67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
#include "cvtools.h"
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#include <vector>
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#include "Camera.h"
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namespace cvtools {
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QImage cvMat2qImage(cv::Mat mat){
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// 8-bits unsigned, NO. OF CHANNELS=1
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if(mat.type()==CV_8UC1) {
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// Set the color table (used to tranMVate colour indexes to qRgb values)
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QVector<QRgb> colorTable;
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for (int i=0; i<256; i++)
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colorTable.push_back(qRgb(i,i,i));
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// Copy input Mat
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QImage img((const uchar*)mat.data, mat.cols, mat.rows, mat.step, QImage::Format_Indexed8);
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img.setColorTable(colorTable);
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return img;
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} else if(mat.type()==CV_8UC3) {
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// Copy input Mat
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QImage img((const uchar*)mat.data, mat.cols, mat.rows, mat.step, QImage::Format_RGB888);
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return img;
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} else if(mat.type()==CV_16UC1) {
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mat.convertTo(mat, CV_8UC1, 1.0/256.0);
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return cvMat2qImage(mat);
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} else if(mat.type()==CV_16UC3) {
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mat.convertTo(mat, CV_8UC3, 1.0/256.0);
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return cvMat2qImage(mat);
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} else if(mat.type()==CV_32FC1) {
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cv::Mat rgb(mat.size(), CV_32FC3);
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rgb.addref();
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cv::cvtColor(mat, rgb, cv::COLOR_GRAY2RGB);
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// Copy input Mat
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QImage img((const uchar*)rgb.data, rgb.cols, rgb.rows, rgb.step, QImage::Format_RGB32);
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rgb.release();
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return img;
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} else {
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std::cerr << "SMVideoWidget: cv::Mat could not be converted to QImage!";
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return QImage();
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}
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}
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cv::Mat Matx33dToMat(cv::Matx33d mat) {
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return cv::Mat(mat);
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}
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cv::Mat Vec3fToMat(cv::Vec<float, 3> vec) {
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return (cv::Mat(vec));
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}
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cv::Mat camFrame2Mat(CameraFrame camFrame) {
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cv::Mat frameCV(camFrame.height, camFrame.width, CV_8UC3, camFrame.memory);
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frameCV = frameCV.clone();
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std::vector<cv::Mat> bgr, rgb;
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split(frameCV, bgr);
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rgb.resize(3);
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rgb[0] = bgr[2];
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rgb[1] = bgr[1];
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rgb[2] = bgr[0];
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cv::merge(rgb, frameCV);
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return frameCV;
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}
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}
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