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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 "tracker-easy-api.h"
#include "cv/numeric.hpp"
#include "video/video-widget.hpp"
#include <atomic>
#include <memory>
#include <vector>
#include <opencv2/core.hpp>
#include <QThread>
#include <QMutex>
#include <QLayout>
namespace pt_impl {
class EasyTrackerDialog;
using namespace numeric_types;
struct EasyTracker : QThread, ITracker
{
friend class EasyTrackerDialog;
template<typename t> using pointer = pt_pointer<t>;
explicit EasyTracker(pointer<pt_runtime_traits> const& pt_runtime_traits);
~EasyTracker() override;
module_status start_tracker(QFrame* parent_window) override;
void data(double* data) override;
bool center() override;
int get_n_points();
[[nodiscard]] bool get_cam_info(pt_camera_info& info);
private:
void run() override;
bool maybe_reopen_camera();
void set_fov(int value);
pointer<pt_runtime_traits> traits;
QMutex camera_mtx;
pt_settings s;
std::unique_ptr<QLayout> layout;
std::vector<vec2> points;
std::vector<vec2> iImagePoints;
int preview_width = 320, preview_height = 240;
pointer<pt_point_extractor> point_extractor;
pointer<pt_camera> camera;
pointer<video_widget> widget;
pointer<pt_frame> frame;
pointer<pt_preview> preview_frame;
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;
};
} // ns pt_impl
using Tracker_PT = pt_impl::EasyTracker;
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