add：

1、增加显微镜场景：添加显微镜3D模型； 2、设置界面添加确认按钮； fix： 1、相机看板：（1）帧率*积分时间=999，防止nir崩溃（2）记录帧率和积分时间，下次打开软件后恢复；（3）只能拖动slider改变值，不能点击slider改变值； 2、加入判断，不能多次打开同一个影像； 3、图像控制看板：只能拖动slider改变值，不能点击slider改变值；
添加单反相机控制看板
2026-04-16 16:43:28 +08:00 · 2026-04-14 16:57:11 +08:00 · 2026-04-14 13:14:55 +08:00 · 2026-04-09 16:29:12 +08:00 · 2026-04-08 17:04:51 +08:00
30 changed files with 1258 additions and 61 deletions
--- a/HPPA/AppSettings.cpp
+++ b/HPPA/AppSettings.cpp
@ -2,6 +2,9 @@

 const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
 const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
+const int AppSettings::kDefaultFrameRate = 20;
+const int AppSettings::kDefaultIntegrationTime = 1;
+const int AppSettings::kDefaultGain = 0;

 AppSettings::AppSettings()
 	: m_settings(QSettings::IniFormat, QSettings::UserScope,
@ -33,3 +36,30 @@ void AppSettings::setFileName(const QString& path)
 {
 	m_settings.setValue("General/FileName", path);
 }
+
+int AppSettings::frameRate() const
+{
+	return m_settings.value("CameraParams/FrameRate", kDefaultFrameRate).toInt();
+}
+void AppSettings::setFrameRate(int value)
+{
+	m_settings.setValue("CameraParams/FrameRate", value);
+}
+
+int AppSettings::integrationTime() const
+{
+	return m_settings.value("CameraParams/IntegrationTime", kDefaultIntegrationTime).toInt();
+}
+void AppSettings::setIntegrationTime(int value)
+{
+	m_settings.setValue("CameraParams/IntegrationTime", value);
+}
+
+int AppSettings::gain() const
+{
+	return m_settings.value("CameraParams/Gain", kDefaultGain).toInt();
+}
+void AppSettings::setGain(int value)
+{
+	m_settings.setValue("CameraParams/Gain", value);
+}
--- a/HPPA/AppSettings.h
+++ b/HPPA/AppSettings.h
@ -14,6 +14,18 @@ public:

 	QString fileName() const;
 	void setFileName(const QString& path);
+
+	// 帧率
+	int frameRate() const;
+	void setFrameRate(int value);
+
+	// 积分时间
+	int integrationTime() const;
+	void setIntegrationTime(int value);
+
+	// 增益
+	int gain() const;
+	void setGain(int value);
 	// 在此处添加更多参数的 getter/setter ...

