双向相机开启+界面mask合并展示

.gitignore

@@ -3,3 +3,4 @@ build
 release
 debug
 .qtc_clangd
+.idea

camera.cpp

@@ -1,5 +1,4 @@
 #include "camera.h"
-#include "globals.h"
 
 #include <QTimer>
 
@@ -47,6 +46,7 @@ ONNXRunner runner;
 
 
 std::map<std::string, int> params;
+int dual_cam_offset_y = 89;       // 双相机之间的上下偏移值
 int widthBlocks = 20;             // 输出的喷阀通道数
 int heightBlocks = 512;           // 输出的Mask高度
 int sizeThreshold = 20;           // 转化为喷阀的每块要求像素个数
@@ -58,6 +58,9 @@ int ignoreSide = 0;               // 左右两侧的忽略的喷阀通道数量
 int skipLeftCols = 0;             // 生成mask时跳过左侧的像素数量
 int skipRightCols = 0;            // 生成mask时跳过右侧的像素数量
 
+static std::vector<std::vector<uint8_t>> mask_0(0);
+static std::vector<std::vector<uint8_t>> mask_1(0);
+
 static std::vector<std::vector<uint8_t>> tail_0(0);
 static std::vector<std::vector<uint8_t>> tail_1(0);
 
@@ -167,76 +170,74 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
 #if(GlobalDebug)
     qDebug()<<"回调1";
 #endif
-    //拷贝艳丽色检测图像
+    //    拷贝艳丽色检测图像
-//     MbufCopy(ModifiedBufferId0,MilImage_Color0);
+    MbufCopy(ModifiedBufferId0,MilImage_Color0);
-//     // //拷贝onnx检测图像
+    MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 512, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
-//     // MbufCopy(ModifiedBufferId1,MilImage_Onnx1);
+    MbufClear(MimResizedestination, M_COLOR_BLACK);
+    MimResize(MilImage_Color0, MimResizedestination, 0.5, 1 , M_DEFAULT);
 
-//     MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 512, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
+    //图片镜像翻转
-//     MbufClear(MimResizedestination, M_COLOR_BLACK);
+    MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
-//     MimResize(MilImage_Color0, MimResizedestination, 0.5, 1 , M_DEFAULT);
+    MbufClear(MimFlipDedtination, M_COLOR_BLACK);
+    MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
 
-//     MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
+    //艳丽检测mask
-//     MbufClear(MimFlipDedtination, M_COLOR_BLACK);
+    high_sat_detect(MimFlipDedtination, detection_result0, params);
-//     MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
 
-// #if(GlobalDebug && DebugDetectionTime)
+    // Update the current Img MIl id
-//     Timer timer2;
+    {
-// #endif
+        QMutexLocker locker(&gMaskMutex0);
-//     //艳丽检测mask
+        gMask0 = detection_result0;
-//     high_sat_detect(MimFlipDedtination, detection_result0, params);
+    }
 
-// #if(GlobalDebug && DebugDetectionTime)
+    auto [mask_tmp, newTail] = generateMaskWithTail(detection_result0, tail_0, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
-//     timer2.printElapsedTime("Algorithm Spent: ");
+    tail_0 = newTail;
-// #endif
+    mask_0 = mask_tmp;
-
-// #if(GlobalDebug && DebugDetection)
-//     MbufSave(SAVE_PATH_flip,MimFlipDedtination);
-//     // MbufSave(SAVE_PATH_resize,MimResizedestination);
-//     MbufSave(SAVE_PATH_raw,MilImage_Color0);
-//     MbufSave(SAVE_PATH_result,detection_result0);
-// #endif
-
-//     //Onnx检测mask
-//     // cv::Mat image = mil2mat(MilImage_Onnx1);
-//     // cv::Mat Img_Onnx;
-//     // std::vector<Detection> result = runner.predict(image);
-//     // Img_Onnx = runner.postProcess(result, image);
-
-//     // std::vector<std::vector<uint8_t>> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold);
-//     // timer1.printElapsedTime("onnx sat finished");
-
-//     auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
-
-//     tail_1 = newTail;
-
-//     PadColumns(mask_1,padLeft,padRight,0);
-//     std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_1,64);
-
-// // save masks
-// #if(GlobalDebug && DebugDetection)
-//     VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
-//     VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp");
-//     VectorToImg(mask_Total,"C:/Users/Pc/Desktop/img/mask_expended" + std::to_string(FuncCount1) + ".bmp");
-// #endif
-//     bool result_Low = get_valve_data(mask_Total);
-//     if(!result_Low)
-//     {
-//         qWarning()<<"下位机发送失败";
-//     }
 
