video: break camera API

3 files changed, 30 insertions, 32 deletions

diff --git a/tracker-easy/tracker-easy.cpp b/tracker-easy/tracker-easy.cpp
index 84d14db0..0217b07f 100644
--- a/tracker-easy/tracker-easy.cpp
+++ b/tracker-easy/tracker-easy.cpp
@@ -125,23 +125,25 @@ namespace EasyTracker
         // Create our camera matrix                
         iCameraMatrix.create(3, 3, CV_64FC1);
         iCameraMatrix.setTo(cv::Scalar(0));
-        iCameraMatrix.at<double>(0, 0) = iCameraInfo.focalLengthX;
-        iCameraMatrix.at<double>(1, 1) = iCameraInfo.focalLengthY;
-        iCameraMatrix.at<double>(0, 2) = iCameraInfo.principalPointX;
-        iCameraMatrix.at<double>(1, 2) = iCameraInfo.principalPointY;
+        iCameraMatrix.at<double>(0, 0) = iCameraInfo.fx;
+        iCameraMatrix.at<double>(1, 1) = iCameraInfo.fy;
+        iCameraMatrix.at<double>(0, 2) = iCameraInfo.P_x;
+        iCameraMatrix.at<double>(1, 2) = iCameraInfo.P_y;
         iCameraMatrix.at<double>(2, 2) = 1;
 
         // Create distortion cooefficients
         iDistCoeffsMatrix = cv::Mat::zeros(8, 1, CV_64FC1);
         // As per OpenCV docs they should be thus: k1, k2, p1, p2, k3, k4, k5, k6
-        iDistCoeffsMatrix.at<double>(0, 0) = 0; // Radial first order
-        iDistCoeffsMatrix.at<double>(1, 0) = iCameraInfo.radialDistortionSecondOrder; // Radial second order
-        iDistCoeffsMatrix.at<double>(2, 0) = 0; // Tangential first order
-        iDistCoeffsMatrix.at<double>(3, 0) = 0; // Tangential second order
-        iDistCoeffsMatrix.at<double>(4, 0) = 0; // Radial third order
-        iDistCoeffsMatrix.at<double>(5, 0) = iCameraInfo.radialDistortionFourthOrder; // Radial fourth order
-        iDistCoeffsMatrix.at<double>(6, 0) = 0; // Radial fith order
-        iDistCoeffsMatrix.at<double>(7, 0) = iCameraInfo.radialDistortionSixthOrder; // Radial sixth order
+        // 0 - Radial first order
+        // 1 - Radial second order
+        // 2 - Tangential first order
+        // 3 - Tangential second order
+        // 4 - Radial third order
+        // 5 - Radial fourth order
+        // 6 - Radial fifth order
+        // 7 - Radial sixth order
+        for (unsigned k = 0; k < 8; k++)
+            iDistCoeffsMatrix.at<double>(k, 0) = (double)iCameraInfo.dist_c[k];
     }
 
 
@@ -334,7 +336,7 @@ namespace EasyTracker
 
         // Create OpenCV matrix from our frame
         // TODO: Assert channel size is one or two
-        iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channelSize == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
+        iMatFrame = cv::Mat(iFrame.height, iFrame.width, CV_MAKETYPE((iFrame.channel_size == 2 ? CV_16U : CV_8U), iFrame.channels), iFrame.data, iFrame.stride);
         iFrameCount++;
 
         bool doPreview = check_is_visible();
diff --git a/tracker-kinect-face/camera_kinect_ir.cpp b/tracker-kinect-face/camera_kinect_ir.cpp
index 4d442bf2..a4e6b203 100644
--- a/tracker-kinect-face/camera_kinect_ir.cpp
+++ b/tracker-kinect-face/camera_kinect_ir.cpp
@@ -105,7 +105,7 @@ namespace Kinect {
         iFrame.height = iHeight;
         iFrame.stride = cv::Mat::AUTO_STEP;
         iFrame.channels = iMatFrame.channels();
-        iFrame.channelSize = iMatFrame.elemSize1();
+        iFrame.channel_size = iMatFrame.elemSize1();
         return { iFrame, new_frame };
     }
 
@@ -177,13 +177,13 @@ namespace Kinect {
                 hr = iCoordinateMapper->GetDepthCameraIntrinsics(&intrinsics);
                 if (SUCCEEDED(hr))
                 {
-                    aInfo.focalLengthX = intrinsics.FocalLengthX;
-                    aInfo.focalLengthY = intrinsics.FocalLengthY;
-                    aInfo.principalPointX = intrinsics.PrincipalPointX;
-                    aInfo.principalPointY = intrinsics.PrincipalPointY;
-                    aInfo.radialDistortionFourthOrder = intrinsics.RadialDistortionFourthOrder;
-                    aInfo.radialDistortionSecondOrder = intrinsics.RadialDistortionSecondOrder;
-                    aInfo.radialDistortionSixthOrder = intrinsics.RadialDistortionSixthOrder;
+                    aInfo.fx = intrinsics.FocalLengthX;
+                    aInfo.fy = intrinsics.FocalLengthY;
+                    aInfo.P_x = intrinsics.PrincipalPointX;
+                    aInfo.P_y = intrinsics.PrincipalPointY;
+                    aInfo.dist_c[1] = intrinsics.RadialDistortionSecondOrder;
+                    aInfo.dist_c[3] = intrinsics.RadialDistortionFourthOrder;
+                    aInfo.dist_c[5] = intrinsics.RadialDistortionSixthOrder;
                 }
 
             }
diff --git a/video/camera.hpp b/video/camera.hpp
index c08fedb1..9ff2821b 100644
--- a/video/camera.hpp
+++ b/video/camera.hpp
@@ -21,9 +21,8 @@ struct frame final
 {
     unsigned char* data = nullptr;
     // 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;
-    int channelSize = 1;
+    // signifying stride equal to width * element size
+    int width = 0, height = 0, stride = 0, channels = 0, channel_size = 1;
 };
 
 } // ns video
@@ -41,7 +40,7 @@ struct OTR_VIDEO_EXPORT camera_
 
     virtual std::vector<QString> camera_names() const = 0;
     virtual std::unique_ptr<camera> make_camera(const QString& name) = 0;
-    [[nodiscard]] virtual bool show_dialog(const QString& camera_name) = 0;
+    virtual bool show_dialog(const QString& camera_name) = 0;
     virtual bool can_show_dialog(const QString& camera_name) = 0;
 };
 
@@ -49,14 +48,11 @@ struct OTR_VIDEO_EXPORT camera
 {
     struct info final
     {
+        // TODO: expose FOV-based focal length for regular webcams
         int width = 0, height = 0, fps = 0;
-        float focalLengthX = 0.0f;
-        float focalLengthY = 0.0f;
-        float principalPointX = 0.0f;
-        float principalPointY = 0.0f;
-        float radialDistortionSecondOrder = 0.0f;
-        float radialDistortionFourthOrder = 0.0f;
-        float radialDistortionSixthOrder = 0.0f;
+        float fx = 0, fy = 0;           // focal length
+        float P_x = 0, P_y = 0;         // principal point
+        float dist_c[8] {};             // distortion coefficients
     };
 
     camera();