1 files changed, 92 insertions, 0 deletions
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
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+++ b/tracker-easy/tracker-easy.h
@@ -0,0 +1,92 @@
+/* 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;