mesher.h

Go to the documentation of this file.

#ifndef MESHER_H
#define MESHER_H
 
#include <opencv2/core.hpp>
#include <opencv2/imgproc.hpp>
#include <queue>
#include <thread>
 
#include "isaeslam/data/mesh/mesh.h"
#include "isaeslam/data/sensors/ASensor.h"
#include "isaeslam/featuredetectors/aFeatureDetector.h"
#include "utilities/timer.h"
 
namespace isae {
 
class Mesher {
 
  public:
    Mesher(std::string slam_mode, double ZNCC_tsh, double max_length_tsh);
 
    std::vector<FeatPolygon> createMesh2D(std::shared_ptr<ImageSensor> sensor);
 
    std::vector<cv::Vec6f> computeMesh2D(const cv::Size img_size, const std::vector<cv::Point2f> p2f_to_triangulate);
 
    void addNewKF(std::shared_ptr<Frame> frame);
    bool getNewKf();
 
    void run();
 
    std::queue<std::shared_ptr<Frame>> _kf_queue; 
    std::shared_ptr<Frame> _curr_kf;              
    std::shared_ptr<Mesh3D> _mesh_3d;             
    std::string _slam_mode;                       
    double _avg_mesh_t;                           
    int _n_kf;                                    
 
    mutable std::mutex _mesher_mtx;
};
 
} // namespace isae
 
#endif // MESHER_H