1 files changed, 99 insertions, 0 deletions
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
new file mode 100644
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--- /dev/null
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -0,0 +1,99 @@
+/* Copyright (c) 2013-2015 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.
+ */
+
+#pragma once
+
+#include "ui_aruco-trackercontrols.h"
+#include "ar_video_widget.h"
+#include <QObject>
+#include <QThread>
+#include <QMutex>
+#include <QHBoxLayout>
+#include <QDialog>
+#include <QTimer>
+#include "opentrack/options.hpp"
+#include "trans_calib.h"
+#include "opentrack/plugin-api.hpp"
+#include "opentrack/opencv-camera-dialog.hpp"
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/highgui/highgui.hpp>
+
+using namespace options;
+
+struct settings : opts {
+    value<int> fov;
+    value<double> headpos_x, headpos_y, headpos_z;
+    value<QString> camera_name;
+    value<int> force_fps, resolution;
+    settings() :
+        opts("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_name(b, "camera-name", ""),
+        force_fps(b, "force-fps", 0),
+        resolution(b, "force-resolution", 0)
+    {}
+};
+
+class TrackerControls;
+
+class Tracker : protected QThread, public ITracker
+{
+    Q_OBJECT
+    friend class TrackerControls;
+    static constexpr double c_search_window = 2.65;
+public:
+    Tracker();
+    ~Tracker() override;
+    void start_tracker(QFrame* frame) override;
+    void data(double *data) override;
+    void run() override;
+    void getRT(cv::Matx33d &r, cv::Vec3d &t);
+private:
+    cv::VideoCapture camera;
+    QMutex camera_mtx;
+    QMutex mtx;
+    volatile bool stop;
+    QHBoxLayout* layout;
+    ArucoVideoWidget* videoWidget;
+    settings s;
+    double pose[6];
+    cv::Mat frame;
+    cv::Matx33d r;
+    cv::Vec3d t;
+};
+
+class TrackerControls : public ITrackerDialog, protected camera_dialog<Tracker>
+{
+    Q_OBJECT
+public:
+    TrackerControls();
+    void register_tracker(ITracker * x) override { tracker = static_cast<Tracker*>(x); }
+    void unregister_tracker() override { tracker = nullptr; }
+private:
+    Ui::Form ui;
+    Tracker* tracker;
+    settings s;
+    TranslationCalibrator calibrator;
+    QTimer calib_timer;
+private slots:
+    void doOK();
+    void doCancel();
+    void toggleCalibrate();
+    void cleanupCalib();
+    void update_tracker_calibration();
+    void camera_settings();
+};
+
+class TrackerDll : public Metadata
+{
+    QString name() { return QString("aruco -- paper marker tracker"); }
+    QIcon icon() { return QIcon(":/images/aruco.png"); }
+};