tangchao0503/HPPA
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

添加单反相机控制看板

Browse Source
This commit is contained in:
tangchao0503
2026-04-14 16:44:26 +08:00
parent d326dabff7
commit 24d34f39be
7 changed files with 351 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
HPPA/HPPA.cpp
View File

@ -773,6 +773,10 @@ void HPPA::initControlTabwidget()
m_depthCameraWindow = new DepthCameraWindow(); m_depthCameraWindow = new DepthCameraWindow();
ui.controlTabWidget->addTab(m_depthCameraWindow, QString::fromLocal8Bit("深度相机")); ui.controlTabWidget->addTab(m_depthCameraWindow, QString::fromLocal8Bit("深度相机"));
//单反相机
m_singleLensReflexCameraWindow = new SingleLensReflexCameraWindow();
ui.controlTabWidget->addTab(m_singleLensReflexCameraWindow, QString::fromLocal8Bit("单反相机"));
//rgb相机 //rgb相机
m_rgbCameraControlWindow = new rgbCameraWindow(); m_rgbCameraControlWindow = new rgbCameraWindow();
connect(m_rgbCameraControlWindow, &rgbCameraWindow::PlotRgbImageSignal, this, &HPPA::onPlotRgbImage); connect(m_rgbCameraControlWindow, &rgbCameraWindow::PlotRgbImageSignal, this, &HPPA::onPlotRgbImage);
@ -1233,6 +1237,7 @@ void HPPA::createOneMotorScenario()
ui.mAction_1AxisMotor->setChecked(true); ui.mAction_1AxisMotor->setChecked(true);
//右下角控制tab //右下角控制tab
m_tabManager->hideTab(m_singleLensReflexCameraWindow);
m_tabManager->hideTab(m_depthCameraWindow); m_tabManager->hideTab(m_depthCameraWindow);
m_tabManager->hideTab(m_rgbCameraControlWindow); m_tabManager->hideTab(m_rgbCameraControlWindow);
m_tabManager->hideTab(m_adt); m_tabManager->hideTab(m_adt);
@ -1266,6 +1271,7 @@ void HPPA::createPlantPhenotypeScenario()
m_tabManager->hideTab(m_omc); m_tabManager->hideTab(m_omc);
m_tabManager->showTab(m_depthCameraWindow); m_tabManager->showTab(m_depthCameraWindow);
m_tabManager->showTab(m_singleLensReflexCameraWindow);
m_tabManager->showTab(m_rgbCameraControlWindow); m_tabManager->showTab(m_rgbCameraControlWindow);
m_tabManager->showTab(m_adt); m_tabManager->showTab(m_adt);
m_tabManager->showTab(m_pc); m_tabManager->showTab(m_pc);

2
HPPA/HPPA.h
View File

@ -79,6 +79,7 @@
#include "rgbCameraWindow.h" #include "rgbCameraWindow.h"
#include "DepthCameraWindow.h" #include "DepthCameraWindow.h"
#include "SingleLensReflexCameraWindow.h"
#define PI 3.1415926 #define PI 3.1415926
@ -281,6 +282,7 @@ private:
rgbCameraWindow* m_rgbCameraControlWindow; rgbCameraWindow* m_rgbCameraControlWindow;
ImageControl* m_ic; ImageControl* m_ic;
DepthCameraWindow* m_depthCameraWindow; DepthCameraWindow* m_depthCameraWindow;
SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
adjustTable* m_adt; adjustTable* m_adt;
PowerControl* m_pc; PowerControl* m_pc;
RobotArmControl* m_rac; RobotArmControl* m_rac;

3
HPPA/HPPA.vcxproj
View File

@ -151,6 +151,7 @@
<ClCompile Include="rgbCameraWindow.cpp" /> <ClCompile Include="rgbCameraWindow.cpp" />
<ClCompile Include="RobotArmControl.cpp" /> <ClCompile Include="RobotArmControl.cpp" />
<ClCompile Include="setWindow.cpp" /> <ClCompile Include="setWindow.cpp" />
<ClCompile Include="SingleLensReflexCameraWindow.cpp" />
<ClCompile Include="stdafx.cpp"> <ClCompile Include="stdafx.cpp">
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader> <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
<PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader> <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
@ -187,6 +188,7 @@
<QtUic Include="rgbCamera.ui" /> <QtUic Include="rgbCamera.ui" />
<QtUic Include="RobotArmControl.ui" /> <QtUic Include="RobotArmControl.ui" />
<QtUic Include="set.ui" /> <QtUic Include="set.ui" />
<QtUic Include="SingleLensReflexCamera.ui" />
<QtUic Include="twoMotorControl.ui" /> <QtUic Include="twoMotorControl.ui" />
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
@ -239,6 +241,7 @@
<QtMoc Include="recordFrameCounter.h" /> <QtMoc Include="recordFrameCounter.h" />
<QtMoc Include="setWindow.h" /> <QtMoc Include="setWindow.h" />
<QtMoc Include="rgbCameraWindow.h" /> <QtMoc Include="rgbCameraWindow.h" />
<QtMoc Include="SingleLensReflexCameraWindow.h" />
<ClInclude Include="utility_tc.h" /> <ClInclude Include="utility_tc.h" />
<QtMoc Include="aboutWindow.h" /> <QtMoc Include="aboutWindow.h" />
<ClInclude Include="hppaConfigFile.h" /> <ClInclude Include="hppaConfigFile.h" />

