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+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * 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_PT_H
+#define FTNOIR_TRACKER_PT_H
+
+#include "opentrack/plugin-api.hpp"
+#include "ftnoir_tracker_pt_settings.h"
+#include "camera.h"
+#include "point_extractor.h"
+#include "point_tracker.h"
+#include "pt_video_widget.h"
+#include "opentrack-compat/timer.hpp"
+#include "opentrack/opencv-camera-dialog.hpp"
+
+#include <QThread>
+#include <QMutex>
+#include <QMutexLocker>
+#include <QTime>
+#include <atomic>
+#include <memory>
+#include <vector>
+
+class TrackerDialog_PT;
+
+//-----------------------------------------------------------------------------
+// Constantly processes the tracking chain in a separate thread
+class Tracker_PT : public QThread, public ITracker
+{
+ Q_OBJECT
+ friend class camera_dialog<Tracker_PT>;
+ friend class TrackerDialog_PT;
+public:
+ Tracker_PT();
+ ~Tracker_PT() override;
+ void start_tracker(QFrame* parent_window) override;
+ void data(double* data) override;
+
+ Affine pose() { QMutexLocker lock(&mutex); return point_tracker.pose(); }
+ int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
+ bool get_cam_info(CamInfo* info) { QMutexLocker lock(&camera_mtx); return camera.get_info(*info); }
+public slots:
+ void apply_settings();
+protected:
+ void run() override;
+private:
+ QMutex mutex;
+ // thread commands
+ enum Command {
+ ABORT = 1<<0
+ };
+ void set_command(Command command);
+ void reset_command(Command command);
+
+ bool get_focal_length(float &ret);
+
+ volatile int commands;
+
+ QMutex camera_mtx;
+ CVCamera camera;
+ PointExtractor point_extractor;
+ PointTracker point_tracker;
+
+ PTVideoWidget* video_widget;
+ QFrame* video_frame;
+
+ settings_pt s;
+ Timer time;
+
+ volatile bool ever_success;
+
+ static constexpr double rad2deg = 180.0/3.14159265;
+ static constexpr double deg2rad = 3.14159265/180.0;
+};
+
+class TrackerDll : public Metadata
+{
+ QString name() { return QString("PointTracker 1.1"); }
+ QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
+};
+
+#endif // FTNOIR_TRACKER_PT_H