camera: more robust get_info()

If camera was barely created and there's no info, grab the first frame
to get resolution data.

2 files changed, 12 insertions, 2 deletions

diff --git a/ftnoir_tracker_pt/camera.cpp b/ftnoir_tracker_pt/camera.cpp
index 9168a3e4..2e745f2a 100644
--- a/ftnoir_tracker_pt/camera.cpp
+++ b/ftnoir_tracker_pt/camera.cpp
@@ -61,6 +61,16 @@ void Camera::set_res(int x_res, int y_res)
     }
 }
 
+CamInfo Camera::get_info()
+{
+    if (cam_info.res_x == 0 || cam_info.res_y == 0)
+    {
+        cv::Mat tmp;
+        _get_frame(&tmp);
+    }
+    return cam_info;
+}
+
 bool Camera::get_frame(float dt, cv::Mat* frame)
 {
     bool new_frame = _get_frame(frame);
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index 63614ded..2c42652a 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -54,8 +54,8 @@ public:
         bool get_frame(float dt, cv::Mat* frame);
 
         // WARNING: returned references are valid as long as object
-        const CamInfo& get_info() const    { return cam_info; }
-        const CamInfo& get_desired() const { return cam_desired; }
+        CamInfo get_info();
+        CamInfo get_desired() const { return cam_desired; }
 
 protected:
         // get a frame from the camera