tracker/pt: refactor camera info handling

- Pass `struct CamInfo' rather than several elements separately
- Reformat
- Return `struct CamInfo' together with the frame since then it's always valid
- Move the focal length formula into `struct CamInfo'
- Remove incorrect focal length formula rather than #if 0
- Pass some stuff by reference and not by pointer

1 files changed, 46 insertions, 29 deletions

diff --git a/tracker-pt/camera.h b/tracker-pt/camera.h
index 3f5a8f43..1d3b332c 100644
--- a/tracker-pt/camera.h
+++ b/tracker-pt/camera.h
@@ -10,17 +10,27 @@
 #undef NDEBUG
 #include <cassert>
 
+#include "numeric.hpp"
+#include "ftnoir_tracker_pt_settings.h"
+
 #include "compat/util.hpp"
 
 #include <opencv2/core/core.hpp>
-#include <memory>
 #include <opencv2/videoio.hpp>
-#include <string>
+
+#include <memory>
 #include <QString>
 
-struct CamInfo
+namespace impl {
+
+using namespace types;
+
+struct CamInfo final
 {
-    CamInfo() : res_x(0), res_y(0), fps(-1), idx(-1) {}
+    CamInfo() : fov(0), res_x(0), res_y(0), fps(-1), idx(-1) {}
+    void get_focal_length(f& fx) const;
+
+    double fov;
 
     int res_x;
     int res_y;
@@ -31,40 +41,47 @@ struct CamInfo
 class Camera final
 {
 public:
-        Camera() : dt_valid(0), dt_mean(0) {}
+    Camera() : dt_valid(0), dt_mean(0) {}
 
-        DEFUN_WARN_UNUSED bool start(int idx, int fps, int res_x, int res_y);
-        void stop();
+    DEFUN_WARN_UNUSED bool start(int idx, int fps, int res_x, int res_y);
+    void stop();
 
-        DEFUN_WARN_UNUSED bool get_frame(double dt, cv::Mat* frame);
-        DEFUN_WARN_UNUSED bool get_info(CamInfo &ret);
+    DEFUN_WARN_UNUSED bool get_frame(double dt, cv::Mat& frame, CamInfo& info);
+    DEFUN_WARN_UNUSED bool get_info(CamInfo &ret) const;
 
-        CamInfo get_desired() const { return cam_desired; }
-        QString get_desired_name() const;
-        QString get_active_name() const;
+    CamInfo get_desired() const { return cam_desired; }
+    QString get_desired_name() const;
+    QString get_active_name() const;
 
-        cv::VideoCapture& operator*() { assert(cap); return *cap; }
-        const cv::VideoCapture& operator*() const { assert(cap); return *cap; }
-        cv::VideoCapture* operator->() { assert(cap); return cap.get(); }
-        const cv::VideoCapture* operator->() const { return cap.get(); }
-        operator bool() const { return cap && cap->isOpened(); }
+    cv::VideoCapture& operator*() { assert(cap); return *cap; }
+    const cv::VideoCapture& operator*() const { assert(cap); return *cap; }
+    cv::VideoCapture* operator->() { assert(cap); return cap.get(); }
+    const cv::VideoCapture* operator->() const { return cap.get(); }
+    operator bool() const { return cap && cap->isOpened(); }
 
 private:
-        DEFUN_WARN_UNUSED bool _get_frame(cv::Mat* frame);
+    DEFUN_WARN_UNUSED bool _get_frame(cv::Mat& frame);
+
+    settings_pt s;
 
-        double dt_valid;
-        double dt_mean;
+    double dt_valid;
+    double dt_mean;
 
-        CamInfo cam_info;
-        CamInfo cam_desired;
-        QString desired_name, active_name;
+    CamInfo cam_info;
+    CamInfo cam_desired;
+    QString desired_name, active_name;
 
-        struct camera_deleter final
-        {
-            void operator()(cv::VideoCapture* cap);
-        };
+    struct camera_deleter final
+    {
+        void operator()(cv::VideoCapture* cap);
+    };
 
-        using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
+    using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
 
-        camera_ptr cap;
+    camera_ptr cap;
 };
+
+} // ns impl
+
+using impl::Camera;
+using impl::CamInfo;