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-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.cpp53
-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.h1
-rw-r--r--ftnoir_tracker_ht/ht_video_widget.cpp49
-rw-r--r--ftnoir_tracker_ht/ht_video_widget.h5
-rw-r--r--ftnoir_tracker_pt/pt_video_widget.cpp48
-rw-r--r--ftnoir_tracker_pt/pt_video_widget.h3
-rw-r--r--pose-widget/glwidget.cpp13
7 files changed, 109 insertions, 63 deletions
diff --git a/ftnoir_tracker_aruco/ar_video_widget.cpp b/ftnoir_tracker_aruco/ar_video_widget.cpp
index 61a611ea..2d9e3052 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.cpp
+++ b/ftnoir_tracker_aruco/ar_video_widget.cpp
@@ -14,30 +14,47 @@ using namespace std;
void ArucoVideoWidget::update_image(const cv::Mat& frame)
{
QMutexLocker foo(&mtx);
- _frame = frame.clone();
+ if (!fresh)
+ {
+ _frame = frame.clone();
+ fresh = true;
+ }
}
void ArucoVideoWidget::update_and_repaint()
{
- QMutexLocker foo(&mtx);
- if (_frame.cols*_frame.rows <= 0)
- 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++)
+ QImage qframe;
+
{
- for (int x = 0; x < _frame.cols; x++)
+ QMutexLocker foo(&mtx);
+ if (_frame.cols*_frame.rows <= 0 || !fresh)
+ return;
+ fresh = false;
+ qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
+ uchar* data = qframe.bits();
+ const int pitch = qframe.bytesPerLine();
+ unsigned char *input = (unsigned char*)(_frame.data);
+ const int chans = _frame.channels();
+ for (int y = 0; y < _frame.rows; y++)
{
- const auto& elt = _frame.at<cv::Vec3b>(y, x);
- const cv::Scalar elt2 = static_cast<cv::Scalar>(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];
+ const int step = y * _frame.step;
+ const int pitch_ = y * pitch;
+ for (int x = 0; x < _frame.cols; x++)
+ {
+ data[pitch_ + x * 3 + 0] = input[step + x * chans + 2];
+ data[pitch_ + x * 3 + 1] = input[step + x * chans + 1];
+ data[pitch_ + x * 3 + 2] = input[step + x * chans + 0];
+ }
}
}
- auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- texture = qframe2;
+
+ qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+
+ {
+ QMutexLocker foo(&mtx);
+ texture = qframe;
+ }
+
update();
}
@@ -47,8 +64,8 @@ void ArucoVideoWidget::paintEvent(QPaintEvent* e)
QPainter(this).drawImage(e->rect(), texture);
}
-ArucoVideoWidget::ArucoVideoWidget(QWidget* parent): QWidget(parent)
+ArucoVideoWidget::ArucoVideoWidget(QWidget* parent): QWidget(parent), fresh(false)
{
connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
timer.start(60);
-} \ No newline at end of file
+}
diff --git a/ftnoir_tracker_aruco/ar_video_widget.h b/ftnoir_tracker_aruco/ar_video_widget.h
index 820ba7d0..8c51382b 100644
--- a/ftnoir_tracker_aruco/ar_video_widget.h
+++ b/ftnoir_tracker_aruco/ar_video_widget.h
@@ -28,6 +28,7 @@ private:
QImage texture;
QTimer timer;
cv::Mat _frame;
+ bool fresh;
private slots:
void update_and_repaint();
public:
diff --git a/ftnoir_tracker_ht/ht_video_widget.cpp b/ftnoir_tracker_ht/ht_video_widget.cpp
index c6d59b34..1c5f565c 100644
--- a/ftnoir_tracker_ht/ht_video_widget.cpp
+++ b/ftnoir_tracker_ht/ht_video_widget.cpp
@@ -14,31 +14,44 @@ using namespace std;
void HTVideoWidget::update_image(unsigned char *frame, int width, int height)
{
QMutexLocker foo(&mtx);
- memcpy(fb, frame, width * height * 3);
- this->width = width;
- this->height = height;
+ if (!fresh)
+ {
+ memcpy(fb, frame, width * height * 3);
+ this->width = width;
+ this->height = height;
+ fresh = true;
+ }
}
void HTVideoWidget::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++)
+ QImage qframe;
{
- const int part = y*width;
- for (int x = 0; x < width; x++)
+ QMutexLocker foo(&mtx);
+ if (width*height <= 0 || !fresh)
+ return;
+ fresh = false;
+ 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 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 int part = y*width;
+ for (int x = 0; x < width; x++)
+ {
+ const int pos = 3 * (part + x);
+ const int x_ = x * 3;
+ data[x_ + 0] = fb[pos + 2];
+ data[x_ + 1] = fb[pos + 1];
+ data[x_ + 2] = fb[pos + 0];
+ }
+ data += pitch;
}
}
- auto qframe2 = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- texture = qframe2;
+ qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
+ {
+ QMutexLocker foo(&mtx);
+ texture = qframe;
+ }
update();
}
