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/* Copyright (c) 2013 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.
*/
#ifndef FTNOIR_TRACKER_HT_H
#define FTNOIR_TRACKER_HT_H
#include "ftnoir_tracker_base/ftnoir_tracker_base.h"
#include "ui_aruco-trackercontrols.h"
#include "ar_video_widget.h"
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#include <opencv2/opencv.hpp>
#include <opencv/highgui.h>
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
public:
Tracker();
virtual ~Tracker();
void StartTracker(QFrame* frame);
void GetHeadPoseData(double *data);
bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
void run();
void load_settings();
private:
QMutex mtx;
ArucoVideoWidget* videoWidget;
QHBoxLayout* layout;
volatile bool stop;
float fov;
int camera_index;
int force_fps, force_width, force_height;
double pose[6];
cv::Mat frame;
double headpos[3], headpitch;
cv::VideoCapture camera;
int N_hyst;
cv::Mat lasts;
};
// Widget that has controls for FTNoIR protocol client-settings.
class TrackerControls : public QWidget, public ITrackerDialog
{
Q_OBJECT
public:
explicit TrackerControls();
virtual ~TrackerControls();
void showEvent (QShowEvent *);
void Initialize(QWidget *);
void registerTracker(ITracker * x) {
tracker = dynamic_cast<Tracker*>(x);
}
void unRegisterTracker() {
tracker = nullptr;
}
private:
Ui::Form ui;
void loadSettings();
void save();
bool settingsDirty;
Tracker* tracker;
private slots:
void doOK();
void doCancel();
void settingChanged() { settingsDirty = true; }
void settingChanged(int) { settingsDirty = true; }
void settingChanged(double) { settingsDirty = true; }
};
#endif
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