gloamxun/d330viewer
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases 5 Wiki Activity

feat: 添加点云着色按钮 适配调整后的下位机图像采集方式

Browse Source
This commit is contained in:
YusenZhao
2026-02-02 14:08:30 +08:00
parent de8ce7c4a6
commit b1871aa9e7
11 changed files with 298 additions and 125 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
src/core/GVSPParser.cpp
View File

@@ -96,9 +96,9 @@ void GVSPParser::handleLeaderPacket(const uint8_t *data, size_t size)
// 根据像素格式选择对应的状态
StreamState *state = nullptr;
if (pixelFormat == PIXEL_FORMAT_MONO16_LEFT) {
if (pixelFormat == PIXEL_FORMAT_MONO16_LEFT || pixelFormat == PIXEL_FORMAT_MONO8_LEFT) {
state = &m_leftIRState;
} else if (pixelFormat == PIXEL_FORMAT_MONO16_RIGHT) {
} else if (pixelFormat == PIXEL_FORMAT_MONO16_RIGHT || pixelFormat == PIXEL_FORMAT_MONO8_RIGHT) {
state = &m_rightIRState;
} else if (pixelFormat == PIXEL_FORMAT_MJPEG) {
state = &m_rgbState;
@@ -118,6 +118,9 @@ void GVSPParser::handleLeaderPacket(const uint8_t *data, size_t size)
if (pixelFormat == PIXEL_FORMAT_MJPEG) {
// MJPEG是压缩格式，实际大小未知，设置为0表示动态接收
state->expectedSize = 0;
} else if (pixelFormat == PIXEL_FORMAT_MONO8_LEFT || pixelFormat == PIXEL_FORMAT_MONO8_RIGHT) {
// 8-bit灰度格式（下采样）
state->expectedSize = imageWidth * imageHeight;
} else {
// 16-bit或12-bit灰度等固定格式
state->expectedSize = imageWidth * imageHeight * 2;
@@ -268,6 +271,29 @@ void GVSPParser::processImageData(GVSPParser::StreamState *state)
return;
}
// 处理Mono8格式（左右红外相机下采样8位数据）
if (state->pixelFormat == PIXEL_FORMAT_MONO8_LEFT) {
// 检查数据大小
if (state->dataBuffer.size() < state->expectedSize) {
return;
}
// 左红外8位数据
emit leftImageReceived(state->dataBuffer, state->blockId);
m_imageSequence++;
return;
}
if (state->pixelFormat == PIXEL_FORMAT_MONO8_RIGHT) {
// 检查数据大小
if (state->dataBuffer.size() < state->expectedSize) {
return;
}
// 右红外8位数据
emit rightImageReceived(state->dataBuffer, state->blockId);
m_imageSequence++;
return;
}
// 兼容旧版本：使用序号区分（legacy）
if (state->pixelFormat == PIXEL_FORMAT_MONO16) {
// 检查数据大小