 
-// #if(GlobalDebug && DebugDetectionTime)
+    bool isReady;
-//     timer_detection_time.printElapsedTime("Time of Processing From Get into CallBack to Sent to Lower Mac");
+    vector<vector<uint8_t>> merged_mask;
-// #endif
+    vector<vector<uint8_t>> mask_tail;
+
+    {
+        QMutexLocker locker_self(&imgDetectionReady0Mutex);
+        imgDetectionReady1 = true;
+        QMutexLocker locker_other(&imgDetectionReady1Mutex);
+        isReady = imgDetectionReady0 & imgDetectionReady1;
+        if(isReady)
+        {
+            merged_mask = ImageUtils::mergeMasks(mask_0, mask_1, dual_cam_offset_y);
+            std::tie(merged_mask, mask_tail) = ImageUtils::extractROI(merged_mask, 0, 0, widthBlocks, heightBlocks);
+        }
+    }
+    // 没有两个都完成就不发送
+    if(!isReady)
+    return 0;
+
+    // 发送前的处理
+    // 将每个结果左右扩展，扩展半径默认为1
+    auto mask_expaned = expandMaskHorizontally(merged_mask, expansionRaidus);
+    // 将结果的左右补充上0，让物体大小符合要求
+    PadColumns(mask_expaned,padLeft,padRight,0);
+    //将mask扩展到合适的大小
+    std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_expaned,64);
+    // save masks
+#if(GlobalDebug && DebugDetection)
+    VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
+    VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp");
+    VectorToImg(mask_Total,"C:/Users/Pc/Desktop/img/mask_expended" + std::to_string(FuncCount1) + ".bmp");
+#endif
+    // 发送到下位机
+    bool result_Low = get_valve_data(mask_Total);
+    if(!result_Low)
+    {
+        qWarning()<<"下位机发送失败";
+    }
+
     return 0;
 }
 
 
-Timer timer2;
-
-
-
 MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
 {
     // CallBackTimer1.printElapsedTime("Call Back 1 reached");
@@ -282,9 +283,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
     MbufClear(MimResizedestination, M_COLOR_BLACK);
     MimResize(MilImage_Color1, MimResizedestination, 0.5, 1 , M_DEFAULT);
 
-    // MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
+
-    // MbufClear(MimFlipDedtination, M_COLOR_BLACK);
-    // MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
 
 #if(GlobalDebug && DebugDetectionTime)
     Timer timer2;
@@ -302,37 +301,56 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
     MbufSave(SAVE_PATH_raw,MilImage_Color0);
     MbufSave(SAVE_PATH_result,detection_result0);
 #endif
+    // Update the current Img MIl id
+    {
+        QMutexLocker locker(&gMaskMutex1);
+        gMask1 = detection_result1;
+    }
 
