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#include <pcl/features/normal_3d.h>
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#include <pcl/features/normal_3d.h>
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void SMReconstructionWorker::setup(){
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void SMReconstructionWorker::setup(){
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}
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void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
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    QSettings settings;
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    QSettings settings;
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    // Get current calibration
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    // Get current calibration
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    calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    // Create Algorithm
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    // Create Algorithm
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    QString codec = frameSequence.codec;
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    int resX = settings.value("projector/resX").toInt();
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    int resX = settings.value("projector/resX").toInt();
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    int resY = settings.value("projector/resY").toInt();
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    int resY = settings.value("projector/resY").toInt();
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    QString codec = settings.value("algorithm", "GrayCode").toString();
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    if(codec == "GrayCode")
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    if(codec == "GrayCode")
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        algorithm = new AlgorithmGrayCode(resX, resY);
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        algorithm = new AlgorithmGrayCode(resX, resY);
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    else if(codec == "GrayCodeHorzVert")
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    else if(codec == "GrayCodeHorzVert")
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        algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);
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        algorithm = new AlgorithmGrayCodeHorzVert(resX, resY);
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    else if(codec == "PhaseShiftTwoFreq")
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    else if(codec == "PhaseShiftTwoFreq")
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    else if(codec == "LineShift")
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    else if(codec == "LineShift")
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        algorithm = new AlgorithmLineShift(resX, resY);
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        algorithm = new AlgorithmLineShift(resX, resY);
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    else
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    else
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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        std::cerr << "SLScanWorker: invalid codec " << codec.toStdString() << std::endl;
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//    // Precompute lens correction maps
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//    cv::Mat eye = cv::Mat::eye(3, 3, CV_32F);
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//    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap0Horz, lensMap0Vert);
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//    cv::initUndistortRectifyMap(calibration.K0, calibration.k0, eye, calibration.K0, cv::Size(calibration.frameWidth, calibration.frameHeight), CV_32FC1, lensMap1Horz, lensMap1Vert);
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    //cv::Mat mapHorz, mapVert;
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    //cv::normalize(lensMap0Horz, mapHorz, 0, 255, cv::NORM_MINMAX, CV_8U);
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    //cv::normalize(lensMap0Vert, mapVert, 0, 255, cv::NORM_MINMAX, CV_8U);
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    //cv::imwrite("mapHorz.png", mapHorz);
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    //cv::imwrite("mapVert.png", mapVert);
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}
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void SMReconstructionWorker::reconstructPointCloud(SMFrameSequence frameSequence){
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    time.start();
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    time.start();
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    // Get 3D Points
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    // Get 3D Points
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Point3f> Q;
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    std::vector<cv::Vec3b> color;
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    std::vector<cv::Vec3b> color;