1 files changed, 80 insertions, 0 deletions
diff --git a/tracker-points/module/frame.cpp b/tracker-points/module/frame.cpp
new file mode 100644
index 00000000..a045b783
--- /dev/null
+++ b/tracker-points/module/frame.cpp
@@ -0,0 +1,80 @@
+#include "frame.hpp"
+
+#include "compat/math.hpp"
+
+#include <opencv2/imgproc.hpp>
+
+namespace pt_module {
+
+Preview& Preview::operator=(const pt_frame& frame_)
+{
+    const cv::Mat& frame = frame_.as_const<const Frame>()->mat;
+
+    if (frame.channels() != 3)
+    {
+        eval_once(qDebug() << "tracker/pt: camera frame depth: 3 !=" << frame.channels());
+        return *this;
+    }
+
+    const bool need_resize = frame.cols != frame_out.cols || frame.rows != frame_out.rows;
+    if (need_resize)
+        cv::resize(frame, frame_copy, cv::Size(frame_out.cols, frame_out.rows), 0, 0, cv::INTER_NEAREST);
+    else
+        frame.copyTo(frame_copy);
+
+    return *this;
+}
+
+Preview::Preview(int w, int h)
+{
+    ensure_size(frame_out, w, h, CV_8UC4);
+    ensure_size(frame_copy, w, h, CV_8UC3);
+
+    frame_copy.setTo(cv::Scalar(0, 0, 0));
+}
+
+QImage Preview::get_bitmap()
+{
+    int stride = frame_out.step.p[0];
+
+    if (stride < 64 || stride < frame_out.cols * 4)
+    {
+        eval_once(qDebug() << "bad stride" << stride
+                           << "for bitmap size" << frame_copy.cols << frame_copy.rows);
+        return QImage();
+    }
+
+    cv::cvtColor(frame_copy, frame_out, cv::COLOR_BGR2BGRA);
+
+    return QImage((const unsigned char*) frame_out.data,
+                  frame_out.cols, frame_out.rows,
+                  stride,
+                  QImage::Format_ARGB32);
+}
+
+void Preview::draw_head_center(f x, f y)
+{
+    auto [px_, py_] = to_pixel_pos(x, y, frame_copy.cols, frame_copy.rows);
+
+    int px = iround(px_), py = iround(py_);
+
+    constexpr int len = 9;
+
+    static const cv::Scalar color(0, 255, 255);
+    cv::line(frame_copy,
+             cv::Point(px - len, py),
+             cv::Point(px + len, py),
+             color, 1);
+    cv::line(frame_copy,
+             cv::Point(px, py - len),
+             cv::Point(px, py + len),
+             color, 1);
+}
+
+void Preview::ensure_size(cv::Mat& frame, int w, int h, int type)
+{
+    if (frame.cols != w || frame.rows != h)
+        frame = cv::Mat(h, w, type);
+}
+
+} // ns pt_module