1 files changed, 46 insertions, 65 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.h b/tracker-pt/ftnoir_tracker_pt.h
index b7b0019a..a793f94b 100644
--- a/tracker-pt/ftnoir_tracker_pt.h
+++ b/tracker-pt/ftnoir_tracker_pt.h
@@ -9,90 +9,71 @@
 #pragma once
 
 #include "api/plugin-api.hpp"
-#include "ftnoir_tracker_pt_settings.h"
-
-#include "numeric.hpp"
-
-#include "camera.h"
-#include "point_extractor.h"
+#include "pt-api.hpp"
 #include "point_tracker.h"
-#include "cv/video-widget.hpp"
-#include "compat/util.hpp"
+#include "cv/numeric.hpp"
+#include "video/video-widget.hpp"
+#include "point-filter.hpp"
 
-#include <QCoreApplication>
-#include <QThread>
-#include <QMutex>
-#include <QMutexLocker>
-#include <QTime>
-#include <QLayout>
-#include <QSize>
 #include <atomic>
 #include <memory>
 #include <vector>
 
-class TrackerDialog_PT;
+#include <QThread>
+#include <QMutex>
+#include <QLayout>
 
-namespace impl {
+namespace pt_impl {
 
-using namespace types;
+class TrackerDialog_PT;
+
+using namespace numeric_types;
 
-class Tracker_PT : public QThread, public ITracker
+struct Tracker_PT : QThread, ITracker
 {
-    Q_OBJECT
-    friend class camera_dialog;
-    friend class ::TrackerDialog_PT;
-public:
-    Tracker_PT();
+    friend class TrackerDialog_PT;
+
+    template<typename t> using pointer = pt_pointer<t>;
+
+    explicit Tracker_PT(pointer<pt_runtime_traits> const& pt_runtime_traits);
     ~Tracker_PT() override;
-    void start_tracker(QFrame* parent_window) override;
+    module_status start_tracker(QFrame* parent_window) override;
     void data(double* data) override;
+    bool center() override;
 
-    Affine pose();
     int  get_n_points();
-    bool get_cam_info(CamInfo* info);
-public slots:
-    void maybe_reopen_camera();
-    void set_fov(int value);
-protected:
-    void run() override;
+    [[nodiscard]] bool get_cam_info(pt_camera_info& info);
+    Affine pose() const;
+
 private:
-    // thread commands
-    enum Command : unsigned char
-    {
-        ABORT = 1<<0
-    };
-    void set_command(Command command);
-    void reset_command(Command command);
-
-    QMutex camera_mtx;
-    QMutex data_mtx;
-    Camera       camera;
-    PointExtractor point_extractor;
-    PointTracker   point_tracker;
-
-    qshared<cv_video_widget> video_widget;
-    qshared<QLayout> layout;
-
-    settings_pt s;
-    cv::Mat frame, preview_frame;
-    std::vector<vec2> points;
+    void run() override;
+    [[nodiscard]] bool check_camera();
 
-    QSize preview_size;
+    pointer<pt_runtime_traits> traits;
 
-    volatile unsigned point_count;
-    volatile unsigned char commands;
-    volatile bool ever_success;
+    PointTracker point_tracker;
 
-    static constexpr f rad2deg = f(180/M_PI);
-    //static constexpr float deg2rad = float(M_PI/180);
-};
+    pt_settings s;
 
-} // ns impl
+    std::unique_ptr<QLayout> layout;
+    std::vector<vec2> points;
 
-class PT_metadata : public Metadata
-{
-    QString name() { return QString(QCoreApplication::translate("PT_metadata", "PointTracker 1.1")); }
-    QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
+    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;
+    std::atomic<bool> reopen_camera_flag = true;
+    std::atomic<bool> open_camera_dialog_flag = false;
+    mutable QMutex center_lock, data_lock;
+    point_filter filter{s};
 };
 
-using impl::Tracker_PT;
+} // ns pt_impl
+
+using Tracker_PT = pt_impl::Tracker_PT;