tracker/aruco: allow use of mjpeg compression

Issue: #1431

7 files changed, 74 insertions, 34 deletions

diff --git a/tracker-aruco/aruco-trackercontrols.ui b/tracker-aruco/aruco-trackercontrols.ui
index 4d40b6ef..0cd76b89 100644
--- a/tracker-aruco/aruco-trackercontrols.ui
+++ b/tracker-aruco/aruco-trackercontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>462</width>
-    <height>221</height>
+    <width>457</width>
+    <height>230</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -64,13 +64,17 @@
       <item>
        <widget class="QFrame" name="frame">
         <layout class="QGridLayout" name="gridLayout_4">
-         <item row="2" column="1">
-          <widget class="QComboBox" name="cameraName">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
+         <item row="4" column="0">
+          <widget class="QLabel" name="label_11">
+           <property name="text">
+            <string>Resolution</string>
+           </property>
+          </widget>
+         </item>
+         <item row="2" column="0">
+          <widget class="QLabel" name="label_10">
+           <property name="text">
+            <string>Camera name</string>
            </property>
           </widget>
          </item>
@@ -93,7 +97,24 @@
            </property>
           </widget>
          </item>
-         <item row="3" column="1">
+         <item row="1" column="0">
+          <widget class="QLabel" name="label_12">
+           <property name="text">
+            <string>Frames per second</string>
+           </property>
+          </widget>
+         </item>
+         <item row="1" column="1">
+          <widget class="QComboBox" name="cameraFPS">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+          </widget>
+         </item>
+         <item row="4" column="1">
           <widget class="QComboBox" name="resolution">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -123,27 +144,6 @@
            </item>
           </widget>
          </item>
-         <item row="1" column="0">
-          <widget class="QLabel" name="label_12">
-           <property name="text">
-            <string>Frames per second</string>
-           </property>
-          </widget>
-         </item>
-         <item row="3" column="0">
-          <widget class="QLabel" name="label_11">
-           <property name="text">
-            <string>Resolution</string>
-           </property>
-          </widget>
-         </item>
-         <item row="2" column="0">
-          <widget class="QLabel" name="label_10">
-           <property name="text">
-            <string>Camera name</string>
-           </property>
-          </widget>
-         </item>
          <item row="0" column="0">
           <widget class="QLabel" name="label_9">
            <property name="text">
@@ -151,8 +151,8 @@
            </property>
           </widget>
          </item>
-         <item row="1" column="1">
-          <widget class="QComboBox" name="cameraFPS">
+         <item row="2" column="1">
+          <widget class="QComboBox" name="cameraName">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
              <horstretch>0</horstretch>
@@ -161,7 +161,7 @@
            </property>
           </widget>
          </item>
-         <item row="4" column="1">
+         <item row="5" column="1">
           <widget class="QPushButton" name="camera_settings">
            <property name="sizePolicy">
             <sizepolicy hsizetype="Preferred" vsizetype="Maximum">
@@ -174,6 +174,26 @@
            </property>
           </widget>
          </item>
+         <item row="3" column="0">
+          <widget class="QLabel" name="label">
+           <property name="text">
+            <string>MJPEG</string>
+           </property>
+          </widget>
+         </item>
+         <item row="3" column="1">
+          <widget class="QCheckBox" name="use_mjpeg">
+           <property name="sizePolicy">
+            <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+             <horstretch>0</horstretch>
+             <verstretch>0</verstretch>
+            </sizepolicy>
+           </property>
+           <property name="text">
+            <string/>
+           </property>
+          </widget>
+         </item>
         </layout>
        </widget>
       </item>
diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 4e31d90d..1f39db32 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -179,6 +179,8 @@ bool aruco_tracker::open_camera()
     if (fps)
         args.fps = fps;
 
+    args.use_mjpeg = s.use_mjpeg;
+
     if (!camera->start(args))
     {
         qDebug() << "aruco tracker: can't open camera";
@@ -526,6 +528,7 @@ aruco_dialog::aruco_dialog() :
     tie_setting(s.headpos_x, ui.cx);
     tie_setting(s.headpos_y, ui.cy);
     tie_setting(s.headpos_z, ui.cz);
+    tie_setting(s.use_mjpeg, ui.use_mjpeg);
 
     connect(ui.buttonBox, SIGNAL(accepted()), this, SLOT(doOK()));
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
diff --git a/tracker-aruco/ftnoir_tracker_aruco.h b/tracker-aruco/ftnoir_tracker_aruco.h
index 3c50ada0..839be6d5 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.h
+++ b/tracker-aruco/ftnoir_tracker_aruco.h
@@ -62,6 +62,7 @@ struct settings : opts {
     value<int> resolution { b, "force-resolution", 0 };
     value<int> fov { b, "field-of-view", 56 };
     value<aruco_fps> force_fps { b, "force-fps", fps_default };
+    value<bool> use_mjpeg { b, "use-mjpeg", false };
 
     settings();
 };
diff --git a/tracker-aruco/lang/nl_NL.ts b/tracker-aruco/lang/nl_NL.ts
index c9213ea0..1a510ac1 100644
--- a/tracker-aruco/lang/nl_NL.ts
+++ b/tracker-aruco/lang/nl_NL.ts
@@ -63,6 +63,10 @@
         <source>1280x720</source>
         <translation>1280x720</translation>
     </message>
+    <message>
+        <source>MJPEG</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>aruco_dialog</name>
diff --git a/tracker-aruco/lang/ru_RU.ts b/tracker-aruco/lang/ru_RU.ts
index f78a7cae..3e0aa86a 100644
--- a/tracker-aruco/lang/ru_RU.ts
+++ b/tracker-aruco/lang/ru_RU.ts
@@ -63,6 +63,10 @@
         <source>1280x720</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MJPEG</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>aruco_dialog</name>
diff --git a/tracker-aruco/lang/stub.ts b/tracker-aruco/lang/stub.ts
index 82ccd296..bbd78995 100644
--- a/tracker-aruco/lang/stub.ts
+++ b/tracker-aruco/lang/stub.ts
@@ -63,6 +63,10 @@
         <source>1280x720</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MJPEG</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>aruco_dialog</name>
diff --git a/tracker-aruco/lang/zh_CN.ts b/tracker-aruco/lang/zh_CN.ts
index e060c387..88b1054c 100644
--- a/tracker-aruco/lang/zh_CN.ts
+++ b/tracker-aruco/lang/zh_CN.ts
@@ -63,6 +63,10 @@
         <source>1280x720</source>
         <translation type="unfinished"></translation>
     </message>
+    <message>
+        <source>MJPEG</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>aruco_dialog</name>