#ifndef MAINWINDOW_H
#define MAINWINDOW_H

#include <QMainWindow>
#include "posdevice.h"
#include "camera.h"
#include "QImage"
#include "QPixmap"
#include <opencv2/opencv.hpp>
#include "rotationstage.h"
#include "QTimer"
#include "imageview.h"

QT_BEGIN_NAMESPACE
namespace Ui {
class MainWindow;
}
QT_END_NAMESPACE

class MainWindow : public QMainWindow
{
    Q_OBJECT

public:
    MainWindow(QWidget *parent = nullptr);
    ~MainWindow();
    cv::Rect trackRoiWithCorrelation(const cv::Mat& frame);
    void updateTemplate(const cv::Mat& frame, const cv::Rect& roi);
    QImage cvMatToQImage(const cv::Mat& mat);
    cv::Point2f calculateCentroid(const cv::Mat& image, const cv::Rect& roi);
    void closeloop();



private slots:
    void on_pushButton_clicked();
    void revPosData(QVector<QString>);
    void revPicData(QImage);
    void revRotateData(QVector<double>);

    void on_pushButton_3_clicked();

    void on_pushButton_5_clicked();

    void on_pushButton_4_clicked();

    void on_pushButton_10_clicked();

    void on_pushButton_6_pressed();

    void on_pushButton_6_released();
    void zmove();
    void zmove_();
    void umove();
    void umove_();



    void on_pushButton_7_pressed();

    void on_pushButton_7_released();

    void on_pushButton_8_pressed();

    void on_pushButton_8_released();

    void on_pushButton_9_pressed();

    void on_pushButton_9_released();

    void on_pushButton_11_clicked();

    void onRoiSelected(const QRectF &roi);

    void on_pushButton_2_clicked();

    void on_pushButton_12_clicked();


    void on_pushButton_13_clicked();

    void on_pushButton_14_clicked();

private:
    Ui::MainWindow *ui;
    PosDevice *pos;
    Camera *cam;
    QGraphicsScene *scene;
    RotationStage *rs;
    QTimer *tz,*tz_,*tu,*tu_;
    QGraphicsPixmapItem *pximg;
    int topLeft,topRight,selectWidth,selectHeight;
    bool isFirstFrame;

    cv::Mat roiTemplate;  // ROI模板
    cv::Rect lastRoi;     // 上一帧的ROI位置

    cv::Point2f centroidInit; // 初始位置
    cv::Point2f centroid;   //当前位置

    bool loopState;
    std::thread *task;



};
#endif // MAINWINDOW_H