From 2e7407a094c74b629cbe8348e9007c6373e476fe Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Mon, 6 Jul 2015 10:01:24 +0200
Subject: aruco: use camera settings class

---
 ftnoir_tracker_aruco/aruco-trackercontrols.ui | 88 ++++++++++++++++-----------
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp | 43 ++++++++-----
 ftnoir_tracker_aruco/ftnoir_tracker_aruco.h   | 10 ++-
 3 files changed, 88 insertions(+), 53 deletions(-)

diff --git a/ftnoir_tracker_aruco/aruco-trackercontrols.ui b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
index 15184c41..4433c47c 100644
--- a/ftnoir_tracker_aruco/aruco-trackercontrols.ui
+++ b/ftnoir_tracker_aruco/aruco-trackercontrols.ui
@@ -9,8 +9,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>562</width>
-    <height>178</height>
+    <width>586</width>
+    <height>202</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -62,6 +62,43 @@
         </property>
        </widget>
       </item>
+      <item row="3" column="1">
+       <widget class="QComboBox" name="resolution">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <item>
+         <property name="text">
+          <string>640x480</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>320x240</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>320x200</string>
+         </property>
+        </item>
+        <item>
+         <property name="text">
+          <string>Default (not recommended!)</string>
+         </property>
+        </item>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="text">
+         <string>Camera name</string>
+        </property>
+       </widget>
+      </item>
       <item row="3" column="0">
        <widget class="QLabel" name="label_4">
         <property name="text">
@@ -111,50 +148,27 @@
         </item>
        </widget>
       </item>
-      <item row="3" column="1">
-       <widget class="QComboBox" name="resolution">
+      <item row="2" column="1">
+       <widget class="QComboBox" name="cameraName">
         <property name="sizePolicy">
          <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
         </property>
-        <item>
-         <property name="text">
-          <string>640x480</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>320x240</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>320x200</string>
-         </property>
-        </item>
-        <item>
-         <property name="text">
-          <string>Default (not recommended!)</string>
-         </property>
-        </item>
        </widget>
       </item>
-      <item row="2" column="0">
-       <widget class="QLabel" name="label_3">
+      <item row="4" column="0">
+       <widget class="QLabel" name="label_6">
         <property name="text">
-         <string>Camera name</string>
+         <string>Camera settings</string>
         </property>
        </widget>
       </item>
-      <item row="2" column="1">
-       <widget class="QComboBox" name="cameraName">
-        <property name="sizePolicy">
-         <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-          <horstretch>0</horstretch>
-          <verstretch>0</verstretch>
-         </sizepolicy>
+      <item row="4" column="1">
+       <widget class="QPushButton" name="camera_settings">
+        <property name="text">
+         <string>Open</string>
         </property>
        </widget>
       </item>
@@ -174,7 +188,7 @@
       <item row="2" column="1">
        <widget class="QDoubleSpinBox" name="cy">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+         <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -190,7 +204,7 @@
       <item row="1" column="1">
        <widget class="QDoubleSpinBox" name="cx">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+         <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
@@ -206,7 +220,7 @@
       <item row="3" column="1">
        <widget class="QDoubleSpinBox" name="cz">
         <property name="sizePolicy">
-         <sizepolicy hsizetype="Minimum" vsizetype="Minimum">
+         <sizepolicy hsizetype="Minimum" vsizetype="Maximum">
           <horstretch>0</horstretch>
           <verstretch>0</verstretch>
          </sizepolicy>
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index ca8cea9e..70af379d 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -101,26 +101,31 @@ void Tracker::run()
         fps = 200;
         break;
     }
-    camera = cv::VideoCapture(camera_name_to_index(s.camera_name));
-    if (res.width)
+
     {
-        camera.set(cv::CAP_PROP_FRAME_WIDTH, res.width);
-        camera.set(cv::CAP_PROP_FRAME_HEIGHT, res.height);
+        QMutexLocker l(&camera_mtx);
+
+        camera = cv::VideoCapture(camera_name_to_index(s.camera_name));
+        if (res.width)
+        {
+            camera.set(cv::CAP_PROP_FRAME_WIDTH, res.width);
+            camera.set(cv::CAP_PROP_FRAME_HEIGHT, res.height);
+        }
+        if (fps)
+            camera.set(cv::CAP_PROP_FPS, fps);
+
+        if (!camera.isOpened())
+        {
+            qDebug() << "aruco tracker: can't open camera";
+            return;
+        }
     }
-    if (fps)
-        camera.set(cv::CAP_PROP_FPS, fps);
 
