Subversion Repositories seema-scanner

/*

 *

 SLStudio - Platform for Real-Time  Structured Light

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

 *

*/

#ifndef SMTriangulator_H

#define SMTriangulator_H

#include <QObject>

#include <QTime>

#include "SMCalibrationParams.h"

#include "Triangulator.h"

#include <pcl/point_cloud.h>

#include <pcl/point_types.h>

class SMTriangulator : public QObject {

    Q_OBJECT

    public:

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

        ~SMTriangulator();

        void triangulateFromUp(cv::Mat &up, cv::Mat &xyz);

        void triangulateFromVp(cv::Mat &vp, cv::Mat &xyz);

        void triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz);

        void triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud);

    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;

        SMCalibrationParams calibration;

        cv::Mat determinantTensor;

        cv::Mat uc, vc;

        cv::Mat lensMap1, lensMap2;

};

#endif