VS2015+Qt5.9+ZED Stereo相机视频显示框架

#include "ZED_Video.h" #include <QFileDialog> #include <QGraphicsScene> #include <QMessageBox> #include "utils.hpp" #include <qDebug> #include <iostream> #include <sstream> ZED_Video::ZED_Video(QWidget *parent) : QMainWindow(parent) { ui.setupUi(this); timer = new QTimer(this); VideoOpen = false; initParameters.camera_resolution = sl::RESOLUTION_HD1080; initParameters.camera_fps = 60; initParameters.sdk_verbose = false; connect(timer, SIGNAL(timeout()), this, SLOT(GetFrameFromCamera())); connect(ui.btnOpen, SIGNAL(clicked()), this, SLOT(on_btnOpen_clicked())); connect(ui.btnStop, SIGNAL(clicked()), this, SLOT(on_btnStop_clicked()));//打开摄像头 } void ZED_Video::on_btnOpen_clicked() { //if (!VideoOpen) //{ // QString curPath = QDir::homePath();//获取系统当前目录 // QString dlgTitle = QString::fromLocal8Bit("选择视频文件"); //对话框标题 // QString filter = QString::fromLocal8Bit("svo文件(*.svo);;所有文件(*.*)"); //文件过滤器,wmv文件(*.wmv);;mp4文件(*.mp4);;所有文件(*.*) // QString aFile = QFileDialog::getOpenFileName(this, dlgTitle, curPath, filter); // if (aFile.isEmpty()) // return; // svo_input_path = aFile.toStdString(); // initParameters.svo_input_filename.set(svo_input_path.c_str()); // initParameters.coordinate_units = sl::UNIT_MILLIMETER; // // Open the SVO file specified as a parameter // sl::ERROR_CODE err = zed.open(initParameters); // if (err != sl::SUCCESS) { // //std::cout << toString(err) << std::endl; // sl::String err_str = toString(err); // QMessageBox::information(NULL, "Error", err_str.c_str(), QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); // zed.close(); // return; // Quit if an error occurred // } // VideoOpen = true; //} //// Get image size //image_size = zed.getResolution(); //width = image_size.width; //height = image_size.height; ////width_sbs = image_size.width * 2; //QString videoPath = QString::fromStdString(svo_input_path); ////ui.LabCurMedia->setText(videoPath); ////获得每一帧图像并显示 //GetFrameFromCamera(); if (VideoOpen) { QMessageBox::information(NULL, "Error", "Camera is on", QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); return; } //timer->killTimer; sl::ERROR_CODE err = zed.open(initParameters); if (err != sl::SUCCESS) { QMessageBox::information(NULL, "Error", "Camera failed!", QMessageBox::Yes | QMessageBox::No, QMessageBox::Yes); zed.close(); return; } //获取图像大小 width = (int)zed.getResolution().width; height = (int)zed.getResolution().height; //获取标定参数 sl::CalibrationParameters calibration_params = zed.getCameraInformation().calibration_parameters; timer->start(15); VideoOpen = true; //GetFrameFromCamera(); } void ZED_Video::on_btnStop_clicked() { timer->stop();//关闭定时器 zed.close(); VideoOpen = false; return; } void ZED_Video::GetFrameFromCamera() { //sl::Mat left_image(width, height, sl::MAT_TYPE_8U_C4); //cv::Mat left_image_ocv = slMat2cvMat(left_image); //sl::Mat right_image(width, height, sl::MAT_TYPE_8U_C4); //cv::Mat right_image_ocv = slMat2cvMat(right_image); ////sl::Mat depth_image(width, height, sl::MAT_TYPE_32F_C1); ////cv::Mat depth_image_ocv = slMat2cvMat(depth_image); //sl::RuntimeParameters