 private:
@ -26,4 +38,7 @@ private:
 	// 默认值
 	static const QString kDefaultDataFolder;
 	static const QString kDefaultFileName;
+	static const int kDefaultFrameRate;
+	static const int kDefaultIntegrationTime;
+	static const int kDefaultGain;
 };
--- a/HPPA/DepthCamera.ui
+++ b/HPPA/DepthCamera.ui
@ -0,0 +1,160 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DepthCameraClass</class>
+ <widget class="QDialog" name="DepthCameraClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>416</width>
+    <height>219</height>
+   </rect>
+  </property>
+  <property name="sizePolicy">
+   <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+    <horstretch>0</horstretch>
+    <verstretch>0</verstretch>
+   </sizepolicy>
+  </property>
+  <property name="windowTitle">
+   <string>DepthCamera</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="closeDepthCamera_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="openDepthCamera_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>
--- a/HPPA/DepthCameraWindow.cpp
+++ b/HPPA/DepthCameraWindow.cpp
@ -0,0 +1,323 @@
+#include "DepthCameraWindow.h"
+
+DepthCameraWindow::DepthCameraWindow(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	m_DepthCameraThread = new QThread();
+	m_DepthCameraOperation = new DepthCameraOperation();
+	m_DepthCameraOperation->moveToThread(m_DepthCameraThread);
+	m_DepthCameraThread->start();
+
+    connect(ui.openDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::openDepthCamera);
+    connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
+
+    connect(this, &DepthCameraWindow::openDepthCameraSignal, m_DepthCameraOperation, &DepthCameraOperation::OpenDepthCamera);
+
+    connect(m_DepthCameraOperation, &DepthCameraOperation::CamOpenedSignal, this, &DepthCameraWindow::onCamOpened);
+    connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::onCamClosed);
+
+    connect(m_DepthCameraOperation, &DepthCameraOperation::PlotSignal, this, &DepthCameraWindow::PlotDepthImageSignal);
+    connect(m_DepthCameraOperation, &DepthCameraOperation::CamClosedSignal, this, &DepthCameraWindow::DepthCamClosedSignal);
+}
+
+DepthCameraWindow::~DepthCameraWindow()
+{
+    m_DepthCameraThread->quit();
+    m_DepthCameraThread->wait();
+    delete m_DepthCameraOperation;
+    m_DepthCameraOperation = nullptr;
+}
+
+void DepthCameraWindow::openDepthCamera()
+{
+    if (!m_DepthCameraOperation->getRecordStatus())
+    {
+        emit openDepthCameraSignal();
+    }
+}
+
+void DepthCameraWindow::onCamOpened()
+{
+    ui.openDepthCamera_btn->setEnabled(false);
+	ui.closeDepthCamera_btn->setEnabled(true);
+
+    ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("已打开"));
+}
+
+void DepthCameraWindow::closeDepthCamera()
+{
+    m_DepthCameraOperation->CloseDepthCamera();
+}
+
+void DepthCameraWindow::onCamClosed()
+{
+    ui.openDepthCamera_btn->setEnabled(true);
+    ui.closeDepthCamera_btn->setEnabled(false);
+
+    ui.openDepthCamera_btn->setText(QString::fromLocal8Bit("打   开"));
+}
+
+//-------------------------------------------------------------------------------------------------------------------------------
+DepthCameraOperation::DepthCameraOperation()
+{
+    m_pipe = nullptr;
+	m_func = nullptr;
+	record = false;
+}
+
+DepthCameraOperation::~DepthCameraOperation()
+{
+    if (m_pipe) 
+    {
+		m_pipe->stop();
+
+        delete m_pipe;
+        m_pipe = nullptr;
+    }
+}
+
+void DepthCameraOperation::OpenDepthCamera()
+{
+    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();
+
+    //// Get sensorList from device.
+    //auto sensorList = device->getSensorList();
+
+    //for (uint32_t index = 0; index < sensorList->getCount(); index++) {
+    //    // Query all supported infrared sensor type and enable the infrared stream.
+    //    // For dual infrared device, enable the left and right infrared streams.
+    //    // For single infrared device, enable the infrared stream.
+    //    OBSensorType sensorType = sensorList->getSensorType(index);
+    //    std::cout << "Supported Sensor type: " << sensorType << std::endl;
+
+    //    // Enable the stream for the sensor type.
+    //    config->enableStream(sensorType);
+    //}
+
+    config->enableVideoStream(OB_STREAM_DEPTH, 640, 480, 15, OB_FORMAT_Y16);
+    config->enableVideoStream(OB_STREAM_COLOR, 640, 480, 15, OB_FORMAT_YUYV);
+    config->enableAccelStream();
+    config->enableGyroStream();
+    config->setFrameAggregateOutputMode(OB_FRAME_AGGREGATE_OUTPUT_ALL_TYPE_FRAME_REQUIRE);
+    config->setAlignMode(ALIGN_D2C_HW_MODE);
+
+    m_pipe->enableFrameSync();
+
+    // Create a format converter filter.
+    auto formatConverter = std::make_shared<ob::FormatConvertFilter>();
+
+    m_pipe->start(config);
+
+    // Drop several frames
+    for (int i = 0; i < 15; ++i) {
+        auto lost = m_pipe->waitForFrameset(100);
+    }
+
+    auto pointCloud = std::make_shared<ob::PointCloudFilter>();
+
+    int frameIndex = 0;
+    record = true;
+    QString fileNamePrefix = AppSettings::instance().dataFolder() + QDir::separator() + AppSettings::instance().fileName();
+	QString imuFilePath = fileNamePrefix + "_IMU.txt";
+	std::ofstream imuFile(imuFilePath.toStdString(), std::ios::out | std::ios::trunc);
+    while (record)
+    {
+        if(frameIndex==0)
+        {
+            emit CamOpenedSignal();
+            std::cout << "Start recording..." << std::endl;
+		}
+
+        auto frameSet = m_pipe->waitForFrameset(100);
+        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>();
+        auto colorFrame = frameSet->getFrame(OB_FRAME_COLOR)->as<ob::ColorFrame>();
+
+        // Convert the color frame to RGB format.
+        if (colorFrame->format() != OB_FORMAT_RGB) {
+            if (colorFrame->format() == OB_FORMAT_MJPG) {
+                formatConverter->setFormatConvertType(FORMAT_MJPG_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_UYVY) {
+                formatConverter->setFormatConvertType(FORMAT_UYVY_TO_RGB);
+            }
+            else if (colorFrame->format() == OB_FORMAT_YUYV) {
+                formatConverter->setFormatConvertType(FORMAT_YUYV_TO_RGB);
+            }
+            else {
+                std::cout << "Color format is not support!" << std::endl;
+                continue;
+            }
+            colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+        }
+        // Processed the color frames to BGR format, use OpenCV to save to disk.
+        formatConverter->setFormatConvertType(FORMAT_RGB_TO_BGR);
+        colorFrame = formatConverter->process(colorFrame)->as<ob::ColorFrame>();
+
+        saveDepthFrame(depthFrame, frameIndex, fileNamePrefix.toStdString());
+        saveColorFrame(colorFrame, frameIndex, fileNamePrefix.toStdString());
+
+        cv::Mat colorMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+        cv::Mat rgbMat;
+        cv::cvtColor(colorMat, rgbMat, cv::COLOR_BGR2RGB);
+        m_colorImage = QImage(rgbMat.data, rgbMat.cols, rgbMat.rows, static_cast<int>(rgbMat.step), QImage::Format_RGB888).copy();
+
+        cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+        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();
+
+        //点云
+        pointCloud->setCreatePointFormat(OB_FORMAT_RGB_POINT);
+        std::shared_ptr<ob::Frame> frame = pointCloud->process(frameSet);
+
+        QString plyPath = fileNamePrefix + "_"+ QString::number(frameIndex) + ".ply";
+        ob::PointCloudHelper::savePointcloudToPly(plyPath.toStdString().c_str(), frame, false, false, 50);
+
+        //惯导数据
+        auto accelFrameRaw = frameSet->getFrame(OB_FRAME_ACCEL);
+        auto accelFrame = accelFrameRaw->as<ob::AccelFrame>();
+        auto accelIndex = accelFrame->getIndex();
+        auto accelTimeStampUs = accelFrame->getTimeStampUs();
+        auto accelTemperature = accelFrame->getTemperature();
+        auto accelType = accelFrame->getType();
+        //if (frameIndex % 50 == 0) 
+        //{  // print information every 50 frames.
+        //    auto accelValue = accelFrame->getValue();
+        //    printImuValue(accelValue, accelIndex, accelTimeStampUs, accelTemperature, accelType, "m/s^2");
+        //}
+        //auto accelValue = accelFrame->getValue();
+        //printImuValue(accelValue, accelIndex, accelTimeStampUs, accelTemperature, accelType, "m/s^2");
+
+        auto gyroFrameRaw = frameSet->getFrame(OB_FRAME_GYRO);
+        auto gyroFrame = gyroFrameRaw->as<ob::GyroFrame>();
+        auto gyroIndex = gyroFrame->getIndex();
+        auto gyroTimeStampUs = gyroFrame->getTimeStampUs();
+        auto gyroTemperature = gyroFrame->getTemperature();
+        auto gyroType = gyroFrame->getType();
+        //if (frameIndex % 50 == 0) {  // print information every 50 frames.
+        //    auto gyroValue = gyroFrame->getValue();
+        //    printImuValue(gyroValue, gyroIndex, gyroTimeStampUs, gyroTemperature, gyroType, "rad/s");
+        //}
+        //auto gyroValue = gyroFrame->getValue();
+        //printImuValue(gyroValue, gyroIndex, gyroTimeStampUs, gyroTemperature, gyroType, "rad/s");
+
+        saveImuData(imuFile, accelFrame, gyroFrame);
+
+        frameIndex++;
+    }
+
+    imuFile.close();
+
+    m_pipe->stop();
+
+    delete m_pipe;
+    m_pipe = nullptr;
+}
+
+void DepthCameraOperation::saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+    params.push_back(0);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+    std::string depthName = fileNamePrefix_ + "_Depth_" + std::to_string(depthFrame->width()) + "x" + std::to_string(depthFrame->height()) + "_" + std::to_string(frameIndex) + "_"
+        + std::to_string(depthFrame->timeStamp()) + "ms.png";
+    cv::Mat depthMat(depthFrame->height(), depthFrame->width(), CV_16UC1, depthFrame->data());
+    cv::imwrite(depthName, depthMat, params);
+    //std::cout << "Depth saved:" << depthName << std::endl;
+}
+
+void DepthCameraOperation::saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_)
+{
+    std::vector<int> params;
+    params.push_back(cv::IMWRITE_PNG_COMPRESSION);
+    params.push_back(0);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY);
+    params.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
+    std::string colorName = fileNamePrefix_ + "_Color_" + std::to_string(colorFrame->width()) + "x" + std::to_string(colorFrame->height()) + "_" + std::to_string(frameIndex) + "_"
+        + std::to_string(colorFrame->timeStamp()) + "ms.png";
+    cv::Mat depthMat(colorFrame->height(), colorFrame->width(), CV_8UC3, colorFrame->data());
+    cv::imwrite(colorName, depthMat, params);
+    //std::cout << "Color saved:" << colorName << std::endl;
+}
+
+void DepthCameraOperation::printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr)
+{
+    std::cout << "frame index: " << index << std::endl;
+    auto typeStr = ob::TypeHelper::convertOBFrameTypeToString(type);
+    std::cout << typeStr << " Frame: \n\r{\n\r"
+        << "  tsp = " << timeStampUs << "\n\r"
+        << "  temperature = " << temperature << "\n\r"
+        << "  " << typeStr << ".x = " << obFloat3d.x << unitStr << "\n\r"
+        << "  " << typeStr << ".y = " << obFloat3d.y << unitStr << "\n\r"
+        << "  " << typeStr << ".z = " << obFloat3d.z << unitStr << "\n\r"
+        << "}\n\r" << std::endl;
+}
+
+void DepthCameraOperation::saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame)
+{
+    if (!imuFile.is_open())
+        return;
+
+    auto accelValue = accelFrame->getValue();
+    auto gyroValue = gyroFrame->getValue();
+
+    // position (acceleration): ax, ay, az
+    // attitude (angular velocity): gx, gy, gz
+    imuFile << accelFrame->getIndex() << ","
+            << accelFrame->getTimeStampUs() << ","
+            << accelValue.x << "," << accelValue.y << "," << accelValue.z << ","
+            << gyroFrame->getIndex() << ","
+            << gyroFrame->getTimeStampUs() << ","
+            << gyroValue.x << "," << gyroValue.y << "," << gyroValue.z << "\n";
+}
+
+void DepthCameraOperation::OpenDepthCamera_callback()
+{
+
+}
+
+void DepthCameraOperation::setCallback(void(*func)())
+{
+	m_func = func;
+}
+
+void DepthCameraOperation::CloseDepthCamera()
+{
+	std::cout << "DepthCameraOperation::CloseDepthCamera，关闭深度相机" << std::endl;
+    
+    record = false;
+
+	emit CamClosedSignal();
+}
--- a/HPPA/DepthCameraWindow.h
+++ b/HPPA/DepthCameraWindow.h
@ -0,0 +1,84 @@
+#pragma once
+
+#include <QDialog>
+#include <QNetworkRequest>
+#include <QNetworkReply>
+#include <QNetworkAccessManager>
+#include <QImage>
+#include <Qthread>
+#include <QDir>
+
+#include <iostream>
+#include "ui_DepthCamera.h"
+#include "AppSettings.h"
+
+#include <fstream>
+#include <opencv2/opencv.hpp>
+#include <libobsensor/ObSensor.hpp>
+#include "libobsensor/hpp/Utils.hpp"
+typedef void(*func)();
+
+class DepthCameraOperation :public QObject
+{
+	Q_OBJECT
+
+public:
+	DepthCameraOperation();
+	~DepthCameraOperation();
+
+	QImage m_colorImage;
+	QImage m_depthImage;
+	void setCallback(void(*func)());
+	bool getRecordStatus() const { return record; }
+
+private:
+	ob::Pipeline* m_pipe;
+	cv::Mat frame;
+
+	func m_func;
+
+	void saveDepthFrame(const std::shared_ptr<ob::DepthFrame> depthFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
+	void saveColorFrame(const std::shared_ptr<ob::ColorFrame> colorFrame, const uint32_t frameIndex, std::string fileNamePrefix_);
+	void printImuValue(OBFloat3D obFloat3d, uint64_t index, uint64_t timeStampUs, float temperature, OBFrameType type, const std::string& unitStr);
+	void saveImuData(std::ofstream& imuFile, const std::shared_ptr<ob::AccelFrame>& accelFrame, const std::shared_ptr<ob::GyroFrame>& gyroFrame);
+
+	bool record;
+
+public slots:
+	void OpenDepthCamera();
+	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 CamOpenedSignal();
+	void CamClosedSignal();
+};
+
+class DepthCameraWindow : public QDialog
+{
+	Q_OBJECT
+
+public:
+	DepthCameraWindow(QWidget* parent = nullptr);
+	~DepthCameraWindow();
+
+	DepthCameraOperation* m_DepthCameraOperation;
+
+public Q_SLOTS:
+	void openDepthCamera();
+	void onCamOpened();
+	void closeDepthCamera();
+	void onCamClosed();
+
+signals:
+void openDepthCameraSignal();
+void PlotDepthImageSignal();
+void DepthCamClosedSignal();
+
+private:
+	Ui::DepthCameraClass ui;
+	QThread* m_DepthCameraThread;
+	
+};
--- a/HPPA/HPPA.cpp
+++ b/HPPA/HPPA.cpp
@ -111,6 +111,7 @@ HPPA::HPPA(QWidget* parent)
    connect(this->ui.action_about, SIGNAL(triggered()), this, SLOT(onAbout()));
    connect(this->ui.mActionOneMotorScenario, SIGNAL(triggered()), this, SLOT(createOneMotorScenario()));
    connect(this->ui.mActionPlantPhenotypeScenario, SIGNAL(triggered()), this, SLOT(createPlantPhenotypeScenario()));
+	connect(this->ui.mActionMicroscopicMotionControlScenario, SIGNAL(triggered()), this, SLOT(createMicroscopicMotionControlScenario()));

