Easy Tracker: removing legacy point tracker camera architecture.

17 files changed, 54 insertions, 422 deletions

diff --git a/tracker-easy/camera.cpp b/tracker-easy/camera.cpp
deleted file mode 100644
index 25f1f8d5..00000000
--- a/tracker-easy/camera.cpp
+++ /dev/null
@@ -1,151 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- *
- * 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.
- */
-
-#include "camera.h"
-#include "frame.hpp"
-
-#include "compat/math-imports.hpp"
-
-#include <opencv2/core.hpp>
-
-namespace pt_module {
-
-Camera::Camera(const QString& module_name) : s { module_name }
-{
-}
-
-QString Camera::get_desired_name() const
-{
-    return cam_desired.name;
-}
-
-QString Camera::get_active_name() const
-{
-    return cam_info.name;
-}
-
-void Camera::show_camera_settings()
-{
-    if (cap)
-        (void)cap->show_dialog();
-}
-
-Camera::result Camera::get_info() const
-{
-    if (cam_info.res_x == 0 || cam_info.res_y == 0)
-        return { false, pt_camera_info() };
-    else
-        return { true, cam_info };
-}
-
-Camera::result Camera::get_frame(pt_frame& frame_)
-{
-    cv::Mat& frame = frame_.as<Frame>()->mat;
-
-    const bool new_frame = get_frame_(frame);
-
-    if (new_frame)
-    {
-        const f dt = (f)t.elapsed_seconds();
-        t.start();
-
-        // measure fps of valid frames
-        constexpr f RC = f{1}/10; // seconds
-        const f alpha = dt/(dt + RC);
-
-        if (dt_mean < dt_eps)
-            dt_mean = dt;
-        else
-            dt_mean = (1-alpha) * dt_mean + alpha * dt;
-
-        cam_info.fps = dt_mean > dt_eps ? 1 / dt_mean : 0;
-        cam_info.res_x = frame.cols;
-        cam_info.res_y = frame.rows;
-        cam_info.fov = fov;
-
-        return { true, cam_info };
-    }
-    else
-        return { false, {} };
-}
-
-bool Camera::start(const QString& name, int fps, int res_x, int res_y)
-{
-    if (fps >= 0 && res_x >= 0 && res_y >= 0)
-    {
-        if (cam_desired.name != name ||
-            (int)cam_desired.fps != fps ||
-            cam_desired.res_x != res_x ||
-            cam_desired.res_y != res_y ||
-            !cap || !cap->is_open())
-        {
-            stop();
-
-            cam_desired.name = name;
-            cam_desired.fps = fps;
-            cam_desired.res_x = res_x;
-            cam_desired.res_y = res_y;
-            cam_desired.fov = fov;
-
-            cap = video::make_camera(name);
-
-            if (!cap)
-                goto fail;
-
-            info.fps = fps;
-            info.width = res_x;
-            info.height = res_y;
-
-            if (!cap->start(info))
-                goto fail;
-
-            cam_info = pt_camera_info();
-            cam_info.name = name;
-            dt_mean = 0;
-
-            cv::Mat tmp;
-
-            if (!get_frame_(tmp))
-                goto fail;
-
-            t.start();
-        }
-    }
-
-    return true;
-
-fail:
-    stop();
-    return false;
-}
-
-void Camera::stop()
-{
-    cap = nullptr;
-    cam_info = {};
-    cam_desired = {};
-}
-
-bool Camera::get_frame_(cv::Mat& img)
-{
-    if (cap && cap->is_open())
-    {
-        auto [ frame, ret ] = cap->get_frame();
-        if (ret)
-        {
-            int stride = frame.stride;
-            if (stride == 0)
-                stride = cv::Mat::AUTO_STEP;
-            img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, stride);
-            return true;
-        }
-    }
-
-    return false;
-}
-
-} // ns pt_module
diff --git a/tracker-easy/camera.h b/tracker-easy/camera.h
deleted file mode 100644
index 5fec9a19..00000000
--- a/tracker-easy/camera.h
+++ /dev/null
@@ -1,57 +0,0 @@
-/* Copyright (c) 2012 Patrick Ruoff
- *
- * 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 "tracker-easy-api.h"
-#include "compat/timer.hpp"
-#include "video/camera.hpp"
-
-#include <memory>
-
-#include <opencv2/core.hpp>
-
-#include <QString>
-
-namespace pt_module {
-
-struct Camera final : pt_camera
-{
-    Camera(const QString& module_name);
-
-    bool start(const QString& name, int fps, int res_x, int res_y) override;
-    void stop() override;
-
-    result get_frame(pt_frame& Frame) override;
-    result get_info() const override;
-
-    pt_camera_info get_desired() const override { return cam_desired; }
-    QString get_desired_name() const override;
-    QString get_active_name() const override;
-
-    void set_fov(f value) override { fov = value; }
-    void show_camera_settings() override;
-    
-
-private:
-    using camera = typename video::impl::camera;
-
-    [[nodiscard]] bool get_frame_(cv::Mat& frame);
-
-    f dt_mean = 0, fov = 30;
-    Timer t;
-    pt_camera_info cam_info;
-    pt_camera_info cam_desired;
-
-    std::unique_ptr<camera> cap;
-    
-    pt_settings s;
-
-    static constexpr f dt_eps = f{1}/256;
-};
-
-} // ns pt_module
diff --git a/tracker-easy/frame.cpp b/tracker-easy/frame.cpp
index a045b783..b066e13b 100644
--- a/tracker-easy/frame.cpp
+++ b/tracker-easy/frame.cpp
@@ -4,11 +4,9 @@
 
