Merge branch 'unstable' into trackhat-ui

11 files changed, 44 insertions, 76 deletions

diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index 786be62d..8acddc28 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -18,6 +18,7 @@
 #include <opencv2/videoio.hpp>
 #include "opentrack/camera-names.hpp"
 #include "opentrack/opencv-calibration.hpp"
+#include "opentrack/sleep.hpp"
 
 typedef struct {
     int width;
@@ -355,6 +356,9 @@ fail:
         if (frame.rows > 0)
             videoWidget->update_image(frame);
     }
+
+    // give opencv time to exit camera threads, etc.
+    portable::sleep(500);
 }
 
 void Tracker::data(double *data)
diff --git a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
index 2ac614a2..ad13d716 100644
--- a/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
+++ b/ftnoir_tracker_ht/ftnoir_tracker_ht.cpp
@@ -4,6 +4,7 @@
 #include "opentrack/plugin-api.hpp"
 #include <cmath>
 #include "opentrack/camera-names.hpp"
+#include "opentrack/sleep.hpp"
 
 typedef struct {
 	int width;
@@ -158,6 +159,8 @@ void Tracker::run()
             }
         }
     }
+    // give opencv time to exit camera threads, etc.
+    portable::sleep(500);
 }
 
 void Tracker::data(double* data)
diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 2e745f2a..2989c1fe 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -8,26 +8,10 @@
 #include "camera.h"
 #include <string>
 #include <QDebug>
+#include "opentrack/sleep.hpp"
 
 using namespace cv;
 
-#ifdef OPENTRACK_API
-#else
-// ----------------------------------------------------------------------------
-void get_camera_device_names(std::vector<std::string>& device_names)
-{
-    videoInput VI;
-    VI.listDevices();
-    std::string device_name;
-    for(int index = 0; ; ++index) {
-        device_name = VI.getDeviceName(index);
-        if (device_name.empty()) break;
-        device_names.push_back(device_name);
-    }
-}
-#endif
-
-// ----------------------------------------------------------------------------
 void Camera::set_device_index(int index)
 {
     if (desired_index != index)
@@ -113,6 +97,8 @@ void CVCamera::stop()
         cap->release();
         delete cap;
         cap = nullptr;
+        // give opencv time to exit camera threads, etc.
+        portable::sleep(500);
     }
     active = false;
 }
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 2c42652a..343446ac 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -8,21 +8,10 @@
 #pragma once
 
 #include <opencv2/core/core.hpp>
-#ifndef OPENTRACK_API
-#   include <boost/shared_ptr.hpp>
-#else
-#   include <memory>
-#   include <opencv2/highgui/highgui.hpp>
-#   include <opencv2/highgui/highgui_c.h>
-#endif
+#include <memory>
+#include <opencv2/highgui.hpp>
 #include <string>
 
-#ifndef OPENTRACK_API
-// ----------------------------------------------------------------------------
-void get_camera_device_names(std::vector<std::string>& device_names);
-#endif
-
-// ----------------------------------------------------------------------------
 struct CamInfo
 {
     CamInfo() : res_x(0), res_y(0), fps(0) {}
@@ -89,7 +78,7 @@ public:
     void start() override;
     void stop() override;
 
-    operator cv::VideoCapture&() { return *cap; }
+    operator cv::VideoCapture*() { return cap; }
 
 protected:
     bool _get_frame(cv::Mat* frame) override;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 716fddfd..dbf9cca0 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -85,6 +85,8 @@ void Tracker_PT::run()
 	if (!log_file.open(QIODevice::WriteOnly | QIODevice::Text)) return;
 	QTextStream log_stream(&log_file);
 #endif
+
+    apply_settings();
     
     while((commands & ABORT) == 0)
     {
@@ -165,6 +167,7 @@ void Tracker_PT::apply_settings()
 {
     qDebug()<<"Tracker:: Applying settings";
     QMutexLocker l(&camera_mtx);
+    camera.stop();
     camera.set_device_index(camera_name_to_index("PS3Eye Camera"));
     int res_x, res_y, cam_fps;
     switch (s.camera_mode)
@@ -194,6 +197,7 @@ void Tracker_PT::apply_settings()
 
     camera.set_res(res_x, res_y);
     camera.set_fps(cam_fps);
+    camera.start();
     cv::Mat intrinsics_ = cv::Mat::eye(3, 3, CV_32FC1);
     cv::Mat dist_coeffs_ = cv::Mat::zeros(5, 1, CV_32FC1);
     intrinsics = cv::Mat();
@@ -228,23 +232,10 @@ void Tracker_PT::start_tracker(QFrame *parent_window)
     video_layout->addWidget(video_widget);
     video_frame->setLayout(video_layout);
     video_widget->resize(video_frame->width(), video_frame->height());
-    apply_settings();
-    camera.start();
     start();
 }
 
