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#pragma once
#ifndef HT_API
#ifndef __cplusplus
# define HT_EXTERN
#else
# define HT_EXTERN extern "C"
#endif
# if defined(_WIN32) && !defined(MINGW)
# define HT_API(t) HT_EXTERN __declspec(dllexport) t __stdcall
# else
# define HT_API(t) HT_EXTERN t
# endif
#endif
#if !defined(_WIN32) && !defined(_isnan)
# define _isnan isnan
#endif
#include <stdio.h>
struct ht_context;
typedef struct ht_context headtracker_t;
typedef struct ht_config {
float field_of_view;
float classification_delay;
int pyrlk_pyramids;
int pyrlk_win_size_w;
int pyrlk_win_size_h;
float ransac_max_inlier_error;
float ransac_max_reprojection_error;
int max_keypoints;
int keypoint_quality;
float keypoint_distance;
float keypoint_3distance;
int force_width;
int force_height;
int force_fps;
int camera_index;
bool debug;
int ransac_num_iters;
float ransac_min_features;
float ransac_max_mean_error;
float ransac_abs_max_mean_error;
} ht_config_t;
typedef struct {
double rotx, roty, rotz;
double tx, ty, tz;
bool filled;
} ht_result_t;
typedef enum {
cfg_type_float = 0,
cfg_type_int = 1,
cfg_type_bool = 2,
cfg_type_double = 3
} ht_cfg_type_t;
typedef union
{
double d;
float f;
int i;
} ht_cfg_value_t;
typedef struct {
const char* name;
int offset;
ht_cfg_type_t type;
ht_cfg_value_t default_value;
ht_cfg_value_t min;
ht_cfg_value_t max;
const char* docstring;
} ht_reflection_t;
typedef struct {
int rows, cols, channels;
unsigned char* data;
} ht_frame_t;
HT_API(headtracker_t*) ht_make_context(const ht_config_t* config, const char* filename);
HT_API(void) ht_load_config(FILE* stream, ht_config_t* cfg);
HT_API(void) ht_free_context(headtracker_t* ctx);
HT_API(void) ht_get_bgr_frame(headtracker_t* ctx, ht_frame_t* ret);
HT_API(void) ht_make_config(ht_config_t* cfg);
HT_API(bool) ht_cycle(headtracker_t* ctx, ht_result_t* euler);
HT_API(void) ht_reset(headtracker_t* ctx);
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