641 lines
22 KiB
C++
641 lines
22 KiB
C++
#include "VrEyeViewWidget.h"
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#include "../SpinBoxPasteHelper.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QGridLayout>
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#include <QGroupBox>
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#include <QLabel>
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#include <QLineEdit>
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#include <QMessageBox>
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#include <QFileDialog>
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#include <QFileInfo>
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#include <QPainter>
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#include <QScrollArea>
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#include <QResizeEvent>
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#include <cmath>
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VrEyeViewWidget::VrEyeViewWidget(QWidget* parent)
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: QWidget(parent)
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, m_eyeDevice(nullptr)
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, m_detector(nullptr)
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, m_leftImageLabel(nullptr)
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, m_rightImageLabel(nullptr)
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, m_isConnected(false)
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, m_isCapturing(false)
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, m_hasNewImage(false)
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{
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// 创建设备和检测器
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IVrEyeDevice::CreateObject(&m_eyeDevice);
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m_detector = CreateChessboardDetectorInstance();
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setupUI();
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// 为所有 SpinBox 安装粘贴过滤器
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SpinBoxPasteHelper::install(this);
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// 初始化设备
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if (m_eyeDevice) {
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m_eyeDevice->InitDevice();
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}
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// 创建显示定时器
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m_displayTimer = new QTimer(this);
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connect(m_displayTimer, &QTimer::timeout, this, &VrEyeViewWidget::onUpdateDisplay);
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m_displayTimer->start(33); // 约30fps
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}
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VrEyeViewWidget::~VrEyeViewWidget()
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{
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if (m_isCapturing) {
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onStopCapture();
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}
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if (m_isConnected) {
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onDisconnectCamera();
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}
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if (m_detector) {
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DestroyChessboardDetectorInstance(m_detector);
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m_detector = nullptr;
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}
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if (m_eyeDevice) {
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delete m_eyeDevice;
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m_eyeDevice = nullptr;
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}
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}
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void VrEyeViewWidget::setupUI()
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{
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QVBoxLayout* mainLayout = new QVBoxLayout(this);
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mainLayout->setSpacing(4);
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// ===== 左右目图像并排显示区域 =====
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QHBoxLayout* imageLayout = new QHBoxLayout();
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QVBoxLayout* leftLayout = new QVBoxLayout();
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leftLayout->setSpacing(0);
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QLabel* leftTitle = new QLabel("左目", this);
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leftTitle->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
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leftLayout->addWidget(leftTitle);
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m_leftImageLabel = new QLabel(this);
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m_leftImageLabel->setMinimumSize(320, 240);
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m_leftImageLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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m_leftImageLabel->setAlignment(Qt::AlignCenter);
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m_leftImageLabel->setStyleSheet("QLabel { background-color: black; }");
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leftLayout->addWidget(m_leftImageLabel, 1);
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imageLayout->addLayout(leftLayout);
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QVBoxLayout* rightLayout = new QVBoxLayout();
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rightLayout->setSpacing(0);
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QLabel* rightTitle = new QLabel("右目", this);
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rightTitle->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
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rightLayout->addWidget(rightTitle);
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m_rightImageLabel = new QLabel(this);