-#ifndef OPENTRACK_API
-void Tracker::StopTracker(bool exit)
-{
-    set_command(PAUSE);
-}
-#endif
-
-#ifdef OPENTRACK_API
-#define THeadPoseData double
-#endif
-
-void Tracker_PT::data(THeadPoseData *data)
+void Tracker_PT::data(double *data)
 {
     if (ever_success)
     {
@@ -279,13 +270,3 @@ void Tracker_PT::data(THeadPoseData *data)
         data[TZ] = t[2] / 10.0;
     }
 }
-
-//-----------------------------------------------------------------------------
-#ifdef OPENTRACK_API
-#else
-#pragma comment(linker, "/export:GetTracker=_GetTracker@0")
-OPENTRACK_EXPORT ITrackerPtr __stdcall GetTracker()
-{
-    return new Tracker_PT;
-}
-#endif
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index aeda7dd7..97aa54aa 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -8,9 +8,7 @@
 #ifndef FTNOIR_TRACKER_PT_H
 #define FTNOIR_TRACKER_PT_H
 
-#ifdef OPENTRACK_API
-#   include "opentrack/plugin-api.hpp"
-#endif
+#include "opentrack/plugin-api.hpp"
 #include "ftnoir_tracker_pt_settings.h"
 #include "camera.h"
 #include "point_extractor.h"
@@ -24,11 +22,7 @@
 #include <QMutexLocker>
 #include <QTime>
 #include <atomic>
-#ifndef OPENTRACK_API
-#   include <boost/shared_ptr.hpp>
-#else
-#   include <memory>
-#endif
+#include <memory>
 #include <vector>
 
 class TrackerDialog_PT;
@@ -48,7 +42,7 @@ public:
 
     Affine pose() { QMutexLocker lock(&mutex); return point_tracker.pose(); }
     int  get_n_points() { QMutexLocker lock(&mutex); return point_extractor.get_points().size(); }
-    void get_cam_info(CamInfo* info) { QMutexLocker lock(&mutex); *info = camera.get_info(); }
+    void get_cam_info(CamInfo* info) { QMutexLocker lock(&camera_mtx); *info = camera.get_info(); }
 public slots:
     void apply_settings();
 protected:
diff --git a/ftnoir_tracker_pt/point_tracker.cpp b/ftnoir_tracker_pt/point_tracker.cpp
index bae89dbe..f141fe36 100644
--- a/ftnoir_tracker_pt/point_tracker.cpp
+++ b/ftnoir_tracker_pt/point_tracker.cpp
@@ -33,12 +33,10 @@ static void set_row(Matx33f& m, int i, const Vec3f& v)
 	m(i,2) = v[2];
 }
 
-#ifdef OPENTRACK_API
 static bool d_vals_sort(const pair<float,int> a, const pair<float,int> b)
 {
     return a.first < b.first;
 }
-#endif
 
 void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[], cv::Vec2f d) const
 {
@@ -50,11 +48,7 @@ void PointModel::get_d_order(const std::vector<cv::Vec2f>& points, int d_order[]
 
     std::sort(d_vals.begin(),
               d_vals.end(),
-#ifdef OPENTRACK_API
               d_vals_sort
-#else
-              comp
-#endif
               );
 
 	for (unsigned i = 0; i<points.size(); ++i)
diff --git a/opentrack/selected-libraries.cpp b/opentrack/selected-libraries.cpp
index 630b7db2..e3bac0c5 100644
--- a/opentrack/selected-libraries.cpp
+++ b/opentrack/selected-libraries.cpp
@@ -1,10 +1,6 @@
 #include "opentrack/selected-libraries.hpp"
 #include <QDebug>
 
-SelectedLibraries::~SelectedLibraries()
-{
-}
-
 SelectedLibraries::SelectedLibraries(QFrame* frame, mem<ITracker> t, dylibptr p, mem<IFilter> f) :
     pTracker(nullptr),
     pFilter(nullptr),
diff --git a/opentrack/selected-libraries.hpp b/opentrack/selected-libraries.hpp
index 547f5f54..7779c231 100644
--- a/opentrack/selected-libraries.hpp
+++ b/opentrack/selected-libraries.hpp
@@ -18,6 +18,5 @@ struct SelectedLibraries {
     mem<IProtocol> pProtocol;
     SelectedLibraries(QFrame* frame, mem<ITracker> t, dylibptr p, mem<IFilter> f);
     SelectedLibraries() : pTracker(nullptr), pFilter(nullptr), pProtocol(nullptr), correct(false) {}
-    ~SelectedLibraries();
     bool correct;
 };
diff --git a/opentrack/sleep.hpp b/opentrack/sleep.hpp
new file mode 100644
index 00000000..27920842
--- /dev/null
+++ b/opentrack/sleep.hpp
@@ -0,0 +1,22 @@
+#pragma once
+
+namespace portable
+{
+#ifdef _WIN32
+    #include <windows.h>
+
+    template<typename = void>
+    void sleep(unsigned milliseconds)
+    {
+        Sleep(milliseconds);
+    }
+#else
+    #include <unistd.h>
+
+    template<typename = void>
+    void sleep(unsigned milliseconds)
+    {
+        usleep(milliseconds * 1000U); // takes microseconds
+    }
+#endif
+}
diff --git a/opentrack/work.hpp b/opentrack/work.hpp
index 39eb12fb..5d1f6b54 100644
--- a/opentrack/work.hpp
+++ b/opentrack/work.hpp
@@ -20,7 +20,7 @@
 struct Work
 {
     main_settings& s;
-    SelectedLibraries libs;
+    SelectedLibraries& libs;
     mem<Tracker> tracker;
     mem<Shortcuts> sc;
     WId handle;