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
|
#include "frame.hpp"
#include "compat/math.hpp"
#include <opencv2/imgproc.hpp>
namespace pt_module {
void Preview::set_last_frame(const pt_frame& frame_)
{
const cv::Mat& frame = frame_.as_const<const Frame>()->mat;
const bool need_resize = frame.size != frame_copy.size;
if (frame.channels() == 1)
{
if (need_resize)
{
frame_tmp.create(frame.size(), CV_8UC3);
cv::cvtColor(frame, frame_tmp, cv::COLOR_GRAY2BGR);
cv::resize(frame_tmp, frame_copy, frame_copy.size(), 0, 0, cv::INTER_NEAREST);
}
else
cv::cvtColor(frame, frame_copy, cv::COLOR_GRAY2BGR);
}
else if (frame.channels() == 3)
{
if (need_resize)
cv::resize(frame, frame_copy, frame_copy.size(), 0, 0, cv::INTER_NEAREST);
else
frame.copyTo(frame_copy);
}
else
{
eval_once(qDebug() << "tracker/pt: camera frame depth" << frame.channels() << "!= 3");
frame_copy.create(frame_copy.size(), CV_8UC3);
frame_copy.setTo({0});
}
}
Preview::Preview(int w, int h)
{
frame_out.create(h, w, CV_8UC4);
frame_copy.create(h, w, CV_8UC3);
frame_copy.setTo({0});
}
QImage Preview::get_bitmap()
{
int stride = (int)frame_out.step.p[0];
if (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);
}
} // ns pt_module
|