 #include <opencv2/imgproc.hpp>
 
-namespace pt_module {
 
-Preview& Preview::operator=(const pt_frame& frame_)
+Preview& Preview::operator=(const cv::Mat& frame)
 {
-    const cv::Mat& frame = frame_.as_const<const Frame>()->mat;
 
     if (frame.channels() != 3)
     {
@@ -52,9 +50,9 @@ QImage Preview::get_bitmap()
                   QImage::Format_ARGB32);
 }
 
-void Preview::draw_head_center(f x, f y)
+void Preview::draw_head_center(pt_pixel_pos_mixin::f x, pt_pixel_pos_mixin::f y)
 {
-    auto [px_, py_] = to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows);
+    auto [px_, py_] = pt_pixel_pos_mixin::to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows);
 
     int px = iround(px_), py = iround(py_);
 
@@ -76,5 +74,3 @@ void Preview::ensure_size(cv::Mat& frame, int w, int h, int type)
     if (frame.cols != w || frame.rows != h)
         frame = cv::Mat(h, w, type);
 }
-
-} // ns pt_module
diff --git a/tracker-easy/frame.hpp b/tracker-easy/frame.hpp
index 678665fd..807f74d2 100644
--- a/tracker-easy/frame.hpp
+++ b/tracker-easy/frame.hpp
@@ -5,28 +5,15 @@
 #include <opencv2/core.hpp>
 #include <QImage>
 
-#ifdef __clang__
-#   pragma clang diagnostic push
-#   pragma clang diagnostic ignored "-Wweak-vtables"
-#endif
 
-namespace pt_module {
 
-struct Frame final : pt_frame
-{
-    cv::Mat mat;
-
-    operator const cv::Mat&() const& { return mat; }
-    operator cv::Mat&() & { return mat; }
-};
-
-struct Preview final : pt_preview
+struct Preview
 {
     Preview(int w, int h);
 
-    Preview& operator=(const pt_frame& frame) override;
-    QImage get_bitmap() override;
-    void draw_head_center(f x, f y) override;
+    Preview& operator=(const cv::Mat& frame);
+    QImage get_bitmap();
+    void draw_head_center(pt_pixel_pos_mixin::f x, pt_pixel_pos_mixin::f y);
 
     operator cv::Mat&() { return frame_copy; }
     operator cv::Mat const&() const { return frame_copy; }
@@ -37,8 +24,4 @@ private:
     cv::Mat frame_copy, frame_out;
 };
 
