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1、记录x马达位置用于拼接影像；

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2、修复了航线读写错误问题；
This commit is contained in:
tangchao0503
2025-02-27 11:18:26 +08:00
parent 380e8042d9
commit b779118d72
10 changed files with 106 additions and 8 deletions
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30
HPPA/HPPA.cpp
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@ -417,7 +417,6 @@ void HPPA::onStartRecordStep1()
return;
}
//<2F><>ʼ<EFBFBD>ɼ<EFBFBD>
m_RecordState += 1;
@ -454,10 +453,15 @@ void HPPA::onStartRecordStep1()
//ɾ<><C9BE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>tab
ui.ImageViewerTabWidget->clear();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>¼x<C2BC><78><EFBFBD><EFBFBD>λ<EFBFBD>õ<EFBFBD><C3B5>ļ<EFBFBD>
string x_location = directory + "\\" + m_FilenameLineEdit->text().toStdString() + "x_location.pos";
m_hTimesFile = fopen(x_location.c_str(), "w+");
//<2F><>ʼѭ<CABC><D1AD>
m_ForLoopControl->setLoopCount(m_pathPlan->getRecordLineTableWidget()->rowCount());//Ϊѭ<CEAA><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߳<EFBFBD><DFB3><EFBFBD><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
emit StartLoopSignal();
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ɫ
for (size_t i = 0; i < m_pathPlan->getRecordLineTableWidget()->rowCount(); i++)
{
@ -521,6 +525,8 @@ void HPPA::onStartRecordStep2(int lineNumber)
m_yMotor->SettingSpeed(m_lManualSpeedOfYMotor);
m_yMotor->MoveToLocation(ymotorPositionOfLine1);
m_timerYmotorLocationFeedBackAfterRecord->start(500);
fclose(m_hTimesFile);
}
else if (lineNumber == -2)
{
@ -529,6 +535,7 @@ void HPPA::onStartRecordStep2(int lineNumber)
//ֹͣy<D6B9><79><EFBFBD><EFBFBD><EFBFBD>˶<EFBFBD>
m_yMotor->StopMotormove();
fclose(m_hTimesFile);
}
}
@ -1258,6 +1265,10 @@ void HPPA::ontimerMoveXmotor()
}
ByteBack MotorState = m_xMotor->GetState();
//<2F><>ȡϵͳʱ<CDB3><CAB1><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
long long timeOs = getNanosecondsSinceMidnight();
BroadcastXMotorPosSignal(timeOs, MotorState.Location);
fprintf(m_hTimesFile, "%lld,%d\n", timeOs, MotorState.Location);
//<2F><>x<EFBFBD><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>÷<EFBFBD><C3B7><EFBFBD><EFBFBD><EFBFBD>slider<65><72>
if (MotorState.Speed != 0)
@ -1271,8 +1282,7 @@ void HPPA::ontimerMoveXmotor()
}
//<2F>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ǰ<EFBFBD><C7B0>¼<EFBFBD><C2BC>λ<EFBFBD>ã<EFBFBD>m_lXmotorLocationOfStartRecord<72><64>
if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord //x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
|| !m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
if (MotorState.Speed == 0 && MotorState.Location != m_lXmotorLocationOfStartRecord)//x<><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC><EFBFBD>
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD>
m_Imager->setRecordControlState(false);
@ -1280,7 +1290,21 @@ void HPPA::ontimerMoveXmotor()
//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD>x<EFBFBD><78><EFBFBD><EFBFBD>λ<EFBFBD>ô<EFBFBD><C3B4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>أ<EFBFBD><D8A3><EFBFBD>֡<EFBFBD><D6A1>û<EFBFBD>вɼ<D0B2><C9BC>꣬<EFBFBD><EAA3AC><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>";
qDebug() << "11111111111111111111111111111111111111111111111111";
}
if (!m_Imager->getRecordControlState())//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϻص<CFBB><D8B5><EFBFBD>ʼλ<CABC>ã<EFBFBD><C3A3><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD>
{
//x<><78><EFBFBD>ﷵ<EFBFBD>زɼ<D8B2>ǰ<EFBFBD><C7B0>λ<EFBFBD><CEBB>
m_xMotor->SettingSpeed(m_lManualSpeedOfXMotor);
m_xMotor->MoveToLocation(m_lXmotorLocationOfStartRecord);
//qDebug() << "x<><78><EFBFBD><EFBFBD>λ<EFBFBD>û<EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD>1<EFBFBD><31><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD><EFBFBD>2<EFBFBD><32>֡<EFBFBD><D6A1><EFBFBD>ɼ<EFBFBD><C9BC><EFBFBD><EFBFBD>ˣ<EFBFBD><CBA3><EFBFBD><EFBFBD>ﻹ<EFBFBD><EFBBB9><EFBFBD>˶<EFBFBD><CBB6><EFBFBD>";
qDebug() << "222222222222222222222222222222222222222222222222222222";
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>ɼ<EFBFBD><C9BC>ߵIJɼ<C4B2><C9BC><EFBFBD><EFBFBD><EFBFBD>
if (MotorState.Speed == 0 && MotorState.Location == m_lXmotorLocationOfStartRecord//<2F><>x<EFBFBD><78><EFBFBD>ﷵ<EFBFBD>س<EFBFBD>ʼλ<CABC><CEBB>

