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);
     }
 }