1 files changed, 26 insertions, 33 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 4cab84b5..3d37dacd 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -5,10 +5,8 @@
  * copyright notice and this permission notice appear in all copies.
  */
 
-#ifndef FTNOIR_TRACKER_HT_H
-#define FTNOIR_TRACKER_HT_H
+#pragma once
 
-#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
 #include "ui_aruco-trackercontrols.h"
 #include "ar_video_widget.h"
 #include <QObject>
@@ -16,18 +14,20 @@
 #include <QMutex>
 #include <QHBoxLayout>
 #include <QDialog>
-#include <opencv2/opencv.hpp>
-#include <opencv/highgui.h>
+#include <QTimer>
 #include "facetracknoir/options.h"
+#include "ftnoir_tracker_aruco/trans_calib.h"
+#include "facetracknoir/plugin-api.hpp"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
 using namespace options;
 
 struct settings {
     pbundle b;
     value<double> fov, headpos_x, headpos_y, headpos_z;
     value<int> camera_index, force_fps, resolution;
-    value<bool> red_only;
-    value<bool> eyaw, epitch, eroll, ex, ey, ez;
-    value<double> marker_pitch;
     settings() :
         b(bundle("aruco-tracker")),
         fov(b, "field-of-view", 56),
@@ -36,59 +36,52 @@ struct settings {
         headpos_z(b, "headpos-z", 0),
         camera_index(b, "camera-index", 0),
         force_fps(b, "force-fps", 0),
-        resolution(b, "force-resolution", 0),
-        red_only(b, "red-only", false),
-        eyaw(b, "enable-y", true),
-        epitch(b, "enable-p", true),
-        eroll(b, "enable-r", true),
-        ex(b, "enable-x", true),
-        ey(b, "enable-y", true),
-        ez(b, "enable-z", true),
-        marker_pitch(b, "marker-pitch", 0)
+        resolution(b, "force-resolution", 0)
     {}
 };
 
 class Tracker : protected QThread, public ITracker
 {
     Q_OBJECT
+    static constexpr double c_search_window = 2.2;
 public:
-	Tracker();
-    virtual ~Tracker();
+    Tracker();
+    ~Tracker() override;
     void StartTracker(QFrame* frame);
     void GetHeadPoseData(double *data);
     void run();
     void reload() { s.b->reload(); }
+    void getRT(cv::Matx33d &r, cv::Vec3d &t);
 private:
     QMutex mtx;
     volatile bool stop;
     QHBoxLayout* layout;
-	ArucoVideoWidget* videoWidget;
+    ArucoVideoWidget* videoWidget;
     settings s;
     double pose[6];
     cv::Mat frame;
     cv::VideoCapture camera;
+    cv::Matx33d r;
+    cv::Vec3d t;
 };
 
-// Widget that has controls for FTNoIR protocol client-settings.
 class TrackerControls : public QWidget, public ITrackerDialog
 {
     Q_OBJECT
 public:
     TrackerControls();
-    void registerTracker(ITracker * x) {
-        tracker = dynamic_cast<Tracker*>(x);
-    }
-    void unRegisterTracker() {
-        tracker = nullptr;
-    }
+    void registerTracker(ITracker * x) { tracker = dynamic_cast<Tracker*>(x); }
+    void unRegisterTracker() { tracker = nullptr; }
 private:
-	Ui::Form ui;
+    Ui::Form ui;
     Tracker* tracker;
     settings s;
+    TranslationCalibrator calibrator;
+    QTimer calib_timer;
 private slots:
-	void doOK();
-	void doCancel();
+    void doOK();
+    void doCancel();
+    void toggleCalibrate();
+    void cleanupCalib();
+    void update_tracker_calibration();
 };
-
-#endif
-