diff options
| author | Stanislaw Halik <sthalik@misaki.pl> | 2013-09-15 12:39:32 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2013-09-15 12:39:32 +0200 |
| commit | bef7aff31e5ea073f0f160ca6a2f1e56b7dd881a (patch) | |
| tree | 2f6122f682427322f925736e87a0bd68b658972c /FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | |
| parent | 3734ab61a6f0d4d8aad32a17a2eb5fc49245626e (diff) | |
Initial PT 1.1 import
Codebase broken at this stage
Diffstat (limited to 'FTNoIR_Tracker_PT/ftnoir_tracker_pt.h')
| -rw-r--r-- | FTNoIR_Tracker_PT/ftnoir_tracker_pt.h | 99 |
1 files changed, 99 insertions, 0 deletions
diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h new file mode 100644 index 00000000..6eef945a --- /dev/null +++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.h @@ -0,0 +1,99 @@ +/* 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 "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
+#include "ftnoir_tracker_pt_settings.h"
+#include "frame_observer.h"
+#include "camera.h"
+#include "point_extractor.h"
+#include "point_tracker.h"
+#include "video_widget.h"
+#include "timer.h"
+
+#include <QThread>
+#include <QMutex>
+#include <QTime>
+#include <opencv2/opencv.hpp>
+#include <boost/shared_ptr.hpp>
+#include <vector>
+
+//-----------------------------------------------------------------------------
+// Constantly processes the tracking chain in a separate thread
+class Tracker : public ITracker, QThread, public FrameProvider
+{
+public:
+ Tracker();
+ ~Tracker();
+
+ // --- ITracker interface ---
+ virtual void Initialize(QFrame *videoframe);
+ virtual void StartTracker(HWND parent_window);
+ virtual void StopTracker(bool exit);
+ virtual bool GiveHeadPoseData(THeadPoseData *data);
+ virtual void refreshVideo();
+
+ void apply(const TrackerSettings& settings);
+ void center();
+ void reset(); // reset the trackers internal state variables
+ void run();
+
+ void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
+ int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
+ void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
+
+protected:
+ // --- MutexedFrameProvider interface ---
+ virtual bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector<cv::Vec2f> >& points);
+
+ // --- thread ---
+ QMutex mutex;
+ // thread commands
+ enum Command {
+ ABORT = 1<<0,
+ PAUSE = 1<<1
+ };
+ void set_command(Command command);
+ void reset_command(Command command);
+ int commands;
+
+ int sleep_time;
+
+ // --- tracking chain ---
+ VICamera camera;
+ FrameRotation frame_rotation;
+ PointExtractor point_extractor;
+ PointTracker point_tracker;
+ bool tracking_valid;
+
+ FrameTrafo X_GH_0; // for centering
+ cv::Vec3f t_MH; // translation from model frame to head frame
+ cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
+
+ // --- ui ---
+ cv::Mat frame; // the output frame for display
+
+ void update_show_video_widget();
+ bool show_video_widget;
+ VideoWidget* video_widget;
+ QFrame* video_frame;
+
+ // --- misc ---
+ bool bEnableRoll;
+ bool bEnablePitch;
+ bool bEnableYaw;
+ bool bEnableX;
+ bool bEnableY;
+ bool bEnableZ;
+
+ long frame_count;
+ Timer time;
+};
+
+#endif // FTNOIR_TRACKER_PT_H
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