src/controllers/CaptureSessionController.h - master - klischa/AstraScanner2

src/controllers/CaptureSessionController.h
65 строк2 KB
k k
refactor: capture subsystem overhaul
15 июл 2026, 11:17
15 июл 2026, 11:171123c30
#ifndef CAPTURESESSIONCONTROLLER_H
#define CAPTURESESSIONCONTROLLER_H

#include <QObject>
#include "../project/ProjectManager.h"
#include <QSharedPointer>
#include <memory>
#include <opencv2/core/mat.hpp>
#include <pcl/point_cloud.h>
#include <pcl/point_types.h>
#include <Eigen/Dense>
#include <Eigen/Geometry>

class QThread;
class CaptureWorker;
class ProjectManager;

class CaptureSessionController : public QObject
{
    Q_OBJECT
public:
    explicit CaptureSessionController(QObject *parent = nullptr);
    ~CaptureSessionController() override;

    void setProjectManager(ProjectManager *projectManager);
    bool isRunning() const { return m_captureThread != nullptr; }

    void start(bool enableCloudProcessing,
               float depthMin,
               float depthMax,
               bool colorCameraEnabled,
               bool neuralTrackingEnabled,
               bool useCudaForNeural,
               const std::string &modelPath = "models/pose_regressor.onnx");
    bool stop();
    void setCloudProcessingEnabled(bool enabled);

signals:
    void frameCaptured(QSharedPointer<cv::Mat> color, QSharedPointer<cv::Mat> depth);
    void pointCloudReady(pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud);
    void error(const QString &message);
    void frameProcessed(int totalFrames);
    void warning(const QString &message);
    void finished();
    void markersDetected(QSharedPointer<cv::Mat> markersImage);
    void poseUpdated(const Eigen::Affine3f& pose, float rotation_angle, bool reliable);
    void scanQualityUpdated(const QString &trackingText, int trackingLevel,
                            const QString &alignmentText, int alignmentLevel,
                            const QString &depthText, int depthLevel,
                            const QString &driftText, int driftLevel);
    void scannerPoseForProject(const Eigen::Affine3f& pose);
    void trackingModeChangedForProject(TrackingMode mode);

private:
    void createWorker(bool enableCloudProcessing, float depthMin, float depthMax, bool colorCameraEnabled);
    void initializeWorkerTracking(bool neuralTrackingEnabled, bool useCudaForNeural, const std::string &modelPath);
    void connectWorkerSignals();
    void cleanupThread();

    QThread *m_captureThread = nullptr;
    CaptureWorker *m_worker = nullptr;
    ProjectManager *m_projectManager = nullptr;
};

#endif // CAPTURESESSIONCONTROLLER_H