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/* Copyright (c) 2012 Patrick Ruoff
*
* 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.
*/
#ifndef FTNOIR_TRACKER_PT_H
#define FTNOIR_TRACKER_PT_H
#include "..\ftnoir_tracker_base\ftnoir_tracker_base.h"
#include "ftnoir_tracker_pt_settings.h"
#include "frame_observer.h"
#include "camera.h"
#include "point_extractor.h"
#include "point_tracker.h"
#include "video_widget.h"
#include "timer.h"
#include <QThread>
#include <QMutex>
#include <QTime>
#include <opencv2/opencv.hpp>
#include <boost/shared_ptr.hpp>
#include <vector>
//-----------------------------------------------------------------------------
// Constantly processes the tracking chain in a separate thread
class Tracker : public ITracker, QThread, public FrameProvider
{
public:
Tracker();
~Tracker();
// --- ITracker interface ---
virtual void Initialize(QFrame *videoframe);
virtual void StartTracker(HWND parent_window);
virtual void StopTracker(bool exit);
virtual bool GiveHeadPoseData(THeadPoseData *data);
virtual void refreshVideo();
void apply(const TrackerSettings& settings);
void center();
void reset(); // reset the trackers internal state variables
void run();
void get_pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.get_pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
protected:
// --- MutexedFrameProvider interface ---
virtual bool get_frame_and_points(cv::Mat& frame, boost::shared_ptr< std::vector<cv::Vec2f> >& points);
// --- thread ---
QMutex mutex;
// thread commands
enum Command {
ABORT = 1<<0,
PAUSE = 1<<1
};
void set_command(Command command);
void reset_command(Command command);
int commands;
int sleep_time;
// --- tracking chain ---
VICamera camera;
FrameRotation frame_rotation;
PointExtractor point_extractor;
PointTracker point_tracker;
bool tracking_valid;
FrameTrafo X_GH_0; // for centering
cv::Vec3f t_MH; // translation from model frame to head frame
cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
// --- ui ---
cv::Mat frame; // the output frame for display
void update_show_video_widget();
bool show_video_widget;
VideoWidget* video_widget;
QFrame* video_frame;
// --- misc ---
bool bEnableRoll;
bool bEnablePitch;
bool bEnableYaw;
bool bEnableX;
bool bEnableY;
bool bEnableZ;
long frame_count;
Timer time;
};
#endif // FTNOIR_TRACKER_PT_H
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