udp接收上位机编程（2）彩色图像

由于QT上位机只能接收BGR565的图像格式，且只能显示灰度或者RGB888，所以PL2PS的数据必须要变换位置，并使用cvtColor函数进行转换

1 void MainWindow::recieve_dis(int udp_index)
2 {
3     Mat recv_img_2(img_h_size, img_w_size, CV_8UC2);
4     Mat recv_img_3(img_h_size, img_w_size, CV_8UC3);
5 
6     recv_img_2.data = (uchar*)receive->img_buf + udp_index * pkg_size * pkg_num;
7 
8     cvtColor(recv_img_2, recv_img_3, CV_BGR5652RGB);
}

 在发送彩色图像的时候，由于以太网速率变大，正在显示img_buf的时候，下一帧图像已经在更新了，那么就会出现图像撕裂的情况，写入和读取不能够在同一帧，所以在上位机做一个乒乓操作，通过传入的udp_index作为帧索引

 1 void udpthread::run()
 2 {
 3     while (!stopped)
 4     {
 5         int recv = recvfrom(hServer, udp_buf, sizeof(udp_buf), 0, (SOCKADDR*)&addrClient, (int*)&nlen);
 6         if (recv>0)
 7         {
 8             data_head *packageHead = (data_head *)udp_buf;
 9             if (packageHead->pkg_cnt < 1440)
10             {
11                 memcpy(img_buf + udp_index*pkg_size*pkg_num + packageHead->pkg_cnt*pkg_size, udp_buf + sizeof(data_head), pkg_size);
12             }
13 
14             if (packageHead->pkg_cnt == pkg_num - 1)
15             {
16                 emit recivok(udp_index);
17 
18                 if (udp_index == 0)
19                 {
20                     udp_index = 1;
21                 }
22                 else
23                 {
24                     udp_index = 0;
25                 }
26             }
27         }
28     }
29 }

 1 void MainWindow::recieve_dis(int udp_index)
 2 {
 3     Mat recv_img_2(img_h_size, img_w_size, CV_8UC2);
 4     Mat recv_img_3(img_h_size, img_w_size, CV_8UC3);
 5 
 6     recv_img_2.data = (uchar*)receive->img_buf + udp_index * pkg_size * pkg_num;
 7 
 8     cvtColor(recv_img_2, recv_img_3, CV_BGR5652RGB);　　　　　　//BGR565转RGB888
 9 
10     bmp = recv_img_3;
11 
12     image = MatImageToQt(recv_img_3);
13     pixmap = QPixmap::fromImage(image);
14     ui.img_map->setPixmap(pixmap);
15 
16     recvImageNum++;
17 
18     ui.recv_cnt->setText(QString::number(recvImageNum));
19 
20     if (recordvideo == 1)
21     {
22         cap_save.write(recv_img_3);
23     }
24 }