add，计划采集17，上海农科院3D植物表型：

添加任务类型：获取目标区域的平均深度信息

HPPA/CaptureCoordinator.cpp

@@ -724,3 +724,158 @@ void DarkAndWhiteCaptureCoordinator::handleCaptureComplete(double index)
 {
 	QMutexLocker locker(&m_dataMutex);
 }
+
+
+TwoMotor1PosCoordinator::TwoMotor1PosCoordinator(
+	IrisMultiMotorController* motorCtrl,
+	QObject* parent)
+	: QObject(parent)
+	, m_motorCtrl(motorCtrl)
+	, m_isMoving2Target(false)
+	, m_isMoving2Origin(false)
+	, m_targetX(0)
+	, m_targetY(0)
+	, m_speedX(0)
+	, m_speedY(0)
+	, m_actualX(0)
+	, m_actualY(0)
+	, m_retryTimesX(0)
+	, m_retryTimesY(0)
+	, m_xReached(false)
+	, m_yReached(false)
+{
+	//因为IrisMultiMotorController::moveTo有多个重载版本，所以使用信号槽连接时需要使用SIGNAL和SLOT宏来指定参数类型，避免编译器无法推断出正确的函数签名。
+	//connect(this, &TwoMotor1PosCoordinator::moveTo, m_motorCtrl, &IrisMultiMotorController::moveTo);//这行代码会报错，因为moveTo有多个重载版本，编译器无法推断出正确的函数签名。
+	connect(this, SIGNAL(moveTo(int, double, double, int)), m_motorCtrl, SLOT(moveTo(int, double, double, int)));
+	connect(this, SIGNAL(moveTo(const std::vector<double>, const std::vector<double>, int)), m_motorCtrl, SLOT(moveTo(const std::vector<double>, const std::vector<double>, int)));
+
+
+	connect(this, &TwoMotor1PosCoordinator::stopMotorSignal, m_motorCtrl, &IrisMultiMotorController::stop);
+
+	connect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal, this, &TwoMotor1PosCoordinator::handlePositionReached);
+}
+
+TwoMotor1PosCoordinator::~TwoMotor1PosCoordinator()
+{
+
+}
+
+void TwoMotor1PosCoordinator::moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_isMoving2Target = true;
+	m_isMoving2Origin = false;
+
+	moveToTargetPrivate(xTarget, yTarget, xSpeed, ySpeed);
+}
+
+void TwoMotor1PosCoordinator::back2origin()
+{
+	m_isMoving2Target = false;
+	m_isMoving2Origin = true;
+
+	moveToTargetPrivate(0, 0, m_speedX, m_speedY);
+}
+
+void TwoMotor1PosCoordinator::moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed)
+{
+	m_targetX = xTarget;
+	m_targetY = yTarget;
+	m_speedX = xSpeed;
+	m_speedY = ySpeed;
+
+	m_xReached = false;
+	m_yReached = false;
+	m_retryTimesX = 0;
+	m_retryTimesY = 0;
+
+	std::vector<double> loc = { m_targetX, m_targetY };
+	std::vector<double> speed = { m_speedX, m_speedY };
+
+	std::cout << "TwoMotor1PosCoordinator: moving to (" << m_targetX << ", " << m_targetY << ")" << std::endl;
+	emit moveTo(loc, speed, 1000);
+}
+
+void TwoMotor1PosCoordinator::handlePositionReached(int motorID, double pos)
+{
+	if (!m_isMoving2Target && !m_isMoving2Origin)
+	{
+		return;
+	}
+
+	double errorRateThreshold = 5;
+	if (motorID == 0)
+	{
+		m_actualX = pos;
+
+		double errorRate = getErrorRate(m_targetX, m_actualX);
+		
+		if (errorRate > errorRateThreshold && m_retryTimesX < m_retryLimit)
+		{
+			m_retryTimesX++;
+			std::cout << "X motor retry " << m_retryTimesX << ", target: " << m_targetX << ", actual: " << m_actualX << std::endl;
+			emit moveTo(0, m_targetX, m_speedX, 1000);
+			return;
+		}
+		m_retryTimesX = 0;
+		m_xReached = true;
+
+		std::cout << "X motor reached: " << m_actualX << std::endl;
+	}
+	else if (motorID == 1)
+	{
+		m_actualY = pos;
+
+		double errorRate = getErrorRate(m_targetY, m_actualY);
+		if (errorRate > errorRateThreshold && m_retryTimesY < m_retryLimit)
+		{
+			m_retryTimesY++;
+			std::cout << "Y motor retry " << m_retryTimesY << ", target: " << m_targetY << ", actual: " << m_actualY << std::endl;
+			emit moveTo(1, m_targetY, m_speedY, 1000);
+			return;
+		}
+		m_retryTimesY = 0;
+		m_yReached = true;
+
+		std::cout << "Y motor reached: " << m_actualY << std::endl;
+	}
+
+	if (checkArrival())
+	{
+		std::cout << "TwoMotor1PosCoordinator: Arrived at (" << m_actualX << ", " << m_actualY << ")" << std::endl;
+
+		if (m_isMoving2Origin)
+		{
+			m_isMoving2Origin = false;
+
+			emit back2OriginSignal();
+		}
+
+		if (m_isMoving2Target)
+		{
+			m_isMoving2Target = false;
+			
+			emit ArrivalSignal(m_actualX, m_actualY);
+		}
+	}
+}
+
+double TwoMotor1PosCoordinator::getErrorRate(double targetLoc, double actualLoc)
+{
+	double targetLocTmp;
+	if (targetLoc == 0)
+	{
+		targetLocTmp = 0.001;
+	}
+	else
+	{
+		targetLocTmp = targetLoc;
+	}
+	double errorRate = abs(targetLoc - actualLoc) / targetLocTmp * 100;
+
+	return errorRate;
+}
+
+bool TwoMotor1PosCoordinator::checkArrival()
+{
+	return m_xReached && m_yReached;
+}

