pt: initial camera dialog

6 files changed, 133 insertions, 92 deletions

diff --git a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
index 17e2819b..3e900e8e 100644
--- a/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
+++ b/ftnoir_tracker_pt/FTNoIR_PT_Controls.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>397</width>
-    <height>588</height>
+    <width>405</width>
+    <height>593</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -67,21 +67,8 @@
           <string>Camera settings</string>
          </property>
          <layout class="QGridLayout" name="gridLayout_2">
-          <item row="2" column="0">
-           <widget class="QLabel" name="label_41">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
-            </property>
-            <property name="text">
-             <string>Height</string>
-            </property>
-           </widget>
-          </item>
-          <item row="0" column="0">
-           <widget class="QLabel" name="label_2">
+          <item row="3" column="0">
+           <widget class="QLabel" name="label_37">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
               <horstretch>0</horstretch>
@@ -89,15 +76,15 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>Device</string>
+             <string>FPS</string>
             </property>
             <property name="buddy">
-             <cstring>camdevice_combo</cstring>
+             <cstring>fps_spin</cstring>
             </property>
            </widget>
           </item>
-          <item row="1" column="1">
-           <widget class="QSpinBox" name="res_x_spin">
+          <item row="2" column="1">
+           <widget class="QSpinBox" name="res_y_spin">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
               <horstretch>0</horstretch>
@@ -105,7 +92,7 @@
              </sizepolicy>
             </property>
             <property name="toolTip">
-             <string>Desired capture width</string>
+             <string>Desired capture height</string>
             </property>
             <property name="suffix">
              <string> px</string>
@@ -118,16 +105,16 @@
             </property>
            </widget>
           </item>
-          <item row="0" column="1">
-           <widget class="QComboBox" name="camdevice_combo">
+          <item row="4" column="0">
+           <widget class="QLabel" name="label_4">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="minimumContentsLength">
-             <number>10</number>
+            <property name="text">
+             <string>Field of view</string>
             </property>
            </widget>
           </item>
@@ -144,30 +131,31 @@
             </property>
            </widget>
           </item>
-          <item row="2" column="1">
-           <widget class="QSpinBox" name="res_y_spin">
-            <property name="sizePolicy">
-             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-              <horstretch>0</horstretch>
-              <verstretch>0</verstretch>
-             </sizepolicy>
+          <item row="4" column="1">
+           <widget class="QSpinBox" name="fov">
+            <property name="suffix">
+             <string>°</string>
             </property>
-            <property name="toolTip">
-             <string>Desired capture height</string>
+            <property name="prefix">
+             <string/>
             </property>
-            <property name="suffix">
-             <string> px</string>
+            <property name="minimum">
+             <number>10</number>
             </property>
             <property name="maximum">
-             <number>2000</number>
+             <number>90</number>
             </property>
-            <property name="singleStep">
-             <number>10</number>
+           </widget>
+          </item>
+          <item row="5" column="1">
+           <widget class="QCheckBox" name="dynamic_pose">
+            <property name="text">
+             <string/>
             </property>
            </widget>
           </item>
-          <item row="3" column="0">
-           <widget class="QLabel" name="label_37">
+          <item row="5" column="0">
+           <widget class="QLabel" name="label_5">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
               <horstretch>0</horstretch>
@@ -175,28 +163,51 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>FPS</string>
+             <string>Dynamic pose resolution</string>
             </property>
-            <property name="buddy">
-             <cstring>fps_spin</cstring>
+           </widget>
+          </item>
+          <item row="6" column="0">
+           <widget class="QLabel" name="label_6">
+            <property name="text">
+             <string>Dynamic pose timeout</string>
             </property>
            </widget>
           </item>
-          <item row="4" column="0">
-           <widget class="QLabel" name="label_4">
+          <item row="3" column="1">
+           <widget class="QSpinBox" name="fps_spin">
             <property name="sizePolicy">
-             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="text">
-             <string>Field of view</string>
+            <property name="toolTip">
