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/* Copyright (c) 2012 Patrick Ruoff
* Copyright (c) 2014-2016 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 "api/plugin-api.hpp"
#include "cv/numeric.hpp"
#include "video/video-widget.hpp"
#include "video/camera.hpp"
#include "preview.h"
#include "settings.h"
#include "point-extractor.h"
#include <atomic>
#include <memory>
#include <vector>
#include <opencv2/core.hpp>
#include <QThread>
#include <QMutex>
#include <QLayout>
namespace EasyTracker
{
static const QString KModuleName = "tracker-easy";
class Dialog;
using namespace numeric_types;
struct Tracker : QThread, ITracker
{
friend class Dialog;
explicit Tracker();
~Tracker() override;
module_status start_tracker(QFrame* parent_window) override;
void data(double* data) override;
bool center() override;
int get_n_points();
private:
void run() override;
bool maybe_reopen_camera();
void set_fov(int value);
QMutex camera_mtx;
Settings s;
std::unique_ptr<QLayout> layout;
std::vector<cv::Point> iPoints;
int preview_width = 320, preview_height = 240;
PointExtractor iPointExtractor;
std::unique_ptr<video::impl::camera> camera;
video::impl::camera::info iCameraInfo;
std::unique_ptr<video_widget> widget;
video::frame iFrame;
cv::Mat iMatFrame;
Preview iPreview;
std::atomic<unsigned> point_count{ 0 };
std::atomic<bool> ever_success = false;
mutable QMutex center_lock, data_lock;
// Translation solutions
std::vector<cv::Mat> iTranslations;
// Rotation solutions
std::vector<cv::Mat> iRotations;
// Angle solutions, pitch, yaw, roll, in this order
std::vector<cv::Vec3d> iAngles;
// The index of our best solution in the above arrays
int iBestSolutionIndex = -1;
// Best translation
cv::Vec3d iBestTranslation;
// Best angles
cv::Vec3d iBestAngles;
};
}
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