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authorStanislaw Halik <sthalik@misaki.pl>2013-11-07 17:21:27 +0100
committerStanislaw Halik <sthalik@misaki.pl>2013-11-07 17:21:27 +0100
commitee82f14d1f2bbdc8fd7c0898e0c47494e4e7362d (patch)
tree4abe16c8597cb4068fb4d3d3019c743ab5fa1e06 /ftnoir_tracker_aruco
parent167e1517c64974ca0a7de6ea07de53df57e2b4b7 (diff)
fix flicker, hopefully fix pitch
Signed-off-by: Stanislaw Halik <sthalik@misaki.pl>
Diffstat (limited to 'ftnoir_tracker_aruco')
-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.cpp24
-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.h8
-rw-r--r--ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp6
3 files changed, 18 insertions, 20 deletions
diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp
index b727679b..149a19ee 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.cpp
+++ b/ftnoir_tracker_aruco/ar_video_widget.cpp
@@ -11,31 +11,29 @@
using namespace std;
-void ArucoVideoWidget::update_image(unsigned char *frame, int width, int height)
+void ArucoVideoWidget::update_image(const cv::Mat& frame)
{
QMutexLocker foo(&mtx);
- memcpy(fb, frame, width * height * 3);
- this->width = width;
- this->height = height;
+ _frame = frame;
}
void ArucoVideoWidget::update_and_repaint()
{
QMutexLocker foo(&mtx);
- if (width*height <= 0)
+ if (_frame.cols*_frame.rows <= 0)
return;
- QImage qframe = QImage(width, height, QImage::Format_RGB888);
+ QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
uchar* data = qframe.bits();
const int pitch = qframe.bytesPerLine();
- for (int y = 0; y < height; y++)
+ for (int y = 0; y < _frame.rows; y++)
{
- const int part = y*width;
- for (int x = 0; x < width; x++)
+ for (int x = 0; x < _frame.cols; x++)
{
- const int pos = 3 * (part + x);
- data[y * pitch + x * 3 + 0] = fb[pos + 2];
- data[y * pitch + x * 3 + 1] = fb[pos + 1];
- data[y * pitch + x * 3 + 2] = fb[pos + 0];
+ const auto& elt = _frame.at<cv::Vec3b>(y, x);
+ const CvScalar elt2 = elt;
+ data[y * pitch + x * 3 + 0] = elt2.val[2];
+ data[y * pitch + x * 3 + 1] = elt2.val[1];
+ data[y * pitch + x * 3 + 2] = elt2.val[0];
}
}
auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h
index e1c7cff8..b95d1873 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.h
+++ b/ftnoir_tracker_aruco/ar_video_widget.h
@@ -16,6 +16,7 @@
#include <QPainter>
#include <QPaintEvent>
#include <QTimer>
+#include <opencv/cv.hpp>
// ----------------------------------------------------------------------------
class ArucoVideoWidget : public QWidget
@@ -23,11 +24,11 @@ class ArucoVideoWidget : public QWidget
Q_OBJECT
public:
- ArucoVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0) {
+ ArucoVideoWidget(QWidget *parent) : QWidget(parent) {
connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
timer.start(60);
}
- void update_image(unsigned char* frame, int width, int height);
+ void update_image(const cv::Mat& frame);
protected slots:
void paintEvent( QPaintEvent* e ) {
QMutexLocker foo(&mtx);
@@ -40,8 +41,7 @@ private:
QMutex mtx;
QPixmap pixmap;
QTimer timer;
- char fb[2048*2048*3];
- int width,height;
+ cv::Mat _frame;
};
#endif // VIDEOWIDGET_H
diff --git a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
index a918d020..e063be62 100644
--- a/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
+++ b/ftnoir_tracker_aruco/ftnoir_tracker_aruco.cpp
@@ -280,12 +280,12 @@ start:
char buf[128];
+ frame = color.clone();
+
::sprintf(buf, "Hz: %d", last_fps);
cv::putText(frame, buf, cv::Point(10, 32), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(0, 255, 0), scale);
::sprintf(buf, "Jiffies: %ld", (long) (10000 * (time - tm) / freq));
cv::putText(frame, buf, cv::Point(10, 54), cv::FONT_HERSHEY_PLAIN, scale, cv::Scalar(80, 255, 0), scale);
-
- frame = color;
if (markers.size() == 1 && markers[0].size() == 4) {
const aruco::Marker& m = markers.at(0);
@@ -362,7 +362,7 @@ start:
}
if (frame.rows > 0)
- videoWidget->update_image(frame.data, frame.cols, frame.rows);
+ videoWidget->update_image(frame);
}
}