QMatrix4x4 ChilitagsDetection::projectionMatrix() const {
cv::Mat mat = m_surface.getChilitags().getCameraMatrix();
QMatrix4x4 projectionMatrix;
projectionMatrix.fill(0);
for (int i = 0; i<3; ++i)
for (int j = 0; j<3; ++j)
projectionMatrix(i,j) = mat.at<double>(i,j);
projectionMatrix(3,2) = 1;
return projectionMatrix;
}
static QMatrix4x4 channelMap(const VideoFormat& fmt)
{
if (fmt.isPlanar()) //currently only for planar
return QMatrix4x4();
switch (fmt.pixelFormat()) {
case VideoFormat::Format_UYVY:
return QMatrix4x4(0.0f, 0.5f, 0.0f, 0.5f,
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
case VideoFormat::Format_YUYV:
return QMatrix4x4(0.5f, 0.0f, 0.5f, 0.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
0.0f, 0.0f, 0.0f, 1.0f);
case VideoFormat::Format_VYUY:
return QMatrix4x4(0.0f, 0.5f, 0.0f, 0.5f,
0.0f, 0.0f, 1.0f, 0.0f,
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
case VideoFormat::Format_YVYU:
return QMatrix4x4(0.5f, 0.0f, 0.5f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f,
0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
case VideoFormat::Format_VYU:
return QMatrix4x4(0.0f, 1.0f, 0.0f, 0.0f,
0.0f, 0.0f, 1.0f, 0.0f,
1.0f, 0.0f, 0.0f, 0.0f,
0.0f, 0.0f, 0.0f, 1.0f);
default:
break;
}
const quint8 *channels = NULL;//{ 0, 1, 2, 3};
for (int i = 0; gl_channel_maps[i].pixfmt != VideoFormat::Format_Invalid; ++i) {
if (gl_channel_maps[i].pixfmt == fmt.pixelFormat()) {
channels = gl_channel_maps[i].channels;
break;
}
}
QMatrix4x4 m;
if (!channels)
return m;
m.fill(0);
for (int i = 0; i < 4; ++i) {
m(i, channels[i]) = 1;
}
qDebug() << m;
return m;
}
void ARCameraCalibrator::drawCalibrationGrid()
{
using namespace QScrollEngine;
QMutexLocker ml(&m_mutex);
if (scene() == nullptr)
return;
if (m_lastCalibrationFrame->isCreated()) {
QScrollEngineContext* context = scene()->parentContext();
AR::Point2i frameSize = m_lastCalibrationFrame->imageSize();
context->glDepthMask(GL_FALSE);
context->glDisable(GL_DEPTH_TEST);
context->glDisable(GL_BLEND);
if (m_flagUpdateFrameTexture) {
if (m_tempFrameTexture->isCreated()) {
if ((m_tempFrameTexture->width() != m_lastImage.width()) ||
(m_tempFrameTexture->height() != m_lastImage.height())) {
m_tempFrameTexture->bind();
m_tempFrameTexture->destroy();
m_tempFrameTexture->setFormat(QOpenGLTexture::RGBA8_UNorm);
m_tempFrameTexture->setSize(m_lastImage.width(), m_lastImage.height(), 4);
m_tempFrameTexture->allocateStorage();
} else {
m_tempFrameTexture->bind();
}
} else {
m_tempFrameTexture->create();
m_tempFrameTexture->bind();
m_tempFrameTexture->setFormat(QOpenGLTexture::RGBA8_UNorm);
m_tempFrameTexture->setSize(m_lastImage.width(), m_lastImage.height(), 4);
m_tempFrameTexture->allocateStorage();
}
if (m_lastPixelFormat == QVideoFrame::Format_BGR32) {
m_tempFrameTexture->setData(QOpenGLTexture::RGBA, QOpenGLTexture::UInt8, m_lastImage.data());
} else {
m_tempFrameTexture->setData(QOpenGLTexture::BGRA, QOpenGLTexture::UInt8, m_lastImage.data());
}
m_tempFrameTexture->generateMipMaps();
}
m_textureRenderer->draw(m_tempFrameTexture->textureId(), m_textureMatrix);
QMatrix4x4 textureMatrix;
textureMatrix.fill(0.0f);
for (int i=0; i<2; ++i) {
textureMatrix(i, 0) = m_textureMatrix(i, 0);
textureMatrix(i, 1) = m_textureMatrix(i, 1);
textureMatrix(i, 3) = m_textureMatrix(i, 2);
}
textureMatrix(3, 0) = m_textureMatrix(2, 0);
textureMatrix(3, 1) = m_textureMatrix(2, 1);
textureMatrix(3, 3) = m_textureMatrix(2, 2);
QMatrix4x4 t;
t.setToIdentity();
t(0, 0) = 0.5f;
t(1, 1) = -0.5f;
t(0, 3) = 0.5f;
t(1, 3) = 0.5f;
QMatrix4x4 transformMatrix;
transformMatrix.ortho(0.0f, (float)(frameSize.x),
0.0f, (float)(frameSize.y), 0.0f, 1.0f);
transformMatrix = t.inverted() * textureMatrix * t * transformMatrix;
int countLineVertices;
QVector2D* lineVertices;
context->glLineWidth(4.0f);
countLineVertices = (int)(m_linesOfImageGrid.size() * 2);
lineVertices = new QVector2D[countLineVertices];
for (int i=0; i<(int)m_linesOfImageGrid.size(); ++i) {
std::pair<AR::Point2f, AR::Point2f>& line = m_linesOfImageGrid[i];
lineVertices[i * 2].setX(line.first.x);
lineVertices[i * 2].setY(line.first.y);
lineVertices[i * 2 + 1].setX(line.second.x);
lineVertices[i * 2 + 1].setY(line.second.y);
}
context->drawLines(lineVertices, countLineVertices, QColor(0, 155, 255), transformMatrix);
delete[] lineVertices;
context->glEnable(GL_BLEND);
/*countLineVertices = (int)(m_linesOf3DGrid.size() * 2);
lineVertices = new QVector2D[countLineVertices];
for (int i=0; i<(int)m_linesOf3DGrid.size(); ++i) {
std::pair<AR::Point2f, AR::Point2f>& line = m_linesOf3DGrid[i];
lineVertices[i * 2].setX(line.first.x);
lineVertices[i * 2].setY(line.first.y);
lineVertices[i * 2 + 1].setX(line.second.x);
lineVertices[i * 2 + 1].setY(line.second.y);
}
context->drawLines(lineVertices, countLineVertices, QColor(155, 0, 255, 100), transformMatrix);
delete[] lineVertices;*/
context->glLineWidth(4.0f);
countLineVertices = (int)(m_errors.size() * 2);
lineVertices = new QVector2D[countLineVertices];
for (int i=0; i<(int)m_errors.size(); ++i) {
std::pair<AR::Point2f, AR::Point2f>& line = m_errors[i];
lineVertices[i * 2].setX(line.first.x);
lineVertices[i * 2].setY(line.first.y);
lineVertices[i * 2 + 1].setX(line.second.x);
lineVertices[i * 2 + 1].setY(line.second.y);
}
context->drawLines(lineVertices, countLineVertices, QColor(255, 255, 0, 200), transformMatrix);
delete[] lineVertices;
context->glDisable(GL_BLEND);
}
}
