glwidget.cpp

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#include "glwidget.h"


GLWidget::GLWidget(QWidget *_parent)   : QGLWidget(_parent)
{
        //      setMinimumSize(640,480);
        // re-size the widget to that of the parent (in this case the GLFrame passed in on construction)
        this->resize(_parent->size());

        // start the timer to re-draw as quick as possible
        startTimer(50); // each 500 ms

        // create space for our image data from the Kinect
        m_rgb.resize(640*480*3);
}


void GLWidget::initializeGL()
{
        glClearColor(0.0f,0.0f,0.0f,1.0f);
}


void GLWidget::paintGL()
{
        //
        // get picture data from kinect class
        //
        QKinect *kinect=QKinect::instance();
/*
        if(m_mode ==0)
        {
*/
                kinect->getRGB(m_rgb);
/*
        }
        else if(m_mode == 1)
        {
                kinect->getDepth(m_rgb);
        }
*/

        cv::Mat depthMat(cv::Size(640,480), CV_16UC1);
        cv::Mat rgbMat(cv::Size(640,480), CV_8UC3, cv::Scalar(0));

        //copy to ocv_buf..
        memcpy(rgbMat.data, &m_rgb[0], 640*480*3);

        // convert to qimate
        qframe = mat2qimage(rgbMat);

        // qframe = QImage((const unsigned char*)(&m_rgb[0]), 640, 480, QImage::Format_RGB888);


        glClear (GL_COLOR_BUFFER_BIT);
        glClearColor (0.0,0.0,0.0,1.0);

        if (!qframe.isNull())
        {
                qframe = qframe.scaled(this->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
                // you can use glDrawPixels directly
                // glDrawPixels(qframe.width(),qframe.height(), GL_RGBA, GL_UNSIGNED_BYTE, qframe.bits());
                // or do 2D texture mapping
                glDisable(GL_DEPTH_TEST);
                glMatrixMode(GL_PROJECTION);
                glLoadIdentity();
                gluOrtho2D(0,qframe.width(),qframe.height(),0);
                glMatrixMode(GL_MODELVIEW);
                glLoadIdentity();
                glEnable(GL_TEXTURE_2D);
                glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
                glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
                glTexImage2D( GL_TEXTURE_2D, 0, 4, qframe.width(), qframe.height(), 0, GL_RGBA, GL_UNSIGNED_BYTE, qframe.bits() );
                glBegin(GL_QUADS);
                glTexCoord2f(0,0); glVertex2f(0,qframe.height());
                glTexCoord2f(0,1); glVertex2f(0,0);
                glTexCoord2f(1,1); glVertex2f(qframe.width(),0);
                glTexCoord2f(1,0); glVertex2f(qframe.width(),qframe.height());
                glEnd();
                glDisable(GL_TEXTURE_2D);
                // .... end

                // some example of alpha blending
                //glEnable(GL_DEPTH_TEST);
                //glEnable(GL_BLEND);
                //glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                //glColor4f(0.0f,1.0f,1.0f, 0.9f);
                glFlush();
        }
}


void GLWidget::resizeGL(int w, int h)
{
        glViewport (0, 0, (GLsizei)w, (GLsizei)h);
        glMatrixMode (GL_PROJECTION);
        glLoadIdentity ();
        gluPerspective (60, (GLfloat)w / (GLfloat)h, 1.0, 100.0);
        glMatrixMode (GL_MODELVIEW);
        // qDebug() << "Resizing...";
}


void GLWidget::sendImage(cv::Mat* img)
{
        qframe = QImage((const unsigned char*)(img->data), img->cols, img->rows, img->step, QImage::Format_RGB888).rgbSwapped();
        qframe = QGLWidget::convertToGLFormat(qframe);
        this->updateGL();

}


cv::Mat GLWidget::qimage2mat(const QImage& qimage)
{
        cv::Mat mat = cv::Mat(qimage.height(), qimage.width(), CV_8UC4, (uchar*)qimage.bits(), qimage.bytesPerLine());
        cv::Mat mat2 = cv::Mat(mat.rows, mat.cols, CV_8UC3 );
        int from_to[] = { 0,0,  1,1,  2,2 };
        cv::mixChannels( &mat, 1, &mat2, 1, from_to, 3 );

        return mat2;
}


QImage GLWidget::mat2qimage(const cv::Mat& mat)
{
        cv::Mat rgb;
        cv::cvtColor(mat, rgb, CV_BGR2RGB);

        return QImage((const unsigned char*)(rgb.data), rgb.cols, rgb.rows, QImage::Format_RGB888);
}


void GLWidget::processOpenCV()
{
        QImage qimage = QImage((const unsigned char*)(&m_rgb[0]), 640, 480, QImage::Format_RGB888);

        // - - - - - - - -
        // - - - - - - - -
        // - - - - - - - -


        // grab image from the kinect frame in the GUI
//      QImage qimage = ui.frameDepth->grabFrameBuffer();

        // convert QImage to OpeneCV's cv::Mat
        //
        // http://permalink.gmane.org/gmane.comp.lib.opencv/37800
        //
        //Mat qimage2mat(const QImage& qimage) {

        cv::Mat mat = cv::Mat(qimage.height(), qimage.width(), CV_8UC4, (uchar*)qimage.bits(), qimage.bytesPerLine());
        cv::Mat mat2 = cv::Mat(mat.rows, mat.cols, CV_8UC3 );
        int from_to[] = { 0,0,  1,1,  2,2 };
        cv::mixChannels( &mat, 1, &mat2, 1, from_to, 3 );

        // result is now in 'mat2'

        mImage.release(); // reset picture

        // depth image from Kinect now! (mat2)
        cv::cvtColor( mat2, mImage, CV_BGR2RGB);

//      QImage tmp( (uchar*)mImage.data, mImage.cols, mImage.rows, mImage.step, QImage::Format_RGB888 );
//      ui.lblOpenCV->setPixmap( QPixmap::fromImage( tmp ) );


        if (mImage.data)
        {
                cv::Mat gray;
                cv::cvtColor( mImage, gray, CV_RGB2GRAY );
                cv::Canny( gray, gray, 10, 30, 3 );

                // convert b/w Mat to QImage
//              QImage tmp( (uchar*)gray.data, gray.cols, gray.rows, gray.step, QImage::Format_Indexed8  );

                // send image to GUI
//              ui.lblOpenCV->setPixmap( QPixmap::fromImage( tmp ) );
        }
}


void GLWidget::timerEvent(QTimerEvent *_event)
{
        // re-draw GL
        updateGL();
}