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}

void SMCaptureWorker::acquireFrameSequenceHDR(SMFrameSequence &frameSequence){

    QSettings settings;

    QString shuttersString = settings.value("camera/shuttersHDR").toString();

    QStringList list = shuttersString.split("/");

    std::vector<float> shutters(list.size());

    for(int i=0; i<list.size(); i++)

        shutters[i] = list[i].toFloat();

    if(shutters.empty()){

        std::cerr << "Could not read HDR shutter times" << std::endl;

        return;

    }

    int nShutters = shutters.size();

    std::vector<SMFrameSequence> frameSequences(nShutters);

    CameraSettings cameraSettings;

    for(int i=0; i<nShutters; i++){

        // Set camera shutter

        cameraSettings.shutter = shutters[i];

        // assert that shutter is given in ms

        assert(cameraSettings.shutter < 2000.0);

        camera0->setCameraSettings(cameraSettings);

        camera1->setCameraSettings(cameraSettings);

        // Project/acquire sequence

        acquireFrameSequenceLDR(frameSequences[i]);

    }

    unsigned int nFrames = frameSequences[0].frames0.size();

    int nRows = frameSequences[0].frames0[0].rows;

    int nCols = frameSequences[0].frames0[0].cols;

    // Merge into HDR

    frameSequence.frames0.resize(nFrames);

    frameSequence.frames1.resize(nFrames);

    float shutterMean = 0.0;

    for(unsigned int i=0; i<shutters.size(); i++)

        shutterMean += shutters[i]/shutters.size();

    for(unsigned int i=0; i<nFrames; i++){

        frameSequence.frames0[i].create(nRows, nCols, CV_32F);

        frameSequence.frames1[i].create(nRows, nCols, CV_32F);

    }

    #pragma omp parallel for

    for(int r=0; r<nRows; r++){

        for(int c=0; c<nCols; c++){

            for(int j=nShutters-1; j>=0; j--){

                uchar s0 = frameSequences[j].frames0[0].at<uchar>(r,c);

                if(s0 < 250){

                    for(unsigned int i=0; i<nFrames; i++)

                        frameSequence.frames0[i].at<float>(r,c) = (shutterMean/shutters[j]) * frameSequences[j].frames0[i].at<uchar>(r,c);

                    break;

                }

            }

            for(int j=nShutters-1; j>=0; j--){

                uchar s1 = frameSequences[j].frames1[0].at<uchar>(r,c);

                if(s1 < 250){

                    for(unsigned int i=0; i<nFrames; i++)

                        frameSequence.frames1[i].at<float>(r,c) = (shutterMean/shutters[j]) * frameSequences[j].frames1[i].at<uchar>(r,c);

                    break;

                }

            }

        }

        //cvtools::writeMat(frame0i, QString("frame0_%1.mat").arg(i).toLatin1(),  QString("frame0_%1").arg(i).toLatin1());

    }

    // Set camera shutter back to default

    cameraSettings.shutter = settings.value("shutter", 66.666).toFloat();

    camera0->setCameraSettings(cameraSettings);

    camera1->setCameraSettings(cameraSettings);

    // TODO: we need to somehow make the debayer function cvtColor accept floating point images...

}

void SMCaptureWorker::acquireFrameSequence(float angle){

    if(!setupSuccessful)

        return;

    if(int(angle) != -1.0)

        rotateTo(angle);

    SMFrameSequence frameSequence;

    QSettings settings;

    if(settings.contains("camera/shuttersHDR"))

        acquireFrameSequenceHDR(frameSequence);

    else

        acquireFrameSequenceLDR(frameSequence);