-    //Onnx检测mask
+    auto [mask_tmp, newTail] = generateMaskWithTail(detection_result1, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
-    // cv::Mat image = mil2mat(MilImage_Onnx1);
-    // cv::Mat Img_Onnx;
-    // std::vector<Detection> result = runner.predict(image);
-    // Img_Onnx = runner.postProcess(result, image);
-
-    // std::vector<std::vector<uint8_t>> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold);
-    // timer1.printElapsedTime("onnx sat finished");
-
-    auto [mask_1, newTail] = generateMaskWithTail(detection_result1, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
 
     tail_1 = newTail;
-    auto mask_expaned = expandMaskHorizontally(mask_1, expansionRaidus);
+    mask_1 = mask_tmp;
+    bool isReady;
+    vector<vector<uint8_t>> merged_mask;
+    vector<vector<uint8_t>> mask_tail;
 
+    {
+        QMutexLocker locker_self(&imgDetectionReady1Mutex);
+        imgDetectionReady1 = true;
+        QMutexLocker locker_other(&imgDetectionReady0Mutex);
+
+        isReady = imgDetectionReady0 & imgDetectionReady1;
+        if(isReady)
+        {
+            merged_mask = ImageUtils::mergeMasks(mask_0, mask_1, dual_cam_offset_y);
+            std::tie(merged_mask, mask_tail) = ImageUtils::extractROI(merged_mask, 0, 0, widthBlocks, heightBlocks);
+        }
+    }
+    // 没有两个都完成就不发送
+    if(!isReady)
+        return 0;
+
+    // 发送前的处理
+    // 将每个结果左右扩展，扩展半径默认为1
+    auto mask_expaned = expandMaskHorizontally(merged_mask, expansionRaidus);
+    // 将结果的左右补充上0，让物体大小符合要求
     PadColumns(mask_expaned,padLeft,padRight,0);
+    //将mask扩展到合适的大小
     std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_expaned,64);
-
+    // save masks
-// save masks
 #if(GlobalDebug && DebugDetection)
     VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
     VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp");
     VectorToImg(mask_Total,"C:/Users/Pc/Desktop/img/mask_expended" + std::to_string(FuncCount1) + ".bmp");
 #endif
+    // 发送到下位机
     bool result_Low = get_valve_data(mask_Total);
     if(!result_Low)
     {
         qWarning()<<"下位机发送失败";
     }
 
-
 #if(GlobalDebug && DebugDetectionTime)
     timer_detection_time.printElapsedTime("Time of Processing From Get into Ca"
                                           "..0llBack to Sent to Lower Mac");
@@ -357,7 +375,6 @@ bool DestoryCamera()
         MbufFree(MilGrabBufferList1[i]);
     }
 
-
     MbufFree(MilImage0);
     MbufFree(MilImage1);
     MbufFree(MilImage_Color0);

camera.h

@@ -10,8 +10,6 @@
 #include <map>
 #include <string>
 
-
-
 #include <chrono>
 #include <iostream>
 #include <vector>
@@ -23,6 +21,9 @@
 #include <QTcpSocket>
 #include <QTcpServer>
 
+#include "globals.h"
+#include "img_utils.h"
+
 extern MIL_ID MilApplication;
 extern MIL_ID MilSystem;
 

cotton_double2.pro

@@ -36,5 +36,5 @@ DEPENDPATH += D:/desktop/Cotton/cotton/Include
 LIBS += -LD:/desktop/Cotton/cotton/LIB -lmil
 LIBS += -LD:/desktop/Cotton/cotton/LIB -lMilim
 
-INCLUDEPATH += F:/matrox/opencv/build/include
+INCLUDEPATH += D:/desktop/Cotton/opencv/Withcontrib/include
 LIBS += F:/matrox/opencv/build/x64/vc16/lib/opencv*.lib

globals.cpp

@@ -1,10 +1,20 @@
 // globals.cpp
 #include "globals.h"
 