HPPA/CaptureCoordinator.h

@@ -213,3 +213,55 @@ private:
 	void getLocBeforeStart();
 	void move2LocBeforeStart();
 };
+
+
+class TwoMotor1PosCoordinator : public QObject
+{
+	Q_OBJECT
+public:
+	TwoMotor1PosCoordinator(IrisMultiMotorController* motorCtrl,
+		QObject* parent = nullptr);
+	~TwoMotor1PosCoordinator();
+
+public slots:
+	void moveToTarget(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	void back2origin();
+
+signals:
+	void ArrivalSignal(double xPos, double yPos);
+	void back2OriginSignal();
+	void errorOccurred(const QString& error);
+	void moveTo(int, double, double, int);
+	void moveTo(const std::vector<double>, const std::vector<double>, int);
+	void stopMotorSignal(int axis);
+
+private slots:
+	void handlePositionReached(int motorID, double pos);
+
+private:
+	void moveToTargetPrivate(double xTarget, double yTarget, double xSpeed, double ySpeed);
+	double getErrorRate(double targetLoc, double actualLoc);
+	bool checkArrival();
+	void move2Origin();
+
+	IrisMultiMotorController* m_motorCtrl;
+	mutable QMutex m_dataMutex;
+
+	bool m_isMoving2Target;
+	bool m_isMoving2Origin;
+
+	double m_targetX;
+	double m_targetY;
+	double m_speedX;
+	double m_speedY;
+
+	double m_actualX;
+	double m_actualY;
+
+	int m_retryLimit = 3;
+	int m_retryTimesX;
+	int m_retryTimesY;
+
+	bool m_xReached;
+	bool m_yReached;
+};

HPPA/DepthCameraWindow.cpp

@@ -14,6 +14,7 @@ DepthCameraWindow::DepthCameraWindow(QWidget* parent)
 	connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
 
 	connect(this, &DepthCameraWindow::openDepthCameraSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera);
+	connect(this, &DepthCameraWindow::OpenDepthCamera_getDepthValueSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera_getDepthValue);
 
 	connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
 	connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
@@ -66,6 +67,14 @@ void DepthCameraWindow::openDepthCamera()
     }
 }
 
+void DepthCameraWindow::OpenDepthCamera_getDepthValue()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit OpenDepthCamera_getDepthValueSignal();
+    }
+}
+
 void DepthCameraWindow::onCamOpened()
 {
     ui.openDepthCamera_btn->setEnabled(false);
@@ -279,6 +288,107 @@ void DepthCameraOperation::OpenDepthCamera()
     m_pipe = nullptr;
 }
 