9
HPPA/HPPA.vcxproj.filters
View File

@ -217,6 +217,9 @@
<ClCompile Include="DepthCameraWindow.cpp"> <ClCompile Include="DepthCameraWindow.cpp">
<Filter>Source Files</Filter> <Filter>Source Files</Filter>
</ClCompile> </ClCompile>
<ClCompile Include="SingleLensReflexCameraWindow.cpp">
<Filter>Source Files</Filter>
</ClCompile>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<QtMoc Include="fileOperation.h"> <QtMoc Include="fileOperation.h">
@ -354,6 +357,9 @@
<QtMoc Include="DepthCameraWindow.h"> <QtMoc Include="DepthCameraWindow.h">
<Filter>Header Files</Filter> <Filter>Header Files</Filter>
</QtMoc> </QtMoc>
<QtMoc Include="SingleLensReflexCameraWindow.h">
<Filter>Header Files</Filter>
</QtMoc>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<ClInclude Include="imageProcessor.h"> <ClInclude Include="imageProcessor.h">
@ -448,6 +454,9 @@
<QtUic Include="DepthCamera.ui"> <QtUic Include="DepthCamera.ui">
<Filter>Form Files</Filter> <Filter>Form Files</Filter>
</QtUic> </QtUic>
<QtUic Include="SingleLensReflexCamera.ui">
<Filter>Form Files</Filter>
</QtUic>
</ItemGroup> </ItemGroup>
<ItemGroup> <ItemGroup>
<None Include="cpp.hint" /> <None Include="cpp.hint" />

160
HPPA/SingleLensReflexCamera.ui Normal file
View File

@ -0,0 +1,160 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SingleLensReflexCameraClass</class>
<widget class="QDialog" name="SingleLensReflexCameraClass">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>855</width>
<height>481</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>SingleLensReflexCamera</string>
</property>
<property name="styleSheet">
<string notr="true">QGroupBox
{
border: 12px solid transparent;
/*border-top: 12px solid transparent;
border-right: 0px solid transparent;
border-bottom: 0px solid transparent;
border-left: 0px solid transparent;*/
color: #ACCDFF;
}
QPushButton
{
/*width: 172px;
height: 56px;*/
font: 19pt &quot;新宋体&quot;;
background-color: qlineargradient(
spread:pad,
x1:0.5, y1:0, x2:0.5, y2:1,
stop:0 #283D86,
stop:1 #0F1A40
);
color: white;
border: none;
padding: 8px 16px;
border-radius: 4px;
}
QPushButton:hover
{
background-color: qlineargradient(
spread:pad,
x1:0, y1:0, x2:1, y2:0,
stop:0 #3A4875,
stop:1 #5F6B91
);
}
/* 按下时的效果 */
QPushButton:pressed
{
background-color: qlineargradient(
spread:pad,
x1:0, y1:0, x2:1, y2:0,
stop:0 #1A254F,
stop:1 #3A466B
);
/* 可选：添加下压效果 */
padding-top: 9px;
padding-bottom: 7px;
}</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="1">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>18</width>
<height>100</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="0">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>135</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QPushButton" name="closeSLRCamera_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>关 闭</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QPushButton" name="openSLRCamera_btn">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>打 开</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="1" column="2">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>135</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="1">
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>18</width>
<height>100</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<layoutdefault spacing="6" margin="11"/>
<resources/>
<connections/>
</ui>

