1 files changed, 23 insertions, 34 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index 03812092..a793f94b 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -9,59 +9,47 @@
 #pragma once
 
 #include "api/plugin-api.hpp"
-
-#include "cv/numeric.hpp"
-
 #include "pt-api.hpp"
 #include "point_tracker.h"
-#include "cv/video-widget.hpp"
+#include "cv/numeric.hpp"
+#include "video/video-widget.hpp"
+#include "point-filter.hpp"
 
 #include <atomic>
 #include <memory>
 #include <vector>
 
-#include <opencv2/core.hpp>
-
 #include <QThread>
 #include <QMutex>
 #include <QLayout>
-#include <QTimer>
 
-class TrackerDialog_PT;
+namespace pt_impl {
 
-namespace pt_module {
+class TrackerDialog_PT;
 
-using namespace types;
+using namespace numeric_types;
 
-class Tracker_PT : public QThread, public ITracker
+struct Tracker_PT : QThread, ITracker
 {
-    Q_OBJECT
+    friend class TrackerDialog_PT;
 
-    friend class ::TrackerDialog_PT;
+    template<typename t> using pointer = pt_pointer<t>;
 
-    template<typename t>
-    using pointer = typename pt_runtime_traits::pointer<t>;
-
-public:
-    Tracker_PT(pointer<pt_runtime_traits> pt_runtime_traits);
+    explicit Tracker_PT(pointer<pt_runtime_traits> const& pt_runtime_traits);
     ~Tracker_PT() override;
     module_status start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
     bool center() override;
 
-    Affine pose();
     int  get_n_points();
-    bool get_cam_info(pt_camera_info* info);
-public slots:
-    bool maybe_reopen_camera();
-    void set_fov(int value);
-protected:
-    void run() override;
+    [[nodiscard]] bool get_cam_info(pt_camera_info& info);
+    Affine pose() const;
+
 private:
-    pointer<pt_runtime_traits> traits;
+    void run() override;
+    [[nodiscard]] bool check_camera();
 
-    QMutex camera_mtx;
-    QMutex data_mtx;
+    pointer<pt_runtime_traits> traits;
 
     PointTracker point_tracker;
 
@@ -74,17 +62,18 @@ private:
 
     pointer<pt_point_extractor> point_extractor;
     pointer<pt_camera> camera;
-    pointer<cv_video_widget> video_widget;
+    pointer<video_widget> widget;
     pointer<pt_frame> frame;
     pointer<pt_preview> preview_frame;
 
-    std::atomic<unsigned> point_count = 0;
+    std::atomic<unsigned> point_count { 0 };
     std::atomic<bool> ever_success = false;
-
-    static constexpr inline f rad2deg = f(180/M_PI);
-    //static constexpr float deg2rad = float(M_PI/180);
+    std::atomic<bool> reopen_camera_flag = true;
+    std::atomic<bool> open_camera_dialog_flag = false;
+    mutable QMutex center_lock, data_lock;
+    point_filter filter{s};
 };
 
 } // ns pt_impl
 
-using pt_module::Tracker_PT;
+using Tracker_PT = pt_impl::Tracker_PT;