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m_rightImageLabel->setMinimumSize(320, 240);
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m_rightImageLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
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m_rightImageLabel->setAlignment(Qt::AlignCenter);
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m_rightImageLabel->setStyleSheet("QLabel { background-color: black; }");
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rightLayout->addWidget(m_rightImageLabel, 1);
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imageLayout->addLayout(rightLayout);
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mainLayout->addLayout(imageLayout, 1);
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// ===== 第一行：相机连接 + 参数 + 采集按钮 =====
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QHBoxLayout* row1 = new QHBoxLayout();
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row1->setSpacing(4);
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// 相机IP + 连接/断开
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row1->addWidget(new QLabel("IP:", this));
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m_editCameraIP = new QLineEdit("192.168.1.100", this);
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m_editCameraIP->setFixedWidth(120);
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row1->addWidget(m_editCameraIP);
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m_btnConnect = new QPushButton("连接", this);
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m_btnDisconnect = new QPushButton("断开", this);
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m_btnDisconnect->setEnabled(false);
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connect(m_btnConnect, &QPushButton::clicked, this, &VrEyeViewWidget::onConnectCamera);
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connect(m_btnDisconnect, &QPushButton::clicked, this, &VrEyeViewWidget::onDisconnectCamera);
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row1->addWidget(m_btnConnect);
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row1->addWidget(m_btnDisconnect);
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// 分隔
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row1->addSpacing(8);
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// 曝光/增益
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row1->addWidget(new QLabel("曝光:", this));
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m_sbExposure = new QSpinBox(this);
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m_sbExposure->setRange(100, 10000);
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m_sbExposure->setValue(1000);
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row1->addWidget(m_sbExposure);
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row1->addWidget(new QLabel("增益:", this));
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m_sbGain = new QSpinBox(this);
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m_sbGain->setRange(0, 255);
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m_sbGain->setValue(100);
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row1->addWidget(m_sbGain);
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// 分隔
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row1->addSpacing(8);
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// 采集 + 加载按钮
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m_btnStartCapture = new QPushButton("开始采集", this);
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m_btnStopCapture = new QPushButton("停止采集", this);
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QPushButton* btnLoadLeftImage = new QPushButton("加载左图", this);
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QPushButton* btnLoadRightImage = new QPushButton("加载右图", this);
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m_btnStartCapture->setEnabled(false);
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m_btnStopCapture->setEnabled(false);
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connect(m_btnStartCapture, &QPushButton::clicked, this, &VrEyeViewWidget::onStartCapture);
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connect(m_btnStopCapture, &QPushButton::clicked, this, &VrEyeViewWidget::onStopCapture);
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connect(btnLoadLeftImage, &QPushButton::clicked, this, &VrEyeViewWidget::onLoadLeftImage);
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connect(btnLoadRightImage, &QPushButton::clicked, this, &VrEyeViewWidget::onLoadRightImage);
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row1->addWidget(m_btnStartCapture);
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row1->addWidget(m_btnStopCapture);
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row1->addWidget(btnLoadLeftImage);
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row1->addWidget(btnLoadRightImage);
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row1->addStretch();
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mainLayout->addLayout(row1);
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// ===== 第二行：相机内参(左) + 标定板检测(右) =====
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QHBoxLayout* row2 = new QHBoxLayout();
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row2->setSpacing(4);
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// 相机内参（3x3矩阵）
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QGroupBox* intrinsicsGroup = new QGroupBox("相机内参", this);
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QGridLayout* intrinsicsLayout = new QGridLayout(intrinsicsGroup);
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intrinsicsLayout->setSpacing(2);
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intrinsicsLayout->setContentsMargins(4, 8, 4, 4);
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auto createIntrinsicSpinBox = [this](double minVal, double maxVal, double defaultVal) {
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QDoubleSpinBox* sb = new QDoubleSpinBox(this);
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sb->setRange(minVal, maxVal);
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sb->setValue(defaultVal);
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sb->setDecimals(2);
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return sb;