-// 图片显示0
+// 图片显示
 QMutex gDispPicMutex0;
 MIL_ID gDispCurrentPicId0 = 0;
-
-// 图片显示1
 QMutex gDispPicMutex1;
 MIL_ID gDispCurrentPicId1 = 0;
+
+// 检测结果
+QMutex gMaskMutex0;
+MIL_ID gMask0 = 0;
+QMutex gMaskMutex1;
+MIL_ID gMask1 = 0;
+
+// 双相机结果同步
+QMutex imgDetectionReady0Mutex;
+QMutex imgDetectionReady1Mutex;
+bool imgDetectionReady0 = false;
+bool imgDetectionReady1 = false;

globals.h

@@ -4,6 +4,7 @@
 
 #include <MIL.h>
 #include <QMutex>
+#include <opencv2/opencv.hpp>
 
 // 图片显示0
 extern QMutex gDispPicMutex0;
@@ -13,4 +14,15 @@ extern MIL_ID gDispCurrentPicId0;
 extern QMutex gDispPicMutex1;
 extern MIL_ID gDispCurrentPicId1;
 
+extern QMutex gMaskMutex0;
+extern MIL_ID gMask0;
+
+extern QMutex gMaskMutex1;
+extern MIL_ID gMask1;
+
+extern QMutex imgDetectionReady0Mutex;
+extern QMutex imgDetectionReady1Mutex;
+extern bool imgDetectionReady0;
+extern bool imgDetectionReady1;
+
 #endif // GLOBALS_H

