds in ply format
464 
    for(int i=0; i<pointCloudData.size(); i++){
 466 
    for(int i=0; i<pointCloudData.size(); i++){
465 
        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
 467 
        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
466 
        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
 468 
        pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
467 
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
 469 
        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
468 
        pcl::PLYWriter w;
 470 
        pcl::PLYWriter w;
469 
        // Write to ply in binary without camera
 471 
        // Write to ply in binary without camera
470 
        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
 472 
        w.write<pcl::PointXYZRGB> (fileName.toStdString(), *pointCloudPCL, true, false);
471 
    }
 473 
    }
472 
 
 474 
 
473 
    // save meshlab aln project file
 475 
    // save meshlab aln project file
474 
    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
 476 
    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
475 
    s << pointCloudData.size() << std::endl;
 477 
    s << pointCloudData.size() << std::endl;