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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 <QTimer>
#include <opencv2/opencv.hpp>
#include <opencv/highgui.h>
#include "facetracknoir/options.h"
#include "ftnoir_tracker_aruco/trans_calib.h"
using namespace options;
struct settings {
pbundle b;
value<double> fov, headpos_x, headpos_y, headpos_z;
value<int> camera_index, force_fps, resolution;
value<bool> red_only;
value<bool> eyaw, epitch, eroll, ex, ey, ez;
value<double> marker_pitch;
settings() :
b(bundle("aruco-tracker")),
fov(b, "field-of-view", 56),
headpos_x(b, "headpos-x", 0),
headpos_y(b, "headpos-y", 0),
headpos_z(b, "headpos-z", 0),
camera_index(b, "camera-index", 0),
force_fps(b, "force-fps", 0),
resolution(b, "force-resolution", 0),
red_only(b, "red-only", false),
eyaw(b, "enable-y", true),
epitch(b, "enable-p", true),
eroll(b, "enable-r", true),
ex(b, "enable-x", true),
ey(b, "enable-y", true),
ez(b, "enable-z", true),
marker_pitch(b, "marker-pitch", 0)
{}
};
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
public:
Tracker();
virtual ~Tracker();
void StartTracker(QFrame* frame);
void GetHeadPoseData(double *data);
void run();
void reload() { s.b->reload(); }
void getRT(cv::Matx33f& r, cv::Vec3f& t);
private:
QMutex mtx;
volatile bool stop;
QHBoxLayout* layout;
ArucoVideoWidget* videoWidget;
settings s;
double pose[6];
cv::Mat frame;
cv::VideoCapture camera;
cv::Matx33f r;
cv::Vec3f t;
};
// Widget that has controls for FTNoIR protocol client-settings.
class TrackerControls : public QWidget, public ITrackerDialog
{
Q_OBJECT
public:
TrackerControls();
void registerTracker(ITracker * x) {
tracker = dynamic_cast<Tracker*>(x);
}
void unRegisterTracker() {
tracker = nullptr;
}
private:
Ui::Form ui;
Tracker* tracker;
settings s;
TranslationCalibrator calibrator;
QTimer calib_timer;
private slots:
void doOK();
void doCancel();
void toggleCalibrate();
void cleanupCalib();
void update_tracker_calibration();
};
#endif
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