camerawidget.cpp

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#include "VisualisationUtils/camerawidget.h"

CameraWidget::CameraWidget(QWidget *parent, CameraThread *camera):
    QWidget(parent)
{
    this->camera = camera;
    painterInit = false;
    imageInit =false;

    image = new QImage(1, 1, QImage::Format_RGB16);

    connect(camera, SIGNAL(imageReceived(const sensor_msgs::Image::ConstPtr&)),this, SLOT(imageReceived(const sensor_msgs::Image::ConstPtr&)));
    camera->start();
}

void CameraWidget::imageReceived(const sensor_msgs::Image::ConstPtr& msg)
{
    if (!imageInit) {image = new QImage(msg->width, msg->height, QImage::Format_RGB16);}
    imageInit = true;

    for(int i = 0; i < image->width(); i++)
    {
        for(int j = 0; j < image->height(); j++)
        {
            image->setPixel(i, j, qRgb(msg->data[j * msg->width + i+2],msg->data[j * msg->width + i+1],msg->data[j * msg->width + i]));
        }
    }

    this->repaint();
}

void CameraWidget::paintEvent(QPaintEvent * pe)
{
    QWidget::paintEvent(pe);
    if (!painterInit) {painter = new QPainter(this);}
    painterInit = true;

    if (imageInit)
    {
        QPainter painter(this);
        painter.drawImage(QRect(0,0, this->width(), this->height()), *image);
    }
}
void CameraWidget::resizeEvent(QResizeEvent * event)
{
    QWidget::resizeEvent(event);
}