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#ifndef SMTYPES_H
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#define SMTYPES_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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#include <QString>
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struct SMCalibrationSet {
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    // frames. if one channel it is BG Bayer. if three it is color.
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    cv::Mat frame0;
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    cv::Mat frame1;
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    int id;
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    float rotationAngle;
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    bool selected;
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    cv::Mat frame0Result;
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    cv::Mat frame1Result;
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    std::vector<cv::Point2f> qc0;
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    std::vector<int> qc0id;
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    std::vector<cv::Point2f> qc1;
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    std::vector<int> qc1id;
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    SMCalibrationSet(): id(-1), rotationAngle(0), selected(false){}
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};
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struct SMFrameSequence {
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    // raw bayer frames
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    std::vector<cv::Mat> frames0;
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    std::vector<cv::Mat> frames1;
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    int id;
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    QString codec;
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    float rotationAngle;
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    bool reconstructed;
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    std::vector<float> shutters;
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    SMFrameSequence(): id(-1), codec(""), rotationAngle(0), reconstructed(false){}
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};
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struct SMPointCloud {
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    pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr pointCloud;
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    float rotationAngle;
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    int id;
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    cv::Matx33f R;
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    cv::Vec3f T;
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    SMPointCloud(): rotationAngle(-1), id(-1){}
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};
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#endif // SMTYPES_H