+             <string>Desired capture framerate</string>
+            </property>
+            <property name="suffix">
+             <string> Hz</string>
+            </property>
+            <property name="maximum">
+             <number>2000</number>
             </property>
            </widget>
           </item>
-          <item row="5" column="0">
-           <widget class="QLabel" name="label_5">
+          <item row="6" column="1">
+           <widget class="QSpinBox" name="init_phase_timeout">
+            <property name="suffix">
+             <string> ms</string>
+            </property>
+            <property name="minimum">
+             <number>1</number>
+            </property>
+            <property name="maximum">
+             <number>10000</number>
+            </property>
+           </widget>
+          </item>
+          <item row="2" column="0">
+           <widget class="QLabel" name="label_41">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
               <horstretch>0</horstretch>
@@ -204,69 +215,78 @@
              </sizepolicy>
             </property>
             <property name="text">
-             <string>Dynamic pose resolution</string>
+             <string>Height</string>
             </property>
            </widget>
           </item>
-          <item row="5" column="1">
-           <widget class="QCheckBox" name="dynamic_pose">
-            <property name="text">
-             <string/>
+          <item row="1" column="1">
+           <widget class="QSpinBox" name="res_x_spin">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
+            </property>
+            <property name="toolTip">
+             <string>Desired capture width</string>
             </property>
-           </widget>
-          </item>
-          <item row="4" column="1">
-           <widget class="QSpinBox" name="fov">
             <property name="suffix">
-             <string>°</string>
+             <string> px</string>
             </property>
-            <property name="prefix">
-             <string/>
+            <property name="maximum">
+             <number>2000</number>
             </property>
-            <property name="minimum">
+            <property name="singleStep">
              <number>10</number>
             </property>
-            <property name="maximum">
-             <number>90</number>
-            </property>
            </widget>
           </item>
-          <item row="3" column="1">
-           <widget class="QSpinBox" name="fps_spin">
+          <item row="0" column="1">
+           <widget class="QComboBox" name="camdevice_combo">
             <property name="sizePolicy">
              <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
               <horstretch>0</horstretch>
               <verstretch>0</verstretch>
              </sizepolicy>
             </property>
-            <property name="toolTip">
-             <string>Desired capture framerate</string>
+            <property name="minimumContentsLength">
+             <number>10</number>
             </property>
-            <property name="suffix">
-             <string> Hz</string>
+           </widget>
+          </item>
+          <item row="0" column="0">
+           <widget class="QLabel" name="label_2">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Expanding" vsizetype="Preferred">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
             </property>
-            <property name="maximum">
-             <number>2000</number>
+            <property name="text">
+             <string>Device</string>
+            </property>
+            <property name="buddy">
+             <cstring>camdevice_combo</cstring>
             </property>
            </widget>
           </item>
-          <item row="6" column="0">
-           <widget class="QLabel" name="label_6">
+          <item row="7" column="0">
+           <widget class="QLabel" name="label_9">
             <property name="text">
-             <string>Dynamic pose timeout</string>
+             <string>Camera settings dialog</string>
             </property>
            </widget>
           </item>
-          <item row="6" column="1">
-           <widget class="QSpinBox" name="init_phase_timeout">
-            <property name="suffix">
-             <string> ms</string>
-            </property>
-            <property name="minimum">
-             <number>1</number>
+          <item row="7" column="1">
+           <widget class="QPushButton" name="camera_settings">
+            <property name="sizePolicy">
+             <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
+              <horstretch>0</horstretch>
+              <verstretch>0</verstretch>
+             </sizepolicy>
             </property>
-            <property name="maximum">
-             <number>10000</number>
+            <property name="text">
+             <string>Open</string>
             </property>
            </widget>
           </item>
diff --git a/ftnoir_tracker_pt/camera.h b/ftnoir_tracker_pt/camera.h
index bffd19ee..63614ded 100644
--- a/ftnoir_tracker_pt/camera.h
+++ b/ftnoir_tracker_pt/camera.h
@@ -89,12 +89,13 @@ public:
     void start() override;
     void stop() override;
 
