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/*

 *

 MVTracker - Multi View Tracking for Pose Estimation

 (c) 2014 Jakob Wilm, DTU, Kgs.Lyngby, Denmark

 *

*/

#ifndef SMCaptureWorker_H

#define SMCaptureWorker_H

#include "SMTypes.h"

#include "ProjectorOpenGL.h"

#include "Camera.h"

#include "RotationStage.h"

#include <QObject>

#include <opencv2/opencv.hpp>

enum mode {

    modeIdle,

    modeCalibrationSet,

    modeFrameSequence

};

class SMCaptureWorker : public QObject{

    Q_OBJECT

    public:

        SMCaptureWorker(){}

        ~SMCaptureWorker();

    public slots:

        void setup();

        void doWork();

        void rotateTo(float angle);

        void acquireCalibrationSet(float angle);

        void acquireCalibrationSets(std::vector<float> angles);

        void acquireFrameSequence(float angle);

        void acquireFrameSequences(std::vector<float> angles);

        void abort();

        void stopWork();

    signals:

        void newFrame(unsigned int camID, cv::Mat frame);

        void newCalibrationSet(CalibrationSet frameSet);

        void newFrameSequence(FrameSequence frameSequence);

        void busy();

        void done();

        void finished();

    private:

        bool working;

        Projector* projector;

        Camera* camera0;

        Camera* camera1;

        RotationStage* rotationStage;

};

#endif // SMCaptureWorker_H