+void DepthCameraOperation::OpenDepthCamera_getDepthValue()
+{
+    if (m_pipe)
+    {
+        return;
+    }
+    m_pipe = new ob::Pipeline();
+
+    std::shared_ptr<ob::Config> config = std::make_shared<ob::Config>();
+
+    // Get device from pipeline.
+    auto device = m_pipe->getDevice();
+    auto devInfo = device->getDeviceInfo();
+    auto pid = devInfo->getPid();
+    auto vid = devInfo->getVid();
+
+    config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
+    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
+
+    m_pipe->enableFrameSync();
+
+    m_pipe->start(config);
+
+    // Drop several frames
+    for (int i = 0; i < 15; ++i) {
+        auto lost = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+    }
+
+    auto pointCloud = std::make_shared<ob::PointCloudFilter>();
+
+    int frameIndex = 0;
+    record = true;
+    QString fileNamePrefix = AppSettings::instance().depthCameraDataFolder() + QDir::separator() + "Gemini336L";
+
+    double depthValue_all = 0.0;
+    for (size_t i = 0; i < m_averageNumberOfTimes; i++)
+    {
+        if(frameIndex==0)
+        {
+            emit CamOpenedSignal();
+            std::cout << "Start recording..." << std::endl;
+		}
+
+        auto frameSet = m_pipe->waitForFrameset(m_captureIntervalMilliseconds);
+        if (frameSet == nullptr)
+        {
+            std::cout << "No frames received in 100ms..." << std::endl;
+            continue;
+        }
+
+        std::cout << "DepthCamera frameIndex："<< frameIndex << std::endl;
+
+		// 彩色和深度图像
+        auto depthFrame = frameSet->getFrame(OB_FRAME_DEPTH)->as<ob::DepthFrame>();
+
+		//是否需要保存深度图像？？？？？？？？
+        //saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
+
+        cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+
+        //裁剪边缘区域
+        int cropRows = static_cast<int>(depthMat.rows * (1 - m_percentageOfEffectiveArea) / 2);
+        int cropCols = static_cast<int>(depthMat.cols * (1 - m_percentageOfEffectiveArea) / 2);
+        cv::Rect roi(cropCols, cropRows,
+                     depthMat.cols - 2 * cropCols,
+                     depthMat.rows - 2 * cropRows);
+        cv::Mat depthRoi = depthMat(roi);
+
+        //计算平均深度值并累加
+        cv::Scalar meanDepth = cv::mean(depthRoi);
+        double depthValue = meanDepth[0] / 1000.0; // 转换为米
+        depthValue_all += depthValue;
+        std::cout << "Depth value: " << depthValue << " m, accumulated: " << depthValue_all << std::endl;
+
+        cv::Mat depthMat8U;
+        depthMat.convertTo(depthMat8U, CV_8UC1, 255.0 / 4096.0);
+        cv::Mat depthColorMap;
+        cv::applyColorMap(depthMat8U, depthColorMap, cv::COLORMAP_JET);
+        cv::Mat depthRgbMat;
+        cv::cvtColor(depthColorMap, depthRgbMat, cv::COLOR_BGR2RGB);
+        m_depthImage = QImage(depthRgbMat.data, depthRgbMat.cols, depthRgbMat.rows, static_cast<int>(depthRgbMat.step), QImage::Format_RGB888).copy();
+        //m_depthImage = QImage(depthMat.data, depthMat.cols, depthMat.rows, static_cast<int>(depthMat.step), QImage::Format_Grayscale16).copy();
+
+        emit PlotSignal();
+
+        frameIndex++;
+    }
+
+    //计算平均深度值
+    double depthValue_avg = depthValue_all / m_averageNumberOfTimes;
+    std::cout << "Average depth value: " << depthValue_avg << " m" << std::endl;
+    emit DepthValueSignal(depthValue_avg);
+
+    m_pipe->stop();
+
+    delete m_pipe;
+    m_pipe = nullptr;
+
+    record = false;
+}
+
 void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
 {
     std::vector<int> params;

HPPA/DepthCameraWindow.h

@@ -35,6 +35,9 @@ public:
 
 	void setCaptureInterval(int captureIntervalSeconds);
 
+	void setAverageNumberOfTimes(double averageNumberOfTimes) { m_averageNumberOfTimes = averageNumberOfTimes; }
+	void setPercentageOfEffectiveArea(double percentageOfEffectiveArea) { m_percentageOfEffectiveArea = percentageOfEffectiveArea; }
+
 private:
 	ob::Pipeline* m_pipe;
 	cv::Mat frame;
@@ -50,13 +53,18 @@ private:
 
 	int m_captureIntervalMilliseconds;
 
+	double m_averageNumberOfTimes;
+	double m_percentageOfEffectiveArea;
+
 public slots:
 	void OpenDepthCamera();
+	void OpenDepthCamera_getDepthValue();
 	void OpenDepthCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
 	void CloseDepthCamera();
 
 signals:
 	void PlotSignal();
+	void DepthValueSignal(double depthValue);
 
 	void CamOpenedSignal();
 	void CamClosedSignal();
@@ -77,6 +85,7 @@ public:
 
 public Q_SLOTS:
 	void openDepthCamera();
+	void OpenDepthCamera_getDepthValue();
 	void onCamOpened();
 	void closeDepthCamera();
 	void onCamClosed();
@@ -85,6 +94,7 @@ public Q_SLOTS:
 
 signals:
 	void openDepthCameraSignal();
+	void OpenDepthCamera_getDepthValueSignal();
 	void PlotDepthImageSignal();
 	void DepthCamClosedSignal();
 

HPPA/HPPA.cpp

@@ -666,6 +666,8 @@ void HPPA::initTimedDataCollection()
 	connect(m_tdc, &TimedDataCollection::motorParm, this, &HPPA::setTimedDataCollectionMotorParm);
 	connect(m_tdc, &TimedDataCollection::startRecordSignal, this, &HPPA::onStartTimedDataCollection);
 
