Merge pull request #1625 from eyedav/eyeware-beam

1 files changed, 74 insertions, 0 deletions

diff --git a/tracker-eyeware-beam/eyeware_beam.h b/tracker-eyeware-beam/eyeware_beam.h
new file mode 100644
index 00000000..b30703bc
--- /dev/null
+++ b/tracker-eyeware-beam/eyeware_beam.h
@@ -0,0 +1,74 @@
+/* Copyright (c) 2023 Eyeware Tech SA https://www.eyeware.tech
+ *
+ * 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.
+ */
+
+#pragma once
+
+#include "api/plugin-api.hpp"
+
+#include "ui_eyeware_beam.h"
+
+#include "eyeware/tracker_client.h"
+
+#include <QObject>
+#include <QMutex>
+
+class eyeware_beam_tracker : public QObject, public ITracker
+{
+    Q_OBJECT
+
+public:
+    eyeware_beam_tracker();
+    ~eyeware_beam_tracker() override;
+    module_status start_tracker(QFrame* frame) override;
+    void data(double *data) override;
+
+private:
+    void extract_translation(const eyeware::Vector3D& t,
+                             double& translation_x_cm,
+                             double& translation_y_cm,
+                             double& translation_z_cm);
+    void extract_rotation_angles(const eyeware::Matrix3x3& R, double& pitch_deg, double& roll_deg, double& yaw_deg);
+
+    std::unique_ptr<eyeware::TrackerClient> tracker_client = nullptr;
+
+    QMutex mtx;
+
+    double last_pitch_deg = 0.0;
+    double last_roll_deg = 0.0;
+    double last_yaw_deg = 0.0;
+    double last_translation_x_cm = 0.0;
+    double last_translation_y_cm = 0.0;
+    double last_translation_z_cm = 0.0;
+
+    const double rad_to_deg = 180.0 / M_PI;
+    const double m_to_cm = 100.0;
+    const double epsilon = 0.000001;
+};
+
+class eyeware_beam_dialog : public ITrackerDialog
+{
+    Q_OBJECT
+
+public:
+    eyeware_beam_dialog();
+    void register_tracker(ITracker * x) override { tracker = static_cast<eyeware_beam_tracker*>(x); }
+    void unregister_tracker() override { tracker = nullptr; }
+
+private:
+    Ui::eyeware_beam_ui ui;
+    eyeware_beam_tracker* tracker = nullptr;
+
+private Q_SLOTS:
+    void doOK();
+};
+
+class eyeware_beam_metadata : public Metadata
+{
+    Q_OBJECT
+    QString name() override { return QString("Eyeware Beam"); }
+    QIcon icon() override { return QIcon(":/images/eyeware_beam_logo.png"); }
+};