blob: deddeea8501dc49c6ea98341e4bc6b2fe402d9dd (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
|
/* 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>
#include <QTimer>
class TrackerDialog_PT;
namespace pt_module {
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;
std::vector<vec2> points;
std::unique_ptr<pt_frame> frame;
std::unique_ptr<pt_preview> preview_frame;
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_module::Tracker_PT;
|
