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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 "pt-api.hpp"
#include "point_tracker.h"
#include "cv/video-widget.hpp"
#include "compat/util.hpp"
#include <atomic>
#include <memory>
#include <vector>
#include <opencv2/core.hpp>
#include <QThread>
#include <QMutex>
#include <QLayout>
class TrackerDialog_PT;
namespace pt_impl {
using namespace types;
class Tracker_PT : public QThread, public ITracker
{
Q_OBJECT
friend class ::TrackerDialog_PT;
public:
Tracker_PT(const pt_runtime_traits& pt_runtime_traits);
~Tracker_PT() override;
module_status start_tracker(QFrame* parent_window) override;
void data(double* data) override;
bool center() override;
Affine pose();
int get_n_points();
bool get_cam_info(pt_camera_info* info);
public slots:
void maybe_reopen_camera();
void set_fov(int value);
protected:
void run() override;
private:
QMutex camera_mtx;
QMutex data_mtx;
std::unique_ptr<pt_point_extractor> point_extractor;
std::unique_ptr<pt_camera> camera;
PointTracker point_tracker;
pt_settings s;
std::unique_ptr<cv_video_widget> video_widget;
std::unique_ptr<QLayout> layout;
cv::Mat frame, preview_frame;
std::vector<vec2> points;
QSize preview_size;
std::atomic<unsigned> point_count = 0;
std::atomic<bool> ever_success = false;
static constexpr f rad2deg = f(180/M_PI);
//static constexpr float deg2rad = float(M_PI/180);
};
} // ns pt_impl
using pt_impl::Tracker_PT;
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