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-rw-r--r--FTNoIR_Tracker_PT/pt_video_widget.cpp35
-rw-r--r--FTNoIR_Tracker_PT/pt_video_widget.h4
-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.cpp26
-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.h10
4 files changed, 54 insertions, 21 deletions
diff --git a/FTNoIR_Tracker_PT/pt_video_widget.cpp b/FTNoIR_Tracker_PT/pt_video_widget.cpp
index 03c42fc7..35a2c42b 100644
--- a/FTNoIR_Tracker_PT/pt_video_widget.cpp
+++ b/FTNoIR_Tracker_PT/pt_video_widget.cpp
@@ -18,19 +18,7 @@ using namespace std;
void PTVideoWidget::update_image(const cv::Mat& frame)
{
QMutexLocker foo(&mtx);
- QImage qframe = QImage(frame.cols, frame.rows, QImage::Format_RGB888);
- uchar* data = qframe.bits();
- const int pitch = qframe.bytesPerLine();
- for (int y = 0; y < frame.rows; y++)
- for (int x = 0; x < frame.cols; x++)
- {
- const int pos = 3 * (y*frame.cols + x);
- data[y * pitch + x * 3 + 0] = frame.data[pos + 2];
- data[y * pitch + x * 3 + 1] = frame.data[pos + 1];
- data[y * pitch + x * 3 + 2] = frame.data[pos + 0];
- }
- qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- pixmap = QPixmap::fromImage(qframe);
+ _frame = frame;
}
// ----------------------------------------------------------------------------
@@ -50,3 +38,24 @@ VideoWidgetDialog::VideoWidgetDialog(QWidget *parent, FrameProvider* provider)
setLayout(layout);
resize(VIDEO_FRAME_WIDTH, VIDEO_FRAME_HEIGHT);
}
+
+void PTVideoWidget::update_and_repaint()
+{
+ QMutexLocker foo(&mtx);
+ if (_frame.empty())
+ return;
+ QImage qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
+ uchar* data = qframe.bits();
+ const int pitch = qframe.bytesPerLine();
+ for (int y = 0; y < _frame.rows; y++)
+ for (int x = 0; x < _frame.cols; x++)
+ {
+ const int pos = 3 * (y*_frame.cols + x);
+ data[y * pitch + x * 3 + 0] = _frame.data[pos + 2];
+ data[y * pitch + x * 3 + 1] = _frame.data[pos + 1];
+ data[y * pitch + x * 3 + 2] = _frame.data[pos + 0];
+ }
+ qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+ pixmap = QPixmap::fromImage(qframe);
+ update();
+}
diff --git a/FTNoIR_Tracker_PT/pt_video_widget.h b/FTNoIR_Tracker_PT/pt_video_widget.h
index e67e6d57..f5663e47 100644
--- a/FTNoIR_Tracker_PT/pt_video_widget.h
+++ b/FTNoIR_Tracker_PT/pt_video_widget.h
@@ -31,7 +31,7 @@ class PTVideoWidget : public QWidget, public FrameObserver
public:
PTVideoWidget(QWidget *parent, FrameProvider* provider) : QWidget(parent), /* to avoid linker errors */ FrameObserver(provider) {
- connect(&timer, SIGNAL(timeout()), this, SLOT(update()));
+ connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
timer.start(45);
}
void update_image(const cv::Mat &frame);
@@ -42,10 +42,12 @@ protected slots:
QPainter painter(this);
painter.drawPixmap(e->rect(), pixmap, e->rect());
}
+ void update_and_repaint();
private:
QMutex mtx;
QPixmap pixmap;
QTimer timer;
+ cv::Mat _frame;
};
// ----------------------------------------------------------------------------
diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp
index 6a4572a0..b727679b 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.cpp
+++ b/ftnoir_tracker_aruco/ar_video_widget.cpp
@@ -14,17 +14,31 @@ using namespace std;
void ArucoVideoWidget::update_image(unsigned char *frame, int width, int height)
{
QMutexLocker foo(&mtx);
+ memcpy(fb, frame, width * height * 3);
+ this->width = width;
+ this->height = height;
+}
+
+void ArucoVideoWidget::update_and_repaint()
+{
+ QMutexLocker foo(&mtx);
+ if (width*height <= 0)
+ return;
QImage qframe = QImage(width, height, QImage::Format_RGB888);
uchar* data = qframe.bits();
const int pitch = qframe.bytesPerLine();
for (int y = 0; y < height; y++)
+ {
+ const int part = y*width;
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];
+ 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];
}
- qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- pixmap = QPixmap::fromImage(qframe);
+ }
+ auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+ pixmap = QPixmap::fromImage(qframe2);
+ update();
}
diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h
index dd0c16ac..3a1574cd 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.h
+++ b/ftnoir_tracker_aruco/ar_video_widget.h
@@ -15,6 +15,7 @@
#include <QLabel>
#include <QPainter>
#include <QPaintEvent>
+#include <QTimer>
// ----------------------------------------------------------------------------
class ArucoVideoWidget : public QWidget
@@ -22,7 +23,9 @@ class ArucoVideoWidget : public QWidget
Q_OBJECT
public:
- ArucoVideoWidget(QWidget *parent) : QWidget(parent), mtx() {
+ ArucoVideoWidget(QWidget *parent) : QWidget(parent), width(0), height(0), fb{0} {
+ connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
+ timer.start(60);
}
void update_image(unsigned char* frame, int width, int height);
protected slots:
@@ -31,9 +34,14 @@ protected slots:
QPainter painter(this);
painter.drawPixmap(e->rect(), pixmap, e->rect());
}
+ void update_and_repaint();
+
private:
QMutex mtx;
QPixmap pixmap;
+ QTimer timer;
+ char fb[2048*2048*3];
+ int width,height;
};
#endif // VIDEOWIDGET_H
generated by cgit v1.2.3 (git 2.39.1) at 2024-11-15 02:36:48 +0000