video: add support for camera modules

Issue: #910

3 files changed, 42 insertions, 78 deletions

diff --git a/tracker-pt/module/camera.cpp b/tracker-pt/module/camera.cpp
index 1afecc92..687f5bff 100644
--- a/tracker-pt/module/camera.cpp
+++ b/tracker-pt/module/camera.cpp
@@ -8,15 +8,9 @@
 #include "camera.h"
 #include "frame.hpp"
 
-#include "compat/sleep.hpp"
-#include "compat/camera-names.hpp"
 #include "compat/math-imports.hpp"
 
-#include <opencv2/imgproc.hpp>
-
-#include "cv/video-property-page.hpp"
-
-#include <cstdlib>
+#include <opencv2/core.hpp>
 
 namespace pt_module {
 
@@ -26,22 +20,18 @@ Camera::Camera(const QString& module_name) : s { module_name }
 
 QString Camera::get_desired_name() const
 {
-    return desired_name;
+    return cam_desired.name;
 }
 
 QString Camera::get_active_name() const
 {
-    return active_name;
+    return cam_info.name;
 }
 
 void Camera::show_camera_settings()
 {
-    const int idx = camera_name_to_index(s.camera_name);
-
-    if (cap && cap->isOpened())
-        video_property_page::show_from_capture(*cap, idx);
-    else
-        video_property_page::show(idx);
+    if (cap)
+        (void)cap->show_dialog();
 }
 
 Camera::result Camera::get_info() const
@@ -83,59 +73,53 @@ Camera::result Camera::get_frame(pt_frame& frame_)
         return { false, {} };
 }
 
-bool Camera::start(int idx, int fps, int res_x, int res_y)
+bool Camera::start(const QString& name, int fps, int res_x, int res_y)
 {
-    if (idx >= 0 && fps >= 0 && res_x >= 0 && res_y >= 0)
+    if (fps >= 0 && res_x >= 0 && res_y >= 0)
     {
-        if (cam_desired.idx != idx ||
+        if (cam_desired.name != name ||
             (int)cam_desired.fps != fps ||
             cam_desired.res_x != res_x ||
             cam_desired.res_y != res_y ||
-            !cap || !cap->isOpened() || !cap->grab())
+            !cap || !cap->is_open())
         {
             stop();
 
-            desired_name = get_camera_names().value(idx);
-            cam_desired.idx = idx;
+            cam_desired.name = name;
             cam_desired.fps = fps;
             cam_desired.res_x = res_x;
             cam_desired.res_y = res_y;
             cam_desired.fov = fov;
 
-            cap = camera_ptr(new cv::VideoCapture(idx));
+            cap = video::make_camera(name);
 
-            if (cam_desired.res_x > 0 && cam_desired.res_y > 0)
-            {
-                cap->set(cv::CAP_PROP_FRAME_WIDTH,  res_x);
-                cap->set(cv::CAP_PROP_FRAME_HEIGHT, res_y);
-            }
+            if (!cap)
+                goto fail;
 
-            if (fps > 0)
-                cap->set(cv::CAP_PROP_FPS, fps);
+            camera::info info {};
+            info.fps = fps;
+            info.width = res_x;
+            info.height = res_y;
 
-            if (cap->isOpened())
-            {
-                cam_info = pt_camera_info();
-                cam_info.idx = idx;
-                dt_mean = 0;
-                active_name = desired_name;
+            if (!cap->start(info))
+                goto fail;
 
-                cv::Mat tmp;
+            cam_info = pt_camera_info();
+            cam_info.name = name;
+            dt_mean = 0;
 
-                if (get_frame_(tmp))
-                {
-                    t.start();
-                    return true;
-                }
-            }
+            cv::Mat tmp;
 
-            cap = nullptr;
-            return false;
-        }
+            if (!get_frame_(tmp))
+                goto fail;
 
-        return true;
+            t.start();
+        }
     }
 
+    return true;
+
+fail:
     stop();
     return false;
 }
@@ -143,34 +127,23 @@ bool Camera::start(int idx, int fps, int res_x, int res_y)
 void Camera::stop()
 {
     cap = nullptr;
-    desired_name = QString{};
-    active_name = QString{};
     cam_info = {};
     cam_desired = {};
 }
 
-bool Camera::get_frame_(cv::Mat& frame)
+bool Camera::get_frame_(cv::Mat& img)
 {
-    if (cap && cap->isOpened())
+    if (cap && cap->is_open())
     {
-        for (unsigned i = 0; i < 10; i++)
+        auto [ frame, ret ] = cap->get_frame();
+        if (ret)
         {
-            if (cap->read(frame))
-                return true;
-            portable::sleep(50);
+            img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, frame.stride);
+            return true;
         }
     }
-    return false;
-}
 
-void Camera::camera_deleter::operator()(cv::VideoCapture* cap)
-{
-    if (cap)
-    {
-        if (cap->isOpened())
-            cap->release();
-        delete cap;
-    }
+    return false;
 }
 
 } // ns pt_module
diff --git a/tracker-pt/module/camera.h b/tracker-pt/module/camera.h
index 2ea633d0..02e2fe4d 100644
--- a/tracker-pt/module/camera.h
+++ b/tracker-pt/module/camera.h
@@ -9,11 +9,11 @@
 
 #include "pt-api.hpp"
 #include "compat/timer.hpp"
+#include "video/camera.hpp"
 
 #include <memory>
 
 #include <opencv2/core.hpp>
-#include <opencv2/videoio.hpp>
 
 #include <QString>
 
@@ -23,7 +23,7 @@ struct Camera final : pt_camera
 {
     Camera(const QString& module_name);
 
-    bool start(int idx, int fps, int res_x, int res_y) override;
+    bool start(const QString& name, int fps, int res_x, int res_y) override;
     void stop() override;
 
     result get_frame(pt_frame& Frame) override;
@@ -37,23 +37,16 @@ struct Camera final : pt_camera
     void show_camera_settings() override;
 
 private:
+    using camera = typename video::impl::camera;
+
     [[nodiscard]] bool get_frame_(cv::Mat& frame);
 
     f dt_mean = 0, fov = 30;
     Timer t;
     pt_camera_info cam_info;
     pt_camera_info cam_desired;
-    QString desired_name, active_name;
-
-    struct camera_deleter final
-    {
-        void operator()(cv::VideoCapture* cap);
-    };
-
-    using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
-
-    camera_ptr cap;
 
+    std::unique_ptr<camera> cap;
     pt_settings s;
 
     static constexpr f dt_eps = f{1}/256;
diff --git a/tracker-pt/module/point_extractor.cpp b/tracker-pt/module/point_extractor.cpp
index 298d8752..2cb5db97 100644
--- a/tracker-pt/module/point_extractor.cpp
+++ b/tracker-pt/module/point_extractor.cpp
@@ -13,8 +13,6 @@
 #include "cv/numeric.hpp"
 #include "compat/math.hpp"
 
-#include <opencv2/videoio.hpp>
-
 #undef PREVIEW
 //#define PREVIEW