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/* Copyright (c) 2019 Stephane Lenclud
*
* 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 "compat/timer.hpp"
#include "preview.h"
#include "settings.h"
#include "point-extractor.h"
#include "kalman-filter-pose.h"
#include <atomic>
#include <memory>
#include <vector>
#include <opencv2/core.hpp>
#include <opencv2/video/tracking.hpp>
#include <QThread>
#include <QMutex>
#include <QLayout>
namespace EasyTracker
{
namespace VertexPosition
{
enum Type
{
Top = 0,
Right,
Left,
TopRight,
TopLeft,
Center
};
}
static const QString KModuleName = "tracker-easy";
class Dialog;
using namespace numeric_types;
struct Tracker : public QObject, ITracker
{
Q_OBJECT
public:
friend class Dialog;
explicit Tracker();
~Tracker() override;
// From ITracker
module_status start_tracker(QFrame* parent_window) override;
void data(double* data) override;
bool center() override;
private slots:
void Tick();
private:
void UpdateModel();
void CreateCameraIntrinsicsMatrices();
void ProcessFrame();
void MatchVertices(int& aTopIndex, int& aRightIndex, int& aLeftIndex, int& aCenterIndex, int& aTopRight, int& aTopLeft);
void MatchThreeOrFourVertices(int& aTopIndex, int& aRightIndex, int& aLeftIndex, int& aCenterIndex);
void MatchFiveVertices(int& aTopIndex, int& aRightIndex, int& aLeftIndex, int& aTopRight, int& aTopLeft);
void MatchClipVertices(int& aTopIndex, int& aMiddleIndex, int& aBottomIndex);
//
bool CheckCamera();
void set_fov(int value);
void SetFps(int aFps);
void DoSetFps(int aFps);
void UpdateSettings();
QMutex camera_mtx;
QThread iThread;
QTimer iTicker;
Settings iSettings;
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<bool> ever_success = false;
mutable QMutex iProcessLock, iDataLock;
//// Copy the settings need by our thread to avoid dead locks
// Deadzone
int iDeadzoneEdge=0;
int iDeadzoneHalfEdge=0;
// Solver
int iSolver = cv::SOLVEPNP_P3P;
bool iDebug = false;
////
// Statistics
Timer iTimer;
Timer iFpsTimer;
int iFrameCount = 0;
int iSkippedFrameCount = 0;
int iFps = 0;
int iSkippedFps = 0;
uint iBadSolutionCount = 0;
uint iGoodSolutionCount = 0;
//
KalmanFilterPose iKf;
// Vertices defining the model we are tracking
std::vector<cv::Point3f> iModel;
// Bitmap points corresponding to model vertices
std::vector<cv::Point2f> iTrackedPoints;
std::vector<cv::Rect> iTrackedRects;
// Intrinsics camera matrix
cv::Matx33d iCameraMatrix { cv::Matx33d::zeros() };
// Intrinsics distortion coefficients as a matrix
cv::Matx<double, 8, 1> iDistCoeffsMatrix;
// 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;
// Time at which we found our last best solution
Timer iBestTime;
// Center translation
cv::Vec3d iCenterTranslation = {0,0,0};
// Center angles
cv::Vec3d iCenterAngles = { 0,0,0 };
};
}
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