+	connect(m_tdc, &TimedDataCollection::ObtainingDepthInformationSignals, this, &HPPA::onObtainTargetDepthInformation);
+
 	connect(m_tdc, &TimedDataCollection::switchHalogenLampSignal, m_pc3D, &PowerControl3D::switchHalogenLampPower);
 	connect(m_tdc, &TimedDataCollection::switchD65LampSignal, m_pc3D, &PowerControl3D::switchD65LampPower);
 	connect(m_tdc, &TimedDataCollection::switchSlrSignal, m_pc3D, &PowerControl3D::switchSlrPower);
@@ -772,6 +774,11 @@ void HPPA::onStartTimedDataCollection(int camType)
 	}
 }
 
+void HPPA::onObtainTargetDepthInformation(SubTask subTaskParams)
+{
+	m_tmc->run4_ObtainTargetDepthInfo(m_depthCameraWindow, subTaskParams.depthInfoX, subTaskParams.depthInfoY, subTaskParams.averageNumberOfTimes, subTaskParams.percentageOfEffectiveArea);
+}
+
 void HPPA::onTimedDataCollection()
 {
 	QAction* checkedScenario = m_ScenarioActionGroup->checkedAction();

HPPA/HPPA.h

@@ -449,6 +449,7 @@ public Q_SLOTS:
 		void setTimedDataCollectionCamParm(int camType, int captureIntervalSeconds, QString folder);
 		void setTimedDataCollectionMotorParm(QString pathLineFilePath);
 		void onStartTimedDataCollection(int camType);
+		void onObtainTargetDepthInformation(SubTask subTaskParams);
 
 		void onStretchedImageReady(int fileNumber, const QString& filePath, QPixmap& pixmap);
 		void onStretchProcessingError(int fileNumber, const QString& filePath, const QString& error);

HPPA/HPPA.vcxproj.filters

@@ -21,6 +21,24 @@
       <UniqueIdentifier>{639EADAA-A684-42e4-A9AD-28FC9BCB8F7C}</UniqueIdentifier>
       <Extensions>ts</Extensions>
     </Filter>
+    <Filter Include="Header Files\TimedDataCollection">
+      <UniqueIdentifier>{3777a3c2-8d8a-4414-b6c9-ac20640f7b2e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\TimedDataCollection">
+      <UniqueIdentifier>{ea004f0d-34de-4b29-8ce2-57dd8aa01c03}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\LayerTree">
+      <UniqueIdentifier>{25329ee3-f78c-4dd9-9170-e64ccb4ccd9e}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\LayerTree">
+      <UniqueIdentifier>{18072152-2a29-4ad8-be97-d097af97eeec}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Header Files\hyperImagerCtl">
+      <UniqueIdentifier>{b3f08410-c140-42db-bcfd-24efba860cfb}</UniqueIdentifier>
+    </Filter>
+    <Filter Include="Source Files\hyperImagerCtl">
+      <UniqueIdentifier>{205ec088-0286-42ca-862c-2870928a46f5}</UniqueIdentifier>
+    </Filter>
   </ItemGroup>
   <ItemGroup>
     <QtRcc Include="HPPA.qrc">
@@ -70,9 +88,6 @@
     <ClCompile Include="QMotorDoubleSlider.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="resononImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RgbCameraOperation.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -88,12 +103,6 @@
     <ClCompile Include="path_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="ResononNirImager.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="ImagerOperationBase.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="utility_tc.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -139,21 +148,6 @@
     <ClCompile Include="View3DModelManager.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeModel.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTree.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeGroupNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeLayerNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="MapLayer.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -175,12 +169,6 @@
     <ClCompile Include="MapLayerStore.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeView.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="imageControl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -226,18 +214,9 @@
     <ClCompile Include="SingleLensReflexCameraWindow.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="LayerTreeImageNode.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="RasterRendererBase.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="TimedDataCollection.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
-    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="CommunicationViaTCP.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -247,9 +226,6 @@
     <ClCompile Include="PowerControl3D.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
-    <ClCompile Include="TaskTreeModel.cpp">
-      <Filter>Source Files</Filter>
-    </ClCompile>
     <ClCompile Include="PathLine.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
@@ -265,6 +241,48 @@
     <ClCompile Include="GonggaShanRecordCtl.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="TaskTreeModel.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollection.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="TimedDataCollectionDataStructures.cpp">
+      <Filter>Source Files\TimedDataCollection</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTree.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeGroupNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeImageNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeLayerNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeModel.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeNode.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeView.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="LayerTreeViewMenuProvider.cpp">
+      <Filter>Source Files\LayerTree</Filter>
+    </ClCompile>
+    <ClCompile Include="ImagerOperationBase.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="resononImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
+    <ClCompile Include="ResononNirImager.cpp">
+      <Filter>Source Files\hyperImagerCtl</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -291,18 +309,12 @@
     <QtMoc Include="QMotorDoubleSlider.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="resononImager.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="RgbCameraOperation.h">
       <Filter>Header Files</Filter>
     </QtMoc>
     <QtMoc Include="aboutWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="ImagerOperationBase.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="adjustTable.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -339,21 +351,6 @@
     <QtMoc Include="View3DModelManager.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeModel.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTree.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeGroupNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="LayerTreeLayerNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="MapLayer.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -363,9 +360,6 @@
     <QtMoc Include="MapLayerStore.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeViewMenuProvider.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="imageControl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -405,15 +399,6 @@
     <QtMoc Include="SingleLensReflexCameraWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="LayerTreeImageNode.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="TimedDataCollection.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
-    <QtMoc Include="TimedDataCollectionDataStructures.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="CommunicationViaTCP.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -423,9 +408,6 @@
     <QtMoc Include="PowerControl3D.h">
       <Filter>Header Files</Filter>
     </QtMoc>
-    <QtMoc Include="TaskTreeModel.h">
-      <Filter>Header Files</Filter>
-    </QtMoc>
     <QtMoc Include="FodisWindow.h">
       <Filter>Header Files</Filter>
     </QtMoc>
@@ -435,6 +417,42 @@
     <QtMoc Include="GonggaShanRecordCtl.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="TimedDataCollection.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TaskTreeModel.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="TimedDataCollectionDataStructures.h">
+      <Filter>Header Files\TimedDataCollection</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTree.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeGroupNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeImageNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeLayerNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeModel.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeNode.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="LayerTreeViewMenuProvider.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </QtMoc>
+    <QtMoc Include="ImagerOperationBase.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
+    <QtMoc Include="resononImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -455,9 +473,6 @@
     <ClInclude Include="path_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="ResononNirImager.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="utility_tc.h">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -482,9 +497,6 @@
     <ClInclude Include="SinglebandRasterRenderer.h">
       <Filter>Header Files</Filter>
     </ClInclude>
-    <ClInclude Include="LayerTreeView.h">
-      <Filter>Header Files</Filter>
-    </ClInclude>
     <ClInclude Include="AppSettings.h">
       <Filter>Header Files</Filter>
     </ClInclude>
@@ -497,6 +509,12 @@
     <ClInclude Include="FiberSpectrometerOperationBase.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="LayerTreeView.h">
+      <Filter>Header Files\LayerTree</Filter>
+    </ClInclude>
+    <ClInclude Include="ResononNirImager.h">
+      <Filter>Header Files\hyperImagerCtl</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">