diff --git a/ftnoir_tracker_ht/ht_video_widget.h b/ftnoir_tracker_ht/ht_video_widget.h
index cbfe6ddc..be4aee44 100644
--- a/ftnoir_tracker_ht/ht_video_widget.h
+++ b/ftnoir_tracker_ht/ht_video_widget.h
@@ -23,7 +23,7 @@ class HTVideoWidget : public QWidget
Q_OBJECT
public:
- HTVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0) {
+ HTVideoWidget(QWidget *parent) : QWidget(parent), fb(), width(0), height(0), fresh(false) {
connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
timer.start(60);
}
@@ -40,8 +40,9 @@ private:
QMutex mtx;
QImage texture;
QTimer timer;
- char fb[2048*2048*3];
+ unsigned char fb[2048*2048*3];
int width,height;
+ bool fresh;
};
#endif // VIDEOWIDGET_H
diff --git a/ftnoir_tracker_pt/pt_video_widget.cpp b/ftnoir_tracker_pt/pt_video_widget.cpp
index aefb8199..12f01413 100644
--- a/ftnoir_tracker_pt/pt_video_widget.cpp
+++ b/ftnoir_tracker_pt/pt_video_widget.cpp
@@ -18,29 +18,43 @@ using namespace std;
void PTVideoWidget::update_image(const cv::Mat& frame)
{
QMutexLocker foo(&mtx);
- _frame = frame.clone();
- freshp = true;
+
+ if (!freshp)
+ {
+ _frame = frame.clone();
+ freshp = true;
+ }
}
void PTVideoWidget::update_and_repaint()
{
- QMutexLocker foo(&mtx);
- if (_frame.empty() || !freshp)
- return;
- freshp = false;
- 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++)
+ QImage qframe;
+ {
+ QMutexLocker foo(&mtx);
+ if (_frame.empty() || !freshp)
+ return;
+ qframe = QImage(_frame.cols, _frame.rows, QImage::Format_RGB888);
+ freshp = false;
+ uchar* data = qframe.bits();
+ const int pitch = qframe.bytesPerLine();
+ unsigned char *input = (unsigned char*) _frame.data;
+ const int chans = _frame.channels();
+ for (int y = 0; y < _frame.rows; y++)
{
- const auto& elt = _frame.at<Vec3b>(y, x);
- const cv::Scalar elt2 = static_cast<cv::Scalar>(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];
+ const int step = y * _frame.step;
+ const int pitch_ = y * pitch;
+ for (int x = 0; x < _frame.cols; x++)
+ {
+ data[pitch_ + x * 3 + 0] = input[step + x * chans + 2];
+ data[pitch_ + x * 3 + 1] = input[step + x * chans + 1];
+ data[pitch_ + x * 3 + 2] = input[step + x * chans + 0];
+ }
}
+ }
qframe = qframe.scaled(size(), Qt::IgnoreAspectRatio, Qt::FastTransformation);
- texture = qframe;
+ {
+ QMutexLocker foo(&mtx);
+ texture = qframe;
+ }
update();
}
diff --git a/ftnoir_tracker_pt/pt_video_widget.h b/ftnoir_tracker_pt/pt_video_widget.h
index f2b41d63..07b1ee2a 100644
--- a/ftnoir_tracker_pt/pt_video_widget.h
+++ b/ftnoir_tracker_pt/pt_video_widget.h
@@ -39,7 +39,6 @@ public:
timer.start(40);
}
void update_image(const cv::Mat &frame);
- void update_frame_and_points() {}
protected slots:
void paintEvent( QPaintEvent* e ) {
QMutexLocker foo(&mtx);
@@ -52,5 +51,5 @@ private:
QImage texture;
QTimer timer;
cv::Mat _frame;
- volatile bool freshp;
+ bool freshp;
};
diff --git a/pose-widget/glwidget.cpp b/pose-widget/glwidget.cpp
index 0322077b..b444e87e 100644
--- a/pose-widget/glwidget.cpp
+++ b/pose-widget/glwidget.cpp
@@ -145,14 +145,14 @@ void GLWidget::project_quad_texture() {
Triangle(projected[1][0], projected[1][1], projected[1][2])
};
- int orig_pitch = tex.bytesPerLine();
- int dest_pitch = texture.bytesPerLine();
+ const int orig_pitch = tex.bytesPerLine();
+ const int dest_pitch = texture.bytesPerLine();
const unsigned char* orig = tex.bits();
unsigned char* dest = texture.bits();
- int orig_depth = tex.depth() / 8;
- int dest_depth = texture.depth() / 8;
+ const int orig_depth = tex.depth() / 8;
+ const int dest_depth = texture.depth() / 8;
/* image breakage? */
if (orig_depth < 3)
@@ -165,12 +165,13 @@ void GLWidget::project_quad_texture() {
vec2 coords;
if (triangles[i].barycentric_coords(pos, coords))
{
- int px = origs[i][0].x()
+ const int px = origs[i][0].x()
+ coords.x() * (origs[i][2].x() - origs[i][0].x())
+ coords.y() * (origs[i][1].x() - origs[i][0].x());
- int py = origs[i][0].y()
+ const int py = origs[i][0].y()
+ coords.x() * (origs[i][2].y() - origs[i][0].y())
+ coords.y() * (origs[i][1].y() - origs[i][0].y());
+
int r = orig[py * orig_pitch + px * orig_depth + 2];
int g = orig[py * orig_pitch + px * orig_depth + 1];
int b = orig[py * orig_pitch + px * orig_depth + 0];
generated by cgit v1.2.3 (git 2.39.1) at 2025-11-04 15:28:28 +0000