tracker/trackhat: initial revision

1 files changed, 84 insertions, 0 deletions

diff --git a/tracker-trackhat/frame.cpp b/tracker-trackhat/frame.cpp
new file mode 100644
index 00000000..d9913776
--- /dev/null
+++ b/tracker-trackhat/frame.cpp
@@ -0,0 +1,84 @@
+#include "trackhat.hpp"
+#include <opencv2/imgproc.hpp>
+#include "compat/math.hpp"
+
+void trackhat_preview::set_last_frame(const pt_frame& frame_)
+{
+    center = {-1, -1};
+    points = frame_.as_const<trackhat_frame>()->points;
+}
+
+void trackhat_preview::draw_head_center(pt_pixel_pos_mixin::f x, pt_pixel_pos_mixin::f y)
+{
+    center = {x, y};
+}
+
+QImage trackhat_preview::get_bitmap()
+{
+    frame_bgr.setTo({0});
+
+    draw_points();
+    draw_center();
+
+    cv::cvtColor(frame_bgr, frame_bgra, cv::COLOR_BGR2BGRA);
+
+    return QImage((const unsigned char*) frame_bgra.data,
+                  frame_bgra.cols, frame_bgra.rows,
+                  (int)frame_bgra.step.p[0],
+                  QImage::Format_ARGB32);
+}
+
+void trackhat_preview::draw_center()
+{
+    if (center == numeric_types::vec2(-1, -1))
+        return;
+
+    auto [px_, py_] = to_pixel_pos(center[0], center[1], frame_bgr.cols, frame_bgr.rows);
+    int px = iround(px_), py = iround(py_);
+
+    const f dpi = (f)frame_bgr.cols / f(320);
+    constexpr int len_ = 9;
+    int len = iround(len_ * dpi);
+
+    static const cv::Scalar color(0, 255, 255);
+    cv::line(frame_bgr,
+             cv::Point(px - len, py),
+             cv::Point(px + len, py),
+             color, 1);
+    cv::line(frame_bgr,
+             cv::Point(px, py - len),
+             cv::Point(px, py + len),
+             color, 1);
+}
+
+void trackhat_preview::draw_points()
+{
+    for (unsigned i = 0; i < std::size(points.m_point); i++)
+    {
+        const auto pt = points.m_point[i];
+
+        if (pt.m_brightness == 0)
+            continue;
+
+        constexpr f sz = trackhat_camera::sensor_size;
+        f x = std::clamp((f)pt.m_x, f(0), sz-1) * (f)frame_bgr.cols / sz,
+          y = std::clamp((f)pt.m_y, f(0), sz-1) * (f)frame_bgr.rows / sz;
+
+        const f dpi = (f)frame_bgr.cols / f(320);
+        int c = (int)pt.m_brightness;
+        constexpr int point_size = 6;
+        auto outline_color = i < 3 ? cv::Scalar{255, 255, 0} : cv::Scalar{192, 192, 192};
+
+        cv::circle(frame_bgr,
+                   {iround(x*dpi), iround(y*dpi)},
+                   iround(point_size * dpi),
+                   outline_color,
+                   iround(dpi), cv::LINE_AA);
+
+        cv::circle(frame_bgr,
+                   {iround(x*dpi), iround(y*dpi)},
+                   iround((point_size-2) * dpi),
+                   cv::Scalar(c, c, c),
+                   -1);
+    }
+}