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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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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){
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ui->setupUi(this);
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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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qRegisterMetaType<SMCalibrationSet>("SMCalibrationSet");
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qRegisterMetaType<SMCalibrationSet>("SMCalibrationSet");
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qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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qRegisterMetaType<SMCalibrationParameters>("SMCalibrationParameters");
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qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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qRegisterMetaTypeStreamOperators<SMCalibrationParameters>("SMCalibrationParameters");
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qRegisterMetaType< std::vector<SMCalibrationSet> >("std::vector<SMCalibrationSet>");
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qRegisterMetaType< std::vector<SMCalibrationSet> >("std::vector<SMCalibrationSet>");
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qRegisterMetaType<SMFrameSequence>("SMFrameSequence");
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qRegisterMetaType<SMFrameSequence>("SMFrameSequence");
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qRegisterMetaType< std::vector<SMFrameSequence> >("std::vector<SMFrameSequence>");
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qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr>("pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr");
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qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGB>::Ptr>("pcl::PointCloud<pcl::PointXYZRGB>::Ptr");
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qRegisterMetaType<SMPointCloud>("SMPointCloud");
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// Setup ui (requires stream operators registered)
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ui->setupUi(this);
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// Restore geometry
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// Restore geometry
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this->restoreGeometry(settings.value("geometry/mainwindow").toByteArray());
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this->restoreGeometry(settings.value("geometry/mainwindow").toByteArray());
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this->restoreState(settings.value("state/mainwindow").toByteArray());
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this->restoreState(settings.value("state/mainwindow").toByteArray());
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reconstructionWorkerThread->setObjectName("reconstructionWorkerThread");
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reconstructionWorkerThread->setObjectName("reconstructionWorkerThread");
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reconstructionWorker->moveToThread(reconstructionWorkerThread);
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reconstructionWorker->moveToThread(reconstructionWorkerThread);
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reconstructionWorkerThread->start();
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reconstructionWorkerThread->start();
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// Connections
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// Connections
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connect(reconstructionWorker, SIGNAL(newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr)), this, SLOT(onNewPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr)));
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connect(reconstructionWorker, SIGNAL(newPointCloud(SMPointCloud)), this, SLOT(onNewPointCloud(SMPointCloud)));
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connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
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connect(reconstructionWorker, SIGNAL(done()), reconstructionWorkerThread, SLOT(quit()));
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connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
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connect(reconstructionWorker, SIGNAL(done()), reconstructionWorker, SLOT(deleteLater()));
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// Start reconstructing
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// Start reconstructing
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QMetaObject::invokeMethod(reconstructionWorker, "setup");
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QMetaObject::invokeMethod(reconstructionWorker, "reconstruct", Q_ARG(std::vector<SMFrameSequence>, captureData));
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QMetaObject::invokeMethod(reconstructionWorker, "reconstructPointClouds", Q_ARG(std::vector<SMFrameSequence>, captureData));
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}
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}
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void SMScanner::onNewPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc){
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void SMScanner::onNewPointCloud(SMPointCloud smCloud){
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SMPointCloud smCloud;
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//smCloud.pointCloud = pc;
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pointCloudData.push_back(smCloud);
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pointCloudData.push_back(smCloud);
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// Add identifier to list
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QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(ui->pointCloudsListWidget->count()).arg(smCloud.rotationAngle), ui->pointCloudsListWidget);
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item->setFlags(item->flags() | Qt::ItemIsUserCheckable);
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item->setCheckState(Qt::Checked);
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ui->pointCloudWidget->updatePointCloud(pc);
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ui->pointCloudsListWidget->addItem(item);
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ui->pointCloudWidget->addPointCloud(smCloud.pointCloud);
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}
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void SMScanner::on_actionExport_Calibration_triggered(){
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QString fileName = QFileDialog::getSaveFileName(this, "Export calibration parameters", QString(), "*.xml");
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QFileInfo info(fileName);
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QString type = info.suffix();
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if(type == ""){
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fileName.append(".xml");
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}
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SMCalibrationParameters calibration = settings.value("calibration/parameters").value<SMCalibrationParameters>();
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calibration.exportToXML(fileName);
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}
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}
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