modularization/src/tool/mwradar_camera_calibration/obsthread.h

#ifndef OBSTHREAD_H
#define OBSTHREAD_H

#include <QThread>
#include <QImage>
#include <QDebug>
#include <QMutex>

#include <QMainWindow>
#include "radarobject.pb.h"
#include "radarobjectarray.pb.h"

#include "common.h"

class ObsThread: public QThread
{
Q_OBJECT
signals:
        void drawObs(QImage img);
public:
    ObsThread();
    ~ObsThread();
    void stop();
    void setObs(Obst obs[], int size);
    void setParam(Param param);
    void setPresume(int viewAngle,double obsWidth, double obsHeight);
    void setImgSize(int width, int height);
    void calObsRect ();

    Obst *obs;
    int obsLen = 0;

    Param param;    //外参结果
    int imgWidth, imgHeight;
    double obsWidth, obsHeight; //障碍物假设尺寸
    int viewAngle; //相机最大视角
private:
    virtual void run();//任务处理线程
    volatile bool stopped;

};

#endif // OBSTHREAD_H