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feat: 重新规划ui布局；增加左右红外以及rgb相机可视化

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YusenZhao
2026-01-21 15:36:47 +08:00
parent 8b07397b5b
commit 93c7c1a86b
10 changed files with 1287 additions and 352 deletions
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65
src/gui/MainWindow.h
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@@ -35,7 +35,6 @@ private slots:
// 相机控制槽函数
void onStartClicked();
void onStopClicked();
void onOnceClicked();
void onExposureChanged(int value);
void onCaptureClicked();
void onBrowseSavePathClicked();
@@ -51,6 +50,9 @@ private slots:
// GVSP数据处理槽函数
void onImageReceived(const QImage &image, uint32_t blockId);
void onLeftImageReceived(const QByteArray &jpegData, uint32_t blockId);
void onRightImageReceived(const QByteArray &jpegData, uint32_t blockId);
void onRgbImageReceived(const QByteArray &jpegData, uint32_t blockId);
void onDepthDataReceived(const QByteArray &depthData, uint32_t blockId);
void onPointCloudDataReceived(const QByteArray &cloudData, uint32_t blockId);
void onPointCloudReady(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, uint32_t blockId);
@@ -84,7 +86,9 @@ private:
bool savePointCloud(const QString &dir, const QString &baseName, const QString &format);
void performBackgroundSave(const QString &saveDir, const QString &baseName,
const QString &depthFormat, const QString &pointCloudFormat,
const QImage &image, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud);
const QImage &image, pcl::PointCloud<pcl::PointXYZ>::Ptr cloud,
const QByteArray &leftIRData, const QByteArray &rightIRData,
const QByteArray &rgbData);
// 日志辅助函数
void addLog(const QString &message, const QString &level = "INFO");
@@ -102,28 +106,45 @@ private:
// 状态变量
bool m_isConnected;
bool m_autoSaveOnNextFrame;
// 当前帧数据（用于拍照）
QImage m_currentImage;
pcl::PointCloud<pcl::PointXYZ>::Ptr m_currentPointCloud;
uint32_t m_currentFrameId;
// 三个相机的原始JPEG数据（用于保存完整分辨率图像）
QByteArray m_currentLeftIRData;
QByteArray m_currentRightIRData;
QByteArray m_currentRgbData;
// UI控件指针
class QWidget *m_centralWidget;
class QSplitter *m_mainSplitter;
class QWidget *m_controlPanel;
class QLabel *m_imageDisplay;
class QLabel *m_imageDisplay; // 兼容旧代码
PointCloudWidget *m_pointCloudWidget;
// 三个图像显示控件
QLabel *m_leftImageDisplay;
QLabel *m_rightImageDisplay;
QLabel *m_rgbImageDisplay;
// 按钮控件
QPushButton *m_refreshBtn;
QPushButton *m_connectBtn;
QPushButton *m_startBtn;
QPushButton *m_stopBtn;
QPushButton *m_onceBtn;
QPushButton *m_captureBtn;
// 数据传输开关按钮
QPushButton *m_leftIRToggle;
QPushButton *m_rightIRToggle;
QPushButton *m_rgbToggle;
// 单目/双目模式切换按钮
QPushButton *m_monocularBtn;
QPushButton *m_binocularBtn;
// 输入控件
QSlider *m_exposureSlider;
QSpinBox *m_exposureSpinBox;
@@ -146,6 +167,11 @@ private:
QLabel *m_resolutionLabel;
QLabel *m_queueLabel;
// 三个相机的FPS标签
QLabel *m_leftFpsLabel;
QLabel *m_rightFpsLabel;
QLabel *m_rgbFpsLabel;
// 日志显示控件
class QTextEdit *m_logDisplay;
QPushButton *m_clearLogBtn;
@@ -162,6 +188,33 @@ private:
int m_pointCloudFrameCount;
int m_totalPointCloudFrameCount;
double m_currentPointCloudFps;
// 统计数据 - 左红外
QDateTime m_lastLeftFrameTime;
int m_leftFrameCount;
int m_totalLeftFrameCount;
double m_currentLeftFps;
// 统计数据 - 右红外
QDateTime m_lastRightFrameTime;
int m_rightFrameCount;
int m_totalRightFrameCount;
double m_currentRightFps;
// 统计数据 - RGB
QDateTime m_lastRgbFrameTime;
int m_rgbFrameCount;
int m_totalRgbFrameCount;
double m_currentRgbFps;
// RGB解码处理标志（防止线程积压）
QAtomicInt m_rgbProcessing;
int m_rgbSkipCounter; // RGB帧跳过计数器
// 相机启用状态标志（防止关闭后闪烁）
QAtomicInt m_leftIREnabled;
QAtomicInt m_rightIREnabled;
QAtomicInt m_rgbEnabled;
};
#endif // MAINWINDOW_H