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+/* Copyright (c) 2012 Patrick Ruoff
+ * Copyright (c) 2014-2016 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 "api/plugin-api.hpp"
+#include "tracker-easy-api.h"
+#include "cv/numeric.hpp"
+#include "video/video-widget.hpp"
+
+#include <atomic>
+#include <memory>
+#include <vector>
+
+#include <opencv2/core.hpp>
+
+#include <QThread>
+#include <QMutex>
+#include <QLayout>
+
+namespace pt_impl {
+
+class EasyTrackerDialog;
+
+using namespace numeric_types;
+
+struct EasyTracker : QThread, ITracker
+{
+ friend class EasyTrackerDialog;
+
+ template<typename t> using pointer = pt_pointer<t>;
+
+ explicit EasyTracker(pointer<pt_runtime_traits> const& pt_runtime_traits);
+ ~EasyTracker() override;
+ module_status start_tracker(QFrame* parent_window) override;
+ void data(double* data) override;
+ bool center() override;
+
+ int get_n_points();
+ [[nodiscard]] bool get_cam_info(pt_camera_info& info);
+
+private:
+ void run() override;
+
+ bool maybe_reopen_camera();
+ void set_fov(int value);
+
+ pointer<pt_runtime_traits> traits;
+
+ QMutex camera_mtx;
+
+
+ pt_settings s;
+
+ std::unique_ptr<QLayout> layout;
+ std::vector<vec2> points;
+ std::vector<vec2> iImagePoints;
+
+ int preview_width = 320, preview_height = 240;
+
+ pointer<pt_point_extractor> point_extractor;
+ pointer<pt_camera> camera;
+ pointer<video_widget> widget;
+ pointer<pt_frame> frame;
+ pointer<pt_preview> preview_frame;
+
+ std::atomic<unsigned> point_count { 0 };
+ std::atomic<bool> ever_success = false;
+ mutable QMutex center_lock, data_lock;
+
+ // Translation solutions
+ std::vector<cv::Mat> iTranslations;
+ // Rotation solutions
+ std::vector<cv::Mat> iRotations;
+ // Angle solutions, pitch, yaw, roll, in this order
+ std::vector<cv::Vec3d> iAngles;
+ // The index of our best solution in the above arrays
+ int iBestSolutionIndex = -1;
+ // Best translation
+ cv::Vec3d iBestTranslation;
+ // Best angles
+ cv::Vec3d iBestAngles;
+};
+
+} // ns pt_impl
+
+using Tracker_PT = pt_impl::EasyTracker;