    delete ui.centralWidget;

@ -399,12 +400,28 @@ HPPA::HPPA(QWidget* parent)
 	m_carousel->addWidget(sa);
 	m_carousel->setContentsMargins(0, 0, 0, 0);

-	QWidget* tmp8 = new QWidget();
-	tmp8->setStyleSheet(R"(
+	//---------------------------------------------------------------------
+	QScrollArea* sa_depthCamera = new QScrollArea();
+	sa_depthCamera->setObjectName("sa_depthCamera");
+	sa_depthCamera->setStyleSheet(R"(
+		border: none;
+		background-color: #0D1233;
+	)");
+	QGridLayout* gridLayout_sa_depthCamera = new QGridLayout(sa_depthCamera);
+	gridLayout_sa_depthCamera->setSpacing(6);
+	gridLayout_sa_depthCamera->setObjectName(QString::fromUtf8("gridLayout_sa_depthCamera"));
+	gridLayout_sa_depthCamera->setVerticalSpacing(0);
+	gridLayout_sa_depthCamera->setContentsMargins(0, 0, 0, 0);
+
+	m_depthCamera_label = new QLabel();
+	m_depthCamera_label->setAlignment(Qt::AlignHCenter);
+	m_depthCamera_label->setStyleSheet(R"(
        background-color: #0D1233;
 	)");
-	m_carousel->addWidget(tmp8);
-	//m_carousel->setContentsMargins(0, 0, 0, 0);
+	gridLayout_sa_depthCamera->addWidget(m_depthCamera_label);
+
+	m_carousel->addWidget(sa_depthCamera);
+	m_carousel->setContentsMargins(0, 0, 0, 0);

 	m_carousel->play();

@ -453,6 +470,7 @@ HPPA::HPPA(QWidget* parent)
 	gridLayout_modelWidgetContainer->addWidget(m_view3DModelManager);

 	connect(m_view3DModelManager, SIGNAL(created3DModelPlantPhenotype()), this, SLOT(onCreated3DModelPlantPhenotype()));
+	connect(m_view3DModelManager, SIGNAL(created3DModelMicroscopicMotion()), this, SLOT(onCreated3DModelMicroscopicMotion()));
 	connect(m_view3DModelManager, SIGNAL(created3DModelOneMotor()), this, SLOT(onCreated3DModelOneMotor()));	

 	ui.mDockWidgetSimulator->setWidget(tmp(modelWidgetContainer));
@ -753,11 +771,22 @@ void HPPA::initControlTabwidget()
 		this, SLOT(onBandSelectionChanged(double, double, double)));
 	ui.controlTabWidget->addTab(m_ic, QString::fromLocal8Bit("图像控制"));//?????????????????????????????????????????????????????????????????????????????????????????????????

