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1、在光谱相机操作基类中添加自动调焦指数，并通过信号发送；

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2、将位置-指数写入csv文件，使用Eigen，通过高斯拟合加速实现自动调焦算法；
3、界面兼容老版（张卓）和新版（唐超）的马达控制和自动调焦算法流程，添加采样间隔参数；
4、配置文件备份，自动调焦电机厂商没有导程信息，唐超通过行程算出的，不准确，但完全够用；
This commit is contained in:
tangchao0503
2025-08-14 17:40:27 +08:00
parent 48be580226
commit 1867291c9b
8 changed files with 929 additions and 129 deletions
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84
HPPA/ImagerOperationBase.cpp
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@ -74,6 +74,8 @@ double ImagerOperationBase::auto_exposure()
void ImagerOperationBase::focus()
{
m_iFocusFramesNumber = 0;
m_iFocusFrameCounter = 1;
//std::cout << "<22><><EFBFBD><EFBFBD>-----------" << std::endl;
@ -85,16 +87,42 @@ void ImagerOperationBase::focus()
auto_exposure();
std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
int iWidth, iHeight;
GetFrameSize(iWidth, iHeight);
unsigned short* tmp = new unsigned short[m_FrameSize];
imagerStartCollect();
//emit SpectralSignal(1);
m_bFocusControlState = true;
while (m_bFocusControlState)
{
////<2F><>֡ƽ<D6A1><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD>
//memset((void*)buffer, 0, m_FrameSize * sizeof(unsigned short));
//int fn = 5;
//for (int i = 0; i < fn; i++)
//{
// getFrame(tmp);
// for (int j = 0; j < m_FrameSize; j++)
// {
// buffer[j] += tmp[j];
// }
//}
//for (int j = 0; j < m_FrameSize; j++)
//{
// buffer[j] += buffer[j] / fn;
//}
getFrame(buffer);
//m_RgbImage->FillFocusGrayImage(buffer);
m_RgbImage->FillFocusGrayQImage(buffer);
double focusIndex = calcFocusIndexSobelPrivate(buffer);
emit FocusIndexSobelSignal(focusIndex);
std::cout << "focusIndex<EFBFBD><EFBFBD>" << focusIndex << std::endl;
emit SpectralSignal(1);
++m_iFocusFrameCounter;
@ -102,6 +130,7 @@ void ImagerOperationBase::focus()
emit SpectralSignal(0);
imagerStopCollect();
delete[] tmp;
setFramerate(tmpFrmerate);
setIntegrationTime(tmpIntegrationTime);
@ -335,6 +364,61 @@ int ImagerOperationBase::GetFrameSize(int& iWidth, int& iHeight)
return 0;
}
void ImagerOperationBase::getFocusIndexSobel()
{
imagerStartCollect();
getFrame(buffer);
imagerStopCollect();
double focusIndex = calcFocusIndexSobelPrivate(buffer);
emit FocusIndexSobelSignal(focusIndex);
}
double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
{
int iSelection = 0;
int iWidth, iHeight;
GetFrameSize(iWidth, iHeight);
unsigned short* psData;
psData = (unsigned short*)pvData;
cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//<2F><><EFBFBD><EFBFBD>֤<EFBFBD><D6A4>gray.data<74><61><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD>psDataһ<61><D2BB><EFBFBD><EFBFBD>
/*string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_";
string tmp1 = std::to_string(m_iFocusFramesNumber);
string tmp2 = ".png";*/
string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_" + std::to_string(m_iFocusFramesNumber) + ".png";
//cv::imwrite(rgbFilePathNoStrech, gray);
m_iFocusFramesNumber++;
//<2F><><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
//cv::Mat outputImage;
//cv::Size kernelSize(5, 5);
//double sigmaX = 1.5;
//cv::GaussianBlur(gray, outputImage, kernelSize, sigmaX);
cv::Mat outputImage = gray;
cv::Mat gradX, gradY, absGradX, absGradY;
cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16S<36><53><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>cv::magnitude<64><65><EFBFBD><EFBFBD>
cv::Sobel(outputImage, gradY, CV_32F, 0, 1);
cv::convertScaleAbs(gradX, absGradX);
cv::convertScaleAbs(gradY, absGradY);
cv::Mat grad;
cv::addWeighted(absGradX, 0.5, absGradY, 0.5, 0, grad);
cv::Mat magnitude, direction;
cv::magnitude(gradX, gradY, magnitude);//
cv::phase(gradX, gradY, direction, true); // true<75><65>ʾ<EFBFBD><CABE><EFBFBD>ؽǶȶ<C7B6><C8B6>ǻ<EFBFBD><C7BB><EFBFBD>
return cv::mean(magnitude)[0];
}
CImage* ImagerOperationBase::getRgbImage() const
{
return m_RgbImage;