feat:通过三维转二维绘制到结果图像中

AppUtils/AppCommon/Inc/BasePresenter.h

@@ -13,6 +13,7 @@
 #include <string>
 #include <QObject>
 #include <QTimer>
+#include <QImage>
 #include "IVrEyeDevice.h"
 #include "VZNL_Types.h"
 #include "VrCommonConfig.h"  // 包含公共配置结构体
@@ -636,6 +637,14 @@ private slots:
     void OnCameraReconnectTimer();
 
 protected:
+    // Project four 3D vertices into a camera image and draw a closed contour
+    // in vertex order (0->1->2->3->0).
+    void DrawProjectedBin(QImage& image,
+                          int cameraIndex,
+                          const SVzNL3DPoint points3D[4],
+                          int imageOriginX = 0,
+                          int imageOriginY = 0) const;
+
     // 派生析构可在释放自身回调资源前停止基类异步设施。
     void StopCameraReconnectForDerivedTeardown() { StopCameraReconnectTimer(); }
     void StopBaseModbusServer() { StopModbusServer(); }

AppUtils/AppCommon/Src/BasePresenter.cpp

@@ -7,6 +7,9 @@
 #include <QDateTime>
 #include <QString>
 #include <QCoreApplication>
+#include <QPainter>
+#include <QPen>
+#include <QPolygon>
 #include "PathManager.h"
 #include "IYModbusTCPServer.h"
 
@@ -32,6 +35,68 @@ QString EnsureDebugOutputPath(const VrDebugParam& debugParam)
 
 } // namespace
 
+void BasePresenter::DrawProjectedBin(QImage& image,
+                                     int cameraIndex,
+                                     const SVzNL3DPoint points3D[4],
+                                     int imageOriginX,
+                                     int imageOriginY) const
+{
+    if (image.isNull() || !points3D) {
+        LOG_WARNING("[2D] skip bin drawing: imageNull=%d points=%p\n",
+                    image.isNull() ? 1 : 0,
+                    static_cast<const void*>(points3D));
+        return;
+    }
+
+    const int deviceIndex = cameraIndex - 1;
+    IVrEyeDevice* device = nullptr;
+    if (deviceIndex >= 0 && deviceIndex < static_cast<int>(m_vrEyeDeviceList.size())) {
+        device = m_vrEyeDeviceList[deviceIndex].second;
+    }
+    if (!device) {
+        LOG_WARNING("[2D] skip bin drawing: camera handle is unavailable for "
+                    "the detection camera, cameraIndex=%d deviceIndex=%d deviceCount=%d\n",
+                    cameraIndex, deviceIndex,
+                    static_cast<int>(m_vrEyeDeviceList.size()));
+        return;
+    }
+
+    SVzNL2DPoint leftPoints[4] = {};
+    SVzNL2DPoint rightPoints[4] = {};
+    const int result = device->Project3DPointsToEyeImages(
+        points3D, leftPoints, rightPoints, 4);
+    if (result != SUCCESS) {
+        LOG_WARNING("Failed to project bin vertices to the left image: %d\n", result);
+        return;
+    }
+
+    LOG_INFO("[2D] projected bin vertices: (%d,%d),(%d,%d),(%d,%d),(%d,%d), origin=(%d,%d)\n",
+             leftPoints[0].x, leftPoints[0].y,
+             leftPoints[1].x, leftPoints[1].y,
+             leftPoints[2].x, leftPoints[2].y,
+             leftPoints[3].x, leftPoints[3].y,
+             imageOriginX, imageOriginY);
+
+    QPolygon polygon;
+    for (int index = 0; index < 4; ++index) {
+        polygon << QPoint(leftPoints[index].x - imageOriginX,
+                          leftPoints[index].y - imageOriginY);
+    }
+    if (polygon.boundingRect().isEmpty()) {
+        LOG_WARNING("Projected bin polygon is degenerate; skip drawing\n");
+        return;
+    }
+
+    QPainter painter(&image);
+    painter.setRenderHint(QPainter::Antialiasing);
+    QPen pen(QColor(30, 110, 255));
+    pen.setWidth(4);
+    painter.setPen(pen);
+    for (int index = 0; index < 4; ++index) {
+        painter.drawLine(polygon[index], polygon[(index + 1) % 4]);
+    }
+}
+
 BasePresenter::BasePresenter(QObject *parent)
     : QObject(parent)
     , m_currentCameraIndex(0)