1 files changed, 94 insertions, 0 deletions
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
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index 000000000..4cab84b53
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+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -0,0 +1,94 @@
+/* Copyright (c) 2013 Stanislaw Halik <sthalik@misaki.pl>
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#ifndef FTNOIR_TRACKER_HT_H
+#define FTNOIR_TRACKER_HT_H
+
+#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
+#include "ui_aruco-trackercontrols.h"
+#include "ar_video_widget.h"
+#include <QObject>
+#include <QThread>
+#include <QMutex>
+#include <QHBoxLayout>
+#include <QDialog>
+#include <opencv2/opencv.hpp>
+#include <opencv/highgui.h>
+#include "facetracknoir/options.h"
+using namespace options;
+
+struct settings {
+    pbundle b;
+    value<double> fov, headpos_x, headpos_y, headpos_z;
+    value<int> camera_index, force_fps, resolution;
+    value<bool> red_only;
+    value<bool> eyaw, epitch, eroll, ex, ey, ez;
+    value<double> marker_pitch;
+    settings() :
+        b(bundle("aruco-tracker")),
+        fov(b, "field-of-view", 56),
+        headpos_x(b, "headpos-x", 0),
+        headpos_y(b, "headpos-y", 0),
+        headpos_z(b, "headpos-z", 0),
+        camera_index(b, "camera-index", 0),
+        force_fps(b, "force-fps", 0),
+        resolution(b, "force-resolution", 0),
+        red_only(b, "red-only", false),
+        eyaw(b, "enable-y", true),
+        epitch(b, "enable-p", true),
+        eroll(b, "enable-r", true),
+        ex(b, "enable-x", true),
+        ey(b, "enable-y", true),
+        ez(b, "enable-z", true),
+        marker_pitch(b, "marker-pitch", 0)
+    {}
+};
+
+class Tracker : protected QThread, public ITracker
+{
+    Q_OBJECT
+public:
+	Tracker();
+    virtual ~Tracker();
+    void StartTracker(QFrame* frame);
+    void GetHeadPoseData(double *data);
+    void run();
+    void reload() { s.b->reload(); }
+private:
+    QMutex mtx;
+    volatile bool stop;
+    QHBoxLayout* layout;
+	ArucoVideoWidget* videoWidget;
+    settings s;
+    double pose[6];
+    cv::Mat frame;
+    cv::VideoCapture camera;
+};
+
+// Widget that has controls for FTNoIR protocol client-settings.
+class TrackerControls : public QWidget, public ITrackerDialog
+{
+    Q_OBJECT
+public:
+    TrackerControls();
+    void registerTracker(ITracker * x) {
+        tracker = dynamic_cast<Tracker*>(x);
+    }
+    void unRegisterTracker() {
+        tracker = nullptr;
+    }
+private:
+	Ui::Form ui;
+    Tracker* tracker;
+    settings s;
+private slots:
+	void doOK();
+	void doCancel();
+};
+
+#endif
+