1 files changed, 14 insertions, 7 deletions

diff --git a/tracker-pt/module/camera.cpp b/tracker-pt/module/camera.cpp
index a70698de..1beba474 100644
--- a/tracker-pt/module/camera.cpp
+++ b/tracker-pt/module/camera.cpp
@@ -7,10 +7,7 @@
 
 #include "camera.h"
 #include "frame.hpp"
-
-#include "compat/math-imports.hpp"
-
-#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
 
 namespace pt_module {
 
@@ -73,23 +70,29 @@ Camera::result Camera::get_frame(pt_frame& frame_)
         return { false, {} };
 }
 
-bool Camera::start(const QString& name, int fps, int res_x, int res_y)
+bool Camera::start(const pt_settings& s)
 {
+    int fps = s.cam_fps, res_x = s.cam_res_x, res_y = s.cam_res_y;
+    QString name = s.camera_name;
+    bool use_mjpeg = s.use_mjpeg;
+
     if (fps >= 0 && res_x >= 0 && res_y >= 0)
     {
         if (cam_desired.name != name ||
             (int)cam_desired.fps != fps ||
             cam_desired.res_x != res_x ||
             cam_desired.res_y != res_y ||
+            cam_desired.use_mjpeg != use_mjpeg ||
             !cap || !cap->is_open())
         {
             stop();
 
             cam_desired.name = name;
-            cam_desired.fps = fps;
+            cam_desired.fps = (f)fps;
             cam_desired.res_x = res_x;
             cam_desired.res_y = res_y;
             cam_desired.fov = fov;
+            cam_desired.use_mjpeg = use_mjpeg;
 
             cap = video::make_camera(name);
 
@@ -100,12 +103,16 @@ bool Camera::start(const QString& name, int fps, int res_x, int res_y)
             info.fps = fps;
             info.width = res_x;
             info.height = res_y;
+            info.use_mjpeg = use_mjpeg;
+            info.num_channels = s.blob_color == pt_color_hardware ? 1 : 3;
 
             if (!cap->start(info))
                 goto fail;
 
             cam_info = pt_camera_info();
             cam_info.name = name;
+            cam_info.use_mjpeg = use_mjpeg;
+            cam_info.fov = (f)s.fov;
             dt_mean = 0;
 
             cv::Mat tmp;
@@ -141,7 +148,7 @@ bool Camera::get_frame_(cv::Mat& img)
             int stride = frame.stride;
             if (stride == 0)
                 stride = cv::Mat::AUTO_STEP;
-            img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, stride);
+            img = cv::Mat(frame.height, frame.width, CV_8UC(frame.channels), (void*)frame.data, (size_t)stride);
             return true;
         }
     }