main_window.h

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/*
 * Software License Agreement (BSD License)
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 * Point Cloud Library (PCL) - www.pointclouds.org
 * Copyright (c) 2009-2012, Willow Garage, Inc.
 * Copyright (c) 2012-, Open Perception, Inc.
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#ifndef PCL_APPS_IN_HAND_SCANNER_MAIN_WINDOW_H
#define PCL_APPS_IN_HAND_SCANNER_MAIN_WINDOW_H

#include <QMainWindow>

#include <pcl/apps/in_hand_scanner/in_hand_scanner.h>

// Forward declarations

namespace Ui
{
  class MainWindow;
}

namespace pcl
{
  namespace ihs
  {
    class HelpWindow;
  } // End namespace ihs
} // End namespace pcl

// MainWindow

namespace pcl
{
  namespace ihs
  {
    class MainWindow : public QMainWindow
    {
      Q_OBJECT

      public:

        typedef pcl::ihs::InHandScanner    InHandScanner;
        typedef pcl::ihs::HelpWindow       HelpWindow;
        typedef InHandScanner::RunningMode RunningMode;

        explicit MainWindow (QWidget* parent = 0);
        ~MainWindow ();

      public slots:

        void showHelp ();
        void saveAs ();

        // In hand scanner
        void runningModeChanged (const RunningMode mode);
        void keyPressEvent (QKeyEvent* event);

        // Input data processing.
        void setXMin (const int x_min);
        void setXMax (const int x_max);
        void setYMin (const int y_min);
        void setYMax (const int y_max);
        void setZMin (const int z_min);
        void setZMax (const int z_max);

        void setHMin (const int h_min);
        void setHMax (const int h_max);
        void setSMin (const int s_min);
        void setSMax (const int s_max);
        void setVMin (const int v_min);
        void setVMax (const int v_max);

        void setColorSegmentationInverted (const bool is_inverted);
        void setColorSegmentationEnabled (const bool is_enabled);

        void setXYZErodeSize (const int size);
        void setHSVDilateSize (const int size);

        // Registration
        void setEpsilon ();
        void setMaxIterations (const int iterations);
        void setMinOverlap (const int overlap);
        void setMaxFitness ();

        void setCorrespondenceRejectionFactor (const double factor);
        void setCorrespondenceRejectionMaxAngle (const int angle);

        // Integration
        void setMaxSquaredDistance ();
        void setAveragingMaxAngle (const int angle);
        void setMaxAge (const int age);
        void setMinDirections (const int directions);

      private:

        Ui::MainWindow* ui_;
        HelpWindow*     help_window_;
        InHandScanner*  ihs_;
    };
  } // End namespace ihs
} // End namespace pcl

#endif // PCL_APPS_IN_HAND_SCANNER_MAIN_WINDOW_H