/** @brief Process and/or display Ensenso grabber images
* @param[in] cloud The Ensenso point cloud
* @param[in] images Pair of Ensenso images (raw or with overlay)
* @warning Image type changes if a calibration pattern is discovered/lost;
* check @c images->first.encoding */
void
grabberCallback (const boost::shared_ptr<PointCloudT>& cloud,
const boost::shared_ptr<PairOfImages>& images)
{
viewer_ptr->showCloud (cloud);
unsigned char *l_image_array = reinterpret_cast<unsigned char *> (&images->first.data[0]);
unsigned char *r_image_array = reinterpret_cast<unsigned char *> (&images->second.data[0]);
std::cout << "Encoding: " << images->first.encoding << std::endl;
int type = getOpenCVType (images->first.encoding);
cv::Mat l_image (images->first.height, images->first.width, type, l_image_array);
cv::Mat r_image (images->first.height, images->first.width, type, r_image_array);
cv::Mat im (images->first.height, images->first.width * 2, type);
im.adjustROI (0, 0, 0, -images->first.width);
l_image.copyTo (im);
im.adjustROI (0, 0, -images->first.width, images->first.width);
r_image.copyTo (im);
im.adjustROI (0, 0, images->first.width, 0);
cv::imshow ("Ensenso images", im);
cv::waitKey (10);
}
void CDirectCamGraphicsView::openImage(const QString& f_fileName)
{
QImage l_image(f_fileName);
m_imageItem->setPixmap(QPixmap::fromImage(l_image));
emit updateImageEditorView(l_image);
}
