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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 "ftnoir_tracker_pt_settings.h"
#include "cv/numeric.hpp"
#include "camera.h"
#include "point_extractor.h"
#include "point_tracker.h"
#include "cv/video-widget.hpp"
#include "compat/util.hpp"
#include <atomic>
#include <memory>
#include <vector>
#include <QCoreApplication>
#include <QThread>
#include <QMutex>
#include <QMutexLocker>
#include <QTime>
#include <QLayout>
#include <QSize>
class TrackerDialog_PT;
namespace impl {
using namespace types;
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();
int get_n_points();
bool get_cam_info(CamInfo* info);
public slots:
void maybe_reopen_camera();
void set_fov(int value);
protected:
void run() override;
private:
// thread commands
enum Command : unsigned char
{
ABORT = 1<<0
};
void set_command(Command command);
void reset_command(Command command);
QMutex camera_mtx;
QMutex data_mtx;
Camera camera;
PointExtractor point_extractor;
PointTracker point_tracker;
std::unique_ptr<cv_video_widget> video_widget;
std::unique_ptr<QLayout> layout;
settings_pt s;
cv::Mat frame, preview_frame;
std::vector<vec2> points;
QSize preview_size;
std::atomic<unsigned> point_count;
std::atomic<unsigned char> commands;
std::atomic<bool> ever_success;
static constexpr f rad2deg = f(180/M_PI);
//static constexpr float deg2rad = float(M_PI/180);
};
} // ns impl
class PT_metadata : public Metadata
{
QString name() { return QString(QCoreApplication::translate("PT_metadata", "PointTracker 1.1")); }
QIcon icon() { return QIcon(":/Resources/Logo_IR.png"); }
};
using impl::Tracker_PT;
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