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    captureWorkerThread->start();
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    captureWorkerThread->start();
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    // Connections
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    // Connections
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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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    connect(captureWorker, SIGNAL(newFrameSet(std::vector<cv::Mat>)), this, SLOT(onReceiveNewFrameSet(std::vector<cv::Mat>)));
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    connect(captureWorker, SIGNAL(newFrame(unsigned int, cv::Mat)), this, SLOT(onReceiveFrame(unsigned int, cv::Mat)));
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    // Start capturing
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    // Start capturing
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    QMetaObject::invokeMethod(captureWorker, "setup");
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    QMetaObject::invokeMethod(captureWorker, "setup");
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    QMetaObject::invokeMethod(captureWorker, "doWork");
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    QMetaObject::invokeMethod(captureWorker, "doWork");
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}
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}
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void SMScanner::onReceiveNewFrameSet(std::vector<cv::Mat> frameSet){
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void SMScanner::onReceiveFrame(unsigned int camId, cv::Mat frame){
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    ui->calibrationCamera0Widget->showImageCV(frameSet[0]);
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    ui->calibrationCamera1Widget->showImageCV(frameSet[1]);
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    ui->captureCamera0Widget->showImageCV(frameSet[0]);
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    ui->captureCamera1Widget->showImageCV(frameSet[1]);
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    if(camId == 0){
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        ui->calibrationCamera0Widget->showImageCV(frame);
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        ui->captureCamera0Widget->showImageCV(frame);
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    } else if(camId == 1){
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        ui->calibrationCamera1Widget->showImageCV(frame);
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        ui->captureCamera1Widget->showImageCV(frame);
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    }
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}
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}
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void SMScanner::on_actionPreferences_triggered()
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void SMScanner::on_actionPreferences_triggered(){
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{
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    preferenceDialog.show();
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    preferenceDialog.show();
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}
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}
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void SMScanner::closeEvent(QCloseEvent *event){
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void SMScanner::closeEvent(QCloseEvent *event){
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    // Stop capturing thread
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    connect(captureWorker, SIGNAL(finished()), captureWorker, SLOT(deleteLater()));
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    connect(captureWorker, SIGNAL(finished()), captureWorkerThread, SLOT(quit()));
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    QMetaObject::invokeMethod(captureWorker, "stopWork");
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    captureWorkerThread->quit();
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    captureWorkerThread->wait();
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    // Save window geometry
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    // Save window geometry
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    settings.setValue("geometry/mainwindow", this->saveGeometry());
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    settings.setValue("geometry/mainwindow", this->saveGeometry());
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    settings.setValue("state/mainwindow", this->saveState());
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    settings.setValue("state/mainwindow", this->saveState());
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    event->accept();
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    event->accept();
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SMScanner::~SMScanner(){
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SMScanner::~SMScanner(){
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    delete ui;
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    delete ui;
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}
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}
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void SMScanner::on_singleCalibrationButton_clicked(){
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    float position = ui->calibrationRotationDial->value();
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    QMetaObject::invokeMethod(captureWorker, "acquireCalibrationSet", Q_ARG(float, position));
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}
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void SMScanner::on_calibrationRotationDial_sliderReleased(){
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    float angle = ui->calibrationRotationDial->value();
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    std::cout << "Rotation stage target: " << angle << std::endl;
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    QMetaObject::invokeMethod(captureWorker, "rotateTo", Q_ARG(float, angle));
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}
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void SMScanner::onReceiveCalibrationSet(CalibrationSet calibrationSet){
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    calibrationData.push_back(calibrationSet);
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}