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#pragma once
#include "../tracker-pt/pt-api.hpp"
#include "track_hat_driver.h"
#include "compat/macros.hpp"
#include <opencv2/core.hpp>
struct trackhat_camera final : pt_camera
{
trackhat_camera();
~trackhat_camera() override;
OTR_DISABLE_MOVE_COPY(trackhat_camera);
bool start(const pt_settings& s) override;
void stop() override;
pt_camera::result get_frame(pt_frame& frame) override;
pt_camera::result get_info() const override;
pt_camera_info get_desired() const override;
QString get_desired_name() const override;
QString get_active_name() const override;
void set_fov(f value) override;
void show_camera_settings() override;
static constexpr int sensor_size = 2940;
static constexpr int sensor_fov = 52;
static constexpr int point_count = TRACK_HAT_NUMBER_OF_POINTS;
private:
enum device_status { th_noinit, th_init, th_detect, th_connect, th_running, };
trackHat_Device_t device {};
device_status status = th_noinit;
TH_ErrorCode error_code = TH_SUCCESS;
};
struct trackhat_frame final : pt_frame
{
trackHat_Points_t points = {};
trackhat_frame() = default;
~trackhat_frame() override = default;
};
struct trackhat_preview final : pt_preview
{
QImage get_bitmap() override;
void draw_head_center(f x, f y) override;
void set_last_frame(const pt_frame&) override; // NOLINT(misc-unconventional-assign-operator)
trackhat_preview(int w, int h);
~trackhat_preview() override = default;
void draw_points();
void draw_center();
OTR_DISABLE_MOVE_COPY(trackhat_preview);
cv::Mat frame_bgr, frame_bgra;
numeric_types::vec2 center{-1, -1};
trackHat_Points_t points = {};
};
struct trackhat_extractor final : pt_point_extractor
{
void extract_points(const pt_frame& data, pt_preview&, bool, std::vector<vec2>& points) override;
OTR_DISABLE_MOVE_COPY(trackhat_extractor);
trackhat_extractor() = default;
~trackhat_extractor() override = default;
};
struct trackhat_metadata final : pt_runtime_traits
{
pt_runtime_traits::pointer<pt_camera> make_camera() const override;
pt_runtime_traits::pointer<pt_point_extractor> make_point_extractor() const override;
pt_runtime_traits::pointer<pt_frame> make_frame() const override;
pt_runtime_traits::pointer<pt_preview> make_preview(int w, int h) const override;
QString get_module_name() const override;
OTR_DISABLE_MOVE_COPY(trackhat_metadata);
trackhat_metadata() = default;
~trackhat_metadata() override = default;
};
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