+	//深度相机
+	m_depthCameraWindow = new DepthCameraWindow();
+	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
 	m_rgbCameraControlWindow = new rgbCameraWindow();
 	connect(m_rgbCameraControlWindow, &rgbCameraWindow::PlotRgbImageSignal, this, &HPPA::onPlotRgbImage);
 	connect(m_rgbCameraControlWindow, &rgbCameraWindow::CamClosedSignal, this, &HPPA::onClearLabel);

+	connect(m_depthCameraWindow, &DepthCameraWindow::PlotDepthImageSignal, this, &HPPA::onPlotDepthImage);
+	connect(m_depthCameraWindow, &DepthCameraWindow::DepthCamClosedSignal, this, &HPPA::onClearDepthLabel);
+
 	ui.controlTabWidget->addTab(m_rgbCameraControlWindow, QString::fromLocal8Bit("rgb相机"));

 	//升降桌dock
@ -1164,6 +1193,7 @@ void HPPA::createScenarioActionGroup()
 	m_ScenarioActionGroup = new QActionGroup(this);
 	m_ScenarioActionGroup->addAction(ui.mActionOneMotorScenario);
 	m_ScenarioActionGroup->addAction(ui.mActionPlantPhenotypeScenario);
+	m_ScenarioActionGroup->addAction(ui.mActionMicroscopicMotionControlScenario);

 	// 读取上次选择的结果
 	QSettings settings;
@ -1180,6 +1210,11 @@ void HPPA::createScenarioActionGroup()
 	 ui.mActionPlantPhenotypeScenario->setChecked(true);
 	 ui.mActionPlantPhenotypeScenario->trigger();
 	}
+	else if (lastSelectedAction == "mActionMicroscopicMotionControlScenario")
+	{
+		ui.mActionMicroscopicMotionControlScenario->setChecked(true);
+		ui.mActionMicroscopicMotionControlScenario->trigger();
+	}
 }

 void HPPA::selectScenario(QAction* selectedAction)
@ -1210,6 +1245,8 @@ void HPPA::createOneMotorScenario()
 	ui.mAction_1AxisMotor->setChecked(true);

 	//右下角控制tab
+	m_tabManager->hideTab(m_singleLensReflexCameraWindow);
+	m_tabManager->hideTab(m_depthCameraWindow);
 	m_tabManager->hideTab(m_rgbCameraControlWindow);
 	m_tabManager->hideTab(m_adt);
 	m_tabManager->hideTab(m_pc);
@ -1229,6 +1266,11 @@ void HPPA::onCreated3DModelPlantPhenotype()
 	connect(m_tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DModelManager->m_viewPlant, SLOT(setLoc(std::vector<double>)));
 }

+void HPPA::onCreated3DModelMicroscopicMotion()
+{
+	connect(m_tmc, SIGNAL(broadcastLocationSignal(std::vector<double>)), m_view3DModelManager->m_viewMicroscopicMotionControlModel, SLOT(setLoc(std::vector<double>)));
+}
+
 void HPPA::createPlantPhenotypeScenario()
 {
 	//if (ui.mActionPlantPhenotypeScenario->isChecked())
@ -1241,6 +1283,8 @@ void HPPA::createPlantPhenotypeScenario()
 	m_tabManager->hideTab(m_rac);
 	m_tabManager->hideTab(m_omc);

+	m_tabManager->showTab(m_depthCameraWindow);
+	m_tabManager->showTab(m_singleLensReflexCameraWindow);
 	m_tabManager->showTab(m_rgbCameraControlWindow);
 	m_tabManager->showTab(m_adt);
 	m_tabManager->showTab(m_pc);
@ -1252,6 +1296,31 @@ void HPPA::createPlantPhenotypeScenario()

 }

+void HPPA::createMicroscopicMotionControlScenario()
+{
+	//if (ui.mActionMicroscopicMotionControl->isChecked())
+	//	return;
+
+	//在菜单中选择移动平台
+	ui.mAction_2AxisMotor_new->setChecked(true);
+
+	//右下角控制tab
+	m_tabManager->hideTab(m_singleLensReflexCameraWindow);
+	m_tabManager->hideTab(m_depthCameraWindow);
+	m_tabManager->hideTab(m_rgbCameraControlWindow);
+	m_tabManager->hideTab(m_adt);
+	m_tabManager->hideTab(m_pc);
+	m_tabManager->hideTab(m_rac);
+	m_tabManager->hideTab(m_omc);
+
+	m_tabManager->showTab(m_tmc);
+
+	m_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::MicroscopicMotionControl);
+
+	//右上角轮播
+
+}
+
 bool HPPA::testImagerVality()
 {
 	try
@ -1760,6 +1829,23 @@ void HPPA::onClearLabel()
 	m_cam_label->setText("closed");
 }

+void HPPA::onPlotDepthImage()
+{
+	QPixmap pixmap = QPixmap::fromImage(m_depthCameraWindow->m_DepthCameraOperation->m_depthImage);
+
+	int width = m_depthCamera_label->width();
+	int height = m_depthCamera_label->height();
+	QPixmap fitpixmap = pixmap.scaled(width, height, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+
+	m_depthCamera_label->setPixmap(fitpixmap);
+}
+
+void HPPA::onClearDepthLabel()
+{
+	m_depthCamera_label->clear();
+	m_depthCamera_label->setText("closed");
+}
+
 void HPPA::onCopyFinished()
 {
 	this->setEnabled(true);
@ -1821,6 +1907,10 @@ void HPPA::onOpenImg()
 	if (uri.isEmpty())
 		return;

+	//判断是否已经打开
+	if (m_MapLayerStore->containsLayer(uri))
+		return;
+
 	// 2) 创建 RasterLayer，然后添加到图层管理器
 	if (!m_LayerTreeModel || !m_RasterGroup)
 	{
@ -2027,9 +2117,9 @@ void HPPA::onconnect()
 		ui.gain_lineEdit->setValidator(new QRegExpValidator(rx));*/