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};
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auto createFixedLabel = [this](const QString& text) {
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QLabel* lbl = new QLabel(text, this);
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lbl->setAlignment(Qt::AlignCenter);
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lbl->setStyleSheet("QLabel { color: gray; }");
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return lbl;
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};
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m_sbFx = createIntrinsicSpinBox(100, 5000, 2384.8520129909352);
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m_sbFx->setPrefix("fx: ");
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m_sbFx->setToolTip("fx: X方向焦距(像素)");
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m_sbFy = createIntrinsicSpinBox(100, 5000, 2384.8520129909352);
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m_sbFy->setPrefix("fy: ");
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m_sbFy->setToolTip("fy: Y方向焦距(像素)");
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m_sbCx = createIntrinsicSpinBox(0, 2000, 232.37469863891602);
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m_sbCx->setPrefix("cx: ");
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m_sbCx->setToolTip("cx: 主点X坐标(像素)");
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m_sbCy = createIntrinsicSpinBox(0, 2000, 1054.649814605713);
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m_sbCy->setPrefix("cy: ");
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m_sbCy->setToolTip("cy: 主点Y坐标(像素)");
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intrinsicsLayout->addWidget(m_sbFx, 0, 0);
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intrinsicsLayout->addWidget(createFixedLabel("0"), 0, 1);
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intrinsicsLayout->addWidget(m_sbCx, 0, 2);
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intrinsicsLayout->addWidget(createFixedLabel("0"), 1, 0);
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intrinsicsLayout->addWidget(m_sbFy, 1, 1);
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intrinsicsLayout->addWidget(m_sbCy, 1, 2);
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intrinsicsLayout->addWidget(createFixedLabel("0"), 2, 0);
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intrinsicsLayout->addWidget(createFixedLabel("0"), 2, 1);
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intrinsicsLayout->addWidget(createFixedLabel("1"), 2, 2);
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row2->addWidget(intrinsicsGroup);
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// 标定板检测
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QGroupBox* detectionGroup = new QGroupBox("标定板检测", this);
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QGridLayout* detectionLayout = new QGridLayout(detectionGroup);
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detectionLayout->setSpacing(2);
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detectionLayout->setContentsMargins(4, 8, 4, 4);
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detectionLayout->addWidget(new QLabel("角点宽:", this), 0, 0);
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m_sbPatternWidth = new QSpinBox(this);
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m_sbPatternWidth->setRange(2, 20);
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m_sbPatternWidth->setValue(8);
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detectionLayout->addWidget(m_sbPatternWidth, 0, 1);
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detectionLayout->addWidget(new QLabel("角点高:", this), 0, 2);
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m_sbPatternHeight = new QSpinBox(this);
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m_sbPatternHeight->setRange(2, 20);
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m_sbPatternHeight->setValue(11);
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detectionLayout->addWidget(m_sbPatternHeight, 0, 3);
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detectionLayout->addWidget(new QLabel("格子(mm):", this), 1, 0);
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m_sbSquareSize = new QDoubleSpinBox(this);
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m_sbSquareSize->setRange(1.0, 100.0);
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m_sbSquareSize->setValue(30.0);
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m_sbSquareSize->setDecimals(2);
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detectionLayout->addWidget(m_sbSquareSize, 1, 1);
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m_cbAdaptiveThresh = new QCheckBox("自适应阈值", this);
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m_cbAdaptiveThresh->setChecked(true);
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m_cbNormalizeImage = new QCheckBox("归一化图像", this);
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m_cbNormalizeImage->setChecked(true);
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detectionLayout->addWidget(m_cbAdaptiveThresh, 1, 2);
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detectionLayout->addWidget(m_cbNormalizeImage, 1, 3);
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m_cbAutoDetect = new QCheckBox("自动检测", this);
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detectionLayout->addWidget(m_cbAutoDetect, 2, 0, 1, 2);
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m_btnDetect = new QPushButton("计算标定板信息", this);
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m_btnDetect->setEnabled(false);
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connect(m_btnDetect, &QPushButton::clicked, this, &VrEyeViewWidget::onDetectChessboard);
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detectionLayout->addWidget(m_btnDetect, 2, 2, 1, 2);
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row2->addWidget(detectionGroup);
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mainLayout->addLayout(row2);
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// ===== 状态栏 =====
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m_lblStatus = new QLabel("状态: 未连接", this);
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m_lblDetectionResult = new QLabel("检测结果: 无", this);
