1 files changed, 41 insertions, 33 deletions

diff --git a/tracker-pt/camera.cpp b/tracker-pt/camera.cpp
index 68b0cf16..6a724fc7 100644
--- a/tracker-pt/camera.cpp
+++ b/tracker-pt/camera.cpp
@@ -8,7 +8,7 @@
 #include "camera.h"
 #include "compat/sleep.hpp"
 
-namespace impl {
+constexpr double Camera::dt_eps;
 
 QString Camera::get_desired_name() const
 {
@@ -20,7 +20,7 @@ QString Camera::get_active_name() const
     return active_name;
 }
 
-void CamInfo::get_focal_length(f& fx) const
+void CamInfo::get_focal_length(double& fx) const
 {
     using std::tan;
     using std::atan;
@@ -37,47 +37,45 @@ void CamInfo::get_focal_length(f& fx) const
     //static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
 }
 
-DEFUN_WARN_UNUSED bool Camera::get_info(CamInfo& ret) const
+DEFUN_WARN_UNUSED Camera::result Camera::get_info() const
 {
     if (cam_info.res_x == 0 || cam_info.res_y == 0)
-        return false;
-    ret = cam_info;
-    return true;
+        return result(false, CamInfo());
+    return result(true, cam_info);
 }
 
-DEFUN_WARN_UNUSED bool Camera::get_frame(double dt, cv::Mat& frame, CamInfo& info)
+DEFUN_WARN_UNUSED Camera::result Camera::get_frame(cv::Mat& frame)
 {
     bool new_frame = _get_frame(frame);
 
-    // measure fps of valid frames
-    static constexpr double RC = .1; // seconds
-    const double alpha = dt/(dt + RC);
-    dt_valid += dt;
-
     if (new_frame)
     {
-        if (dt_mean < 2e-3)
+        const double dt = t.elapsed_seconds();
+        t.start();
+
+        // measure fps of valid frames
+        static constexpr double RC = .1; // seconds
+        const double alpha = dt/(dt + RC);
+
+        if (dt_mean < dt_eps)
             dt_mean = dt;
         else
-            dt_mean = (1-alpha) * dt_mean + alpha * dt_valid;
+            dt_mean = (1-alpha) * dt_mean + alpha * dt;
 
-        cam_info.fps = dt_mean > 2e-3 ? int(1 / dt_mean + .65) : 0;
+        cam_info.fps = dt_mean > dt_eps ? 1 / dt_mean : 0;
         cam_info.res_x = frame.cols;
         cam_info.res_y = frame.rows;
-        cam_info.fov = s.fov;
-
-        info = cam_info;
-
-        dt_valid = 0;
+        cam_info.fov = fov;
     }
     else
         qDebug() << "pt camera: can't get frame";
-    return new_frame;
+
+    return result(new_frame, cam_info);
 }
 
-DEFUN_WARN_UNUSED bool Camera::start(int idx, int fps, int res_x, int res_y)
+DEFUN_WARN_UNUSED Camera::open_status Camera::start(int idx, int fps, int res_x, int res_y)
 {
-    if (idx >= 0 && fps >= 0 && res_x > 0 && res_y > 0)
+    if (idx >= 0 && fps >= 0 && res_x >= 0 && res_y >= 0)
     {
         if (!cap || !cap->isOpened() ||
             cam_desired.idx != idx ||
@@ -89,32 +87,44 @@ DEFUN_WARN_UNUSED bool Camera::start(int idx, int fps, int res_x, int res_y)
             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(cam_desired.idx));
 
-            cap->set(cv::CAP_PROP_FRAME_WIDTH,  cam_desired.res_x);
-            cap->set(cv::CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
-            cap->set(cv::CAP_PROP_FPS, cam_desired.fps);
+            if (cam_desired.res_x)
+                cap->set(cv::CAP_PROP_FRAME_WIDTH,  cam_desired.res_x);
+            if (cam_desired.res_y)
+                cap->set(cv::CAP_PROP_FRAME_HEIGHT, cam_desired.res_y);
+            if (cam_desired.fps)
+                cap->set(cv::CAP_PROP_FPS, cam_desired.fps);
 
             if (cap->isOpened())
             {
                 qDebug() << "pt: opening camera";
 
                 cam_info = CamInfo();
-                cam_info.idx = cam_desired.idx;
+                active_name = QString();
+                cam_info.idx = -1;
+                dt_mean = 0;
                 active_name = desired_name;
+                t.start();
 
-                return true;
+                return open_ok_change;
             }
             else
             {
                 stop();
-                return false;
+                return open_error;
             }
         }
     }
+    else
+    {
+        stop();
+        return open_error;
+    }
 
-    return true;
+    return open_ok_no_change;
 }
 
 void Camera::stop()
@@ -134,7 +144,7 @@ DEFUN_WARN_UNUSED bool Camera::_get_frame(cv::Mat& frame)
         {
             if (cap->read(frame))
                 return true;
-            portable::sleep(100);
+            portable::sleep(14);
         }
     }
     return false;
@@ -149,5 +159,3 @@ void Camera::camera_deleter::operator()(cv::VideoCapture* cap)
         delete cap;
     }
 }
-
-} // ns impl