The open source OpenXR runtime
t/fm: Add simple FrameMat that wraps a cv::Mat
authored by
Jakob Bornecrantz
and committed by
Moses Turner
b7b46908
6ba07514
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doc/changes/auxiliary/mr.825.md
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doc/changes/auxiliary/mr.825.md
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src/xrt/auxiliary/CMakeLists.txt
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src/xrt/auxiliary/CMakeLists.txt
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src/xrt/auxiliary/meson.build
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src/xrt/auxiliary/meson.build
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'tracking/t_debug_hsv_picker.cpp',
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'tracking/t_debug_hsv_viewer.cpp',
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'tracking/t_file.cpp',
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'tracking/t_frame_cv_mat_wrapper.cpp',
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'tracking/t_frame_cv_mat_wrapper.hpp',
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'tracking/t_fusion.hpp',
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'tracking/t_helper_debug_sink.hpp',
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'tracking/t_hsv_filter.c',
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src/xrt/auxiliary/tracking/t_frame_cv_mat_wrapper.cpp
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src/xrt/auxiliary/tracking/t_frame_cv_mat_wrapper.cpp
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// Copyright 2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Simple @ref xrt_frame wrapper around a @ref cv::Mat.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup aux_tracking
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*/
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#include "util/u_format.h"
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#include "tracking/t_frame_cv_mat_wrapper.hpp"
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namespace xrt::auxiliary::tracking {
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/*
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*
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* C functions.
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*
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*/
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extern "C" void
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frame_mat_destroy(struct xrt_frame *xf)
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{
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FrameMat *fm = (FrameMat *)xf;
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delete fm;
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}
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/*
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*
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* Member functions
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*
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*/
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void
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FrameMat::fillInFields(cv::Mat mat, xrt_format format, const Params ¶ms)
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{
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uint32_t width = (uint32_t)mat.cols;
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uint32_t height = (uint32_t)mat.rows;
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size_t stride = mat.step[0];
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size_t size = stride * height;
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this->matrix = mat;
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// Main wrapping of cv::Mat by frame.
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xrt_frame &frame = this->frame;
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frame.reference.count = 1;
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frame.destroy = frame_mat_destroy;
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frame.data = mat.ptr<uint8_t>();
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frame.format = format;
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frame.width = width;
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frame.height = height;
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frame.stride = stride;
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frame.size = size;
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// Params
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frame.timestamp = params.timestamp_ns;
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frame.stereo_format = params.stereo_format;
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}
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FrameMat::~FrameMat()
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{
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// Noop
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}
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FrameMat::FrameMat()
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{
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// Noop
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}
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/*
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*
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* Static functions.
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*
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*/
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void
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FrameMat::wrapR8G8B8(cv::Mat mat, xrt_frame **fm_out, const Params /*&&?*/ params)
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{
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assert(mat.channels() == 3);
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assert(mat.type() == CV_8UC3);
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FrameMat *fm = new FrameMat();
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fm->fillInFields(mat, XRT_FORMAT_R8G8B8, params);
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// Unreference any old frames.
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xrt_frame_reference(fm_out, NULL);
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// Already has a ref count of one.
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*fm_out = &fm->frame;
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}
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void
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FrameMat::wrapL8(cv::Mat mat, xrt_frame **fm_out, const Params /*&&?*/ params)
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{
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assert(mat.channels() == 1);
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assert(mat.type() == CV_8UC1);
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FrameMat *fm = new FrameMat();
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fm->fillInFields(mat, XRT_FORMAT_L8, params);
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// Unreference any old frames.
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xrt_frame_reference(fm_out, NULL);
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// Already has a ref count of one.
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*fm_out = &fm->frame;
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}
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} // namespace xrt::auxiliary::tracking
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src/xrt/auxiliary/tracking/t_frame_cv_mat_wrapper.hpp
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src/xrt/auxiliary/tracking/t_frame_cv_mat_wrapper.hpp
···
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// Copyright 2021, Collabora, Ltd.
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// SPDX-License-Identifier: BSL-1.0
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/*!
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* @file
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* @brief Simple @ref xrt_frame wrapper around a @ref cv::Mat.
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* @author Jakob Bornecrantz <jakob@collabora.com>
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* @ingroup aux_tracking
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*/
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#include "xrt/xrt_frame.h"
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#include <opencv2/opencv.hpp>
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namespace xrt::auxiliary::tracking {
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class FrameMat
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{
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public:
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/*!
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* Additional optional parameters for frame creation.
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*/
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class Params
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{
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public:
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enum xrt_stereo_format stereo_format;
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uint64_t timestamp_ns;
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};
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public:
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// Exposed to the C api.
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struct xrt_frame frame = {};
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// The @ref cv::Mat that holds the data.
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cv::Mat matrix = cv::Mat();
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public:
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/*!
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* Only public due to C needed to destroy it.
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*/
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~FrameMat();
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/*!
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* Wraps the given @ref cv::Mat assuming it's a 24bit RGB format matrix, the pointer pointed to by @ref xf_ptr
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* will have it's reference updated.
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*/
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static void
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wrapR8G8B8(cv::Mat mat, xrt_frame **xf_ptr, const Params /*&&?*/ params = {});
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/*!
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* Wraps the given @ref cv::Mat assuming it's a 8bit format matrix, the pointer pointed to by @ref xf_ptr will
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* have it's reference updated.
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*/
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static void
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wrapL8(cv::Mat mat, xrt_frame **xf_ptr, const Params /*&&?*/ params = {});
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private:
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FrameMat();
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void
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fillInFields(cv::Mat mat, xrt_format format, const Params ¶ms);
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};
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} // namespace xrt::auxiliary::tracking