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-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.cpp53
-rw-r--r--ftnoir_tracker_aruco/ar_video_widget.h1
2 files changed, 36 insertions, 18 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: