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#ifndef SMCalibrationWorker_H
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#define SMCalibrationWorker_H
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#include <QObject>
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#include "SMTypes.h"
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// fwd decl
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class SMCalibrationParameters;
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namespace Ui {
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    class SMCalibrationWorker;
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}
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class SMCalibrationWorker : public QObject{
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    Q_OBJECT
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    public:
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        SMCalibrationWorker(){}
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        ~SMCalibrationWorker(){}
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        void performStageCalibration(
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                const std::vector< std::vector<cv::Point2f> > &qc0Stereo,
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                const std::vector< std::vector<cv::Point2f> > &qc1Stereo,
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        SMCalibrationParameters& cal);
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public slots:
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        void performCameraCalibration(std::vector< SMCalibrationSet > calibrationData);
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    private slots:
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    signals:
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        void newFrameResult(int idx, int camID, bool success, cv::Mat frameResult);
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        void newSetProcessed(int idx);
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        void done();
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    private:
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        void perViewReprojError(const std::vector<bool> &success0,
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                               const std::vector< std::vector<cv::Point3f> > &Q0,
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                               const std::vector<cv::Mat> &cam_tvecs0,
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                               const std::vector<cv::Mat> &cam_rvecs0,
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                               const std::vector< std::vector<cv::Point2f> > &qc0,
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                                const cv::Matx33f &K0,
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                                const cv::Vec<float, 5> &k0,
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                               std::vector<float> &camX_errors_per_view);
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        std::vector<cv::Point3f> generateObjCoordsInWorldCS(const cv::Size checkerCount, const float checkerSize);
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};
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#endif // SMCalibrationWorker_H