Tracker.h

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#pragma once

#include <QMatrix4x4>
#include <QThread>
#include <QTime>
#include <QQueue>
#include <opencv2/opencv.hpp>
#include "Similarity.h"

using cv::Mat;

struct FilterConfig{
    bool kalman;                
    double processNoise;        
    double measurementNoise;    
    int stabilizationFrames;    
    float maxTranslation;       
    float maxRotation;          
};


class Tracker : 
    public QThread
{
    Q_OBJECT

public:
    Tracker(FilterConfig filterConfig, int maxUpdateRate = 60);
    virtual ~Tracker(void){}

    void stop();                            
    void stopAndDelete();                   
    virtual Similarity getPose(int trackableId) = 0;    
    virtual Similarity getOrigin() = 0;                 
    virtual bool isTracked(int trackableId) = 0;        
protected:
    virtual void update() = 0;              
    void run();                             
    int maxUpdateRate;                      
    //calculate fps
    QTime t;
    int executionTime;
    static const int fpsQueueLength = 32;
    QQueue<int> fpsQueue;
    int avgFPS;
    void updateFPS(int timeElapsed);

    QMutex stopMutex;                       
    volatile bool doStop;                   
    FilterConfig filterConfig;              
    //Kalman Filter
    int nStates;                                        
    int nMeasurements;                                  
    int nInputs;                                        
    Mat measurements;                                   
    void initKalmanFilter(cv::KalmanFilter &KF);
    void fillMeasurements( cv::Mat &measurements, Similarity pose); 
    void updateKalmanFilter( cv::KalmanFilter &KF, cv::Mat &measurement, Similarity &pose);

signals:
    void newOrigin(QMatrix4x4 origin);      
    void newFps(int fps);                   
};