3
HPPA/HPPA.h
View File

@ -242,6 +242,8 @@ private:
PathPlan* m_pathPlan;
FILE* m_hTimesFile;
public Q_SLOTS:
void onPlotHyperspectralImageRgbImage();
void PlotSpectral(int state);
@ -337,6 +339,7 @@ signals:
void StartLoopSignal();
void StartRecordSignal();
void CopyFileThreadSignal(QString, QString);
void BroadcastXMotorPosSignal(long long, int);
void RecordWhiteSignal();
void RecordDarlSignal();

8
HPPA/ImagerOperationBase.cpp
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@ -208,17 +208,21 @@ void ImagerOperationBase::start_record()
string directory = fileOperation->getDirectoryFromString();
string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
FILE* m_fImage = fopen((imgPath + ".bil").c_str(), "w+b");
size_t x;
double pixelValueTmp;
string timesFile = imgPath + ".times";
FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
imagerStartCollect();
while (m_bRecordControlState)
{
m_iFrameCounter++;
getFrame(buffer);
long long timeOs = getNanosecondsSinceMidnight();
//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
if (m_HasDark)
@ -259,6 +263,7 @@ void ImagerOperationBase::start_record()
}
x = fwrite(buffer, 2, m_FrameSize, m_fImage);
fprintf(hTimesFile, "%d\n", timeOs);
//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -298,6 +303,7 @@ void ImagerOperationBase::start_record()
//QThread::msleep(1001);
fclose(m_fImage);
fclose(hTimesFile);
}
void ImagerOperationBase::setFrameNumber(int FrameNumber)

1
HPPA/ImagerOperationBase.h
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@ -7,6 +7,7 @@
#include <string>
#include <opencv2/core/core.hpp>
#include "ImagerOperationBase.h"
#include "utility_tc.h"
class ImagerOperationBase :public QObject
{

2
HPPA/PathPlan.cpp
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@ -247,7 +247,7 @@ void PathPlan::onReadRecordLineFile_btn()
return;
}
FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "r");
FILE* RecordLineFileHandle = fopen(RecordLineFilePath.toStdString().c_str(), "rb");
double height, fov, swath, offset, repetitiveRate, LastLineThreshold, number;
//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>

