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/* Copyright (c) 2012 Patrick Ruoff
*
* 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_PT_H
#define FTNOIR_TRACKER_PT_H
#ifdef OPENTRACK_API
# include "opentrack/plugin-api.hpp"
#endif
#include "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "point_extractor.h"
#include "point_tracker.h"
#include "pt_video_widget.h"
#include "opentrack/timer.hpp"
#include <QThread>
#include <QMutex>
#include <QMutexLocker>
#include <QTime>
#include <opencv2/core/core.hpp>
#include <atomic>
#ifndef OPENTRACK_API
# include <boost/shared_ptr.hpp>
#else
# include <memory>
#endif
#include <vector>
//-----------------------------------------------------------------------------
// Constantly processes the tracking chain in a separate thread
class Tracker : public ITracker, protected QThread
{
public:
Tracker();
~Tracker() override;
void start_tracker(QFrame* parent_window) override;
void data(double* data) override;
void apply(settings& s);
void apply_inner();
void center();
void reset(); // reset the trackers internal state variables
void pose(FrameTrafo* X_CM) { QMutexLocker lock(&mutex); *X_CM = point_tracker.pose(); }
int get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
protected:
void run() override;
private:
QMutex mutex;
// thread commands
enum Command {
ABORT = 1<<0
};
void set_command(Command command);
void reset_command(Command command);
volatile int commands;
CVCamera camera;
PointExtractor point_extractor;
PointTracker point_tracker;
FrameTrafo X_GH_0; // for centering
cv::Vec3f t_MH; // translation from model frame to head frame
cv::Matx33f R_GC; // rotation from opengl reference frame to camera frame
// --- ui ---
cv::Mat frame; // the output frame for display
PTVideoWidget* video_widget;
QFrame* video_frame;
settings s;
std::atomic<settings*> new_settings;
Timer time;
static constexpr double rad2deg = 180.0/3.14159265;
static constexpr double deg2rad = 3.14159265/180.0;
PointModel model;
};
#undef VideoWidget
#endif // FTNOIR_TRACKER_PT_H
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