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#include "SMPointCloudWidget.h"
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#include "SMPointCloudWidget.h"
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#include <opencv2/opencv.hpp>
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#include <vtkWindowToImageFilter.h>
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#include <vtkWindowToImageFilter.h>
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#include <vtkPNGWriter.h>
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#include <vtkPNGWriter.h>
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#include <vtkRenderWindow.h>
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#include <vtkRenderWindow.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_cloud.h>
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#include <pcl/conversions.h>
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#include <pcl/conversions.h>
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#include <fstream>
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#include <fstream>
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#include <QFileDialog>
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#include <QFileDialog>
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#include <QSettings>
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#include "SMCalibrationParameters.h"
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SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
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SMPointCloudWidget::SMPointCloudWidget(QWidget *parent) : QVTKWidget(parent) {
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    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
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    visualizer = new pcl::visualization::PCLVisualizer("PCLVisualizer", false);
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    this->SetRenderWindow(visualizer->getRenderWindow());
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    this->SetRenderWindow(visualizer->getRenderWindow());
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    visualizer->setShowFPS(false);
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    visualizer->setShowFPS(false);
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    // Create point cloud viewport
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    // Create point cloud viewport
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    visualizer->setBackgroundColor(0, 0, 0);
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    visualizer->setBackgroundColor(0, 0, 0);
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    visualizer->addCoordinateSystem(50);
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    visualizer->addCoordinateSystem(50, 0);
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#ifndef __APPLE__
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#ifndef __APPLE__
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    // this leads to a segfault on OS X
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    // this leads to a segfault on OS X
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    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
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    visualizer->setCameraPosition(0,0,-50,0,0,0,0,-1,0);
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#endif
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#endif
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    writer->SetFileName(qPrintable(fileName));
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    writer->SetFileName(qPrintable(fileName));
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    writer->Write();
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    writer->Write();
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    writer->Delete();
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    writer->Delete();
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}
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}
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void SMPointCloudWidget::updateCalibrationParameters(){
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    QSettings settings;
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    SMCalibrationParameters calibration = settings.value("calibration").value<SMCalibrationParameters>();
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    // camera 0
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    //...
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    // rotation axis at (0,0,0) pointing (0,1,0) in rotation stage frame
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    cv::Point3f O(0.0, 0.0, 0.0);
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    cv::Vec3f v(0.0, 1.0, 0.0);
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    // determine coefficients in camera 0 frame
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    O = calibration.Rr*O + calibration.Tr;
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    v = calibration.Rr*v + calibration.Tr;
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    pcl::ModelCoefficients lineCoefficients;
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    lineCoefficients.values.resize(6);
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    lineCoefficients.values[0] = O[0];
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    lineCoefficients.values[1] = O[1];
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    lineCoefficients.values[2] = O[2];
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    lineCoefficients.values[3] = v[0];
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    lineCoefficients.values[4] = v[1];
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    lineCoefficients.values[5] = v[2];
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    visualizer->addLine(lineCoefficients);
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}
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SMPointCloudWidget::~SMPointCloudWidget(){
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SMPointCloudWidget::~SMPointCloudWidget(){
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    //delete visualizer;
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    //delete visualizer;
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}
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}