/*
 * Copyright (c) 2009-2010, Oracle and/or its affiliates. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * * Redistributions of source code must retain the above copyright notice,
 *   this list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of Oracle nor the names of its contributors
 *   may be used to endorse or promote products derived from this software without
 *   specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF
 * THE POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef _KITTIFORM_H
#define	_KITTIFORM_H

#include "ui_KittiForm.h"
#include <Stereo.h>
#include <QGraphicsScene>
#include <QBitmap>
#include <PclPointCloud.h>
//#include <CRF.h>
#include <CpuTime.h>

class KittiForm : public QDialog {
    Q_OBJECT
public:
    KittiForm();
    virtual ~KittiForm();
    enum Scene_ID {CAMPUS, CITY, PERSON, RESIDENTIAL, ROAD};
    enum Camera_ID {LEFT_BW, RIGHT_BW, LEFT_C, RIGHT_C};
public slots:
    void openSequence();
    void openDir();
    void updateSequencesList();
    void loadDispImage();
    void updateSpinValue();
    void computeStereoToPointCloud();
    void showFrame();
    void computeDEM();
    void calcMainPlane();
    void rotateCloud();
    void calcGrid();
    void algorithm_01();
    void computeCRF();
    void calculateCRFcount();
    void readDEM();
    void readCRF();
    void computeNormals();
    void alternate();
    void pointNormal();
    
    
private:
//    int createPcdFilesFromStereo(string leftCamDir, string rightCamDir, string pcdDir);
//    int createPcdFileFromStereo(string leftImg, string rightImg, string pcdFile);
    

    int getSelectedCam();
    int getSelectedScene();
    QString getSelectedSceneTxt();
    
    Stereo m_stereo;
    Ui::KittiForm widget;
    QGraphicsScene m_frameQT;
    QPixmap m_pixmap;
    PclPointCloud m_ptCloud;
    cv::Mat m_dem;
    
    string PATTERN_DEM;
    string PATTERN_CRFLOG;
    string PATTERN_CRF;
    string PATTERN_CRF_NAME;
    
    
};

#endif	/* _HELLOFORM_H */