 		//获取相机参数并显示到界面中
-		m_hic->setFrameRate(m_Imager->getFramerate());
-		m_hic->setIntegrationTime(m_Imager->getIntegrationTime());
-		m_hic->setGain(m_Imager->getGain());
+		m_hic->setFrameRate(AppSettings::instance().frameRate());
+		m_hic->setIntegrationTime(AppSettings::instance().integrationTime());
+		m_hic->setGain(AppSettings::instance().gain());
 	}
 	catch (std::exception const& e)
 	{
--- a/HPPA/HPPA.h
+++ b/HPPA/HPPA.h
@ -78,6 +78,8 @@
 #include "FileNameLineEdit.h"

 #include "rgbCameraWindow.h"
+#include "DepthCameraWindow.h"
+#include "SingleLensReflexCameraWindow.h"

 #define PI 3.1415926

@ -270,6 +272,7 @@ private:

 	MyCarousel* m_carousel;
 	QLabel* m_cam_label;
+	QLabel* m_depthCamera_label;
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;

@ -278,6 +281,8 @@ private:
 	HyperImagerControl* m_hic;
 	rgbCameraWindow* m_rgbCameraControlWindow;
 	ImageControl* m_ic;
+	DepthCameraWindow* m_depthCameraWindow;
+	SingleLensReflexCameraWindow* m_singleLensReflexCameraWindow;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
 	RobotArmControl* m_rac;
@ -349,8 +354,10 @@ public Q_SLOTS:
 		void OnSendLogToCallClass(QString str);

 		void onPlotRgbImage();
+		void onPlotDepthImage();
 		
 		void onClearLabel();
+		void onClearDepthLabel();

 		void onCopyFinished();

@ -361,6 +368,8 @@ public Q_SLOTS:
 		void createOneMotorScenario();
 		void createPlantPhenotypeScenario();
 		void onCreated3DModelPlantPhenotype();
+		void onCreated3DModelMicroscopicMotion();
+		void createMicroscopicMotionControlScenario();
 		void onCreated3DModelOneMotor();

 		void addLayer(const QString& baseName, const QString& filePath, bool refresh);
--- a/HPPA/HPPA.ui
+++ b/HPPA/HPPA.ui
@ -133,6 +133,7 @@ color:white;
    </property>
    <addaction name="mActionOneMotorScenario"/>
    <addaction name="mActionPlantPhenotypeScenario"/>
+    <addaction name="mActionMicroscopicMotionControlScenario"/>
   </widget>
   <widget class="QMenu" name="menu_4">
    <property name="title">
@ -725,6 +726,14 @@ QPushButton:pressed
    <string>光谱</string>
   </property>
  </action>
+  <action name="mActionMicroscopicMotionControlScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>显微运动控制台</string>
+   </property>
+  </action>
 </widget>
 <layoutdefault spacing="6" margin="11"/>
 <customwidgets>
--- a/HPPA/HPPA.vcxproj
+++ b/HPPA/HPPA.vcxproj
@ -55,18 +55,18 @@
  </ImportGroup>
  <PropertyGroup Label="UserMacros" />
  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Debug|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;D:\cpp_library\vincecontrol_vs2017;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Debug;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\HPPA\x64\Debug;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\x64\Debug;C:\Program Files\OrbbecSDK 2.7.6\lib;$(LibraryPath)</LibraryPath>
    <TargetName>Spectral Insight</TargetName>
  </PropertyGroup>
  <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'">
-    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;$(IncludePath)</IncludePath>
-    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;$(LibraryPath)</LibraryPath>
+    <IncludePath>D:\cpp_library\gdal2.2.3_vs2017\include;C:\Program Files\ResononAPI\include;D:\cpp_library\opencv3.4.11\opencv\build\include;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv;D:\cpp_library\opencv3.4.11\opencv\build\include\opencv2;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PCOMM\Include;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL\SDKs\PortControl;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\AutoFocus_InspireLinearMotor_DLL;D:\cpp_project_vs2022\HPPA\HPPA;D:\cpp_library\libconfig-1.7.3\lib;D:\cpp_project_vs2022\HPPA\vincecontrol;C:\XIMEA\API\xiAPI;D:\cpp_project_vs2022\HPPA\IrisMultiMotorController\IrisMultiMotorController;D:\cpp_library\eigen-3.4-rc1;C:\Program Files\OrbbecSDK 2.7.6\include;$(IncludePath)</IncludePath>
+    <LibraryPath>D:\cpp_library\opencv3.4.11\opencv\build\x64\vc15\lib;D:\cpp_library\vincecontrol_vs2017_release;D:\cpp_library\gdal2.2.3_vs2017\lib;C:\Program Files\ResononAPI\lib64;D:\cpp_project_vs2022\AutoFocus_InspireLinearMotor_DLL\x64\Release;D:\cpp_library\libconfig-1.7.3\build\x64;D:\cpp_project_vs2022\IrisMultiMotorController\x64\Release;C:\XIMEA\API\xiAPI;C:\Program Files\OrbbecSDK 2.7.6\lib;$(LibraryPath)</LibraryPath>
    <TargetName>Spectral Insight</TargetName>
  </PropertyGroup>
  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
    <Link>
-      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;opencv_world3411d.lib;gdal_i.lib;resonon-basler.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++d.lib;vincecontrol.lib;resonon-allied.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
      <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
    </Link>
    <ClCompile>
@ -75,7 +75,7 @@
  </ItemDefinitionGroup>
  <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
    <Link>
-      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>opencv_world3411.lib;vincecontrol.lib;gdal_i.lib;resonon-basler.lib;resonon-allied.lib;AutoFocus_InspireLinearMotor_DLL.lib;libconfig++.lib;xiapi64.lib;IrisMultiMotorController.lib;OrbbecSDK.lib;%(AdditionalDependencies)</AdditionalDependencies>
      <AdditionalLibraryDirectories>D:\cpp_project_vs2022\HPPA\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
    </Link>
  </ItemDefinitionGroup>
@ -114,6 +114,7 @@
    <ClCompile Include="Carousel.cpp" />
    <ClCompile Include="Corning410Imager.cpp" />
    <ClCompile Include="CustomDockWidgetBase.cpp" />
+    <ClCompile Include="DepthCameraWindow.cpp" />
    <ClCompile Include="FileNameLineEdit.cpp" />
    <ClCompile Include="hppaConfigFile.cpp" />
    <ClCompile Include="HyperImagerControl.cpp" />
@ -150,6 +151,7 @@
    <ClCompile Include="rgbCameraWindow.cpp" />
    <ClCompile Include="RobotArmControl.cpp" />
    <ClCompile Include="setWindow.cpp" />
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp" />
    <ClCompile Include="stdafx.cpp">
      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
      <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
@ -162,6 +164,7 @@
    <QtRcc Include="HPPA.qrc" />
    <QtUic Include="about.ui" />
    <QtUic Include="adjustTable.ui" />
+    <QtUic Include="DepthCamera.ui" />
    <QtUic Include="FocusDialog.ui" />
    <QtUic Include="HPPA.ui" />
    <QtMoc Include="HPPA.h" />
@ -185,6 +188,7 @@
    <QtUic Include="rgbCamera.ui" />
    <QtUic Include="RobotArmControl.ui" />
    <QtUic Include="set.ui" />
+    <QtUic Include="SingleLensReflexCamera.ui" />
    <QtUic Include="twoMotorControl.ui" />
  </ItemGroup>
  <ItemGroup>
@ -211,6 +215,7 @@
    <QtMoc Include="HyperImagerControl.h" />
    <ClInclude Include="AppSettings.h" />
    <QtMoc Include="FileNameLineEdit.h" />
+    <QtMoc Include="DepthCameraWindow.h" />
    <ClInclude Include="imager_base.h" />
    <ClInclude Include="irisximeaimager.h" />
    <QtMoc Include="OneMotorControl.h" />
@ -236,6 +241,7 @@
    <QtMoc Include="recordFrameCounter.h" />
    <QtMoc Include="setWindow.h" />
    <QtMoc Include="rgbCameraWindow.h" />
+    <QtMoc Include="SingleLensReflexCameraWindow.h" />
    <ClInclude Include="utility_tc.h" />
    <QtMoc Include="aboutWindow.h" />
    <ClInclude Include="hppaConfigFile.h" />
--- a/HPPA/HPPA.vcxproj.filters
+++ b/HPPA/HPPA.vcxproj.filters
@ -214,6 +214,12 @@
    <ClCompile Include="rgbCameraWindow.cpp">
      <Filter>Source Files</Filter>
    </ClCompile>
+    <ClCompile Include="DepthCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="SingleLensReflexCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
  </ItemGroup>
  <ItemGroup>
    <QtMoc Include="fileOperation.h">
@ -348,6 +354,12 @@
    <QtMoc Include="rgbCameraWindow.h">
      <Filter>Header Files</Filter>
    </QtMoc>
+    <QtMoc Include="DepthCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="SingleLensReflexCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
  </ItemGroup>
  <ItemGroup>
    <ClInclude Include="imageProcessor.h">
@ -439,6 +451,12 @@
    <QtUic Include="rgbCamera.ui">
      <Filter>Form Files</Filter>
    </QtUic>
+    <QtUic Include="DepthCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="SingleLensReflexCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
  </ItemGroup>
  <ItemGroup>
    <None Include="cpp.hint" />
--- a/HPPA/HyperImagerControl.cpp
+++ b/HPPA/HyperImagerControl.cpp
@ -83,6 +83,7 @@ void HyperImagerControl::setFrameRate(double frameRate)
 	ui.FramerateSlider->setValue(frameRate);

