From 247ce0e1cb8500555de75bd6ec6da420c0b5d246 Mon Sep 17 00:00:00 2001
From: ackimixs <ackimixs@protonmail.com>
Date: Sat, 10 Feb 2024 18:41:33 +0100
Subject: [PATCH] up

---
 aruco/ArucoDetector.cpp | 15 ++++++++-------
 aruco/ArucoDetector.h   |  2 +-
 2 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index c35d6d7..dfec570 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -20,10 +20,11 @@ ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& cal
     this->readCameraParameters(calibrationPath);
 
     // this->cap = cv::VideoCapture(cameraId);
-    cam.options->video_width=1920;
-    cam.options->video_height=1080;
-    cam.options->framerate=30;
-    cam.options->verbose=true;
+    this->cam = new lccv::PiCamera();
+    cam->options->video_width=1920;
+    cam->options->video_height=1080;
+    cam->options->framerate=10;
+    cam->options->verbose=true;
 
 /*    if (!cap.isOpened()) {
         std::cerr << "Error opening camera." << std::endl;
@@ -47,7 +48,7 @@ ArucoDetector::ArucoDetector(const Type::RobotPose& pose, const std::string& cal
 
     this->addArucoTag(ArucoTag(47, "Solar panel", 50, SOLAR_PANEL));
 
-    cam.startVideo();
+    cam->startVideo();
 }
 
 ArucoDetector::ArucoDetector(const float x, const float y, const float z, const float theta, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : ArucoDetector(Type::RobotPose{cv::Point3f(x, y, z), theta}, calibrationPath, team, cameraId, headless)
@@ -56,7 +57,7 @@ ArucoDetector::ArucoDetector(const float x, const float y, const float z, const
 
 ArucoDetector::~ArucoDetector()
 {
-    cam.stopVideo();
+    cam->stopVideo();
     cv::destroyAllWindows();
 }
 
@@ -93,7 +94,7 @@ std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> Ar
     }
 
     cv::Mat frame;
-    cam.getVideoFrame(frame, 1000);
+    cam->getVideoFrame(frame, 1);
     // cap >> frame;  // Capture frame from the camera
 
     std::pair<int, std::vector<std::pair<ArucoTag, std::pair<cv::Mat, cv::Mat>>>> result;
diff --git a/aruco/ArucoDetector.h b/aruco/ArucoDetector.h
index a89c99d..397e272 100644
--- a/aruco/ArucoDetector.h
+++ b/aruco/ArucoDetector.h
@@ -13,7 +13,7 @@ class ArucoDetector {
     cv::Mat distCoeffs;
 
     // cv::VideoCapture cap;
-    lccv::PiCamera cam;
+    lccv::PiCamera* cam;
 
     // 4.6
     cv::Ptr<cv::aruco::Dictionary> dictionary;