img_utils.cpp

@@ -115,3 +115,153 @@ void ImageUtils::convert_to_uint8(const MIL_ID& input_img, MIL_ID& output_img) {
         std::cout << "Unsupported channel number!" << std::endl;
     }
 }
+
+cv::Mat overlayResultOnInput(const cv::Mat& cv_input, const cv::Mat& total_result, double alpha = 0.5, int colormap = cv::COLORMAP_JET) {
+    // 1. 确保 total_result 的尺寸与 cv_input 一致
+    cv::Mat resized_total_result;
+    if (total_result.size() != cv_input.size()) {
+        cv::resize(total_result, resized_total_result, cv_input.size(), 0, 0, cv::INTER_LINEAR);
+    } else {
+        resized_total_result = total_result;
+    }
+
+    // 2. 将 resized_total_result 转换为伪彩色图像
+    cv::Mat total_result_color;
+    // 确保 total_result 是单通道图像以应用色图
+    if (resized_total_result.channels() == 1) {
+        cv::applyColorMap(resized_total_result, total_result_color, colormap);
+    } else {
+        // 如果已经是多通道图像，可以选择直接使用或根据需要处理
+        total_result_color = resized_total_result.clone();
+    }
+
+    // 3. 确保 cv_input 是三通道图像（如果是灰度图像，则转换为 BGR）
+    cv::Mat cv_input_rgb;
+    if (cv_input.channels() == 1) {
+        cv::cvtColor(cv_input, cv_input_rgb, cv::COLOR_GRAY2BGR);
+    } else {
+        cv_input_rgb = cv_input.clone(); // 保证不修改原始图像
+    }
+
+    // 4. 设置叠加透明度（alpha: 0.0-1.0）
+    double beta = 1.0 - alpha;
+
+    // 5. 使用加权和将 total_result_color 叠加到 cv_input_rgb 上
+    cv::Mat overlay;
+    cv::addWeighted(cv_input_rgb, alpha, total_result_color, beta, 0.0, overlay);
+
+    // 6. 返回叠加后的图像
+    return overlay;
+}
+
+
+// 合并两个二值掩码，通过按位或操作，并考虑垂直偏移 offset_y
+std::vector<std::vector<uint8_t>> mergeMasks(
+    const std::vector<std::vector<uint8_t>>& mask1,
+    const std::vector<std::vector<uint8_t>>& mask2,
+    int offset_y = 0
+) {
+    if (mask1.empty() || mask1[0].empty() || mask2.empty() || mask2[0].empty()) {
+        throw std::invalid_argument("输入的掩码不能为空");
+    }
+
+    // 假设两个掩码的宽度相同
+    size_t width = mask1[0].size();
+    for (const auto& row : mask1)
+    {
+        if (row.size() != width)
+        {
+            throw std::invalid_argument("mask1 的所有行必须具有相同的宽度");
+        }
+    }
+    for (const auto& row : mask2)
+    {
+        if (row.size() != width)
+        {
+            throw std::invalid_argument("mask2 的所有行必须具有相同的宽度，并且与 mask1 的宽度一致");
+        }
+    }
+
+    size_t height1 = mask1.size();
+    size_t height2 = mask2.size();
+
+    // 计算合并后的高度
+    int merged_top = std::min(0, offset_y);
+    int merged_bottom = std::max(static_cast<int>(height1), static_cast<int>(height2) + offset_y);
+    size_t merged_height = merged_bottom - merged_top;
+
+    // 初始化合并后的掩码为全 0
+    std::vector<std::vector<uint8_t>> merged_mask(merged_height, std::vector<uint8_t>(width, 0));
+
+    // 将 mask1 放入 merged_mask
+    for (size_t y = 0; y < height1; ++y)
+    {
+        int merged_y = y - merged_top;
+        for (size_t x = 0; x < width; ++x)
+        {
+            merged_mask[merged_y][x] = mask1[y][x] ? 1 : 0;
+        }
+    }
+
+    // 将 mask2 放入 merged_mask，考虑 offset_y
+    for (size_t y = 0; y < height2; ++y)
+    {
+        int merged_y = y + offset_y - merged_top;
+        if (merged_y < 0 || merged_y >= static_cast<int>(merged_height))
+        {
+            // 超出合并掩码的范围，跳过
+            continue;
+        }
+        for (size_t x = 0; x < width; ++x)
+        {
+            merged_mask[merged_y][x] = (merged_mask[merged_y][x] || mask2[y][x]) ? 1 : 0;
+        }
+    }
+
+    return merged_mask;
+}
+
+// 提取 ROI 并返回剩余部分
+std::pair<std::vector<std::vector<uint8_t>>, std::vector<std::vector<uint8_t>>>
+extractROI(
+    const std::vector<std::vector<uint8_t>>& merged_mask,
+    int roi_x,
+    int roi_y,
+    int roi_width,
+    int roi_height
+) {
+    if (merged_mask.empty() || merged_mask[0].empty()) {
+        throw std::invalid_argument("merged_mask 不能为空");
+    }
+
+    size_t mask_height = merged_mask.size();
+    size_t mask_width = merged_mask[0].size();
+
+    // 校正 ROI 的边界
+    int x_start = std::max(0, roi_x);
+    int y_start = std::max(0, roi_y);
+    int x_end = std::min(static_cast<int>(mask_width), roi_x + roi_width);
+    int y_end = std::min(static_cast<int>(mask_height), roi_y + roi_height);
+
+    // 初始化 ROI 和剩余部分的掩码
+    std::vector<std::vector<uint8_t>> roi_mask(roi_height, std::vector<uint8_t>(roi_width, 0));
+    std::vector<std::vector<uint8_t>> remaining_mask(mask_height, std::vector<uint8_t>(mask_width, 0));
+
+    for (size_t y = 0; y < mask_height; ++y) {
+        for (size_t x = 0; x < mask_width; ++x) {
+            if (x >= static_cast<size_t>(roi_x) && x < static_cast<size_t>(roi_x + roi_width) &&
+                y >= static_cast<size_t>(roi_y) && y < static_cast<size_t>(roi_y + roi_height)) {
+                // 属于 ROI
+                if (x >= static_cast<size_t>(x_start) && y >= static_cast<size_t>(y_start) &&
+                    x < static_cast<size_t>(x_end) && y < static_cast<size_t>(y_end)) {
+                    roi_mask[y - roi_y][x - roi_x] = merged_mask[y][x];
+                }
+            } else {
+                // 属于剩余部分
+                remaining_mask[y][x] = merged_mask[y][x];
+            }
+        }
+    }
+
+    return { roi_mask, remaining_mask };
+}

img_utils.h

@@ -7,6 +7,7 @@
 #include <opencv2/opencv.hpp>
 #include <Mil.h>
 #include <camera.h>
+#include <utility>
 
 extern MIL_ID MilSystem;
 
