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