HPPA/TaskTreeModel.cpp

@@ -592,6 +592,8 @@ QString TaskTreeModel::subTaskTypeToString(SubTaskType type) const
     case SubTaskType::HyperSpectual1000_1700nm:          return QString::fromLocal8Bit("高光谱 1000-1700nm");
     case SubTaskType::SingleLensReflex:                  return QString::fromLocal8Bit("单反相机");
     case SubTaskType::DepthCamera:                       return QString::fromLocal8Bit("深度相机");
+    case SubTaskType::ObtainingDepthInformation:         return QString::fromLocal8Bit("探测深度信息");
+    case SubTaskType::AutoFocus:                         return QString::fromLocal8Bit("自动调焦");
     }
     return "未知类型";
 }

HPPA/TimedDataCollection.cpp

@@ -112,6 +112,8 @@ void TimedDataCollection::setupConnections()
     connect(m_scheduler, &TaskScheduler::startRecordSignal,
         this, &TimedDataCollection::startRecordSignal);
 
+    connect(m_scheduler, &TaskScheduler::ObtainingDepthInformationSignals, this, &TimedDataCollection::ObtainingDepthInformationSignals);
+
     connect(m_scheduler, &TaskScheduler::switchHalogenLampSignal,
         this, &TimedDataCollection::switchHalogenLampSignal);
     connect(m_scheduler, &TaskScheduler::switchD65LampSignal,

HPPA/TimedDataCollection.h

@@ -52,6 +52,8 @@ Q_SIGNALS:
     void motorParm(QString pathLineFilePath);
     void startRecordSignal(int camType);
 
+    void ObtainingDepthInformationSignals(SubTask info);
+
     void switchHalogenLampSignal(int state);
     void switchD65LampSignal(int state);
     void switchSlrSignal(int state);

HPPA/TimedDataCollectionDataStructures.cpp

@@ -113,6 +113,10 @@ SubTaskType TimedDataCollectionDataStructuresReaderWriter::stringToSubTaskType(c
     if (str == "HyperSpectual1000_1700nm") return SubTaskType::HyperSpectual1000_1700nm;
     if (str == "SingleLensReflex") return SubTaskType::SingleLensReflex;
     if (str == "DepthCamera") return SubTaskType::DepthCamera;
+
+    if (str == "ObtainingDepthInformation") return SubTaskType::ObtainingDepthInformation;
+    if (str == "AutoFocus") return SubTaskType::AutoFocus;
+
     return SubTaskType::SingleLensReflex;
 }
 
