void GLWidget3D::renderImage(cv::Mat& image) {
glClearColor(1, 1, 1, 0);
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glEnable(GL_DEPTH_TEST);
// Model view projection行列をシェーダに渡す
glUniformMatrix4fv(glGetUniformLocation(renderManager.program, "mvpMatrix"), 1, GL_FALSE, &camera.mvpMatrix[0][0]);
glUniformMatrix4fv(glGetUniformLocation(renderManager.program, "mvMatrix"), 1, GL_FALSE, &camera.mvMatrix[0][0]);
rb.pass1();
drawScene(0);
rb.pass2();
drawScene(0);
unsigned char* data = new unsigned char[sizeof(unsigned char) * 3 * width() * height()];
glReadPixels(0, 0, width(), height(), GL_BGR, GL_UNSIGNED_BYTE, data);
cv::Mat src_img(height(), width(), CV_8UC3, data);
cv::cvtColor(src_img, src_img, CV_BGR2GRAY);
cv::flip(src_img, src_img, 0);
//cv::threshold(src_img, src_img, 230, 255, 0);
cv::threshold(src_img, src_img, 128, 255, cv::THRESH_BINARY);
src_img.convertTo(image, CV_32F, 1.0f, 0.0f);
delete [] data;
}
void camera_viewer::image_update() {
cv::Mat camera_img;
cap_->grab();
cap_->retrieve(camera_src_, 0);
if(!camera_src_.empty()) {
cv::cvtColor(camera_src_, camera_img, CV_BGR2RGB);
QImage src_img(camera_img.data, camera_img.cols, camera_img.rows, camera_img.step, QImage::Format_RGB888);
src_img = src_img.scaled(200, 200);
viewLabel->resize(200, 200);
viewLabel->setSizePolicy(QSizePolicy::Ignored, QSizePolicy::Ignored);
viewLabel->move(0, 0);
viewLabel->setPixmap(QPixmap::fromImage(src_img));
viewLabel->show();
viewLabel_2->resize(200, 200);
viewLabel_2->move(200, 0);
viewLabel_2->setPixmap(QPixmap::fromImage(src_img));
viewLabel_2->show();
}
}
Halftoner::Halftoner( const QPixmap& src, QImage& dest, int scale, bool generateGCode, const CNCParameters& params )
: m_cutCount(0)
{
QImage src_img( src.toImage() );
int offset = params.m_step/2;
int radius = params.m_step/2;
double max_dot_size( params.m_fullToolWidth * params.m_maxCutPercent );
double scale_factor( scale );
bool write_y(true);
dest.fill( qRgb(0, 0, 0 ) );
// Basic approach: Step through the source image and convert each
// point to a circle in the destination image and a tool cut in the
// g code. Every other row is offset by half a step to achieve the
// zig-zag pattern of a typical halftone image.
for ( int y = params.m_step/2, cy = src_img.height()/params.m_step; y < src_img.height(); y+=params.m_step, --cy, write_y = true )
{
for ( int x = offset, cx = 1; x < src_img.width(); x+=params.m_step, ++cx )
{
double ds( getDotSize( src_img, x, y, radius ) );
// Simple optimization: if the dot size is zero, just fill the destination
// area with black pixels and don't generate any g code.
if ( ds == 0 )
{
for ( int i = scale_factor*(x - radius); i < scale_factor*(x + radius); ++i )
{
for ( int j = scale_factor*(y - radius); j < scale_factor*(y + radius); ++j )
{
if ( i >= 0 && i < dest.width() && j >= 0 && j < dest.height() )
{
dest.setPixel( i, j, qRgb( 0, 0, 0 ) );
}
}
}
}
else
{
// Draw a circle and generate some tool movement g code.
++m_cutCount;
if ( generateGCode )
{
// Write the g code to cut this dot.
// Lift tool to safe 'fast z' depth.
m_gCode += "G00Z" + QString::number( params.m_fastZ ) + "\n";
// Move tool to cut location.
double cut_x( cx * ( max_dot_size + params.m_minDotGap ) );
if ( offset )
cut_x -= max_dot_size / 2.0;
m_gCode += "G00X" + QString::number( cut_x );
if ( write_y )
{
double cut_y( cy * ( max_dot_size + params.m_minDotGap ) );
m_gCode += "Y" + QString::number( cut_y );
write_y = false;
}
m_gCode += "\n";
// Move tool to cut depth.
m_gCode += "G01Z" +
QString::number( - params.m_fullToolDepth * params.m_maxCutPercent * ds ) +
"\n";
}
// Draw a circle in the preview image.
double ds2( radius*radius*ds*ds*scale_factor*scale_factor );
for ( int i = scale_factor*(x - radius); i < scale_factor*(x + radius); ++i )
{
for ( int j = scale_factor*(y - radius); j < scale_factor*(y + radius); ++j )
{
if ( i >= 0 && i < dest.width() && j >= 0 && j < dest.height() )
{
int dx( i - scale_factor*x ), dy( j - scale_factor*y );
if ( dx * dx + dy * dy < ds2 - 0.5 )
dest.setPixel(i, j, qRgb(255, 255, 255) );
// Make the border pixels grey to improve the appearance a bit.
else if ( dx * dx + dy * dy < ds2 + 0.5 )
dest.setPixel(i, j, qRgb(127, 127, 127) );
else
{
dest.setPixel(i, j, qRgb(0, 0, 0) );
}
}
}
}
}
}
// Zig-zag in x.
if ( offset )
offset = 0;
else
offset = params.m_step/2;
}
// Finally, make sure the tool is parked at a safe depth.
m_gCode += "G00Z" + QString::number( params.m_fastZ ); // Lift tool to safe 'fast z' depth.
m_gCode += "\n";
}
