/* 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 "cv/numeric.hpp" #include "pt-api.hpp" #include "point_tracker.h" #include "cv/video-widget.hpp" #include <atomic> #include <memory> #include <vector> #include <opencv2/core.hpp> #include <QThread> #include <QMutex> #include <QLayout> #include <QTimer> class TrackerDialog_PT; namespace pt_module { using namespace types; class Tracker_PT : public QThread, public ITracker { Q_OBJECT friend class ::TrackerDialog_PT; template<typename t> using pointer = typename pt_runtime_traits::pointer<t>; public: Tracker_PT(pointer<pt_runtime_traits> pt_runtime_traits); ~Tracker_PT() 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(pt_camera_info* info); public slots: void maybe_reopen_camera(); void set_fov(int value); protected: void run() override; private: pointer<pt_runtime_traits> traits; QMutex camera_mtx; QMutex data_mtx; PointTracker point_tracker; pt_settings s; std::unique_ptr<QLayout> layout; std::vector<vec2> points; int preview_width = 320, preview_height = 240; pointer<pt_point_extractor> point_extractor; pointer<pt_camera> camera; pointer<cv_video_widget> video_widget; pointer<pt_frame> frame; pointer<pt_preview> preview_frame; std::atomic<unsigned> point_count = 0; std::atomic<bool> ever_success = false; static constexpr f rad2deg = f(180/M_PI); //static constexpr float deg2rad = float(M_PI/180); }; } // ns pt_impl using pt_module::Tracker_PT;