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mainLayout->addWidget(m_lblStatus);
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mainLayout->addWidget(m_lblDetectionResult);
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}
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void VrEyeViewWidget::SetDetectionCallback(DetectionCallback callback)
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{
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m_detectionCallback = callback;
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}
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void VrEyeViewWidget::onConnectCamera()
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{
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if (!m_eyeDevice) return;
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QString ip = m_editCameraIP->text();
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int ret = m_eyeDevice->OpenDevice(ip.toStdString().c_str(), false, false, false);
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if (ret == 0) {
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m_isConnected = true;
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m_btnConnect->setEnabled(false);
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m_btnDisconnect->setEnabled(true);
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m_btnStartCapture->setEnabled(true);
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m_lblStatus->setText("状态: 已连接");
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// 设置相机参数
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unsigned int exposure = m_sbExposure->value();
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unsigned int gain = m_sbGain->value();
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m_eyeDevice->SetEyeExpose(exposure);
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m_eyeDevice->SetEyeGain(gain);
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} else {
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QMessageBox::warning(this, "错误", QString("连接相机失败，错误码: %1").arg(ret));
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}
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}
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void VrEyeViewWidget::onDisconnectCamera()
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{
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if (!m_eyeDevice) return;
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if (m_isCapturing) {
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onStopCapture();
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}
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m_eyeDevice->CloseDevice();
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m_isConnected = false;
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m_btnConnect->setEnabled(true);
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m_btnDisconnect->setEnabled(false);
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m_btnStartCapture->setEnabled(false);
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m_lblStatus->setText("状态: 未连接");
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}
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void VrEyeViewWidget::onStartCapture()
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{
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if (!m_eyeDevice || !m_isConnected) return;
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int ret = m_eyeDevice->StartCapture(OnImageCallback, this);
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if (ret == 0) {
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m_isCapturing = true;
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m_btnStartCapture->setEnabled(false);
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m_btnStopCapture->setEnabled(true);
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m_btnDetect->setEnabled(true);
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m_lblStatus->setText("状态: 采集中");
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} else {
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QMessageBox::warning(this, "错误", QString("开始采集失败，错误码: %1").arg(ret));
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}
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}
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void VrEyeViewWidget::onStopCapture()
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{
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if (!m_eyeDevice) return;
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m_eyeDevice->StopCapture();
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m_isCapturing = false;
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m_btnStartCapture->setEnabled(true);
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m_btnStopCapture->setEnabled(false);
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m_lblStatus->setText("状态: 已连接");
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}
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void VrEyeViewWidget::OnImageCallback(SVzNLImageData* pLeftImage,
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SVzNLImageData* pRightImage,
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SVzNLImageData* /*pCenterImage*/,
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const SVzOutputFrameProps* /*pFrameProps*/,
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void* pUserData)
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{
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VrEyeViewWidget* pThis = static_cast<VrEyeViewWidget*>(pUserData);
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if (pThis) {
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pThis->ProcessImageData(pLeftImage, pRightImage);
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}
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}
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/**
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* @brief 将 SDK 图像数据转为 QImage
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*/
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static QImage SvzImageToQImage(SVzNLImageData* pImage)
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{
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if (!pImage || !pImage->pBuffer || pImage->nWidth == 0 || pImage->nHeight == 0) {