12
HPPA/ResononNirImager.cpp
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@ -287,13 +287,16 @@ void ResononNirImager::start_record()
FileOperation* fileOperation = new FileOperation();
string directory = fileOperation->getDirectoryFromString();
string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter)+".bil";
string imgPath = directory + "\\" + m_FileName2Save + "_" + std::to_string(m_FileSavedCounter);
FILE* m_fImage = fopen(imgPath.c_str(), "w+b");
FILE* m_fImage = fopen((imgPath + ".bil").c_str(), "w+b");
size_t x;
double pixelValueTmp;
string timesFile = imgPath + ".times";
FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
reConnectImage();//nir<69>ڶ<EFBFBD><DAB6>βɼ<CEB2>ʱ<EFBFBD><CAB1>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<29>ᱨ<EFBFBD><E1B1A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
imagerStartCollect();
while (m_bRecordControlState)
@ -301,6 +304,8 @@ void ResononNirImager::start_record()
m_iFrameCounter++;
getFrame(buffer);
long long timeOs = getNanosecondsSinceMidnight();
//qDebug() << "time ns-------------------: " << timeOs;
//<2F><>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<65><72>dark<72><6B><EFBFBD><EFBFBD>unsigned short<72><74><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<72><CAB1>buffer-dark=65535
if (m_HasDark)
@ -341,6 +346,7 @@ void ResononNirImager::start_record()
}
x = fwrite(buffer, 2, m_FrameSize, m_fImage);
fprintf(hTimesFile, "%lld\n", timeOs);
//<2F><>rgb<67><62><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><D4B1>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
@ -356,6 +362,7 @@ void ResononNirImager::start_record()
if (m_iFrameCounter >= m_iFrameNumber)
{
break;
//qDebug() << "<22><><EFBFBD><EFBFBD>ֹͣ<CDA3>ɼ<EFBFBD><C9BC><EFBFBD>֡<EFBFBD><D6A1><EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><C6B5>";
}
}
@ -380,6 +387,7 @@ void ResononNirImager::start_record()
//QThread::msleep(1001);
fclose(m_fImage);
fclose(hTimesFile);
}
void ResononNirImager::WriteHdr()

2
HPPA/about.ui
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@ -70,7 +70,7 @@
</rect>
</property>
<property name="text">
<string>版本：1.8.2</string>
<string>版本：1.8.4</string>
</property>
</widget>
<widget class="QLabel" name="label_4">

25
HPPA/utility_tc.cpp
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@ -121,3 +121,28 @@ QList<QString> getFileInfo(QString file)
return result;
}
long long getNanosecondsSinceMidnight()
{
// 获取当前系统时间
auto now = std::chrono::system_clock::now();
// 转换为 time_t（秒级别的时间戳）
std::time_t t = std::chrono::system_clock::to_time_t(now);
std::tm local_tm = *std::localtime(&t); // 获取本地时间结构
// 将时间结构调整到当天 00:00:00
local_tm.tm_hour = 0;
local_tm.tm_min = 0;
local_tm.tm_sec = 0;
local_tm.tm_isdst = -1; // 让 mktime 自动判断夏令时
// 获取当天 00:00:00 的时间点
auto midnight = std::chrono::system_clock::from_time_t(std::mktime(&local_tm));
// 计算从当天 00:00:00 到现在的时间差
auto nanoseconds_since_midnight = std::chrono::duration_cast<std::chrono::nanoseconds>(now - midnight);
// 返回纳秒数
return nanoseconds_since_midnight.count();
}

3
HPPA/utility_tc.h
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@ -6,6 +6,7 @@
#include <QString>
#include <QDebug>
#include <chrono>
QString getFileNameBaseOnTime();
@ -20,4 +21,6 @@ bool createDir(QString fullPath);
QList<QString> getFileInfo(QString file);
long long getNanosecondsSinceMidnight();
#endif // UTILITY_TC_H

28
readme.txt Normal file
View File

@ -0,0 +1,28 @@
1、HPPA拼接
每条航线的开始帧的位置不一样，无法直接将相邻航线拼接一起，否则航向有错位。
1.1 步骤
（1）采集每帧的同时，获取线性平台的位置，并写入文件；
（2）根据位置信息匹配帧号，然后进行拼接；
1.2 存在的问题及解决办法
（1）马达库不知道是否能够支持20hz及以上的访问频率；
或者按照一定频率采集线性平台位置，通过时间进行插值获取每帧位置；
（2）列之间的重叠
通过一个可调参数进行旁向拼接设置；
1.3 拼接后裁剪
1.4 根据每个像素的xy坐标进行拼接：放弃
2、bug修复
（1）反射率图像条纹：白板和暗电流都采集30帧进行平均；
（2）轨迹2位小数
（3）速度输入接受小数
3、hppa升降桌无线控制模块
如果没有配置过，那么默认ip为http://192.168.1.254，且默认wifi以iris1开头，默认wifi密码为123456789。
配置网页为http://192.168.1.254/wificonfig.html，配置密码是licahk*******
如果已经配置为252，那么可用下面网址控制
http://192.168.1.252/stopnow
http://192.168.1.252/set_up
http://192.168.1.252/set_down
http://192.168.1.252/wificonfig.html