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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.
*/
#pragma once
#include "ui_aruco-trackercontrols.h"
#include "ar_video_widget.h"
#include <QObject>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#include <QTimer>
#include "opentrack/options.hpp"
#include "ftnoir_tracker_aruco/trans_calib.h"
#include "opentrack/plugin-api.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
using namespace options;
struct settings : opts {
value<double> fov, headpos_x, headpos_y, headpos_z;
value<int> camera_index, force_fps, resolution;
settings() :
opts("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)
{}
};
class Tracker : protected QThread, public ITracker
{
Q_OBJECT
static constexpr double c_search_window = 2.65;
public:
Tracker();
~Tracker() override;
void start_tracker(QFrame* frame);
void data(double *data);
void run();
void getRT(cv::Matx33d &r, cv::Vec3d &t);
private:
QMutex mtx;
volatile bool stop;
QHBoxLayout* layout;
ArucoVideoWidget* videoWidget;
settings s;
double pose[6];
cv::Mat frame;
cv::VideoCapture camera;
cv::Matx33d r;
cv::Vec3d t;
};
class TrackerControls : public ITrackerDialog
{
Q_OBJECT
public:
TrackerControls();
void register_tracker(ITracker * x) { tracker = static_cast<Tracker*>(x); }
void unregister_tracker() { 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();
};
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