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offline_integration.h
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offline_integration.h
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/*
* Software License Agreement (BSD License)
*
* Point Cloud Library (PCL) - www.pointclouds.org
* Copyright (c) 2009-2012, Willow Garage, Inc.
* Copyright (c) 2012-, Open Perception, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* $Id$
*
*/
#ifndef PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
#define PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H
#include <vector>
#include <string>
#include "pcl_exports.h"
#include <pcl/common/time.h>
#include "common_types.h"
#include "boost.h"
#include "eigen.h"
#include "opengl_viewer.h"
////////////////////////////////////////////////////////////////////////////////
// Forward declarations
////////////////////////////////////////////////////////////////////////////////
namespace pcl
{
template <class PointInT, class PointOutT>
class IntegralImageNormalEstimation;
namespace ihs
{
class Integration;
} // End namespace ihs
} // End namespace pcl
////////////////////////////////////////////////////////////////////////////////
// OfflineIntegration
////////////////////////////////////////////////////////////////////////////////
namespace pcl
{
namespace ihs
{
/** \brief Read the clouds and transformations from files and integrate them into one common model.
* \todo Add Documentation
*/
class PCL_EXPORTS OfflineIntegration : public pcl::ihs::OpenGLViewer
{
Q_OBJECT
public:
typedef pcl::ihs::OpenGLViewer Base;
typedef pcl::ihs::OfflineIntegration Self;
/** \brief Constructor. */
explicit OfflineIntegration (Base* parent=0);
/** \brief Destructor. */
~OfflineIntegration ();
public slots:
/** \brief Start the procedure from a path. */
void
start ();
private slots:
/** \brief Loads in new data. */
void
computationThread ();
private:
typedef pcl::PointXYZRGBA PointXYZRGBA;
typedef pcl::PointCloud <PointXYZRGBA> CloudXYZRGBA;
typedef CloudXYZRGBA::Ptr CloudXYZRGBAPtr;
typedef CloudXYZRGBA::ConstPtr CloudXYZRGBAConstPtr;
typedef pcl::PointXYZRGBNormal PointXYZRGBNormal;
typedef pcl::PointCloud <PointXYZRGBNormal> CloudXYZRGBNormal;
typedef CloudXYZRGBNormal::Ptr CloudXYZRGBNormalPtr;
typedef CloudXYZRGBNormal::ConstPtr CloudXYZRGBNormalConstPtr;
typedef pcl::ihs::Mesh Mesh;
typedef pcl::ihs::MeshPtr MeshPtr;
typedef pcl::ihs::MeshConstPtr MeshConstPtr;
typedef pcl::ihs::Integration Integration;
typedef boost::shared_ptr <Integration> IntegrationPtr;
typedef boost::shared_ptr <const Integration> IntegrationConstPtr;
typedef pcl::IntegralImageNormalEstimation <PointXYZRGBA, PointXYZRGBNormal> NormalEstimation;
typedef boost::shared_ptr <NormalEstimation> NormalEstimationPtr;
typedef boost::shared_ptr <const NormalEstimation> NormalEstimationConstPtr;
/** \brief Helper object for the computation thread. Please have a look at the documentation of calcFPS. */
class ComputationFPS : public Base::FPS
{
public:
ComputationFPS () : Base::FPS () {}
~ComputationFPS () {}
};
/** \brief Helper object for the visualization thread. Please have a look at the documentation of calcFPS. */
class VisualizationFPS : public Base::FPS
{
public:
VisualizationFPS () : Base::FPS () {}
~VisualizationFPS () {}
};
/** \brief Get a list of files with from a given directory.
* \param[in] path_dir Path to search for the files.
* \param[in] extension File extension (must start with a dot). E.g. '.pcd'.
* \param[out] files Paths to the files.
* \return True if success.
*/
bool
getFilesFromDirectory (const std::string path_dir,
const std::string extension,
std::vector <std::string>& files) const;
/** \brief Load the transformation matrix from the given file.
* \param[in] filename Path to the file.
* \param[out] transform The loaded transform.
* \return True if success.
*/
bool
loadTransform (const std::string& filename,
Eigen::Matrix4f& transform) const;
/** \brief Load the cloud and transformation from the files and compute the normals.
* \param[in] filename Path to the pcd file.
* \param[out] cloud Cloud with computed normals.
* \param[out] T Loaded transformation.
* \return True if success.
*/
bool
load (const std::string& filename,
CloudXYZRGBNormalPtr& cloud,
Eigen::Matrix4f& T) const;
/** \see http://doc.qt.digia.com/qt/qwidget.html#paintEvent
* \see http://doc.qt.digia.com/qt/opengl-overpainting.html
*/
void
paintEvent (QPaintEvent* event);
/** \see http://doc.qt.digia.com/qt/qwidget.html#keyPressEvent */
void
keyPressEvent (QKeyEvent* event);
//////////////////////////////////////////////////////////////////////////
// Members
//////////////////////////////////////////////////////////////////////////
/** \brief Synchronization. */
boost::mutex mutex_;
/** \brief Wait until the data finished processing. */
boost::mutex mutex_quit_;
/** \brief Please have a look at the documentation of ComputationFPS. */
ComputationFPS computation_fps_;
/** \brief Please have a look at the documentation of VisualizationFPS. */
VisualizationFPS visualization_fps_;
/** \brief Path to the pcd and transformation files. */
std::string path_dir_;
/** \brief Model to which new data is registered to (stored as a mesh). */
MeshPtr mesh_model_;
/** \brief Compute the normals for the input clouds. */
NormalEstimationPtr normal_estimation_;
/** \brief Integrate the data cloud into a common model. */
IntegrationPtr integration_;
/** \brief Prevent the application to crash while closing. */
bool destructor_called_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};
} // End namespace ihs
} // End namespace pcl
#endif // PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H