 	updateIntegrationTimeRange(frameRate);
+	AppSettings::instance().setFrameRate(frameRate);
 }

 void HyperImagerControl::setIntegrationTime(double integrationTime)
@ -91,12 +92,15 @@ void HyperImagerControl::setIntegrationTime(double integrationTime)
 	ui.IntegratioinTimeSlider->setValue(integrationTime);

 	updateFramerateRange(integrationTime);
+	AppSettings::instance().setIntegrationTime(integrationTime);
 }

 void HyperImagerControl::setGain(double gain)
 {
 	ui.gain_spinBox->setValue(gain);
 	ui.GainSlider->setValue(gain);
+
+	AppSettings::instance().setGain(gain);
 }

 void HyperImagerControl::onFramerateSpinBoxEditingFinished()
@ -161,7 +165,7 @@ void HyperImagerControl::onGainSliderReleased()

 void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
 {
-	double maxIntegrationTime = 1.0 / frameRate * 1000.0; // 毫秒
+	double maxIntegrationTime = 1.0 / frameRate * 999.0; // 毫秒

 	ui.IntegratioinTimeSlider->blockSignals(true);
 	ui.IntegratioinTimeSlider->setMaximum(maxIntegrationTime);
@ -176,7 +180,7 @@ void HyperImagerControl::updateIntegrationTimeRange(double frameRate)

 void HyperImagerControl::updateFramerateRange(double integrationTime)
 {
-	double maxFramerate = 1.0 / (integrationTime / 1000.0); // 积分时间(毫秒)转帧率
+	double maxFramerate = 1.0 / (integrationTime / 999.0); // 积分时间(毫秒)转帧率

 	if(maxFramerate > m_frameRateLimit)
 	{
--- a/HPPA/HyperImagerControl.h
+++ b/HPPA/HyperImagerControl.h
@ -5,6 +5,7 @@
 #include "ui_hyperImagerControl.h"

 #include "AspectRatioLabel.h"
+#include "AppSettings.h"

 class QDoubleSlider;

--- a/HPPA/MapLayerStore.cpp
+++ b/HPPA/MapLayerStore.cpp
@ -43,6 +43,22 @@ void MapLayerStore::removeLayerByName(const QString& name)
    }
 }

+bool MapLayerStore::containsLayer(const QString& url, bool isAbsolutePath) const
+{
+    QFileInfo fi(url);
+    QString fileName = fi.completeBaseName();
+
+    if (!isAbsolutePath)
+    {
+        return getLayer(fileName) != nullptr;
+    }
+    for (const auto& l : m_layers) {
+        if (l->dataPath() == url)
+            return true;
+    }
+    return false;
+}
+
 MapLayer* MapLayerStore::getLayer(const QString& name) const
 {
    for (const auto& l : m_layers) {
--- a/HPPA/MapLayerStore.h
+++ b/HPPA/MapLayerStore.h
@ -2,6 +2,7 @@

 #include <QObject>
 #include <QString>
+#include <QFileInfo> 
 #include <vector>
 #include <memory>
 #include <unordered_map>
@ -20,6 +21,8 @@ public:
    // Now also accept the associated QWidget so UI widget can be retrieved by layer pointer
    void addLayer(MapLayer* layer, QWidget* widget = nullptr);

+    bool containsLayer(const QString& url, bool isAbsolutePath = true) const;
+
    // Remove by pointer or by name. Destruction happens when removed from store.
 public slots:
    void removeLayer(MapLayer* layer);
--- a/HPPA/QDoubleSlider.cpp
+++ b/HPPA/QDoubleSlider.cpp
@ -6,7 +6,8 @@ m_Multiplier(100.0)
 {
 	connect(this, SIGNAL(valueChanged(int)), this, SLOT(notifyValueChanged(int)));

-	setSingleStep(1);
+	setSingleStep(0);
+	setPageStep(0);
 	setRange(1, 500);

 	setOrientation(Qt::Horizontal);
--- a/HPPA/RgbCameraOperation.cpp
+++ b/HPPA/RgbCameraOperation.cpp
@ -30,7 +30,7 @@ void RgbCameraOperation::OpenCamera()

 	cam->release();

-	emit CamClosed();
+	emit CamOpenedSignal();

 }

@ -65,4 +65,6 @@ void RgbCameraOperation::CloseCamera()
 	std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;

 	record = false;
+
+	emit CamClosedSignal();
 }
--- a/HPPA/RgbCameraOperation.h
+++ b/HPPA/RgbCameraOperation.h
@ -42,6 +42,7 @@ public slots:
 signals:
 	void PlotSignal();

