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-rw-r--r--tracker-pt/camera.h47
1 files changed, 23 insertions, 24 deletions
diff --git a/tracker-pt/camera.h b/tracker-pt/camera.h
index 1d3b332c..449a2d3f 100644
--- a/tracker-pt/camera.h
+++ b/tracker-pt/camera.h
@@ -7,47 +7,47 @@
#pragma once
+#include "compat/ndebug-guard.hpp"
+
#undef NDEBUG
#include <cassert>
-#include "numeric.hpp"
-#include "ftnoir_tracker_pt_settings.h"
-
#include "compat/util.hpp"
+#include "compat/timer.hpp"
#include <opencv2/core/core.hpp>
#include <opencv2/videoio.hpp>
#include <memory>
+#include <tuple>
#include <QString>
-namespace impl {
-
-using namespace types;
-
struct CamInfo final
{
- CamInfo() : fov(0), res_x(0), res_y(0), fps(-1), idx(-1) {}
- void get_focal_length(f& fx) const;
+ CamInfo() : fov(0), fps(0), res_x(0), res_y(0), idx(-1) {}
+ void get_focal_length(double& fx) const;
double fov;
+ double fps;
int res_x;
int res_y;
- int fps;
int idx;
};
-class Camera final
+struct Camera final
{
-public:
- Camera() : dt_valid(0), dt_mean(0) {}
+ enum open_status : unsigned { open_error, open_ok_no_change, open_ok_change };
- DEFUN_WARN_UNUSED bool start(int idx, int fps, int res_x, int res_y);
+ using result = std::tuple<bool, CamInfo>;
+
+ Camera() : dt_mean(0), fov(0) {}
+
+ DEFUN_WARN_UNUSED open_status start(int idx, int fps, int res_x, int res_y);
void stop();
- DEFUN_WARN_UNUSED bool get_frame(double dt, cv::Mat& frame, CamInfo& info);
- DEFUN_WARN_UNUSED bool get_info(CamInfo &ret) const;
+ DEFUN_WARN_UNUSED result get_frame(cv::Mat& frame);
+ DEFUN_WARN_UNUSED result get_info() const;
CamInfo get_desired() const { return cam_desired; }
QString get_desired_name() const;
@@ -59,13 +59,15 @@ public:
const cv::VideoCapture* operator->() const { return cap.get(); }
operator bool() const { return cap && cap->isOpened(); }
+ void set_fov(double value) { fov = value; }
+
private:
DEFUN_WARN_UNUSED bool _get_frame(cv::Mat& frame);
- settings_pt s;
-
- double dt_valid;
double dt_mean;
+ double fov;
+
+ Timer t;
CamInfo cam_info;
CamInfo cam_desired;
@@ -79,9 +81,6 @@ private:
using camera_ptr = std::unique_ptr<cv::VideoCapture, camera_deleter>;
camera_ptr cap;
-};
-
-} // ns impl
-using impl::Camera;
-using impl::CamInfo;
+ static constexpr double dt_eps = 1./384;
+};