Import aruco tracker

1 files changed, 85 insertions, 0 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
new file mode 100644
index 00000000..cbda40bf
--- /dev/null
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -0,0 +1,85 @@
+/* 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 "video_widget.h"
+#include <QObject>
+#include <QTimer>
+#include <QThread>
+#include <QMutex>
+#include <QHBoxLayout>
+#include <opencv2/opencv.hpp>
+
+class Tracker : public QThread, public ITracker
+{
+    Q_OBJECT
+public:
+	Tracker();
+	~Tracker();
+    void StartTracker(QFrame* frame);
+    bool GiveHeadPoseData(double *data);
+	bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
+    bool NeedsTimeToFinish() {
+        return true;
+    }
+    void WaitForExit() {
+        stop = true;
+        wait();
+    }
+    void run();
+private:
+    QMutex mtx;
+    QTimer timer;
+	VideoWidget* videoWidget;
+	QHBoxLayout* layout;
+    volatile bool fresh, stop;
+    float fov;
+    int camera_index;
+    float dc[5];
+    int force_fps, force_width, force_height;
+    void load_settings();
+    double pose[6];
+    int marker_size;
+    cv::Mat frame;
+private slots:
+    void paint_widget();
+};
+
+// Widget that has controls for FTNoIR protocol client-settings.
+class TrackerControls : public QWidget, public ITrackerDialog
+{
+    Q_OBJECT
+public:
+
+	explicit TrackerControls();
+    virtual ~TrackerControls();
+	void showEvent ( QShowEvent * event );
+
+    void Initialize(QWidget *parent);
+    void registerTracker(ITracker *tracker) {}
+    void unRegisterTracker() {}
+
+private:
+	Ui::Form ui;
+	void loadSettings();
+	void save();
+	bool settingsDirty;
+
+private slots:
+	void doOK();
+	void doCancel();
+    void settingChanged() { settingsDirty = true; }
+    void settingChanged(int) { settingsDirty = true; }
+    void settingChanged(double) { settingsDirty = true; }
+};
+
+#endif
+