-	void CamClosed();
+	void CamOpenedSignal();
+	void CamClosedSignal();
 };
 #endif // !RGBCAMERAOPERATION_H
--- a/HPPA/SingleLensReflexCamera.ui
+++ b/HPPA/SingleLensReflexCamera.ui
@ -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>
--- a/HPPA/SingleLensReflexCameraWindow.cpp
+++ b/HPPA/SingleLensReflexCameraWindow.cpp
@ -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();
+}
--- a/HPPA/SingleLensReflexCameraWindow.h
+++ b/HPPA/SingleLensReflexCameraWindow.h
@ -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;
+
+};
--- a/HPPA/View3D.cpp
+++ b/HPPA/View3D.cpp
@ -372,4 +372,18 @@ void View3DLinearStage::setLoc(std::vector<double> loc)
    double x = round(loc[0] * 100) / 100;

    m_armTransform->setTranslation(QVector3D(x, 0, 0));
-}
+}
+
+View3DMicroscopicMotionModel::View3DMicroscopicMotionModel(const QString& baseModelPath, const QString& armModelPath, QWidget* parent)
+    :View3DBase(baseModelPath, armModelPath, parent)
+{
+
+}
+
+void View3DMicroscopicMotionModel::setLoc(std::vector<double> loc)
+{
+    double x = round(loc[0] * 100) / 100;
+    double y = round(loc[1] * 100) / 100;
+
+    m_armTransform->setTranslation(QVector3D(x, y, 0));
+}
--- a/HPPA/View3D.h
+++ b/HPPA/View3D.h
@ -106,6 +106,24 @@ private:

 private:

+public Q_SLOTS:
+    void setLoc(std::vector<double> loc);
+};
+
+class View3DMicroscopicMotionModel : public View3DBase
+{
+    Q_OBJECT
+public:
+    View3DMicroscopicMotionModel(const QString& baseModelPath,
+        const QString& armModelPath,
+        QWidget* parent = nullptr);
+
+protected:
+
+private:
+
+private:
+
 public Q_SLOTS:
    void setLoc(std::vector<double> loc);
 };
--- a/HPPA/View3DModelManager.cpp
+++ b/HPPA/View3DModelManager.cpp
@ -13,15 +13,21 @@ View3DModelManager::View3DModelManager(QWidget* parent)

 void View3DModelManager::switchScenario(ScenarioType type)
 {
-    if (type == ScenarioType::PlantPhenotype) {
+    if (type == ScenarioType::PlantPhenotype) 
+    {
        ensurePlantPhenotypeView();
        m_stackedWidget->setCurrentWidget(m_viewPlant);
    }
-    else {
+    if (type == ScenarioType::OneMotor)
+    {
        ensureOneMotorView();
        m_stackedWidget->setCurrentWidget(m_viewMotor);
    }
-
+    if (type == ScenarioType::MicroscopicMotionControl)
+    {
+        ensureMicroscopicMotionControlView();
+        m_stackedWidget->setCurrentWidget(m_viewMicroscopicMotionControlModel);
+    }
    emit scenarioChanged(type);
 }

@ -46,6 +52,27 @@ void View3DModelManager::ensurePlantPhenotypeView()
    emit created3DModelPlantPhenotype();
 }

+void View3DModelManager::ensureMicroscopicMotionControlView()
+{
+    if (m_viewMicroscopicMotionControlModel)
+        return;
+
+    QString basePath = QCoreApplication::applicationDirPath();
+
+    m_viewMicroscopicMotionControlModel = new View3DMicroscopicMotionModel(
+        basePath + "/3DModel/MicroscopicMotionModel_static.obj",
+        basePath + "/3DModel/MicroscopicMotionModel_moving.obj",
+        m_stackedWidget
+    );
+
+    m_viewMicroscopicMotionControlModel->setViewCenter(1000, 1000, -1000);
+    m_viewMicroscopicMotionControlModel->setDistance(5000);
+
+    m_stackedWidget->addWidget(m_viewMicroscopicMotionControlModel);
+
+    emit created3DModelMicroscopicMotion();
+}
+
 void View3DModelManager::ensureOneMotorView()
 {
    if (m_viewMotor)
--- a/HPPA/View3DModelManager.h
+++ b/HPPA/View3DModelManager.h
@ -16,7 +16,8 @@ class View3DModelManager : public QWidget
 public:
    enum class ScenarioType {
        PlantPhenotype,
-        OneMotor
+        OneMotor,
+        MicroscopicMotionControl
    };

    explicit View3DModelManager(QWidget* parent = nullptr);
@ -25,14 +26,17 @@ public:

    View3DPlantPhenotype* m_viewPlant = nullptr;
    View3DLinearStage* m_viewMotor = nullptr;
+    View3DMicroscopicMotionModel* m_viewMicroscopicMotionControlModel = nullptr;

 signals:
    void scenarioChanged(ScenarioType type);
    void created3DModelPlantPhenotype();
    void created3DModelOneMotor();
+    void created3DModelMicroscopicMotion();

 private:
    void ensurePlantPhenotypeView();
+    void ensureMicroscopicMotionControlView();
    void ensureOneMotorView();

 private:
--- a/HPPA/about.ui
+++ b/HPPA/about.ui
@ -288,7 +288,7 @@ QPushButton:pressed
 }</string>
            </property>
            <property name="text">
-             <string>版本：3.0.1</string>
+             <string>版本：3.0.2</string>
            </property>
           </widget>
          </item>
--- a/HPPA/image2display.cpp
+++ b/HPPA/image2display.cpp
@ -153,22 +153,18 @@ void CImage::FillFocusGrayImage(unsigned short * datacube)

 void CImage::FillFocusGrayQImage(unsigned short * datacube)
 {
-	float two_eight = pow(2.0, 8);
-	float two_sixteen = pow(2.0, 12);
+	constexpr float scale = 256.0f / 4096.0f; // 2^8 / 2^12

 	int width = m_qimageFocusGrayImage->width();
 	int height = m_qimageFocusGrayImage->height();
-	for (unsigned short i = 0; i < height; i++)
+	for (int i = 0; i < height; i++)
 	{
-		for (unsigned short j = 0; j < width; j++)
+		QRgb* scanLine = reinterpret_cast<QRgb*>(m_qimageFocusGrayImage->scanLine(i));
+		const unsigned short* srcRow = datacube + width * i;
+		for (int j = 0; j < width; j++)
 		{
-			//uint tmp = (two_eight* *(datacube + width * i + j)) / two_sixteen;
-			uint tmp = (two_eight* datacube[width*i + j]) / two_sixteen;
-			//uint tmp = datacube[width*i + j];
-
-
-			//m_qimageFocusGrayImage->setPixel(j, i, tmp);
-			m_qimageFocusGrayImage->setPixel(j, i, qRgb((unsigned char)tmp, (unsigned char)tmp, (unsigned char)tmp));
+			unsigned char gray = static_cast<unsigned char>(srcRow[j] * scale);
+			scanLine[j] = qRgb(gray, gray, gray);
 		}
 	}

--- a/HPPA/imageControl.cpp
+++ b/HPPA/imageControl.cpp
@ -8,6 +8,14 @@ ImageControl::ImageControl(QWidget* parent)
 {
 	ui.setupUi(this);