@@ -132,6 +136,15 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
     obj["exposureTime"] = subTask.exposureTime;
     obj["defaultRenderBand"] = subTask.defaultRenderBand;
     obj["captureIntervalSeconds"] = subTask.captureIntervalSeconds;
+
+    obj["autoFocusMotorConfigFilePath"] = subTask.autoFocusMotorConfigFilePath;
+    obj["autoFocusX"] = subTask.autoFocusX;
+    obj["autoFocusY"] = subTask.autoFocusY;
+
+    obj["depthInfoX"] = subTask.depthInfoX;
+    obj["depthInfoY"] = subTask.depthInfoY;
+    obj["averageNumberOfTimes"] = subTask.averageNumberOfTimes;
+    obj["percentageOfEffectiveArea"] = subTask.percentageOfEffectiveArea;
     return obj;
 }
 
@@ -148,6 +161,15 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
     subTask.exposureTime = json["exposureTime"].toDouble();
     subTask.defaultRenderBand = json["defaultRenderBand"].toInt();
     subTask.captureIntervalSeconds = json["captureIntervalSeconds"].toDouble();
+
+    subTask.autoFocusMotorConfigFilePath = json["autoFocusMotorConfigFilePath"].toString();
+    subTask.autoFocusX = json["autoFocusX"].toDouble();
+    subTask.autoFocusY = json["autoFocusY"].toDouble();
+
+    subTask.depthInfoX = json["depthInfoX"].toDouble();
+    subTask.depthInfoY = json["depthInfoY"].toDouble();
+    subTask.averageNumberOfTimes = json["averageNumberOfTimes"].toInt();
+    subTask.percentageOfEffectiveArea = json["percentageOfEffectiveArea"].toDouble();
     return true;
 }
 
@@ -235,14 +257,9 @@ void TaskExecutor::execute(const TimedTask& task)
 
     qDebug() << "TaskExecutor: Starting task" << task.id;
 
-    // 打开卤素灯预热
-    emit switchHalogenLampSignal(1);
-    printMsgAndTime("open HalogenLamp");
-
     makeFolder(m_task.savePath);
 
-    // 开始执行第一个子任务
+    double sleepTimeSecond = 1;
-    double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
     QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::executeNextSubTask);
 }
 
@@ -269,10 +286,12 @@ void TaskExecutor::makeFolder(QString savePath)
     if (!dir.exists()) {
         if (dir.mkpath(".")) {
             qDebug() << "TaskExecutor: Created data folder:" << savePath;
-        } else {
+        }
+        else {
             qWarning() << "TaskExecutor: Failed to create data folder:" << savePath;
         }
-    } else {
+    }
+    else {
         qDebug() << "TaskExecutor: Data folder already exists:" << savePath;
     }
 }
@@ -307,7 +326,8 @@ void TaskExecutor::onSequenceComplete(int status)
             QString destPath = m_currentFolder + QDir::separator() + fileInfo.fileName();
             if (QFile::copy(subTask.pathLineFilePath, destPath)) {
                 qDebug() << "TaskExecutor: Copied path line file to" << destPath;
-            } else {
+            }
+            else {
                 qDebug() << "TaskExecutor: Failed to copy path line file from" << subTask.pathLineFilePath << "to" << destPath;
             }
         }
@@ -315,23 +335,38 @@ void TaskExecutor::onSequenceComplete(int status)
         emit subTaskFinished(m_currentSubTaskIndex, subTask.type, (status == 0));
         emit taskUpdated(m_task);
     }
+    //当前任务已经完成，正确关闭灯光或者电源
+    ensurePostTaskLighting();
 
-    // 
+    emit taskUpdated(m_task);
-    switch (m_task.subTasks[m_currentSubTaskIndex].type)
-    {
-        case SubTaskType::SingleLensReflex:
-        {
-            emit switchD65LampSignal(0);
-            break;
 }
-        case SubTaskType::DepthCamera:
+
+void TaskExecutor::ensurePreTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        currentTaskType != SubTaskType::HyperSpectual1000_1700nm)
+    {
+        emit switchHalogenLampSignal(0);
+    }
+    if (currentTaskType != SubTaskType::SingleLensReflex &&
+        currentTaskType != SubTaskType::DepthCamera &&
+        currentTaskType != SubTaskType::ObtainingDepthInformation)
     {
         emit switchD65LampSignal(0);
-            break;
     }
 }
 
