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#ifndef SMSCANNER_H
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#define SMSCANNER_H
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#include <QMainWindow>
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#include <QSettings>
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#include <QThread>
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#include <QCloseEvent>
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#include "SMPreferenceDialog.h"
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#include "SMCaptureWorker.h"
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#include "SMTriangulationWorker.h"
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#include <opencv2/opencv.hpp>
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#include <pcl/point_cloud.h>
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#include <pcl/point_types.h>
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namespace Ui {
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class SMScanner;
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}
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class SMScanner : public QMainWindow
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{
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    Q_OBJECT
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public:
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    explicit SMScanner(QWidget *parent = 0);
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    void closeEvent(QCloseEvent *event);
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    ~SMScanner();
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private slots:
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    void on_actionPreferences_triggered();
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    void onReceiveNewFrameSet(std::vector<cv::Mat > frameSet);
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private:
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    Ui::SMScanner *ui;
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    QSettings settings;
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    SMPreferenceDialog preferenceDialog;
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    SMCaptureWorker *captureWorker;
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    QThread *captureWorkerThread;
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    SMTriangulationWorker *triangulationWorker;
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    QThread *triangulationWorkerThread;
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    std::vector< std::pair<cv::Mat, cv::Mat> > calibrationData;
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    std::vector< std::vector< std::pair<cv::Mat, cv::Mat> > > captureData;
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    std::vector< pcl::PointCloud<pcl::PointXYZRGB>::Ptr > pointClouds;
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};
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#endif // SMSCANNER_H