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#include "SMScanner.h"
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#include "SMScanner.h"
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#include "ui_SMScanner.h"
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#include "ui_SMScanner.h"
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#include <QMetaObject>
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#include <QMetaObject>
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#include <QFileDialog>
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#include <QFileDialog>
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#include <QMessageBox>
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#include <pcl/io/pcd_io.h>
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#include <pcl/io/pcd_io.h>
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#include <pcl/io/ascii_io.h>
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#include <pcl/io/ascii_io.h>
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#include <pcl/io/ply_io.h>
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#include <pcl/io/ply_io.h>
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#include <pcl/io/png_io.h>
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#include <pcl/io/png_io.h>
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#include <pcl/io/vtk_io.h>
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#include <pcl/io/vtk_io.h>
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#include <vtkPolyDataWriter.h>
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#include <vtkPolyDataWriter.h>
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#include <pcl/conversions.h>
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#include <pcl/conversions.h>
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SMScanner::SMScanner(QWidget *parent) :QMainWindow(parent), ui(new Ui::SMScanner),
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SMScanner::SMScanner(QWidget *parent) :QMainWindow(parent), ui(new Ui::SMScanner),
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                                        calibrationReviewMode(false), captureReviewMode(false){
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                                        calibrationReviewMode(false), captureReviewMode(false), lastCaptureId(-1){
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    // Register metatypes
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    // Register metatypes
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    qRegisterMetaType<cv::Mat>("cv::Mat");
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    qRegisterMetaType<cv::Mat>("cv::Mat");
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    qRegisterMetaType< std::vector<cv::Mat> >("std::vector<cv::Mat>");
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    qRegisterMetaType< std::vector<cv::Mat> >("std::vector<cv::Mat>");
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    qRegisterMetaType< std::vector<float> >("std::vector<float>");
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    qRegisterMetaType< std::vector<float> >("std::vector<float>");
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    ui->calibrationRotationDial->setValue(ui->captureRotationDial->value());
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    ui->calibrationRotationDial->setValue(ui->captureRotationDial->value());
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}
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}
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void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
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void SMScanner::onReceiveFrameSequence(SMFrameSequence frameSequence){
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    int id = captureData.size();
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    int id = lastCaptureId + 1;
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    lastCaptureId += 1;
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    frameSequence.id = id;
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    frameSequence.id = id;
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    captureData.push_back(frameSequence);
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    captureData.push_back(frameSequence);
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    // Add identifier to list
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    // Add identifier to list
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    QTreeWidgetItem* item = new QTreeWidgetItem(ui->captureTreeWidget);
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    QTreeWidgetItem* item = new QTreeWidgetItem(ui->captureTreeWidget);
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    item->setText(0, QString("Frame Sequence %1 -- %2 deg").arg(id).arg(frameSequence.rotationAngle));
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    item->setText(0, QString("Frame Sequence %1 -- %2 deg").arg(id).arg(frameSequence.rotationAngle));
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    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
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    item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
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    item->setData(0, Qt::UserRole, QPoint(id, -1));
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    item->setData(0, Qt::UserRole, QPoint(captureData.size()-1, -1));
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    item->setCheckState(0, Qt::Checked);
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    item->setCheckState(0, Qt::Checked);
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    //ui->captureTreeWidget->addItem(item);
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    //ui->captureTreeWidget->addItem(item);
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    for(int i=0; i<frameSequence.frames0.size(); i++){
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    for(int i=0; i<frameSequence.frames0.size(); i++){
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        QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
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        QTreeWidgetItem* subItem = new QTreeWidgetItem(item);
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    }
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    }
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    SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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    calibration.exportToXML(fileName);
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    calibration.exportToXML(fileName);
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}
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}
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void SMScanner::on_actionClear_Sequences_triggered(){
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    int res = QMessageBox::question(this, "Clear Captured Sequences", "Clear all captured data?", QMessageBox::Ok, QMessageBox::Cancel);
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    if(res == QMessageBox::Ok){
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        captureData.clear();
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        ui->captureTreeWidget->clear();
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    }
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}