1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
|
#include "frame.hpp"
#include "compat/math.hpp"
#include <opencv2/imgproc.hpp>
Preview& Preview::operator=(const cv::Mat& aFrame)
{
// Make sure our frame is RGB
// Make an extra copy if needed
int channelCount = aFrame.channels();
if (channelCount == 1)
{
// Convert to RGB
cv::cvtColor(aFrame, iFrameRgb, cv::COLOR_GRAY2BGR);
}
else if (channelCount == 3)
{
iFrameRgb = aFrame;
}
else
{
eval_once(qDebug() << "tracker/easy: camera frame depth not supported" << aFrame.channels());
return *this;
}
const bool need_resize = iFrameRgb.cols != frame_out.cols || iFrameRgb.rows != frame_out.rows;
if (need_resize)
{
cv::resize(iFrameRgb, frame_copy, cv::Size(frame_out.cols, frame_out.rows), 0, 0, cv::INTER_NEAREST);
}
else
{
iFrameRgb.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(Coordinates::f x, Coordinates::f y)
{
auto [px_, py_] = Coordinates::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);
}
|
