1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
|
/* 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 <QTimer>
#include <QThread>
#include <QMutex>
#include <QHBoxLayout>
#include <QDialog>
#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;
void run();
private:
QMutex mtx;
QTimer timer;
ArucoVideoWidget* 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];
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 *);
void Initialize(QWidget *);
void registerTracker(ITracker *) {}
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
|
