1 files changed, 50 insertions, 40 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 7f21f020..4cab84b5 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -10,46 +10,63 @@
 
 #include "ftnoir_tracker_base/ftnoir_tracker_base.h"
 #include "ui_aruco-trackercontrols.h"
-#include "video_widget.h"
+#include "ar_video_widget.h"
 #include <QObject>
-#include <QTimer>
 #include <QThread>
 #include <QMutex>
 #include <QHBoxLayout>
+#include <QDialog>
 #include <opencv2/opencv.hpp>
+#include <opencv/highgui.h>
+#include "facetracknoir/options.h"
+using namespace options;
 
-class Tracker : public QThread, public ITracker
+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),
+        headpos_x(b, "headpos-x", 0),
+        headpos_y(b, "headpos-y", 0),
+        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)
+    {}
+};
+
+class Tracker : protected QThread, public ITracker
 {
     Q_OBJECT
 public:
 	Tracker();
-	~Tracker();
+    virtual ~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 GetHeadPoseData(double *data);
     void run();
+    void reload() { s.b->reload(); }
 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();
+    volatile bool stop;
+    QHBoxLayout* layout;
+	ArucoVideoWidget* videoWidget;
+    settings s;
     double pose[6];
     cv::Mat frame;
-private slots:
-    void paint_widget();
+    cv::VideoCapture camera;
 };
 
 // Widget that has controls for FTNoIR protocol client-settings.
@@ -57,27 +74,20 @@ 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() {}
-
+    TrackerControls();
+    void registerTracker(ITracker * x) {
+        tracker = dynamic_cast<Tracker*>(x);
+    }
+    void unRegisterTracker() {
+        tracker = nullptr;
+    }
 private:
 	Ui::Form ui;
-	void loadSettings();
-	void save();
-	bool settingsDirty;
-
+    Tracker* tracker;
+    settings s;
 private slots:
 	void doOK();
 	void doCancel();
-    void settingChanged() { settingsDirty = true; }
-    void settingChanged(int) { settingsDirty = true; }
-    void settingChanged(double) { settingsDirty = true; }
 };
 
 #endif