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#ifndef SMSCANNER_H
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#ifndef SMSCANNER_H
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#define SMSCANNER_H
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#define SMSCANNER_H
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#include <QMainWindow>
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#include <QMainWindow>
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#include <QSettings>
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#include <QSettings>
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#include <QThread>
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#include <QThread>
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#include <QCloseEvent>
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#include <QCloseEvent>
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#include <QModelIndex>
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#include <QModelIndex>
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#include "SMPreferenceDialog.h"
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#include "SMPreferenceDialog.h"
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#include "SMCaptureWorker.h"
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#include "SMCaptureWorker.h"
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#include "SMCalibrationWorker.h"
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#include "SMCalibrationWorker.h"
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#include "SMReconstructionWorker.h"
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#include "SMReconstructionWorker.h"
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#include <opencv2/opencv.hpp>
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#include <opencv2/opencv.hpp>
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#include <pcl/point_cloud.h>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/point_types.h>
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namespace Ui {
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namespace Ui {
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    class SMScanner;
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    class SMScanner;
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}
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}
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class SMScanner : public QMainWindow{
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class SMScanner : public QMainWindow{
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    Q_OBJECT
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    Q_OBJECT
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    public:
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    public:
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        explicit SMScanner(QWidget *parent = 0);
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        explicit SMScanner(QWidget *parent = 0);
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        void closeEvent(QCloseEvent *event);
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        void closeEvent(QCloseEvent *event);
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        ~SMScanner();
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        ~SMScanner();
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    private slots:
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    private slots:
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        void on_actionPreferences_triggered();
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        void on_actionPreferences_triggered();
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        void onReceiveFrame(unsigned int camId, cv::Mat frame);
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        void onReceiveFrame(unsigned int camId, cv::Mat frame);
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        void onReceiveCalibrationSet(SMCalibrationSet calibrationSet);
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        void onReceiveCalibrationSet(SMCalibrationSet calibrationSet);
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        void onReceiveFrameSequence(SMFrameSequence frameSequence);
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        void onReceiveFrameSequence(SMFrameSequence frameSequence);
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        void onReceiveRotatedTo(float angle);
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        void onReceiveRotatedTo(float angle);
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        void onCalibrationSetProcessed(int idx);
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        void onCalibrationSetProcessed(int idx);
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        void onCalibrationFrameResult(int idx, int camID, bool success, cv::Mat result);
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        void onCalibrationFrameResult(int idx, int camID, bool success, cv::Mat result);
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        void on_singleCalibrationButton_clicked();
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        void on_singleCalibrationButton_clicked();
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        void on_calibrateButton_clicked();
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        void on_calibrateButton_clicked();
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        void onCalibrationDone();
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        void onCalibrationDone();
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        void on_calibrationListWidget_itemSelectionChanged();
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        void on_calibrationListWidget_itemSelectionChanged();
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        void on_singleCaptureButton_clicked();
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        void on_singleCaptureButton_clicked();
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        void on_calibrationRotationDial_sliderReleased();
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        void on_calibrationRotationDial_sliderReleased();
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        void on_captureRotationDial_sliderReleased();
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        void on_captureRotationDial_sliderReleased();
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        void on_captureTreeWidget_itemSelectionChanged();
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        void on_captureTreeWidget_itemSelectionChanged();
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        void on_batchCalibrationButton_clicked();
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        void on_batchCalibrationButton_clicked();
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        void on_batchCaptureButton_clicked();
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        void on_batchCaptureButton_clicked();
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        void on_actionExport_Sets_triggered();
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        void on_actionExport_Sets_triggered();
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        void on_actionExport_Sequences_triggered();
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        void on_actionExport_Sequences_triggered();
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        void on_reconstructButton_clicked();
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        void onNewPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::ConstPtr pc);
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private:
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private:
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        Ui::SMScanner *ui;
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        Ui::SMScanner *ui;
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        QSettings settings;
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        QSettings settings;
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        SMPreferenceDialog preferenceDialog;
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        SMPreferenceDialog preferenceDialog;
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        SMCaptureWorker *captureWorker;
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        SMCaptureWorker *captureWorker;
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        QThread *captureWorkerThread;
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        QThread *captureWorkerThread;
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        SMCalibrationWorker *calibrationWorker;
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        SMCalibrationWorker *calibrationWorker;
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        QThread *calibrationWorkerThread;
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        QThread *calibrationWorkerThread;
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        SMReconstructionWorker *reconstructionWorker;
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        SMReconstructionWorker *reconstructionWorker;
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        QThread *reconstructionWorkerThread;
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        QThread *reconstructionWorkerThread;
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        std::vector< SMCalibrationSet > calibrationData;
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        std::vector< SMCalibrationSet > calibrationData;
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        std::vector< SMFrameSequence > captureData;
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        std::vector< SMFrameSequence > captureData;
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        std::vector< pcl::PointCloud<pcl::PointXYZRGB>::Ptr > pointClouds;
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        std::vector< SMPointCloud > pointCloudData;
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        bool calibrationReviewMode;
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        bool calibrationReviewMode;
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        bool captureReviewMode;
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        bool captureReviewMode;
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};
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};
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#endif // SMSCANNER_H
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#endif // SMSCANNER_H
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