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
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
|
/*
* Copyright (c) 2019 Stephane Lenclud
*
* 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 "preview.h"
#include "compat/math.hpp"
#include <opencv2/imgproc.hpp>
#include <QDebug>
namespace EasyTracker
{
Preview& Preview::operator=(const cv::Mat& aFrame)
{
//TODO: Assert if channel size is neither one nor two
// Make sure our frame channel is 8 bit
size_t channelSize = aFrame.elemSize1();
if (channelSize == 2)
{
// First resample to 8-bits
double min = std::numeric_limits<uint16_t>::min();
double max = std::numeric_limits<uint16_t>::max();
//cv::minMaxLoc(raw, &min, &max); // Should we use 16bit min and max instead?
// For scalling to have more precission in the range we are interrested in
//min = max - 255;
// See: https://stackoverflow.com/questions/14539498/change-type-of-mat-object-from-cv-32f-to-cv-8u/14539652
aFrame.convertTo(iFrameChannelSizeOne, CV_8U, 255.0 / (max - min), -255.0*min / (max - min));
}
else
{
iFrameChannelSizeOne = aFrame;
}
// Make sure our frame is RGB
// Make an extra copy if needed
int channelCount = iFrameChannelSizeOne.channels();
if (channelCount == 1)
{
// Convert to RGB
cv::cvtColor(iFrameChannelSizeOne, iFrameRgb, cv::COLOR_GRAY2BGR);
}
else if (channelCount == 3)
{
iFrameRgb = iFrameChannelSizeOne;
}
else
{
eval_once(qDebug() << "tracker/easy: camera frame depth not supported" << aFrame.channels());
return *this;
}
return *this;
}
Preview::Preview(int w, int h)
{
ensure_size(iFrameWidget, w, h, CV_8UC4);
ensure_size(iFrameResized, w, h, CV_8UC3);
iFrameResized.setTo(cv::Scalar(0, 0, 0));
}
QImage Preview::get_bitmap()
{
int stride = iFrameWidget.step.p[0];
if (stride < 64 || stride < iFrameWidget.cols * 4)
{
eval_once(qDebug() << "bad stride" << stride
<< "for bitmap size" << iFrameResized.cols << iFrameResized.rows);
return QImage();
}
// Resize if needed
const bool need_resize = iFrameRgb.cols != iFrameWidget.cols || iFrameRgb.rows != iFrameWidget.rows;
if (need_resize)
{
cv::resize(iFrameRgb, iFrameResized, cv::Size(iFrameWidget.cols, iFrameWidget.rows), 0, 0, cv::INTER_NEAREST);
}
else
{
iFrameResized = iFrameRgb;
}
cv::cvtColor(iFrameResized, iFrameWidget, cv::COLOR_BGR2BGRA);
return QImage((const unsigned char*)iFrameWidget.data,
iFrameWidget.cols, iFrameWidget.rows,
stride,
QImage::Format_ARGB32);
}
void Preview::DrawInfo(const std::string& aString)
{
cv::putText(iFrameRgb, aString, cv::Point(4,iFrameRgb.size().height-4), cv::FONT_HERSHEY_PLAIN, 2, cv::Scalar(0, 255, 0),2);
}
void Preview::DrawCross(cv::Point aPoint)
{
constexpr int len = 9;
static const cv::Scalar color(0, 255, 255);
cv::line(iFrameRgb,
cv::Point(aPoint.x - len, aPoint.y),
cv::Point(aPoint.x + len, aPoint.y),
color, 2);
cv::line(iFrameRgb,
cv::Point(aPoint.x, aPoint.y - len),
cv::Point(aPoint.x, aPoint.y + len),
color, 2);
}
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);
}
}
|
