summaryrefslogtreecommitdiffhomepage
path: root/tracker-pt/ftnoir_tracker_pt.h
blob: b6815bd7ffd2c3247d29054305203ac11c3e8daf (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
 *
 * 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.
 */

#ifndef FTNOIR_TRACKER_PT_H
#define FTNOIR_TRACKER_PT_H

#include "opentrack/plugin-api.hpp"
#include "ftnoir_tracker_pt_settings.h"
#include "camera.h"
#include "point_extractor.h"
#include "point_tracker.h"
#include "pt_video_widget.h"
#include "opentrack-compat/timer.hpp"
#include "opentrack/opencv-camera-dialog.hpp"

#include <QThread>
#include <QMutex>
#include <QMutexLocker>
#include <QTime>
#include <atomic>
#include <memory>
#include <vector>

class TrackerDialog_PT;

//-----------------------------------------------------------------------------
// Constantly processes the tracking chain in a separate thread
class Tracker_PT : public QThread, public ITracker
{
    Q_OBJECT
    friend class camera_dialog;
    friend class TrackerDialog_PT;
public:
    Tracker_PT();
    ~Tracker_PT() override;
    void start_tracker(QFrame* parent_window) override;
    void data(double* data) override;

    Affine pose() { return point_tracker.pose(); }
    int  get_n_points() { return point_extractor.get_n_points(); }
    bool get_cam_info(CamInfo* info) { QMutexLocker lock(&camera_mtx); return camera.get_info(*info); }
public slots:
    void apply_settings();
protected:
    void run() override;
private:
    // thread commands
    enum Command : unsigned char
    {
        ABORT = 1<<0
    };
    void set_command(Command command);
    void reset_command(Command command);

    bool get_focal_length(float &ret);

    QMutex camera_mtx;
    CVCamera       camera;
    PointExtractor point_extractor;
    PointTracker   point_tracker;

    PTVideoWidget* video_widget;
    QFrame*      video_frame;

    settings_pt s;
    Timer time;
    cv::Mat frame;

    volatile bool ever_success;
    volatile unsigned char commands;

    static constexpr float rad2deg = float(180/3.14159265);
    //static constexpr float deg2rad = float(3.14159265/180);
};

class TrackerDll : public Metadata
{
    QString name() { return QString("PointTracker 1.1"); }
    QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
};

#endif // FTNOIR_TRACKER_PT_H