explicit HsvRangeFinder(std::string _name) : node_handle(_name), image_transport(node_handle), window_name(_name),
hsv(colorRange(60, 130), colorRange(90,256), colorRange(10,256))
{
// left hand camera
image_subscriber = image_transport.subscribe("/image_in", 1,
&HsvRangeFinder::imageCallback, this);
cv::namedWindow(window_name);
cv::createTrackbar("LowerH", window_name, &hsv.H.min, 180, NULL);
cv::createTrackbar("UpperH", window_name, &hsv.H.max, 180, NULL);
cv::createTrackbar("LowerS", window_name, &hsv.S.min, 256, NULL);
cv::createTrackbar("UpperS", window_name, &hsv.S.max, 256, NULL);
cv::createTrackbar("LowerV", window_name, &hsv.V.min, 256, NULL);
cv::createTrackbar("UpperV", window_name, &hsv.V.max, 256, NULL);
}
VideoFrame VideoFrame::to(const VideoFormat &fmt, const QSize& dstSize, const QRectF& roi) const
{
if (!isValid() || !constBits(0)) {// hw surface. map to host. only supports rgb packed formats now
Q_D(const VideoFrame);
const QVariant v = d->metadata.value(QStringLiteral("surface_interop"));
if (!v.isValid())
return VideoFrame();
VideoSurfaceInteropPtr si = v.value<VideoSurfaceInteropPtr>();
if (!si)
return VideoFrame();
VideoFrame f;
f.setDisplayAspectRatio(displayAspectRatio());
f.setTimestamp(timestamp());
if (si->map(HostMemorySurface, fmt, &f)) {
if ((!dstSize.isValid() ||dstSize == QSize(width(), height())) && (!roi.isValid() || roi == QRectF(0, 0, width(), height()))) //roi is not supported now
return f;
return f.to(fmt, dstSize, roi);
}
return VideoFrame();
}
const int w = dstSize.width() > 0 ? dstSize.width() : width();
const int h = dstSize.height() > 0 ? dstSize.height() : height();
if (fmt.pixelFormatFFmpeg() == pixelFormatFFmpeg()
&& w == width() && h == height()
// TODO: roi check.
)
return *this;
Q_D(const VideoFrame);
ImageConverterSWS conv;
conv.setInFormat(pixelFormatFFmpeg());
conv.setOutFormat(fmt.pixelFormatFFmpeg());
conv.setInSize(width(), height());
conv.setOutSize(w, h);
conv.setInRange(colorRange());
if (!conv.convert(d->planes.constData(), d->line_sizes.constData())) {
qWarning() << "VideoFrame::to error: " << format() << "=>" << fmt;
return VideoFrame();
}
VideoFrame f(w, h, fmt, conv.outData());
f.setBits(conv.outPlanes());
f.setBytesPerLine(conv.outLineSizes());
if (fmt.isRGB()) {
f.setColorSpace(fmt.isPlanar() ? ColorSpace_GBR : ColorSpace_RGB);
} else {
f.setColorSpace(ColorSpace_Unknown);
}
// TODO: color range
f.setTimestamp(timestamp());
f.setDisplayAspectRatio(displayAspectRatio());
f.d_ptr->metadata = d->metadata; // need metadata?
return f;
}