     aruco::MarkerDetector detector;
     detector.setDesiredSpeed(3);
 
     cv::Rect last_roi(65535, 65535, 0, 0);
 
-    if (!camera.isOpened())
-    {
-        fprintf(stderr, "aruco tracker: can't open camera\n");
-        return;
-    }
-
     auto freq = cv::getTickFrequency();
     auto last_time = cv::getTickCount();
     double cur_fps = 0;
@@ -133,8 +138,12 @@ void Tracker::run()
     while (!stop)
     {
         cv::Mat color;
-        if (!camera.read(color))
-            continue;
+        {
+            QMutexLocker l(&camera_mtx);
+
+            if (!camera.read(color))
+                continue;
+        }
         cv::Mat grayscale;
         cv::cvtColor(color, grayscale, cv::COLOR_RGB2GRAY);
         
@@ -391,6 +400,7 @@ TrackerControls::TrackerControls()
     connect(ui.btn_calibrate, SIGNAL(clicked()), this, SLOT(toggleCalibrate()));
     connect(this, SIGNAL(destroyed()), this, SLOT(cleanupCalib()));
     connect(&calib_timer, SIGNAL(timeout()), this, SLOT(update_tracker_calibration()));
+    connect(ui.camera_settings, SIGNAL(pressed()), this, SLOT(camera_settings()));
 }
 
 void TrackerControls::toggleCalibrate()
@@ -440,3 +450,8 @@ void TrackerControls::doCancel()
     s.b->reload();
     this->close();
 }
+
+void TrackerControls::camera_settings()
+{
+    open_camera_settings(tracker ? &tracker->camera : nullptr, s.camera_name, tracker ? &tracker->camera_mtx : nullptr);
+}
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
index 875a9d41..297fecdb 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.h
@@ -18,6 +18,7 @@
 #include "opentrack/options.hpp"
 #include "ftnoir_tracker_aruco/trans_calib.h"
 #include "opentrack/plugin-api.hpp"
+#include "opentrack/opencv-camera-dialog.hpp"
 
 #include <opencv2/core/core.hpp>
 #include <opencv2/highgui/highgui.hpp>
@@ -40,9 +41,12 @@ struct settings : opts {
     {}
 };
 
+class TrackerControls;
+
 class Tracker : protected QThread, public ITracker
 {
     Q_OBJECT
+    friend class TrackerControls;
     static constexpr double c_search_window = 2.65;
 public:
     Tracker();
@@ -52,6 +56,8 @@ public:
     void run();
     void getRT(cv::Matx33d &r, cv::Vec3d &t);
 private:
+    cv::VideoCapture camera;
+    QMutex camera_mtx;
     QMutex mtx;
     volatile bool stop;
     QHBoxLayout* layout;
@@ -59,12 +65,11 @@ private:
     settings s;
     double pose[6];
     cv::Mat frame;
-    cv::VideoCapture camera;
     cv::Matx33d r;
     cv::Vec3d t;
 };
 
-class TrackerControls : public ITrackerDialog
+class TrackerControls : public ITrackerDialog, protected camera_dialog<Tracker>
 {
     Q_OBJECT
 public:
@@ -83,4 +88,5 @@ private slots:
     void toggleCalibrate();
     void cleanupCalib();
     void update_tracker_calibration();
+    void camera_settings();
 };
-- 
cgit v1.2.3