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return QImage();
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}
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int w = static_cast<int>(pImage->nWidth);
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int h = static_cast<int>(pImage->nHeight);
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if (pImage->eImageType == keVzNLImageType_RGB888) {
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// RGB888: 直接拷贝
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return QImage(pImage->pBuffer, w, h, w * 3, QImage::Format_RGB888).copy();
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} else if (pImage->eImageType == keVzNLImageType_BGR888) {
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// BGR888: 转为 RGB
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QImage img(pImage->pBuffer, w, h, w * 3, QImage::Format_RGB888);
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return img.rgbSwapped();
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} else if (pImage->eImageType == keVzNLImageType_GRAY) {
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// 灰度图
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return QImage(pImage->pBuffer, w, h, w, QImage::Format_Grayscale8).copy();
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} else if (pImage->eImageType == keVzNLImageType_BGRA8888) {
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// BGRA -> ARGB32
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QImage img(pImage->pBuffer, w, h, w * 4, QImage::Format_ARGB32);
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return img.copy();
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}
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// 其他格式：按灰度处理
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if (pImage->nChannels == 1) {
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return QImage(pImage->pBuffer, w, h, w, QImage::Format_Grayscale8).copy();
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} else if (pImage->nChannels == 3) {
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return QImage(pImage->pBuffer, w, h, w * 3, QImage::Format_RGB888).copy();
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}
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return QImage();
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}
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void VrEyeViewWidget::ProcessImageData(SVzNLImageData* pLeftImage, SVzNLImageData* pRightImage)
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{
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QImage left = SvzImageToQImage(pLeftImage);
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QImage right = SvzImageToQImage(pRightImage);
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{
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std::lock_guard<std::mutex> lock(m_captureMutex);
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if (!left.isNull()) m_captureLeft = left;
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if (!right.isNull()) m_captureRight = right;
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m_hasNewImage = true;
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}
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}
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void VrEyeViewWidget::onUpdateDisplay()
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{
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if (!m_hasNewImage) return;
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{
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std::lock_guard<std::mutex> lock(m_captureMutex);
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if (!m_captureLeft.isNull()) m_leftImage = m_captureLeft;
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if (!m_captureRight.isNull()) m_rightImage = m_captureRight;
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m_hasNewImage = false;
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}
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// 清除旧的检测角点
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m_lastLeftCorners.clear();
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m_lastRightCorners.clear();
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UpdateImageDisplay();
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}
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void VrEyeViewWidget::onDetectChessboard()
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{
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if (!m_detector) return;
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if (m_leftImage.isNull() || m_rightImage.isNull()) {
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m_lblDetectionResult->setText("检测结果: 请先加载左右目图片");
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return;
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}
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// 设置检测参数
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m_detector->SetDetectionFlags(
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m_cbAdaptiveThresh->isChecked(),
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m_cbNormalizeImage->isChecked(),
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false);
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// 准备相机内参
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CameraIntrinsics intrinsics;
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intrinsics.fx = m_sbFx->value();
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intrinsics.fy = m_sbFy->value();
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intrinsics.cx = m_sbCx->value();
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intrinsics.cy = m_sbCy->value();
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// 检测左目标定板
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QImage leftRgb = m_leftImage.convertToFormat(QImage::Format_RGB888);
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ChessboardDetectResult leftResult;
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int ret = m_detector->DetectChessboardWithPose(
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leftRgb.bits(),
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leftRgb.width(),