-    // 判断下一次的任务是否为高光谱任务，如果不是关闭卤素灯
+void TaskExecutor::ensurePostTaskLighting()
+{
+    SubTaskType currentTaskType = m_task.subTasks[m_currentSubTaskIndex].type;
+    if (currentTaskType == SubTaskType::SingleLensReflex ||
+        currentTaskType == SubTaskType::DepthCamera ||
+        currentTaskType == SubTaskType::ObtainingDepthInformation)
+    {
+        emit switchD65LampSignal(0);
+    }
+
     int nestSubTaskIndex = m_currentSubTaskIndex + 1;
     if (nestSubTaskIndex >= m_task.subTasks.size())
     {
@@ -340,21 +375,13 @@ void TaskExecutor::onSequenceComplete(int status)
         emit switchHalogenLampSignal(0);
         return;
     }
-    switch (m_task.subTasks[nestSubTaskIndex].type)
+    // 判断下一次的任务是否为高光谱任务，如果不是就关闭卤素灯
-    {
+    SubTaskType nestTaskType = m_task.subTasks[nestSubTaskIndex].type;
-        case SubTaskType::SingleLensReflex:
+    if (nestTaskType != SubTaskType::HyperSpectual400_1000nm &&
+        nestTaskType != SubTaskType::HyperSpectual1000_1700nm)
     {
         emit switchHalogenLampSignal(0);
-            break;
     }
-        case SubTaskType::DepthCamera:
-        {
-            emit switchHalogenLampSignal(0);
-            break;
-        }
-    }
-
-    emit taskUpdated(m_task);
 }
 
 void TaskExecutor::onBack2Origin()
@@ -434,53 +461,87 @@ void TaskExecutor::executeNextSubTask()
 
     emit subTaskStarted(m_currentSubTaskIndex, subTask.type);
 
-    emit motorParm(subTask.pathLineFilePath);
-
-    int camType;
     switch (subTask.type)
     {
+    case SubTaskType::ObtainingDepthInformation:
+    {
+        //（1）移动到指定位置并通过深度相机获取深度信息（2）调整升降板高度（白板+调焦板）（3）回到零位(0,0)
+        emit switchD65LampSignal(1);
+        emit ObtainingDepthInformationSignals(subTask);
+        break;
+    }
+    case SubTaskType::AutoFocus:
+    {
+        //先判断高光谱相机类型，然后发送相机参数hyperCamParm连接相机
+
+        //执行自动调焦任务
+        break;
+    }
     case SubTaskType::HyperSpectual400_1000nm:
     {
-            camType = 0;
+        m_camType = 0;
         m_currentFolder = makeSubTaskDataFolder("L");
-            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+        emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "L");
+
+        emit motorParm(subTask.pathLineFilePath);
+
+        // 打开卤素灯预热
+        emit switchHalogenLampSignal(1);
+        printMsgAndTime("open HalogenLamp");
+        double sleepTimeSecond = m_task.HalogenLampPreheatingTime_Minute * 60;
+        QTimer::singleShot(sleepTimeSecond * 1000, this, &TaskExecutor::emitRecordSignal);
 
         break;
     }
     case SubTaskType::HyperSpectual1000_1700nm:
     {
-            camType = 1;
+        m_camType = 1;
         m_currentFolder = makeSubTaskDataFolder("NIR");
-            emit hyperCamParm(camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+        emit hyperCamParm(m_camType, subTask.frameRate, subTask.exposureTime, m_currentFolder, "NIR");
+
+        emit motorParm(subTask.pathLineFilePath);
+
+        QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
 
         break;
     }
     case SubTaskType::SingleLensReflex:
     {
-            camType = 2;
+        m_camType = 2;
         m_currentFolder = makeSubTaskDataFolder("SLR");
-            emit camParm(camType, 3, m_currentFolder);
+        emit camParm(m_camType, 3, m_currentFolder);
+
+        emit motorParm(subTask.pathLineFilePath);
 
         emit switchD65LampSignal(1);
 
-            
         emit switchSlrSignal(1);
 
+        QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
         break;
     }
     case SubTaskType::DepthCamera:
     {
-            camType = 3;
+        m_camType = 3;
         m_currentFolder = makeSubTaskDataFolder("DepthCamera");
-            emit camParm(camType, 3, m_currentFolder);
+        emit camParm(m_camType, 3, m_currentFolder);
+
+        emit motorParm(subTask.pathLineFilePath);
 
         emit switchD65LampSignal(1);
 
+        QTimer::singleShot(3 * 1000, this, &TaskExecutor::emitRecordSignal);
+
         break;
     }
     }
+    ensurePreTaskLighting();
+}
 
-    emit startRecordSignal(camType);
+void TaskExecutor::emitRecordSignal()
+{
+    emit startRecordSignal(m_camType);
 }
 
 // ==================== TaskScheduler 实现 ====================
@@ -657,6 +718,8 @@ void TaskScheduler::executeTask(TimedTask& task)
     connect(m_currentExecutor, &TaskExecutor::startRecordSignal,
         this, &TaskScheduler::startRecordSignal);
 