-} // ns pt_module
 
-#ifdef __clang__
-#   pragma clang diagnostic pop
-#endif
diff --git a/tracker-easy/lang/nl_NL.ts b/tracker-easy/lang/nl_NL.ts
index d4569244..8f471ea0 100644
--- a/tracker-easy/lang/nl_NL.ts
+++ b/tracker-easy/lang/nl_NL.ts
@@ -264,18 +264,6 @@ Don&apos;t roll or change position.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1x%2 @ %3 FPS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 OK!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 BAD!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Tracker offline</source>
         <translation type="unfinished"></translation>
     </message>
diff --git a/tracker-easy/lang/ru_RU.ts b/tracker-easy/lang/ru_RU.ts
index 3fbde4a4..eb58cdc7 100644
--- a/tracker-easy/lang/ru_RU.ts
+++ b/tracker-easy/lang/ru_RU.ts
@@ -269,18 +269,6 @@ ROLL или X/Y-смещения.</translation>
         <translation type="unfinished">Начать калибровку</translation>
     </message>
     <message>
-        <source>%1x%2 @ %3 FPS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 OK!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 BAD!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Tracker offline</source>
         <translation type="unfinished">Отслеживание отключено</translation>
     </message>
diff --git a/tracker-easy/lang/stub.ts b/tracker-easy/lang/stub.ts
index dd474b57..ced89412 100644
--- a/tracker-easy/lang/stub.ts
+++ b/tracker-easy/lang/stub.ts
@@ -264,18 +264,6 @@ Don&apos;t roll or change position.</source>
         <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>%1x%2 @ %3 FPS</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 OK!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
-        <source>%1 BAD!</source>
-        <translation type="unfinished"></translation>
-    </message>
-    <message>
         <source>Tracker offline</source>
         <translation type="unfinished"></translation>
     </message>
diff --git a/tracker-easy/lang/zh_CN.ts b/tracker-easy/lang/zh_CN.ts
index 34a811dd..ff272fdc 100644
--- a/tracker-easy/lang/zh_CN.ts
+++ b/tracker-easy/lang/zh_CN.ts
@@ -264,18 +264,6 @@ Don&apos;t roll or change position.</source>
         <translation type="unfinished">开始校准</translation>
     </message>
     <message>
-        <source>%1x%2 @ %3 FPS</source>
-        <translation type="unfinished">%1x%2 @ %3 帧</translation>
-    </message>
-    <message>
-        <source>%1 OK!</source>
-        <translation type="unfinished">%1 正常</translation>
-    </message>
-    <message>
-        <source>%1 BAD!</source>
-        <translation type="unfinished">%1 异常</translation>
-    </message>
-    <message>
         <source>Tracker offline</source>
         <translation type="unfinished">跟踪器脱机</translation>
     </message>
diff --git a/tracker-easy/module.cpp b/tracker-easy/module.cpp
index 10d25369..4f6df056 100644
--- a/tracker-easy/module.cpp
+++ b/tracker-easy/module.cpp
@@ -3,7 +3,6 @@
 #include "tracker-easy-api.h"
 
 #include "module.hpp"
-#include "camera.h"
 #include "frame.hpp"
 #include "point_extractor.h"
 
@@ -20,11 +19,6 @@ namespace pt_module {
 
 struct pt_module_traits final : pt_runtime_traits
 {
-    pointer<pt_camera> make_camera() const override
-    {
-        return pointer<pt_camera>(new Camera(module_name));
-    }
-
     pointer<pt_point_extractor> make_point_extractor() const override
     {
         return pointer<pt_point_extractor>(new PointExtractor(module_name));
@@ -35,15 +29,6 @@ struct pt_module_traits final : pt_runtime_traits
         return module_name;
     }
 
-    pointer<pt_frame> make_frame() const override
-    {
-        return pointer<pt_frame>(new Frame);
-    }
-
-    pointer<pt_preview> make_preview(int w, int h) const override
-    {
-        return pointer<pt_preview>(new Preview(w, h));
-    }
 };
 
 struct tracker_pt : Tracker_PT
diff --git a/tracker-easy/point_extractor.cpp b/tracker-easy/point_extractor.cpp
index 0d54a66b..54803d52 100644
--- a/tracker-easy/point_extractor.cpp
+++ b/tracker-easy/point_extractor.cpp
@@ -238,9 +238,8 @@ static void draw_blobs(cv::Mat& preview_frame, const blob* blobs, unsigned nblob
     }
 }
 
