c++ - 使用纹理纹理贴图上的Opencv + Irrlicht拍摄的相机上出现奇怪的行

我一直在尝试使用Opencv Camera为增强现实项目对Irrlicht 3d模型进行纹理映射，我使用irrlicht 1.8.1和opencv 2.4.9进行了贴图，我几乎完成了textureMapping，但问题是在其中出现了奇怪的线条相机供稿及其低于4fps的帧，输出如以下屏幕截图所示(如下):

我有以下代码可以做到这一点:

 #include <irrlicht.h>
 #include "driverChoice.h"
 #include <opencv/cv.h>
 #include <opencv/cxcore.h>
 #include <opencv/highgui.h>
 #include <time.h>
 #include <sys/timeb.h>
 #include <opencv2\highgui\highgui.hpp>
 #include <IGUIEnvironment.h>

 using namespace cv;
 using namespace irr;
 using namespace core;
 using namespace scene;
 using namespace video;
 using namespace io;
 using namespace gui;

 #ifdef _MSC_VER
 #pragma comment(lib, "Irrlicht.lib")
 #endif

 #ifdef _IRR_WINDOWS_
 #pragma comment(lib, "Irrlicht.lib")
 #pragma comment(linker, "/subsystem:windows /ENTRY:mainCRTStartup")
 #endif


 int main()
 {
 IrrlichtDevice *device = createDevice(video::EDT_OPENGL, dimension2d<s32>     (640 , 480), 16, false, true /* shadow */, false);
if (!device)
    return 1;
device->setWindowCaption(L"Hello World! - Irrlicht Engine Demo");
IVideoDriver* driver = device->getVideoDriver();
ISceneManager* smgr = device->getSceneManager();
IGUIEnvironment* guienv = device->getGUIEnvironment();
ITexture* frame_tex = driver->addTexture(vector2d<s32>(640, 480), "video_stream");
guienv->addStaticText(L"Hello World! This is the Irrlicht Software renderer!",
    rect<s32>(10,10,260,22), true);
IAnimatedMesh* mesh = smgr->getMesh("E:/Akshay/VS2012Projects/IrrlichtDemoApp/IrrlichtDemoApp/ratamahatta.md2");
if (!mesh)
{
    device->drop();
    return 1;
}
IAnimatedMeshSceneNode* node = smgr->addAnimatedMeshSceneNode( mesh );
if (node)
{
    node->setMaterialFlag(EMF_LIGHTING, false);
    node->setMD2Animation(scene::EMAT_STAND);
    node->setMaterialTexture( 0, driver->getTexture("E:/Akshay/VS2012Projects/IrrlichtDemoApp/IrrlichtDemoApp/ctf_r.png") );
}
smgr->addCameraSceneNode(0, vector3df(20,30,-50), vector3df(0,5,0));
while(device->run())
{
VideoCapture capture(0);
Mat camera_frame;


if( cv::waitKey(50) >= 0 ) break;
if( !capture.grab() )
{
    std::cout << "Unable to grab camera frame\n";
}
capture >> camera_frame;

if( ! camera_frame.empty() )
{
    //exception here
    unsigned char *tex_buf = (unsigned char*)frame_tex->lock();
    unsigned char *frame_buf = camera_frame.data;
    // Convert from RGB to RGBA
    for(int y=0; y < camera_frame.rows; y++) {
        for(int x=0; x < camera_frame.cols; x++) {
            *(tex_buf++) = *(frame_buf++);
            *(tex_buf++) = *(frame_buf++);
            *(tex_buf++) = *(frame_buf++);
            *(tex_buf++) = 255;
        }
    }
    frame_tex->unlock();

    driver->beginScene(true, true, SColor(255,100,101,140));

    driver->draw2DImage(frame_tex, core::rect<s32>(0,0,640,480),
        core::rect<s32>(0,0,480,640));

    smgr->drawAll();
    guienv->drawAll();

    driver->endScene();
}
}

device->drop();
}

任何帮助将不胜感激!

提前致谢!

最佳答案

我解决了问题，问题出在我的笔记本电脑上，我尝试在另一台PC上进行此操作，并且工作正常。由于是s32，我将其更改为u32，现在可以正常工作了。感谢你的帮助!