+    connect(m_currentExecutor, &TaskExecutor::ObtainingDepthInformationSignals, this, &TaskScheduler::ObtainingDepthInformationSignals);
+
     connect(m_currentExecutor, &TaskExecutor::switchHalogenLampSignal, this, &TaskScheduler::switchHalogenLampSignal);
     connect(m_currentExecutor, &TaskExecutor::switchD65LampSignal, this, &TaskScheduler::switchD65LampSignal);
     connect(m_currentExecutor, &TaskExecutor::switchSlrSignal, this, &TaskScheduler::switchSlrSignal);
@@ -687,7 +750,8 @@ void TaskScheduler::updateTaskStatus(int taskId, TaskStatus status)
             task.status = status;
             if (status == TaskStatus::Running) {
                 task.startTime = QDateTime::currentDateTime();
-            } else if (status == TaskStatus::Finished) {
+            }
+            else if (status == TaskStatus::Finished) {
                 task.endTime = QDateTime::currentDateTime();
             }
             break;

HPPA/TimedDataCollectionDataStructures.h

@@ -25,7 +25,9 @@ enum class SubTaskType {
     HyperSpectual400_1000nm,  // 400nm-1000nm高光谱相机
     HyperSpectual1000_1700nm, // 1000nm-1700nm高光谱相机
     SingleLensReflex,          // 单反相机
-    DepthCamera                // 深度相机
+    DepthCamera,                // 深度相机采集任务
+    ObtainingDepthInformation,  //通过深度相机获取被测物体的深度信息
+	AutoFocus                  // 自动对焦
 };
 
 // ==================== 统一子任务封装 ====================
@@ -46,6 +48,17 @@ struct SubTask {
     double exposureTime = 0.0;        // 高光谱相机用
     int defaultRenderBand = 550;     // 1000-1700nm高光谱用
     int captureIntervalSeconds = 5;  // 单反/深度相机用
+
+    //任务ObtainingDepthInformation所需的x和y坐标
+	double depthInfoX = 0.0;
+	double depthInfoY = 0.0;
+	int averageNumberOfTimes = 1; //任务ObtainingDepthInformation所需的平均次数
+	double percentageOfEffectiveArea = 50.0; //深度图像的有效范围百分比
+
+    //高光谱自动调焦
+    QString autoFocusMotorConfigFilePath;//马达配置文件
+    double autoFocusX = 0.0;
+	double autoFocusY = 0.0;
 };
 
 // ==================== 定时任务 ====================
@@ -151,6 +164,8 @@ signals:
     void motorParm(QString pathLineFilePath);
     void startRecordSignal(int camType);
 
+    void ObtainingDepthInformationSignals(SubTask info);
+
     void switchHalogenLampSignal(int state);
     void switchD65LampSignal(int state);
     void switchSlrSignal(int state);
@@ -160,15 +175,21 @@ public slots:
     void onBack2Origin();
     void onError(const QString& error);
 
+    void emitRecordSignal();
+
 private:
     QString m_currentFolder;
     void executeNextSubTask();
+    void ensurePreTaskLighting();
+    void ensurePostTaskLighting();
 
     void printMsgAndTime(QString msg);
 
     TimedTask m_task;
     int m_currentSubTaskIndex;
     bool m_isRunning;
+
+    int m_camType;
 };
 
 // ==================== 任务调度器 ====================
@@ -214,6 +235,8 @@ signals:
     void motorParm(QString pathLineFilePath);
     void startRecordSignal(int camType);
 
+    void ObtainingDepthInformationSignals(SubTask info);
+
     void switchHalogenLampSignal(int state);
     void switchD65LampSignal(int state);
     void switchSlrSignal(int state);

HPPA/TwoMotorControl.cpp

@@ -210,6 +210,32 @@ void TwoMotorControl::onBack2Origin2()
 	emit back2OriginSignal_TimedDataCollection();
 }
 
+void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
+{
+	window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
+	window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);
+
+	m_ObtainTargetDepthInfoCoordinator = new TwoMotor1PosCoordinator(m_multiAxisController);
+	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);
+
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
+	connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete);//关灯
+
+	connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);
+
+	double xmotor_move_speed = ui.xmotor_move_speed_lineEdit->text().toDouble();
+	double ymotor_move_speed = ui.ymotor_move_speed_lineEdit->text().toDouble();
+
+	m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
+}
+
+void TwoMotorControl::onBack2Origin3()
+{
+	m_ObtainTargetDepthInfoCoordinator->deleteLater();
+	m_ObtainTargetDepthInfoCoordinator = nullptr;
+	emit back2OriginSignal_TimedDataCollection();
+}
+
 void TwoMotorControl::run()
 {
 	if (getState())

HPPA/TwoMotorControl.h

@@ -82,7 +82,9 @@ public Q_SLOTS:
 
     void run2(SingleLensReflexCameraWindow* w);
     void run3(DepthCameraWindow* window);
+    void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea);
     void onBack2Origin2();
+    void onBack2Origin3();
 
     void stop_record();
 
@@ -111,6 +113,7 @@ private:
     QThread m_coordinatorThread;
     TwoMotionCaptureCoordinator* m_coordinator = nullptr;
     TwoMotionCaptureCoordinator* m_coordinator_TimedDataCollection = nullptr;
+    TwoMotor1PosCoordinator* m_ObtainTargetDepthInfoCoordinator = nullptr;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;