-void PointExtractor::extract_points(const pt_frame& frame_, pt_preview& preview_frame_, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
+void PointExtractor::extract_points(const cv::Mat& frame, cv::Mat& preview_frame_, std::vector<vec2>& points, std::vector<vec2>& imagePoints)
 {
-    const cv::Mat& frame = frame_.as_const<Frame>()->mat;
 
     ensure_buffers(frame);
     color_to_grayscale(frame, frame_gray_unmasked);
@@ -359,7 +358,7 @@ end:
     }
 
     // TODO: Do not do that if no preview. Delay blob drawing until we know where are the points?
-    draw_blobs(preview_frame_.as<Frame>()->mat,
+    draw_blobs(preview_frame_,
                blobs.data(), blobs.size(),
                frame_gray.size());
 
diff --git a/tracker-easy/point_extractor.h b/tracker-easy/point_extractor.h
index fd0b8144..41f74493 100644
--- a/tracker-easy/point_extractor.h
+++ b/tracker-easy/point_extractor.h
@@ -33,7 +33,7 @@ class PointExtractor final : public pt_point_extractor
 public:
     // extracts points from frame and draws some processing info into frame, if draw_output is set
     // dt: time since last call in seconds
-    void extract_points(const pt_frame& frame, pt_preview& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) override;
+    void extract_points(const cv::Mat& frame, cv::Mat& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) override;
     PointExtractor(const QString& module_name);
 
 public:
diff --git a/tracker-easy/tracker-easy-api.cpp b/tracker-easy/tracker-easy-api.cpp
index 49e11759..32663a6a 100644
--- a/tracker-easy/tracker-easy-api.cpp
+++ b/tracker-easy/tracker-easy-api.cpp
@@ -3,24 +3,8 @@
 
 using namespace numeric_types;
 
-pt_camera_info::pt_camera_info() = default;
 
-f pt_camera_info::get_focal_length(f fov, int res_x, int res_y)
-{
-    const f diag_len = std::sqrt(f(res_x*res_x + res_y*res_y));
-    const f aspect_x = res_x / diag_len;
-    //const double aspect_y = res_y / diag_len;
-    const f diag_fov = fov * pi/180;
-    const f fov_x = 2*std::atan(std::tan(diag_fov*f{.5}) * aspect_x);
-    //const double fov_y = 2*atan(tan(diag_fov*.5) * aspect_y);
-    const f fx = f{.5} / std::tan(fov_x * f{.5});
-    return fx;
-    //fy = .5 / tan(fov_y * .5);
-    //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
-}
 
-pt_camera::pt_camera() = default;
-pt_camera::~pt_camera() = default;
 pt_runtime_traits::pt_runtime_traits() = default;
 pt_runtime_traits::~pt_runtime_traits() = default;
 pt_point_extractor::pt_point_extractor() = default;
@@ -49,6 +33,3 @@ std::tuple<f, f> pt_pixel_pos_mixin::to_screen_pos(f px, f py, int w, int h)
     return std::make_tuple((px - w/f{2})/w, -(py - h/f{2})/w);
 }
 
-pt_frame::pt_frame() = default;
-
-pt_frame::~pt_frame() = default;
diff --git a/tracker-easy/tracker-easy-api.h b/tracker-easy/tracker-easy-api.h
index 81a52f7f..b42e4c73 100644
--- a/tracker-easy/tracker-easy-api.h
+++ b/tracker-easy/tracker-easy-api.h
@@ -22,20 +22,6 @@
 
 const int KPointCount = 3;
 
-struct pt_camera_info final
-{
-    using f = numeric_types::f;
-
-    pt_camera_info();
-    static f get_focal_length(f fov, int res_x, int res_y);
-
-    f fov = 0;
-    f fps = 0;
-
-    int res_x = 0;
-    int res_y = 0;
-    QString name;
-};
 
 struct pt_pixel_pos_mixin
 {
@@ -45,54 +31,7 @@ struct pt_pixel_pos_mixin
     static std::tuple<f, f> to_screen_pos(f px, f py, int w, int h);
 };
 
