1 files changed, 47 insertions, 49 deletions

diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index de95a0d4..0f8495d9 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -6,6 +6,7 @@
  * copyright notice and this permission notice appear in all copies.
  */
 
+#undef NDEBUG
 #include "ftnoir_tracker_pt.h"
 #include "pt-api.hpp"
 #include "cv/init.hpp"
@@ -13,7 +14,9 @@
 #include "compat/math-imports.hpp"
 #include "compat/check-visible.hpp"
 #include "compat/thread-name.hpp"
+#include "compat/qt-dpi.hpp"
 
+#include <cassert>
 #include <QHBoxLayout>
 #include <QDebug>
 #include <QFile>
@@ -27,17 +30,11 @@ Tracker_PT::Tracker_PT(pointer<pt_runtime_traits> const& traits) :
     traits { traits },
     s { traits->get_module_name() },
     point_extractor { traits->make_point_extractor() },
-    camera { traits->make_camera() },
-    frame { traits->make_frame() },
-    preview_frame { traits->make_preview(preview_width, preview_height) }
+    frame { traits->make_frame() }
 {
     opencv_init();
 
-    connect(s.b.get(), &bundle_::saving, this, &Tracker_PT::maybe_reopen_camera, Qt::DirectConnection);
-    connect(s.b.get(), &bundle_::reloading, this, &Tracker_PT::maybe_reopen_camera, Qt::DirectConnection);
-
-    connect(&s.fov, value_::value_changed<int>(), this, &Tracker_PT::set_fov, Qt::DirectConnection);
-    set_fov(s.fov);
+    connect(&*s.b, &bundle_::saving, this, [this]{ reopen_camera_flag = true; }, Qt::DirectConnection);
 }
 
 Tracker_PT::~Tracker_PT()
@@ -45,24 +42,41 @@ Tracker_PT::~Tracker_PT()
     requestInterruption();
     wait();
 
-    QMutexLocker l(&camera_mtx);
-    camera->stop();
+    if (camera)
+        camera->stop();
+}
+
+bool Tracker_PT::check_camera()
+{
+    if (reopen_camera_flag)
+    {
+        reopen_camera_flag = false;
+
+        camera = nullptr;
+        camera = traits->make_camera();
+        if (!camera || !camera->start(s))
+            return false;
+    }
+    assert(camera);
+    if (progn(bool x = true; return open_camera_dialog_flag.compare_exchange_strong(x, false);))
+        run_in_thread_sync(qApp->thread(), [this] { camera->show_camera_settings(); });
+    return true;
 }
 
 void Tracker_PT::run()
 {
     portable::set_curthread_name("tracker/pt");
 
-    if (!maybe_reopen_camera())
-        return;
-
     while(!isInterruptionRequested())
     {
+        if (!check_camera())
+            break;
+
         pt_camera_info info;
         bool new_frame = false;
 
         {
-            QMutexLocker l(&camera_mtx);
+            camera->set_fov(s.fov);
             std::tie(new_frame, info) = camera->get_frame(*frame);
         }
 
@@ -70,10 +84,10 @@ void Tracker_PT::run()
         {
             const bool preview_visible = check_is_visible();
 
-            if (preview_visible)
-                *preview_frame = *frame;
+            if (preview_visible && !widget->fresh())
+                preview_frame->set_last_frame(*frame);
 
-            point_extractor->extract_points(*frame, *preview_frame, points);
+            point_extractor->extract_points(*frame, *preview_frame, preview_visible && !widget->fresh(), points);
             point_count.store(points.size(), std::memory_order_relaxed);
 
             const bool success = points.size() >= PointModel::N_POINTS;
@@ -87,10 +101,7 @@ void Tracker_PT::run()
                 {
                     int dynamic_pose_ms = s.dynamic_pose ? s.init_phase_timeout : 0;
 
-                    point_tracker.track(points,
-                                        PointModel(s),
-                                        info,
-                                        dynamic_pose_ms);
+                    point_tracker.track(points, PointModel(s), info, dynamic_pose_ms, filter, camera->deadzone_amount());
                     ever_success.store(true, std::memory_order_relaxed);
                 }
 
@@ -98,7 +109,7 @@ void Tracker_PT::run()
                 X_CM = point_tracker.pose();
             }
 
-            if (preview_visible)
+            if (preview_visible && !widget->fresh())
             {
                 const f fx = pt_camera_info::get_focal_length(info.fov, info.res_x, info.res_y);
                 Affine X_MH(mat33::eye(), vec3(s.t_MH_x, s.t_MH_y, s.t_MH_z));
@@ -109,44 +120,31 @@ void Tracker_PT::run()
                     preview_frame->draw_head_center((p[0] * fx) / p[2], (p[1] * fx) / p[2]);
 
                 widget->update_image(preview_frame->get_bitmap());
-
-                auto [ w, h ] = widget->preview_size();
-                if (w != preview_width || h != preview_height)
-                {
-                    preview_width = w; preview_height = h;
-                    preview_frame = traits->make_preview(w, h);
-                }
             }
         }
     }
 }
 
-bool Tracker_PT::maybe_reopen_camera()
-{
-    QMutexLocker l(&camera_mtx);
-
-    return camera->start(s.camera_name,
-                         s.cam_fps, s.cam_res_x, s.cam_res_y);
-}
-
-void Tracker_PT::set_fov(int value)
-{
-    QMutexLocker l(&camera_mtx);
-    camera->set_fov(value);
-}
-
 module_status Tracker_PT::start_tracker(QFrame* video_frame)
 {
-    //video_frame->setAttribute(Qt::WA_NativeWindow);
+    {
+        auto camera = traits->make_camera();
+        if (!camera || !camera->start(s))
+            return error(tr("Failed to open camera '%1'").arg(s.camera_name));
+    }
 
     widget = std::make_unique<video_widget>(video_frame);
     layout = std::make_unique<QHBoxLayout>(video_frame);
     layout->setContentsMargins(0, 0, 0, 0);
-    layout->addWidget(widget.get());
-    video_frame->setLayout(layout.get());
+    layout->addWidget(&*widget);
+    video_frame->setLayout(&*layout);
     //video_widget->resize(video_frame->width(), video_frame->height());
     video_frame->show();
 
+    double dpi = screen_dpi(video_frame);
+    preview_frame = traits->make_preview(iround(preview_width * dpi),
+                                         iround(preview_height * dpi));
+
     start(QThread::HighPriority);
 
     return {};
@@ -212,10 +210,10 @@ int Tracker_PT::get_n_points()
 
 bool Tracker_PT::get_cam_info(pt_camera_info& info)
 {
-    QMutexLocker l(&camera_mtx);
-    bool ret;
+    bool ret = false;
 
-    std::tie(ret, info) = camera->get_info();
+    if (camera)
+        std::tie(ret, info) = camera->get_info();
     return ret;
 }