mainwindow.h

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#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include <QCheckBox>
#include <QRadioButton>
#include <QLabel>
#include <QPushButton>
#include <QListWidget>
#ifndef Q_MOC_RUN
#include <boost/shared_ptr.hpp>
#endif

#include "VisualisationUtils/markerpublisher.h"
#include "VisualisationUtils/laserscanwidget.h"
#include "laserscanthread.h"
#include "Laserscanner/laserscanner_mild.h"
#include "Laserscanner/laserscanner_lms400.h"
#include <GUI/ptuwindow.h>
#include <calibration_object.h>
#include <MathHelpers/Resectionsolver/resectionsolver.h>
#include <MathHelpers/Resectionsolver/feasibilitychecker.h>
#include <Transformation/transformation_publisher.h>
#include <VisualisationUtils/tfvisualizer.h>

class MainWindow : public QMainWindow
{
    Q_OBJECT
public:
    explicit MainWindow(QWidget *parent = 0);
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
protected:
    unsigned int showData;
    bool isCapturing;
    QCheckBox *chk_rawdata;
    QCheckBox *chk_avgData;
    QCheckBox *chk_filteredData;
    QCheckBox *chk_segments;
    QCheckBox *chk_edges;

    //Shows the coordinates of all triangles currently detected by the scanner
    QLabel *lblTriangles;
    //Shows the number of solutions of the p3p problem for the current triangle
    QLabel *lblSolutions;

    QLabel *lblCurrentTriangle;

    QLabel *lblSolutionMatrix;

    QLabel *lblPossibleSolutions_Position;

    //Shows the variance over all captured poses of the objects top point
    QLabel *lblTopPoseVariance;

    QPushButton *btnCapture;
    QPushButton *btnPossibleSolutions_Left;
    QPushButton *btnPossibleSolutions_Right;
    QPushButton *btnStartPTUCapture;
    QPushButton *btnAddTopPose;
    QPushButton *btnDeleteTopPose;
    QPushButton *btnClearTopPose;

    QListWidget * lstTopPose;

    int possibleSolutions_Position;

    LaserScanThread *currentThread;

    QRadioButton *radio_polar;
    QRadioButton *radio_flat;
    LaserScanWidget *widget;

    std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > *currentTriangles;
    std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > *selectedTriangle;

    //
    std::vector<Eigen::Vector3d, Eigen::aligned_allocator<Eigen::Vector3d> > *capturedTopPoses;

    //All the possible solutions for the current triangle
    std::vector<Eigen::Matrix4d,  Eigen::aligned_allocator<Eigen::Matrix4d> > * solutionFrames;

    boost::shared_ptr<ResectionSolver> solver;

    //Used to publish the current results to ros
    boost::shared_ptr<MarkerPublisher> markerPublisher;

    //Contains all the parameters of the calibration object
    boost::shared_ptr<Calibration_Object> calibrationObject;

    boost::shared_ptr<FeasibilityChecker> feasibilityChecker;

    boost::shared_ptr<Transformation_Publisher> transformationPublisher;

    //Used to project the tf frames into the camera image
    boost::shared_ptr<TF_Visualizer> tfVisualizer;

    void addMatrixRow(QString* text, double value);
    void showPossibleSolutions();
    void resizeEvent(QResizeEvent * event);
    void toggleCaptureMode();
    void calculateTransformationFrames();
signals:
    void setCurves(unsigned int showData = 1);
    void newTransform_Laserscan(const Eigen::Matrix4d& transform, double distanceToTop);

public slots:
    void trianglesFound(std::vector<Eigen::Vector2d, Eigen::aligned_allocator<Eigen::Vector2d> > *triangles);

    void chk_rawData_stateChanged(bool state);
    void chk_avgData_stateChanged(bool state);
    void chk_filteredData_stateChanged(bool state);
    void chk_segments_stateChanged(bool state);
    void chk_edges_stateChanged(bool state);

    void radio_polar_stateChanged(bool state);
    void radio_flat_stateChanged(bool state);

    void btnCapture_clicked();

    void btnPossibleSolutions_Left_clicked();
    void btnPossibleSolutions_Right_clicked();
    void btnStartPTUCapture_clicked();

    void btnAddTopPose_clicked();
    void btnDeleteTopPose_clicked();
    void btnClearTopPose_clicked();

};

#endif // MAINWINDOW_H