+    operator cv::VideoCapture&() { return *cap; }
+
 protected:
     bool _get_frame(cv::Mat* frame) override;
     void _set_fps() override;
     void _set_res() override;
     void _set_device_index() override;
-
 private:
     cv::VideoCapture* cap;
 };
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
index 4d55a422..dc0659e5 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.cpp
@@ -74,7 +74,12 @@ void Tracker_PT::run()
         const double dt = time.elapsed() * 1e-9;
         time.start();
         cv::Mat frame;
-        const bool new_frame = camera.get_frame(dt, &frame);
+        bool new_frame;
+
+        {
+            QMutexLocker l(&camera_mtx);
+            new_frame = camera.get_frame(dt, &frame);
+        }
 
         if (new_frame && !frame.empty())
         {
@@ -133,6 +138,7 @@ void Tracker_PT::run()
 void Tracker_PT::apply_settings()
 {
     qDebug()<<"Tracker:: Applying settings";
+    QMutexLocker l(&camera_mtx);
     QMutexLocker lock(&mutex);
     camera.set_device_index(camera_name_to_index(s.camera_name));
     camera.set_res(s.cam_res_x, s.cam_res_y);
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt.h b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
index 3b9f1648..d0764933 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt.h
@@ -17,6 +17,7 @@
 #include "point_tracker.h"
 #include "pt_video_widget.h"
 #include "opentrack/timer.hpp"
+#include "opentrack/opencv-camera-dialog.hpp"
 
 #include <QThread>
 #include <QMutex>
@@ -30,11 +31,15 @@
 #endif
 #include <vector>
 
+class TrackerDialog_PT;
+
 //-----------------------------------------------------------------------------
 // Constantly processes the tracking chain in a separate thread
 class Tracker_PT : public QThread, public ITracker
 {
     Q_OBJECT
+    friend class camera_dialog<Tracker_PT>;
+    friend class TrackerDialog_PT;
 public:
     Tracker_PT();
     ~Tracker_PT() override;
@@ -61,6 +66,7 @@ private:
     
     volatile int commands;
 
+    QMutex camera_mtx;
     CVCamera       camera;
     PointExtractor point_extractor;
     PointTracker   point_tracker;
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
index 696f0b1b..5b17df5b 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.cpp
@@ -83,9 +83,15 @@ TrackerDialog_PT::TrackerDialog_PT()
     connect(ui.buttonBox, SIGNAL(rejected()), this, SLOT(doCancel()));
 
     connect(&timer,SIGNAL(timeout()), this,SLOT(poll_tracker_info()));
+    connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings()));
     timer.start(100);
 }
 
+void TrackerDialog_PT::camera_settings()
+{
+    open_camera_settings(tracker ? &static_cast<cv::VideoCapture&>(tracker->camera) : nullptr, s.camera_name, tracker ? &tracker->camera_mtx : nullptr);
+}
+
 void TrackerDialog_PT::startstop_trans_calib(bool start)
 {
     if (start)
diff --git a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
index c1cd2e3b..b9aba4a6 100644
--- a/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
+++ b/ftnoir_tracker_pt/ftnoir_tracker_pt_dialog.h
@@ -18,12 +18,13 @@
 #include "trans_calib.h"
 #include "pt_video_widget.h"
 #include "ui_FTNoIR_PT_Controls.h"
+#include "opentrack/opencv-camera-dialog.hpp"
 
 #include <QTimer>
 
 //-----------------------------------------------------------------------------
 // The dialog that shows up when the user presses "Settings"
-class TrackerDialog_PT : public ITrackerDialog
+class TrackerDialog_PT : public ITrackerDialog, protected camera_dialog<Tracker_PT>
 {
 	Q_OBJECT
 public:
@@ -39,6 +40,7 @@ public slots:
 
 	void startstop_trans_calib(bool start);
 	void poll_tracker_info();
+    void camera_settings();
 private:
     settings_pt s;
 	Tracker_PT* tracker;