@@ -22,6 +23,23 @@ public:
     static cv::Mat mil2Mat(const MIL_ID mil_img);
 
     static void convert_to_uint8(const MIL_ID& input_img, MIL_ID& output_img);
+
+    static cv::Mat overlayResultOnInput(const cv::Mat& cv_input, const cv::Mat& total_result, double alpha = 0.5, int colormap = cv::COLORMAP_JET);
+
+    static std::vector<std::vector<uint8_t>> mergeMasks(
+        const std::vector<std::vector<uint8_t>>& mask1,
+        const std::vector<std::vector<uint8_t>>& mask2,
+        int offset_y = 0
+    );
+
+    static std::pair<std::vector<std::vector<uint8_t>>, std::vector<std::vector<uint8_t>>>
+    extractROI(
+        const std::vector<std::vector<uint8_t>>& merged_mask,
+        int roi_x,
+        int roi_y,
+        int roi_width,
+        int roi_height
+    );
 };
 
 #endif // IMG_UTILS_H

widget.cpp

@@ -51,25 +51,36 @@ void Widget::refreshImage()
     refreshSingleImage(1);
 }
 
-void Widget::refreshSingleImage(int camera_id)
+void Widget::refreshSingleImage(int camera_id, bool overlay_result)
 {
     // 更新当前的图片0
     MIL_ID current_id = 0;
     if (camera_id == 0)
-    {
+    {   // 获取当前图片
         {
             QMutexLocker locker(&gDispPicMutex0);
             current_id = gDispCurrentPicId0;
         }
         if (current_id == 0)
             return;
-        // 获取 QPixmap 并设置到 QLabel
+        cv::Mat img = ImageUtils::mil2Mat(current_id);
-        QPixmap pixmap0 = ImageUtils::mat2QPixmap(ImageUtils::mil2Mat(current_id));
+        //进行结果的转化叠加
+        if (overlay_result)
+        {
+             MIL_ID mask_id = 0;
+            {
+                QMutexLocker locker(&gMaskMutex0);
+                mask_id = gMask0;
+            }
+            cv::Mat mask = ImageUtils::mil2Mat(mask_id);
+            img = ImageUtils::overlayResultOnInput(img,mask,0.5);
+        }
+        //刷新显示
+        QPixmap pixmap0 = ImageUtils::mat2QPixmap(img);
         if (!pixmap0.isNull())
         {
             ui->camera_0_img->setPixmap(pixmap0);
         }
-
     }
     // 更新当前的图片1
     else if (camera_id == 1)
@@ -81,8 +92,20 @@ void Widget::refreshSingleImage(int camera_id)
 
         if (current_id == 0)
             return;
-        // 获取 QPixmap 并设置到 QLabel
+        cv::Mat img = ImageUtils::mil2Mat(current_id);
-        QPixmap pixmap1 = ImageUtils::mat2QPixmap(ImageUtils::mil2Mat(current_id));
+        //进行结果的转化叠加
+        if (overlay_result)
+        {
+             MIL_ID mask_id = 0;
+            {
+                QMutexLocker locker(&gMaskMutex1);
+                mask_id = gMask1;
+            }
+            cv::Mat mask = ImageUtils::mil2Mat(mask_id);
+            img = ImageUtils::overlayResultOnInput(img,mask,0.5);
+        }
+        //刷新显示
+        QPixmap pixmap1 = ImageUtils::mat2QPixmap(img);
         if (!pixmap1.isNull())
         {
             ui->camera_1_img->setPixmap(pixmap1);

widget.h

@@ -26,7 +26,7 @@ public slots:
 
 private slots:
 
-    void refreshSingleImage(int camera_id);
+    void refreshSingleImage(int camera_id, bool overlay_result = true);
 
     void on_pushButton_clicked();