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#include <pcl/features/normal_3d.h>
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#include <pcl/features/normal_3d.h>
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#include <pcl/features/normal_3d_omp.h>
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#include <pcl/features/normal_3d_omp.h>
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#include <pcl/common/transforms.h>
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#include <pcl/common/transforms.h>
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void SMReconstructionWorker::setup(){
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}
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void SMReconstructionWorker::reconstructPointCloud(const SMFrameSequence &frameSequence){
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void SMReconstructionWorker::reconstructPointCloud(const 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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    else{
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    else{
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        std::cerr << "SLScanWorker: invalid codec (Please set codec in preferences): " << codec.toStdString() << std::endl;
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        std::cerr << "SLScanWorker: invalid codec (Please set codec in preferences): " << codec.toStdString() << std::endl;
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        return; // otherwise segfault TODO no default?
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        return; // otherwise segfault TODO no default?
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    }
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    }
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    assert(frameSequence.frames0.size() == algorithm->getNPatterns());
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    assert(frameSequence.frames1.size() == algorithm->getNPatterns());
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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;
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    cv::Rodrigues(rot_rvec, R);
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    cv::Rodrigues(rot_rvec, R);
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    smPointCloud.R = cv::Matx33f(R);
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    smPointCloud.R = cv::Matx33f(R);
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    smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);*/
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    smPointCloud.T = cv::Vec3f(0.0,0.0,0.0);*/
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    // Emit result
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    // Emit result
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    #pragma omp critical (CBRECOupdateUI1)
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    {
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        emit newPointCloud(smPointCloud);
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    emit newPointCloud(smPointCloud);
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        std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;
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    std::cout << "SMReconstructionWorker: " << time.elapsed() << "ms" << std::endl;
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        std::cout << "SMReconstructionWorker: " << smPointCloud.pointCloud->size() << " Points" << std::endl;
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    std::cout << "SMReconstructionWorker: " << smPointCloud.pointCloud->size() << " Points" << std::endl;
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    }
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}
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}
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void SMReconstructionWorker::reconstructPointClouds(const std::vector<SMFrameSequence> &frameSequences){
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void SMReconstructionWorker::reconstructPointClouds(const std::vector<SMFrameSequence> &frameSequences){
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    // Process sequentially
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    // Process sequentially
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    #pragma omp parallel for
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    #pragma omp parallel for
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    for(unsigned int i=0; i<frameSequences.size(); i++){
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    for(unsigned int i=0; i<frameSequences.size(); i++){
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        if(!frameSequences[i].reconstructed) reconstructPointCloud(frameSequences[i]);
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        if(!frameSequences[i].reconstructed) reconstructPointCloud(frameSequences[i]);
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    }
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    }