-struct pt_frame : pt_pixel_pos_mixin
-{
-    pt_frame();
-    virtual ~pt_frame();
-
-    template<typename t>
-    t* as() &
-    {
-        return static_cast<t*>(this);
-    }
-
-    template<typename t>
-    t const* as_const() const&
-    {
-        return static_cast<t const*>(this);
-    }
-};
-
-struct pt_preview : pt_frame
-{
-    virtual pt_preview& operator=(const pt_frame&) = 0;
-    virtual QImage get_bitmap() = 0;
-    virtual void draw_head_center(f x, f y) = 0;
-};
-
-struct pt_camera
-{
-    using result = std::tuple<bool, pt_camera_info>;
-    using f = numeric_types::f;
-
-    pt_camera();
-    virtual ~pt_camera();
 
-    [[nodiscard]] virtual bool start(const QString& name, int fps, int res_x, int res_y) = 0;
-    virtual void stop() = 0;
-
-    virtual result get_frame(pt_frame& frame) = 0;
-    virtual result get_info() const = 0;
-    virtual pt_camera_info get_desired() const = 0;
-
-    virtual QString get_desired_name() const = 0;
-    virtual QString get_active_name() const = 0;
-
-    virtual void set_fov(f value) = 0;
-    virtual void show_camera_settings() = 0;
-
-    video::impl::camera::info info;
-};
 
 struct pt_point_extractor : pt_pixel_pos_mixin
 {
@@ -101,7 +40,7 @@ struct pt_point_extractor : pt_pixel_pos_mixin
 
     pt_point_extractor();
     virtual ~pt_point_extractor();
-    virtual void extract_points(const pt_frame& image, pt_preview& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) = 0;
+    virtual void extract_points(const cv::Mat& image, cv::Mat& preview_frame, std::vector<vec2>& points, std::vector<vec2>& imagePoints) = 0;
 
     static f threshold_radius_value(int w, int h, int threshold);
 };
@@ -113,10 +52,7 @@ struct pt_runtime_traits
     pt_runtime_traits();
     virtual ~pt_runtime_traits();
 
-    virtual pointer<pt_camera> make_camera() const = 0;
     virtual pointer<pt_point_extractor> make_point_extractor() const = 0;
-    virtual pointer<pt_frame> make_frame() const = 0;
-    virtual pointer<pt_preview> make_preview(int w, int h) const = 0;
     virtual QString get_module_name() const = 0;
 };
 
diff --git a/tracker-easy/tracker-easy-dialog.cpp b/tracker-easy/tracker-easy-dialog.cpp
index 2a5654e3..b4a1dd30 100644
--- a/tracker-easy/tracker-easy-dialog.cpp
+++ b/tracker-easy/tracker-easy-dialog.cpp
@@ -123,7 +123,6 @@ QString EasyTrackerDialog::threshold_display_text(int threshold_value)
         return tr("Brightness %1/255").arg(threshold_value);
     else
     {
-        pt_camera_info info;
         int w = s.cam_res_x, h = s.cam_res_y;
 
         if (w * h <= 0)
@@ -132,11 +131,14 @@ QString EasyTrackerDialog::threshold_display_text(int threshold_value)
             h = 480;
         }
 
+        //SL: sort this out 
+        /*
         if (tracker && tracker->get_cam_info(info) && info.res_x * info.res_y != 0)
         {
             w = info.res_x;
             h = info.res_y;
         }
+        */
 
         double value = (double)pt_point_extractor::threshold_radius_value(w, h, threshold_value);
 
