1 files changed, 23 insertions, 33 deletions
diff --git a/tracker-pt/ftnoir_tracker_pt.cpp b/tracker-pt/ftnoir_tracker_pt.cpp
index d13c5545..40293f56 100644
--- a/tracker-pt/ftnoir_tracker_pt.cpp
+++ b/tracker-pt/ftnoir_tracker_pt.cpp
@@ -19,8 +19,6 @@
 
 //-----------------------------------------------------------------------------
 Tracker_PT::Tracker_PT() :
-      video_widget(nullptr),
-      video_frame(nullptr),
       point_count(0),
       commands(0),
       ever_success(false)
@@ -32,13 +30,7 @@ Tracker_PT::~Tracker_PT()
 {
     set_command(ABORT);
     wait();
-    if (video_widget)
-        delete video_widget;
-    video_widget = NULL;
-    if (video_frame)
-    {
-        if (video_frame->layout()) delete video_frame->layout();
-    }
+
     // fast start/stop causes breakage
     camera.stop();
 }
@@ -65,12 +57,21 @@ bool Tracker_PT::get_focal_length(f& ret)
         using std::tan;
         using std::atan;
         using std::sqrt;
-
+#if 1
         const double w = info.res_x, h = info.res_y;
         const double diag = sqrt(w/h*w/h + h/w*h/w);
         const double diag_fov = static_cast<int>(s.fov) * M_PI / 180.;
         const double fov = 2.*atan(tan(diag_fov/2.)/diag);
         ret = .5 / tan(.5 * fov);
+#else
+        // the formula looks correct but doesn't work right regardless
+
+        const double diag_fov = s.fov * M_PI/180;
+        const double aspect = w / sqrt(w*w + h*h);
+        const double fov = 2*atan(tan(diag_fov*.5) * aspect);
+        ret = .5 / tan(fov * .5);
+        static bool once = false; if (!once) { once = true; qDebug() << "f" << ret << "fov" << (fov * 180/M_PI); }
+#endif
         return true;
     }
     return false;
@@ -171,7 +172,7 @@ void Tracker_PT::run()
             video_widget->update_image(frame_);
         }
     }
-    qDebug() << "pt: Thread stopping";
+    qDebug() << "pt: thread stopped";
 }
 
 void Tracker_PT::apply_settings()
@@ -180,37 +181,26 @@ void Tracker_PT::apply_settings()
 
     QMutexLocker l(&camera_mtx);
 
-    CamInfo info = camera.get_desired();
-    const QString name = camera.get_desired_name();
+    CamInfo info;
 
-    if (s.cam_fps != info.fps ||
-        s.cam_res_x != info.res_x ||
-        s.cam_res_y != info.res_y ||
-        s.camera_name != name)
-    {
-        qDebug() << "pt: starting camera";
-        camera.stop();
-        camera.set_device(s.camera_name);
-        camera.set_res(s.cam_res_x, s.cam_res_y);
-        camera.set_fps(s.cam_fps);
+    if (!camera.get_info(info) || frame.rows != info.res_y || frame.cols != info.res_x)
         frame = cv::Mat();
-        camera.start();
-    }
+
+    camera.start(camera_name_to_index(s.camera_name), s.cam_fps, s.cam_res_x, s.cam_res_y);
 
     qDebug() << "pt: done applying settings";
 }
 
-void Tracker_PT::start_tracker(QFrame *parent_window)
+void Tracker_PT::start_tracker(QFrame* video_frame)
 {
-    video_frame = parent_window;
     video_frame->setAttribute(Qt::WA_NativeWindow);
-    video_frame->show();
-    video_widget = new cv_video_widget(video_frame);
-    QHBoxLayout* video_layout = new QHBoxLayout(parent_window);
-    video_layout->setContentsMargins(0, 0, 0, 0);
-    video_layout->addWidget(video_widget);
-    video_frame->setLayout(video_layout);
+    video_widget = qptr<cv_video_widget>(video_frame);
+    layout = qptr<QHBoxLayout>(video_frame);
+    layout->setContentsMargins(0, 0, 0, 0);
+    layout->addWidget(video_widget.data());
+    video_frame->setLayout(layout.data());
     video_widget->resize(video_frame->width(), video_frame->height());
+    video_frame->show();
     start();
 }