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leftRgb.height(),
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3,
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m_sbPatternWidth->value(),
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m_sbPatternHeight->value(),
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m_sbSquareSize->value(),
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intrinsics,
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leftResult);
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// 检测右目标定板
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QImage rightRgb = m_rightImage.convertToFormat(QImage::Format_RGB888);
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ChessboardDetectResult rightResult;
|
||
int retRight = m_detector->DetectChessboardWithPose(
|
||
rightRgb.bits(),
|
||
rightRgb.width(),
|
||
rightRgb.height(),
|
||
3,
|
||
m_sbPatternWidth->value(),
|
||
m_sbPatternHeight->value(),
|
||
m_sbSquareSize->value(),
|
||
intrinsics,
|
||
rightResult);
|
||
|
||
// 在两张图上绘制角点并显示
|
||
if (ret == 0 && leftResult.detected) {
|
||
m_lastLeftCorners = leftResult.corners;
|
||
} else {
|
||
m_lastLeftCorners.clear();
|
||
}
|
||
if (retRight == 0 && rightResult.detected) {
|
||
m_lastRightCorners = rightResult.corners;
|
||
} else {
|
||
m_lastRightCorners.clear();
|
||
}
|
||
|
||
// 在副本上绘制角点并显示（不修改原图）
|
||
QImage leftDisplay = m_leftImage.copy();
|
||
QImage rightDisplay = m_rightImage.copy();
|
||
DrawCorners(leftDisplay, m_lastLeftCorners);
|
||
DrawCorners(rightDisplay, m_lastRightCorners);
|
||
|
||
QPixmap leftPm = QPixmap::fromImage(leftDisplay);
|
||
m_leftImageLabel->setPixmap(
|
||
leftPm.scaled(m_leftImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||
QPixmap rightPm = QPixmap::fromImage(rightDisplay);
|
||
m_rightImageLabel->setPixmap(
|
||
rightPm.scaled(m_rightImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||
|
||
if (ret == 0 && leftResult.detected && retRight == 0 && rightResult.detected) {
|
||
m_lastDetection.detected = true;
|
||
|
||
if (leftResult.hasPose) {
|
||
m_lastDetection.x = leftResult.center.x;
|
||
m_lastDetection.y = leftResult.center.y;
|
||
m_lastDetection.z = leftResult.center.z;
|
||
|
||
m_lastDetection.nx = leftResult.normal.x;
|
||
m_lastDetection.ny = leftResult.normal.y;
|
||
m_lastDetection.nz = leftResult.normal.z;
|
||
|
||
m_lastDetection.rx = leftResult.eulerAngles[0];
|
||
m_lastDetection.ry = leftResult.eulerAngles[1];
|
||
m_lastDetection.rz = leftResult.eulerAngles[2];
|
||
|
||
QString resultText = QString("检测结果: "
|
||
"左目 %1 个角点, 右目 %2 个角点 | "
|
||
"位置: (%3, %4, %5)mm | "
|
||
"法向量: (%6, %7, %8) | "
|
||
"姿态: (%9, %10, %11)")
|
||
.arg(m_lastLeftCorners.size())
|
||
.arg(m_lastRightCorners.size())
|
||
.arg(m_lastDetection.x, 0, 'f', 3)
|
||
.arg(m_lastDetection.y, 0, 'f', 3)
|
||
.arg(m_lastDetection.z, 0, 'f', 3)
|
||
.arg(m_lastDetection.nx, 0, 'f', 3)
|
||
.arg(m_lastDetection.ny, 0, 'f', 3)
|
||
.arg(m_lastDetection.nz, 0, 'f', 3)
|
||
.arg(m_lastDetection.rx, 0, 'f', 3)
|
||
.arg(m_lastDetection.ry, 0, 'f', 3)
|
||
.arg(m_lastDetection.rz, 0, 'f', 3);
|
||
m_lblDetectionResult->setText(resultText);
|
||
|
||
if (m_detectionCallback) {
|
||
m_detectionCallback(m_lastDetection);
|
||
}
|
||
emit chessboardDetected(m_lastDetection);
|
||
}
|
||
} else {
|
||
m_lastDetection.detected = false;
|
||
|
||
QString errorMsg = "检测结果: ";
|
||
if (ret != 0 || !leftResult.detected) {
|
||
errorMsg += "左目未检测到标定板 ";
|
||
}
|
||
if (retRight != 0 || !rightResult.detected) {
|
||
errorMsg += "右目未检测到标定板";
|
||
}
|
||
m_lblDetectionResult->setText(errorMsg);
|
||
}
|
||
}
|
||
|
||
void VrEyeViewWidget::onLoadLeftImage()
|
||
{
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this, "选择左目图片", "",
|
||
"图片文件 (*.png *.jpg *.jpeg *.bmp);;所有文件 (*.*)");
|
||
|
||
if (fileName.isEmpty()) return;
|
||
|
||
QImage image(fileName);
|
||
if (image.isNull()) {
|
||
QMessageBox::warning(this, "错误",
|
||
QString("无法加载左目图片:\n%1").arg(fileName));
|
||
return;
|
||
}
|
||
|
||
m_leftImage = image;
|
||
UpdateImageDisplay();
|
||
|
||
QFileInfo fi(fileName);
|
||
m_lblStatus->setText(QString("状态: 已加载左目 %1 (%2x%3)")
|
||
.arg(fi.fileName())
|
||
.arg(image.width()).arg(image.height()));
|
||
|
||
if (!m_leftImage.isNull() && !m_rightImage.isNull()) {
|
||
m_btnDetect->setEnabled(true);
|
||
}
|
||
}
|
||
|
||
void VrEyeViewWidget::onLoadRightImage()
|
||
{
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this, "选择右目图片", "",
|
||
"图片文件 (*.png *.jpg *.jpeg *.bmp);;所有文件 (*.*)");
|
||
|
||
if (fileName.isEmpty()) return;
|
||
|
||
QImage image(fileName);
|
||
if (image.isNull()) {
|
||
QMessageBox::warning(this, "错误",
|
||
QString("无法加载右目图片:\n%1").arg(fileName));
|
||
return;
|
||
}
|
||
|
||
m_rightImage = image;
|
||
UpdateImageDisplay();
|
||
|
||
QFileInfo fi(fileName);
|
||
m_lblStatus->setText(QString("状态: 已加载右目 %1 (%2x%3)")
|
||
.arg(fi.fileName())
|
||
.arg(image.width()).arg(image.height()));
|
||
|
||
if (!m_leftImage.isNull() && !m_rightImage.isNull()) {
|
||
m_btnDetect->setEnabled(true);
|
||
}
|
||
}
|
||
|
||
void VrEyeViewWidget::UpdateImageDisplay()
|
||
{
|
||
// 左目：保持比例缩放到 label 大小，不拉伸
|
||
if (!m_leftImage.isNull()) {
|
||
QImage leftDisplay = m_leftImage.copy();
|
||
if (!m_lastLeftCorners.empty()) {
|
||
DrawCorners(leftDisplay, m_lastLeftCorners);
|
||
}
|
||
QPixmap pm = QPixmap::fromImage(leftDisplay);
|
||
m_leftImageLabel->setPixmap(
|
||
pm.scaled(m_leftImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||
}
|
||
|
||
// 右目
|
||
if (!m_rightImage.isNull()) {
|
||
QImage rightDisplay = m_rightImage.copy();
|
||
if (!m_lastRightCorners.empty()) {
|
||
DrawCorners(rightDisplay, m_lastRightCorners);
|
||
}
|
||
QPixmap pm = QPixmap::fromImage(rightDisplay);
|
||
m_rightImageLabel->setPixmap(
|
||
pm.scaled(m_rightImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||
}
|
||
}
|
||
|
||
void VrEyeViewWidget::resizeEvent(QResizeEvent* event)
|
||
{
|
||
QWidget::resizeEvent(event);
|
||
UpdateImageDisplay();
|
||
}
|
||
|
||
void VrEyeViewWidget::DrawCorners(QImage& image, const std::vector<Point2D>& corners)
|
||
{
|
||
if (corners.empty()) return;
|
||
|
||
QPainter painter(&image);
|
||
painter.setPen(QPen(Qt::green, 3));
|
||
|
||
for (const auto& pt : corners) {
|
||
painter.drawEllipse(QPointF(pt.x, pt.y), 5, 5);
|
||
}
|
||
}
|