rt_param; //rt_param.sensing_mode = sl::SENSING_MODE_FILL; //int nb_frames = zed.getSVONumberOfFrames(); //QImage Qt_imgL; //QImage Qt_imgR; ////SetCtrlHandler(); //while (!exit_app) //{ // if (zed.grab() == sl::SUCCESS) // { // svo_position = zed.getSVOPosition(); // // Retrieve SVO images,get L & R img // zed.retrieveImage(left_image, sl::VIEW_LEFT); // zed.retrieveImage(right_image, sl::VIEW_RIGHT); // //cv::imshow("View", left_image_ocv); // //cv::waitKey(2); // //深拷贝？ // L_img_cv = left_image_ocv.clone(); // R_img_cv = right_image_ocv.clone(); // //cv::imshow("View", L_img_cv); // //cv::waitKey(2); // Qt_imgL = cvMat2QImage(&L_img_cv); // Qt_imgR = cvMat2QImage(&R_img_cv); // ui.graphicsView_L->getResult(Qt_imgL); // std::ostringstream filename1; // //filename1 << std::setw(6) << svo_position << ".jpg"; // //std::string fn = filename1.str(); // //QString imgfn = QString::fromStdString(fn); // //Qt_imgL.save(imgfn, "JPG"); // //ui.graphicsView_L->fitInView(Qt_imgL); // ui.graphicsView_R->getResult(Qt_imgR); // //timer->start(15); // } // if (svo_position >= (nb_frames - 1)) // { // End of SVO // qDebug() << "\nSVO end has been reached. Exiting now.\n"; // exit_app = true; // } //} sl::Mat left_image(width, height, sl::MAT_TYPE_8U_C4); cv::Mat left_image_ocv = slMat2cvMat(left_image); sl::Mat right_image(width, height, sl::MAT_TYPE_8U_C4); cv::Mat right_image_ocv = slMat2cvMat(right_image); QImage Qt_imgL; QImage Qt_imgR; if (zed.grab() == sl::SUCCESS) { svo_position = zed.getSVOPosition(); // Retrieve SVO images,get L & R img zed.retrieveImage(left_image, sl::VIEW_LEFT); zed.retrieveImage(right_image, sl::VIEW_RIGHT); L_img_cv = left_image_ocv.clone(); R_img_cv = right_image_ocv.clone(); Qt_imgL = cvMat2QImage(L_img_cv); Qt_imgR = cvMat2QImage(R_img_cv); ui.graphicsView_L->getResult(Qt_imgL); ui.graphicsView_R->getResult(Qt_imgR); //cv::imshow("View", L_img_cv); //cv::waitKey(2); } } QImage ZED_Video::cvMat2QImage(const cv::Mat& mat) { // 8-bits unsigned, NO. OF CHANNELS = 1 if (mat.type() == CV_8UC1) { QImage image(mat.cols, mat.rows, QImage::Format_Indexed8); // Set the color table (used to translate colour indexes to qRgb values) image.setColorCount(256); for (int i = 0; i < 256; i++) { image.setColor(i, qRgb(i, i, i)); } // Copy input Mat uchar *pSrc = mat.data; for (int row = 0; row < mat.rows; row++) { uchar *pDest = image.scanLine(row); memcpy(pDest, pSrc, mat.cols); pSrc += mat.step; } return image; } // 8-bits unsigned, NO. OF CHANNELS = 3 else if (mat.type() == CV_8UC3) { // Copy input Mat const uchar *pSrc = (const uchar*)mat.data; // Create QImage with same dimensions as input Mat QImage image(pSrc, mat.cols, mat.rows, mat.step, QImage::Format_RGB888); return image.rgbSwapped(); } else if (mat.type() == CV_8UC4) { //qDebug() << "CV_8UC4"; // Copy input Mat const uchar *pSrc = (const uchar*)mat.data; // Create QImage with same dimensions as input Mat QImage image(pSrc, mat.cols, mat.rows, mat.step, QImage::Format_ARGB32); return image.copy(); } else { qDebug() << "ERROR: Mat could not be converted to QImage."; return QImage(); } }