@@ -202,6 +204,8 @@ void EasyTrackerDialog::startstop_trans_calib(bool start)
 
 void EasyTrackerDialog::poll_tracker_info_impl()
 {
+    //SL: sort this out
+    /*
     pt_camera_info info;
     if (tracker && tracker->get_cam_info(info))
     {
@@ -212,6 +216,7 @@ void EasyTrackerDialog::poll_tracker_info_impl()
         ui.pointinfo_label->setText((n_points == 3 ? tr("%1 OK!") : tr("%1 BAD!")).arg(n_points));
     }
     else
+    */
     {
         ui.caminfo_label->setText(tr("Tracker offline"));
         ui.pointinfo_label->setText(QString());
@@ -228,7 +233,7 @@ void EasyTrackerDialog::show_camera_settings()
     if (tracker)
     {
         QMutexLocker l(&tracker->camera_mtx);
-        tracker->camera->show_camera_settings();
+        tracker->camera->show_dialog();
     }
     else
         (void)video::show_dialog(s.camera_name);
diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index c30bb40f..1783ef51 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -31,9 +31,7 @@ EasyTracker::EasyTracker(pointer<pt_runtime_traits> const& traits) :
     traits { traits },
     s { traits->get_module_name() },
     point_extractor { traits->make_point_extractor() },
-    camera { traits->make_camera() },
-    frame { traits->make_frame() },
-    preview_frame { traits->make_preview(preview_width, preview_height) }
+    iPreview{ preview_width, preview_height }
 {
     cv::setBreakOnError(true);
     cv::setNumThreads(1);
@@ -107,26 +105,31 @@ void EasyTracker::run()
     maybe_reopen_camera();
 
     while(!isInterruptionRequested())
-    {
-        pt_camera_info info;
+    {        
         bool new_frame = false;
 
         {
             QMutexLocker l(&camera_mtx);
 
             if (camera)
-                std::tie(new_frame, info) = camera->get_frame(*frame);
+                std::tie(iFrame, new_frame) = camera->get_frame();
         }
 
         if (new_frame)
         {
+            //TODO: We should not assume channel size of 1 byte
+            iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE(CV_8U,iFrame.channels), iFrame.data, iFrame.stride);
+
             const bool preview_visible = check_is_visible();
 
             if (preview_visible)
-                *preview_frame = *frame;
+            {
+                iPreview = iMatFrame;                
+            }
+                
 
             iImagePoints.clear();
-            point_extractor->extract_points(*frame, *preview_frame, points, iImagePoints);
+            point_extractor->extract_points(iMatFrame, iPreview, points, iImagePoints);
             point_count.store(points.size(), std::memory_order_relaxed);
 
             const bool success = points.size() >= KPointCount;
@@ -208,23 +211,23 @@ void EasyTracker::run()
                     cv::Mat cameraMatrix;
                     cameraMatrix.create(3, 3, CV_64FC1);
                     cameraMatrix.setTo(cv::Scalar(0));
-                    cameraMatrix.at<double>(0, 0) = camera->info.focalLengthX;
-                    cameraMatrix.at<double>(1, 1) = camera->info.focalLengthY;
-                    cameraMatrix.at<double>(0, 2) = camera->info.principalPointX;
-                    cameraMatrix.at<double>(1, 2) = camera->info.principalPointY;
+                    cameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX;
+                    cameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY;
+                    cameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX;
+                    cameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY;
                     cameraMatrix.at<double>(2, 2) = 1;
 
                     // Create distortion cooefficients
                     cv::Mat distCoeffs = cv::Mat::zeros(8, 1, CV_64FC1);
                     // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6
                     distCoeffs.at<double>(0, 0) = 0; // Radial first order
-                    distCoeffs.at<double>(1, 0) = camera->info.radialDistortionSecondOrder; // Radial second order
+                    distCoeffs.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order
                     distCoeffs.at<double>(2, 0) = 0; // Tangential first order
                     distCoeffs.at<double>(3, 0) = 0; // Tangential second order
                     distCoeffs.at<double>(4, 0) = 0; // Radial third order
-                    distCoeffs.at<double>(5, 0) = camera->info.radialDistortionFourthOrder; // Radial fourth order
+                    distCoeffs.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order
                     distCoeffs.at<double>(6, 0) = 0; // Radial fith order
-                    distCoeffs.at<double>(7, 0) = camera->info.radialDistortionSixthOrder; // Radial sixth order
+                    distCoeffs.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order
 
