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/*
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 *
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 SLStudio - Platform for Real-Time  Structured Light
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 (c) 2013 -- 2014 Jakob Wilm, DTU, Kgs.Lyngby, Denmark
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 *
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*/
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#ifndef SMTriangulator_H
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#ifndef SMTriangulator_H
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#define SMTriangulator_H
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#define SMTriangulator_H
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#include "SMTypes.h"
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#include <QObject>
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#include <QObject>
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#include <QTime>
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#include <QTime>
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#include "SMCalibrationParams.h"
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#include "Triangulator.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_cloud.h>
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#include <pcl/point_types.h>
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#include <pcl/point_types.h>
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class SMTriangulator : public QObject {
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class SMTriangulator : public QObject {
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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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        SMTriangulator(unsigned int _frameWidth, unsigned int _frameHeight) : frameWidth(_frameWidth), frameHeight(_frameHeight), writeToDisk(false){}
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        SMTriangulator();
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        ~SMTriangulator();
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        ~SMTriangulator();
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        void triangulateFromUp(cv::Mat &up, cv::Mat &xyz);
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        void triangulateFromUp(cv::Mat &up, cv::Mat &xyz);
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        void triangulateFromVp(cv::Mat &vp, cv::Mat &xyz);
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        void triangulateFromVp(cv::Mat &vp, cv::Mat &xyz);
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        void triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz);
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        void triangulateFromUpVp(cv::Mat &up, cv::Mat &vp, cv::Mat &xyz);
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        void triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud);
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        void triangulate(cv::Mat &up, cv::Mat &vp, cv::Mat &mask, cv::Mat &shading, cv::Mat &pointCloud);
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    public slots:
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    public slots:
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        void setup();
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        void triangulatePointCloud(cv::Mat up, cv::Mat vp, cv::Mat mask, cv::Mat shading);
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        void triangulatePointCloud(cv::Mat up, cv::Mat vp, cv::Mat mask, cv::Mat shading);
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    signals:
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    signals:
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        void imshow(const char* windowName, cv::Mat mat, unsigned int x, unsigned int y);
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        void imshow(const char* windowName, cv::Mat mat, unsigned int x, unsigned int y);
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        void newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud);
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        void newPointCloud(pcl::PointCloud<pcl::PointXYZRGB>::Ptr pointCloud);
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        void error(QString err);
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        void error(QString err);
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        //void finished();
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        //void finished();
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    private:
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    private:
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        unsigned int frameWidth, frameHeight;
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        bool writeToDisk;
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        SMCalibrationParams *calibration;
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        CalibrationParameters calibration;
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        Triangulator *triangulator;
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        QTime time;
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        QTime time;
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        SMCalibrationParams calibration;
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        cv::Mat determinantTensor;
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        cv::Mat determinantTensor;
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        cv::Mat uc, vc;
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        cv::Mat uc, vc;
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        cv::Mat lensMap1, lensMap2;
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        cv::Mat lensMap1, lensMap2;
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};
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};
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