1 files changed, 67 insertions, 0 deletions
diff --git a/tracker-aruco/ar_video_widget.cpp b/tracker-aruco/ar_video_widget.cpp
new file mode 100644
index 00000000..1c3af262
--- /dev/null
+++ b/tracker-aruco/ar_video_widget.cpp
@@ -0,0 +1,67 @@
+/* Copyright (c) 2014 Stanislaw Halik
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#include "ar_video_widget.h"
+
+void ArucoVideoWidget::update_image(const cv::Mat& frame)
+{
+    QMutexLocker foo(&mtx);
+    if (!fresh)
+    {
+        _frame = frame.clone();
+        fresh = true;
+    }
+}
+
+void ArucoVideoWidget::update_and_repaint()
+{
+    QImage qframe;
+    
+    {
+        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 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);
+    
+    {
+        QMutexLocker foo(&mtx);
+        texture = qframe;
+    }
+    
+    update();
+}
+
+void ArucoVideoWidget::paintEvent(QPaintEvent* e)
+{
+    QMutexLocker foo(&mtx);
+    QPainter(this).drawImage(e->rect(), texture);
+}
+
+ArucoVideoWidget::ArucoVideoWidget(QWidget* parent): QWidget(parent), fresh(false)
+{
+    connect(&timer, SIGNAL(timeout()), this, SLOT(update_and_repaint()));
+    timer.start(60);
+}