                     // Define our solution arrays
                     // They will receive up to 4 solutions for our P3P problem
@@ -287,16 +290,17 @@ void EasyTracker::run()
                 if (topPointIndex != -1)
                 {
                     // Render a cross to indicate which point is the head
-                    preview_frame->draw_head_center(points[topPointIndex][0], points[topPointIndex][1]);
+                    iPreview.draw_head_center(points[topPointIndex][0], points[topPointIndex][1]);
                 }
                 
-                widget->update_image(preview_frame->get_bitmap());
+                widget->update_image(iPreview.get_bitmap());
 
                 auto [ w, h ] = widget->preview_size();
                 if (w != preview_width || h != preview_height)
                 {
+                    // Resize preivew if widget size has changed
                     preview_width = w; preview_height = h;
-                    preview_frame = traits->make_preview(w, h);
+                    iPreview = Preview(w, h);
                 }
             }
         }
@@ -307,14 +311,13 @@ bool EasyTracker::maybe_reopen_camera()
 {
     QMutexLocker l(&camera_mtx);
 
-    return camera->start(s.camera_name,
-                         s.cam_fps, s.cam_res_x, s.cam_res_y);
+    return camera->start(iCameraInfo);
 }
 
 void EasyTracker::set_fov(int value)
 {
     QMutexLocker l(&camera_mtx);
-    camera->set_fov(value);
+
 }
 
 module_status EasyTracker::start_tracker(QFrame* video_frame)
@@ -329,6 +332,9 @@ module_status EasyTracker::start_tracker(QFrame* video_frame)
     //video_widget->resize(video_frame->width(), video_frame->height());
     video_frame->show();
 
+    // Create our camera
+    camera = video::make_camera(s.camera_name);
+
     start(QThread::HighPriority);
 
     return {};
@@ -361,14 +367,6 @@ int EasyTracker::get_n_points()
     return (int)point_count.load(std::memory_order_relaxed);
 }
 
-bool EasyTracker::get_cam_info(pt_camera_info& info)
-{
-    QMutexLocker l(&camera_mtx);
-    bool ret;
-
-    std::tie(ret, info) = camera->get_info();
-    return ret;
-}
 
 
 } // ns pt_impl
diff --git a/tracker-easy/tracker-easy.h b/tracker-easy/tracker-easy.h
index fe99ba85..03e603bd 100644
--- a/tracker-easy/tracker-easy.h
+++ b/tracker-easy/tracker-easy.h
@@ -12,6 +12,8 @@
 #include "tracker-easy-api.h"
 #include "cv/numeric.hpp"
 #include "video/video-widget.hpp"
+#include "video/camera.hpp"
+#include "frame.hpp"
 
 #include <atomic>
 #include <memory>
@@ -42,7 +44,6 @@ struct EasyTracker : QThread, ITracker
     bool center() override;
 
     int  get_n_points();
-    [[nodiscard]] bool get_cam_info(pt_camera_info& info);
 
 private:
     void run() override;
@@ -64,10 +65,13 @@ private:
     int preview_width = 320, preview_height = 240;
 
     pointer<pt_point_extractor> point_extractor;
-    pointer<pt_camera> camera;
+    std::unique_ptr<video::impl::camera> camera;
+    video::impl::camera::info iCameraInfo;
     pointer<video_widget> widget;
-    pointer<pt_frame> frame;
-    pointer<pt_preview> preview_frame;
+
+    video::frame iFrame;
+    cv::Mat iMatFrame;
+    Preview iPreview;
 
     std::atomic<unsigned> point_count { 0 };
     std::atomic<bool> ever_success = false;
diff --git a/video/camera.hpp b/video/camera.hpp
index be9ef711..c8eff3b9 100644
--- a/video/camera.hpp
+++ b/video/camera.hpp
@@ -23,6 +23,7 @@ struct frame final
     // the `stride' member can have a special value of zero,
     // signifying equal to width * element size
     int width = 0, height = 0, stride = 0, channels = 0;
+    // TODO: Add channel size instead of assuming 1 byte
 };
 
 } // ns video