95
HPPA/SingleLensReflexCameraWindow.cpp Normal file
View File

@ -0,0 +1,95 @@
#include "SingleLensReflexCameraWindow.h"
SingleLensReflexCameraWindow::SingleLensReflexCameraWindow(QWidget* parent)
: QDialog(parent)
{
ui.setupUi(this);
m_SLRCameraThread = new QThread();
m_SingleLensReflexCameraOperation = new SingleLensReflexCameraOperation();
m_SingleLensReflexCameraOperation->moveToThread(m_SLRCameraThread);
m_SLRCameraThread->start();
connect(ui.openSLRCamera_btn, &QPushButton::clicked, this, &SingleLensReflexCameraWindow::openSLRCamera);
connect(ui.closeSLRCamera_btn, &QPushButton::clicked, this, &SingleLensReflexCameraWindow::closeSLRCamera);
connect(this, &SingleLensReflexCameraWindow::openSLRCameraSignal, m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::OpenSLRCamera);
connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamOpenedSignal, this, &SingleLensReflexCameraWindow::onCamOpened);
connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamClosedSignal, this, &SingleLensReflexCameraWindow::onCamClosed);
connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::PlotSignal, this, &SingleLensReflexCameraWindow::PlotSLRImageSignal);
connect(m_SingleLensReflexCameraOperation, &SingleLensReflexCameraOperation::CamClosedSignal, this, &SingleLensReflexCameraWindow::SLRCamClosedSignal);
}
SingleLensReflexCameraWindow::~SingleLensReflexCameraWindow()
{
m_SLRCameraThread->quit();
m_SLRCameraThread->wait();
delete m_SingleLensReflexCameraOperation;
m_SingleLensReflexCameraOperation = nullptr;
}
void SingleLensReflexCameraWindow::openSLRCamera()
{
if (!m_SingleLensReflexCameraOperation->getRecordStatus())
{
emit openSLRCameraSignal();
}
}
void SingleLensReflexCameraWindow::onCamOpened()
{
ui.openSLRCamera_btn->setEnabled(false);
ui.closeSLRCamera_btn->setEnabled(true);
ui.openSLRCamera_btn->setText(QString::fromLocal8Bit("已打开"));
}
void SingleLensReflexCameraWindow::closeSLRCamera()
{
m_SingleLensReflexCameraOperation->CloseSLRCamera();
}
void SingleLensReflexCameraWindow::onCamClosed()
{
ui.openSLRCamera_btn->setEnabled(true);
ui.closeSLRCamera_btn->setEnabled(false);
ui.openSLRCamera_btn->setText(QString::fromLocal8Bit("打 开"));
}
//-------------------------------------------------------------------------------------------------------------------------------
SingleLensReflexCameraOperation::SingleLensReflexCameraOperation()
{
m_func = nullptr;
record = false;
}
SingleLensReflexCameraOperation::~SingleLensReflexCameraOperation()
{
}
void SingleLensReflexCameraOperation::OpenSLRCamera()
{
}
void SingleLensReflexCameraOperation::OpenSLRCamera_callback()
{
}
void SingleLensReflexCameraOperation::setCallback(void(*func)())
{
m_func = func;
}
void SingleLensReflexCameraOperation::CloseSLRCamera()
{
std::cout << "SingleLensReflexCameraOperation::CloseSLRCamera，关闭单反相机" << std::endl;
record = false;
emit CamClosedSignal();
}

76
HPPA/SingleLensReflexCameraWindow.h Normal file
View File

@ -0,0 +1,76 @@
#pragma once
#include <QDialog>
#include <QNetworkRequest>
#include <QNetworkReply>
#include <QNetworkAccessManager>
#include <QImage>
#include <Qthread>
#include <QDir>
#include <iostream>
#include "ui_SingleLensReflexCamera.h"
#include "AppSettings.h"
#include <fstream>
#include <opencv2/opencv.hpp>
typedef void(*func)();
class SingleLensReflexCameraOperation :public QObject
{
Q_OBJECT
public:
SingleLensReflexCameraOperation();
~SingleLensReflexCameraOperation();
QImage m_colorImage;
QImage m_depthImage;
void setCallback(void(*func)());
bool getRecordStatus() const { return record; }
private:
cv::Mat frame;
func m_func;
bool record;
public slots:
void OpenSLRCamera();
void OpenSLRCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
void CloseSLRCamera();
signals:
void PlotSignal();
void CamOpenedSignal();
void CamClosedSignal();
};
class SingleLensReflexCameraWindow : public QDialog
{
Q_OBJECT
public:
SingleLensReflexCameraWindow(QWidget* parent = nullptr);
~SingleLensReflexCameraWindow();
SingleLensReflexCameraOperation* m_SingleLensReflexCameraOperation;
public Q_SLOTS:
void openSLRCamera();
void onCamOpened();
void closeSLRCamera();
void onCamClosed();
signals:
void openSLRCameraSignal();
void PlotSLRImageSignal();
void SLRCamClosedSignal();
private:
Ui::SingleLensReflexCameraClass ui;
QThread* m_SLRCameraThread;
};