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aux/tracking: Fix calibration code to work with new frame semantics

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This commit is contained in:
Jakob Bornecrantz 2019-09-23 11:43:04 +01:00
parent 16c8531cac
commit 4a0a95dab8
1 changed files with 19 additions and 14 deletions
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33
src/xrt/auxiliary/tracking/t_calibration.cpp
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@ -10,6 +10,7 @@
#include "util/u_sink.h"
#include "util/u_misc.h"
#include "util/u_debug.h"
#include "util/u_frame.h"
#include "util/u_format.h"
#include "tracking/t_tracking.h"
@ -34,6 +35,7 @@ public:
struct
{
cv::Mat rgb = {};
struct xrt_frame *frame = {};
struct xrt_frame_sink *sink = {};
} gui;
@ -62,19 +64,21 @@ public:
*/
static void
send_rgb_frame(struct xrt_frame_sink *xsink, cv::Mat &rgb)
refresh_gui_frame(class Calibration &c, int rows, int cols)
{
struct xrt_frame xf = {};
// Also dereferences the old frame.
u_frame_create_one_off(XRT_FORMAT_R8G8B8, cols, rows, &c.gui.frame);
xf.format = XRT_FORMAT_R8G8B8;
xf.width = rgb.cols;
xf.height = rgb.rows;
xf.data = rgb.data;
c.gui.rgb = cv::Mat(rows, cols, CV_8UC3, c.gui.frame->data,
c.gui.frame->stride);
}
u_format_size_for_dimensions(xf.format, xf.width, xf.height, &xf.stride,
&xf.size);
static void
send_rgb_frame(class Calibration &c)
{
c.gui.sink->push_frame(c.gui.sink, c.gui.frame);
xsink->push_frame(xsink, &xf);
refresh_gui_frame(c, c.gui.rgb.rows, c.gui.rgb.cols);
}
static void
@ -85,7 +89,8 @@ ensure_buffers_are_allocated(class Calibration &c, int rows, int cols)
}
c.grey = cv::Mat(rows, cols, CV_8UC1, cv::Scalar(0));
c.gui.rgb = cv::Mat(rows, cols, CV_8UC3, cv::Scalar(0, 0, 0));
refresh_gui_frame(c, rows, cols);
}
static void
@ -116,7 +121,7 @@ make_gui_str(class Calibration &c)
print_txt(rgb, c.text, 1.0);
send_rgb_frame(c.gui.sink, c.gui.rgb);
send_rgb_frame(c);
}
static void
@ -137,7 +142,7 @@ make_calibration_frame(class Calibration &c)
print_txt(rgb, "CALIBRATION MODE", 1.5);
send_rgb_frame(c.gui.sink, rgb);
send_rgb_frame(c);
}
@ -147,7 +152,7 @@ make_calibration_frame(class Calibration &c)
*
*/
static void
XRT_NO_INLINE static void
process_frame_yuv(class Calibration &c, struct xrt_frame *xf)
{
@ -161,7 +166,7 @@ process_frame_yuv(class Calibration &c, struct xrt_frame *xf)
cv::cvtColor(c.gui.rgb, c.grey, cv::COLOR_RGB2GRAY);
}
static void
XRT_NO_INLINE static void
process_frame_yuyv(class Calibration &c, struct xrt_frame *xf)
{
/*