ptuwindow.h

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#ifndef PTUWINDOW_H
#define PTUWINDOW_H
#include "CameraUtils/ptu_manager.h"
#include "CameraUtils/marker_manager.h"
#include "CameraUtils/camerathread.h"
#include <QDialog>
#include <QBitmap>
#include <QLabel>

#include <QPushButton>
#include "calibration_object.h"
#include "VisualisationUtils/camerawidget.h"
#include "VisualisationUtils/markerpublisher.h"
#include <Transformation/transformation_data.h>
#include <Transformation/transformation_publisher.h>
#include <Transformation/transformationfile_manager_data.h>
#ifndef Q_MOC_RUN
#include <sensor_msgs/Image.h>
#include <Eigen/Dense>
#include <boost/shared_ptr.hpp>
#include <tf/tf.h>
#include <tf_conversions/tf_eigen.h>
#include <tf/transform_datatypes.h>
#include <tf_conversions/tf_eigen.h>
#include <tf/transform_listener.h>

#endif


class PTUWindow : public QDialog
{
    Q_OBJECT
public:
    explicit PTUWindow(QWidget *parent = 0);
    PTUWindow( boost::shared_ptr<MarkerPublisher> markerManager, boost::shared_ptr<Calibration_Object> calibrationObject, boost::shared_ptr<Transformation_Publisher> transformationPublisher, const Eigen::Matrix4d calObjTransformation, QWidget *parent =0);
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
private:
    void init(boost::shared_ptr<MarkerPublisher> markerManager, boost::shared_ptr<Calibration_Object> calibrationObject, boost::shared_ptr<Transformation_Publisher> transformationPublisher, const Eigen::Matrix4d calObjTransformation);
    void startCapture();
    void stopMarkerCapturing();
    void setUI_Elements();
    void calculateAllAverageDataFrames();
    Eigen::Matrix4d calculateAverageDataFrame(std::vector<Eigen::Matrix4d , Eigen::aligned_allocator<Eigen::Matrix4d > > frames);
    PTU_Manager * ptuManager;
    Marker_Manager * markerManager;

    QPushButton *btnStartStopPTUSearch;
    QPushButton *btnSkipFramePTUSearch;
    QPushButton *btnExportCameraPoses;
    QPushButton *btnExportRelativeMarkerPoses;
    QPushButton *btnExportCameraOffset;

    QLabel *lblCameraFrameCount;
    QLabel *lblRelativeMarkerFrameCount;

    CameraWidget * cameraLeft;
    CameraWidget * cameraRight;

    bool slotEnabled_PTU;
    bool slotEnabled_Marker;
    bool stopSignal;

    //Defines if raw marker position or averaged postions over all markers per frame are used
    bool useAveragedMarkerData;

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

    double marker_min_distance;
    double marker_max_distance;
    double tilt_min_angle;
    double tilt_max_angle;
    double pan_min_angle;
    double pan_max_angle;

    tf::TransformListener * mTFlistener;

    //Publishes transformation frames to tf
    boost::shared_ptr<Transformation_Publisher> transformationPublisher;

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

    Eigen::Matrix4d transformation_LaserScanner;
    std::vector<colouredCameraFrame, Eigen::aligned_allocator<colouredCameraFrame> > colouredCameraFrames;
    std::vector<Transformation_Data> transformationData;

    std::vector<Transformation_Data> tempTransformationData;

    std::vector<Eigen::Matrix4d , Eigen::aligned_allocator<Eigen::Matrix4d > > relativeMarkerPoses;
    std::vector<Eigen::Matrix4d , Eigen::aligned_allocator<Eigen::Matrix4d > > markerRightPoses;
    std::vector<Eigen::Matrix4d , Eigen::aligned_allocator<Eigen::Matrix4d > > markerLeftPoses;
    //Used to save collected data for left and right frame in order to calculte the average frames afterwards
    std::vector<Eigen::Matrix4d , Eigen::aligned_allocator<Eigen::Matrix4d > > tempMarkerRightPoses;
    std::vector<Eigen::Matrix4d , Eigen::aligned_allocator<Eigen::Matrix4d > > tempMarkerLeftPoses;
    //Used for evaluation
    PanTiltOffsetTupleList cameraOffsetParameters;

    void handleNewTransformationData(Transformation_Data &data);
    void resizeEvent(QResizeEvent * event);
    bool markerPoseWithinBounds(const Eigen::Matrix4d& transform);
signals:
    void newTransform_Camera(const Eigen::Matrix4d& transform, Markertype markertype);
public slots:
    void btnStartStopPTUSearch_clicked();
    void btnExportCameraPoses_clicked();
    void btnExportRelativeMarkerPoses_clicked();
    void btnSkipFramePTUSearch_clicked();
    void btnExportCameraOffset_clicked();
    void ptu_moved(double pan, double tilt);
    void markerFound(std::string markerNumber, const Eigen::Matrix4d &transformation);
};

#endif // PTUWINDOW_H