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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 <pcl/io/pcd_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/png_io.h>
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#include <pcl/io/vtk_io.h>
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#include <vtkPolyDataWriter.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){
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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<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< std::vector<SMFrameSequence> >("std::vector<SMFrameSequence>");
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    qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGB>::Ptr>("pcl::PointCloud<pcl::PointXYZRGB>::Ptr");
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    qRegisterMetaType<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr>("pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr");
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    qRegisterMetaType<SMPointCloud>("SMPointCloud");
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    qRegisterMetaType<SMPointCloud>("SMPointCloud");
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    // Setup ui (requires stream operators registered)
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    // Setup ui (requires stream operators registered)
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    ui->setupUi(this);
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    ui->setupUi(this);
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    int id = pointCloudData.size()-1;
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    int id = pointCloudData.size()-1;
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    // Add identifier to list
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    // Add identifier to list
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    QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(id).arg(smCloud.rotationAngle), ui->pointCloudsListWidget);
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    QListWidgetItem* item = new QListWidgetItem(QString("Point Cloud %1 -- %2 deg").arg(id).arg(smCloud.rotationAngle), ui->pointCloudsListWidget);
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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(Qt::UserRole, QVariant(id));
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    item->setCheckState(Qt::Checked);
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    item->setCheckState(Qt::Checked);
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    ui->pointCloudsListWidget->addItem(item);
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    ui->pointCloudsListWidget->addItem(item);
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    ui->pointCloudWidget->addPointCloud(smCloud.pointCloud, id);
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    ui->pointCloudWidget->addPointCloud(smCloud, id);
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}
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void SMScanner::on_actionExport_Point_Clouds_triggered(){
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    QString directory = QFileDialog::getExistingDirectory(this, "Export Point Clouds", QString());
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//    //  Non native file dialog
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//    QFileDialog saveDirectoryDialog(this, "Export Point Clouds", QString(), "*.pcd;;*.ply;;*.vtk;;*.png;;*.txt");
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//    saveDirectoryDialog.setDefaultSuffix("ply");
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//    saveDirectoryDialog.setFileMode(QFileDialog::Directory);
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//    saveDirectoryDialog.exec();
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//    QString directory = saveDirectoryDialog.directory().path();
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//    QString type = saveDirectoryDialog.selectedNameFilter();
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    // save point clouds in ply format
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    for(int i=0; i<pointCloudData.size(); i++){
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        QString fileName = QString("%1/pointcloud_%2.ply").arg(directory).arg(i);
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        pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloudPCL(pointCloudData[i].pointCloud);
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        //pcl::io::savePLYFileBinary(fileName.toStdString(), *pointCloudPCL);
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        pcl::PLYWriter w;
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        // Write to ply in binary without camera
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        w.write<pcl::PointXYZRGBNormal> (fileName.toStdString(), *pointCloudPCL, true, false);
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    }
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    // save meshlab aln project file
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    std::ofstream s(QString("%1/alignment.aln").arg(directory).toLocal8Bit());
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    s << pointCloudData.size() << std::endl;
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    for(int i=0; i<pointCloudData.size(); i++){
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        QString fileName = QString("pointcloud_%1.ply").arg(i);
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        s << fileName.toStdString() << std::endl << "#" << std::endl;
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        cv::Mat Tr = cv::Mat::eye(4, 4, CV_32F);
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        cv::Mat(pointCloudData[i].R.t()).copyTo(Tr.colRange(0, 3).rowRange(0, 3));
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        cv::Mat(-pointCloudData[i].R.t()*pointCloudData[i].T).copyTo(Tr.col(3).rowRange(0, 3));
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        for(int j=0; j<Tr.rows; j++){
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            for(int k=0; k<Tr.cols; k++){
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                s << Tr.at<float>(j,k) << " ";
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            }
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            s << std::endl;
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        }
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    }
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    s << "0" << std::flush;
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    s.close();
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}
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void SMScanner::on_pointCloudsListWidget_itemChanged(QListWidgetItem *item){
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    int id = item->data(Qt::UserRole).toInt();
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    if(item->checkState() == Qt::Checked)
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        ui->pointCloudWidget->addPointCloud(pointCloudData[id], id);
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    else
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        ui->pointCloudWidget->removePointCloud(id);
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}
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}
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void SMScanner::on_actionExport_Calibration_triggered(){
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void SMScanner::on_actionExport_Parameters_triggered(){
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    QString fileName = QFileDialog::getSaveFileName(this, "Export calibration parameters", QString(), "*.xml");
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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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    QFileInfo info(fileName);
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    QString type = info.suffix();
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    QString type = info.suffix();
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    if(type == ""){
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    if(type == ""){