Import aruco tracker

1 files changed, 30 insertions, 0 deletions

diff --git a/ftnoir_tracker_aruco/video_widget.cpp b/ftnoir_tracker_aruco/video_widget.cpp
new file mode 100644
index 00000000..84cba6a3
--- /dev/null
+++ b/ftnoir_tracker_aruco/video_widget.cpp
@@ -0,0 +1,30 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#include "video_widget.h"
+
+#include <QDebug>
+
+using namespace std;
+
+void VideoWidget::update_image(unsigned char *frame, int width, int height)
+{
+    QMutexLocker foo(&mtx);
+    QImage qframe = QImage(width, height, QImage::Format_RGB888);
+    uchar* data = qframe.bits();
+    const int pitch = qframe.bytesPerLine();
+    for (int y = 0; y < height; y++)
+        for (int x = 0; x < width; x++)
+        {
+            const int pos = 3 * (y*width + x);
+            data[y * pitch + x * 3 + 0] = frame[pos + 2];
+            data[y * pitch + x * 3 + 1] = frame[pos + 1];
+            data[y * pitch + x * 3 + 2] = frame[pos + 0];
+        }
+    qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+    pixmap = QPixmap::fromImage(qframe);
+}