+	ui.sliderRed->setPageStep(0);
+	ui.sliderGreen->setPageStep(0);
+	ui.sliderBlue->setPageStep(0);
+
+	ui.sliderRed->setSingleStep(0);
+	ui.sliderGreen->setSingleStep(0);
+	ui.sliderBlue->setSingleStep(0);
+
 	// Spinbox valueChanged: only sync the paired slider (no render)
 	connect(ui.spinRed, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinRedValueChanged);
 	connect(ui.spinGreen, QOverload<double>::of(&QDoubleSpinBox::valueChanged), this, &ImageControl::onSpinGreenValueChanged);
@ -137,16 +145,10 @@ void ImageControl::setActiveLayer(RasterLayer* layer)
 	int maxIdx = static_cast<int>(m_wavelengths.size()) - 1;
 	ui.sliderRed->setMinimum(0);
 	ui.sliderRed->setMaximum(maxIdx);
-	ui.sliderRed->setSingleStep(1);
-	ui.sliderRed->setPageStep(1);
 	ui.sliderGreen->setMinimum(0);
 	ui.sliderGreen->setMaximum(maxIdx);
-	ui.sliderGreen->setSingleStep(1);
-	ui.sliderGreen->setPageStep(1);
 	ui.sliderBlue->setMinimum(0);
 	ui.sliderBlue->setMaximum(maxIdx);
-	ui.sliderBlue->setSingleStep(1);
-	ui.sliderBlue->setPageStep(1);

 	// Set current values from layer's render params
 	auto params = layer->currentRenderParams();
--- a/HPPA/rgbCameraWindow.cpp
+++ b/HPPA/rgbCameraWindow.cpp
@ -18,7 +18,7 @@ rgbCameraWindow::rgbCameraWindow(QWidget* parent)
 	//connect(this->ui.open_rgb_camera_btn, SIGNAL(clicked()), m_RgbCamera, SLOT(OpenCamera_callback()));//ʹ<>ûص<C3BB><D8B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><CBA2><EFBFBD><EFBFBD><EFBFBD>̣߳<DFB3>ui<75>̣߳<DFB3><CCA3>ϵ<EFBFBD><CFB5><EFBFBD>Ƶ <20><> ʧ<><CAA7>

 	connect(ui.close_rgb_camera_btn, SIGNAL(clicked()), this, SLOT(onCloseRgbCamera()));//<2F>ر<EFBFBD><D8B1><EFBFBD><EFBFBD><EFBFBD>
-	connect(m_RgbCamera, SIGNAL(CamClosed()), this, SIGNAL(CamClosedSignal()));
+	connect(m_RgbCamera, SIGNAL(CamClosedSignal()), this, SIGNAL(CamClosedSignal()));
 }

 rgbCameraWindow::~rgbCameraWindow()
--- a/HPPA/set.ui
+++ b/HPPA/set.ui
@ -9,8 +9,8 @@
   <rect>
    <x>0</x>
    <y>0</y>
-    <width>486</width>
-    <height>229</height>
+    <width>641</width>
+    <height>320</height>
   </rect>
  </property>
  <property name="windowTitle">
@ -234,26 +234,58 @@ QPushButton:pressed
      </item>
      <item row="1" column="0">
       <widget class="QWidget" name="widget" native="true">
-        <layout class="QGridLayout" name="gridLayout_2">
+        <layout class="QGridLayout" name="gridLayout_2" rowstretch="3,2">
         <item row="0" column="0">
-          <widget class="QLabel" name="label">
-           <property name="text">
-            <string>数据路径</string>
-           </property>
+          <widget class="QWidget" name="widget_2" native="true">
+           <layout class="QGridLayout" name="gridLayout_3">
+            <item row="0" column="0">
+             <widget class="QLabel" name="label">
+              <property name="text">
+               <string>数据路径</string>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="1">
+             <widget class="QLineEdit" name="dataFolderLineEdit">
+              <property name="readOnly">
+               <bool>true</bool>
+              </property>
+             </widget>
+            </item>
+            <item row="0" column="2">
+             <widget class="QPushButton" name="dataFolderBtn">
+              <property name="text">
+               <string>...</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
          </widget>
         </item>
-         <item row="0" column="1">
-          <widget class="QLineEdit" name="dataFolderLineEdit">
-           <property name="readOnly">
-            <bool>true</bool>
-           </property>
-          </widget>
-         </item>
-         <item row="0" column="2">
-          <widget class="QPushButton" name="dataFolderBtn">
-           <property name="text">
-            <string>...</string>
-           </property>
+         <item row="1" column="0">
+          <widget class="QWidget" name="widget_3" native="true">
+           <layout class="QGridLayout" name="gridLayout_4" columnstretch="5,2">
+            <item row="0" column="0">
+             <spacer name="horizontalSpacer">
+              <property name="orientation">
+               <enum>Qt::Horizontal</enum>
+              </property>
+              <property name="sizeHint" stdset="0">
+               <size>
+                <width>411</width>
+                <height>20</height>
+               </size>
+              </property>
+             </spacer>
+            </item>
+            <item row="0" column="1">
+             <widget class="QPushButton" name="confirmBtn">
+              <property name="text">
+               <string>确认</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
          </widget>
         </item>
        </layout>
--- a/HPPA/setWindow.cpp
+++ b/HPPA/setWindow.cpp
@ -12,6 +12,7 @@ setWindow::setWindow(QWidget* parent)

 	connect(this->ui.closeBtn, SIGNAL(released()), this, SLOT(onExit()));
 	connect(this->ui.dataFolderBtn, SIGNAL(clicked()), this, SLOT(onSelectDataFolder()));
+	connect(this->ui.confirmBtn, SIGNAL(clicked()), this, SLOT(onExit()));

 	loadSettings();
 }
Author	SHA1	Message	Date
tangchao0503	e43d60e264	add： 1、增加显微镜场景：添加显微镜3D模型； 2、设置界面添加确认按钮； fix： 1、相机看板：（1）帧率*积分时间=999，防止nir崩溃（2）记录帧率和积分时间，下次打开软件后恢复；（3）只能拖动slider改变值，不能点击slider改变值； 2、加入判断，不能多次打开同一个影像； 3、图像控制看板：只能拖动slider改变值，不能点击slider改变值；	2026-04-16 16:43:28 +08:00
tangchao0503	24d34f39be	添加单反相机控制看板	2026-04-14 16:57:11 +08:00
tangchao0503	d326dabff7	add，深度相机： 1、采集惯导数据并写入文件； 2、轮播看板添加深度图像； 3、植物表型场景控制深度相机看板； fix：优化调焦时，图像像素的填充方式；	2026-04-14 13:14:55 +08:00
tangchao0503	5009832b3a	add 1、采集深度、彩色、rgb点云，并存储到文件； 2、界面操作逻辑控制，防止用户错误操作；	2026-04-09 16:29:12 +08:00
tangchao0503	5350d9431a	add 添加深度相机1：控制看板界面	2026-04-08 17:04:51 +08:00