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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 "video_widget.h"
#include <QObject>
#include <QTimer>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <opencv2/opencv.hpp>
class Tracker : public QThread, public ITracker
{
Q_OBJECT
public:
Tracker();
~Tracker();
void StartTracker(QFrame* frame);
bool GiveHeadPoseData(double *data);
bool enableTX, enableTY, enableTZ, enableRX, enableRY, enableRZ;
bool NeedsTimeToFinish() {
return true;
}
void WaitForExit() {
stop = true;
wait();
}
void run();
private:
QMutex mtx;
QTimer timer;
VideoWidget* videoWidget;
QHBoxLayout* layout;
volatile bool fresh, stop;
float fov;
int camera_index;
float dc[5];
int force_fps, force_width, force_height;
void load_settings();
double pose[6];
int marker_size;
cv::Mat frame;
private slots:
void paint_widget();
};
// 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 * event );
void Initialize(QWidget *parent);
void registerTracker(ITracker *tracker) {}
void unRegisterTracker() {}
private:
Ui::Form ui;
void loadSettings();
void save();
bool settingsDirty;
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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