1 files changed, 15 insertions, 9 deletions

diff --git a/tracker-aruco/ftnoir_tracker_aruco.cpp b/tracker-aruco/ftnoir_tracker_aruco.cpp
index 0cdf4c2c..5130a889 100644
--- a/tracker-aruco/ftnoir_tracker_aruco.cpp
+++ b/tracker-aruco/ftnoir_tracker_aruco.cpp
@@ -56,6 +56,8 @@ static const resolution_tuple resolution_choices[] =
 {
     { 640, 480 },
     { 320, 240 },
+    { 1280, 720 },
+    { 1920, 1080 },
     { 0, 0 }
 };
 
@@ -81,8 +83,8 @@ module_status aruco_tracker::start_tracker(QFrame* videoframe)
     videoWidget = std::make_unique<cv_video_widget>(videoframe);
     layout = std::make_unique<QHBoxLayout>();
     layout->setContentsMargins(0, 0, 0, 0);
-    layout->addWidget(videoWidget.get());
-    videoframe->setLayout(layout.get());
+    layout->addWidget(&*videoWidget);
+    videoframe->setLayout(&*layout);
     videoWidget->show();
     start();
 
@@ -101,8 +103,8 @@ bool aruco_tracker::detect_with_roi()
 {
     if (last_roi.width > 1 && last_roi.height > 1)
     {
-        detector.setMinMaxSize(clamp(size_min * grayscale.cols / last_roi.width, .01f, 1.f),
-                               clamp(size_max * grayscale.cols / last_roi.width, .01f, 1.f));
+        detector.setMinMaxSize(std::clamp(size_min * grayscale.cols / last_roi.width, .01f, 1.f),
+                               std::clamp(size_max * grayscale.cols / last_roi.width, .01f, 1.f));
 
         detector.detect(grayscale(last_roi), markers, cv::Mat(), cv::Mat(), -1, false);
 
@@ -157,9 +159,7 @@ static int enum_to_fps(int value)
 
 bool aruco_tracker::open_camera()
 {
-    int rint = s.resolution;
-    if (rint < 0 || rint >= (int)(sizeof(resolution_choices) / sizeof(resolution_tuple)))
-        rint = 0;
+    int rint = std::clamp(*s.resolution, 0, (int)std::size(resolution_choices)-1);
     resolution_tuple res = resolution_choices[rint];
     int fps = enum_to_fps(s.force_fps);
 
@@ -180,6 +180,8 @@ 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";
@@ -226,7 +228,7 @@ void aruco_tracker::draw_ar(bool ok)
     }
 
     char buf[9];
-    ::snprintf(buf, sizeof(buf), "Hz: %d", clamp(int(fps), 0, 9999));
+    ::snprintf(buf, sizeof(buf), "Hz: %d", std::clamp(int(fps), 0, 9999));
     cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0), 1);
 }
 
@@ -380,6 +382,7 @@ void aruco_tracker::run()
 
             if (!res)
             {
+                camera_mtx.unlock();
                 portable::sleep(100);
                 continue;
             }
@@ -389,7 +392,9 @@ void aruco_tracker::run()
             switch (img.channels)
             {
             case 1:
-                grayscale.setTo(color); break;
+                grayscale.create(img.height, img.width, CV_8UC1);
+                color.copyTo(grayscale);
+                break;
             case 3:
                 cv::cvtColor(color, grayscale, cv::COLOR_BGR2GRAY);
                 break;
@@ -524,6 +529,7 @@ 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()));