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；

HPPA/DepthCameraWindow.cpp

@@ -1,24 +1,323 @@
-#include "DepthCameraWindow.h"
+#include "DepthCameraWindow.h"
 
 DepthCameraWindow::DepthCameraWindow(QWidget* parent)
 	: QDialog(parent)
 {
 	ui.setupUi(this);
 
-	connect(ui.openDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::openDepthCamera);
-	connect(ui.closeDepthCamera_btn, &QPushButton::clicked, this, &DepthCameraWindow::closeDepthCamera);
+	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();
+}

HPPA/DepthCameraWindow.h

@@ -1,11 +1,60 @@
-#pragma once
+#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
 {
@@ -15,13 +64,21 @@ public:
 	DepthCameraWindow(QWidget* parent = nullptr);
 	~DepthCameraWindow();
 
+	DepthCameraOperation* m_DepthCameraOperation;
 
 public Q_SLOTS:
-	void PlotRgbImageSignal();
-	void CamClosedSignal();
+	void openDepthCamera();
+	void onCamOpened();
+	void closeDepthCamera();
+	void onCamClosed();
 
 signals:
+void openDepthCameraSignal();
+void PlotDepthImageSignal();
+void DepthCamClosedSignal();
 
 private:
 	Ui::DepthCameraClass ui;
+	QThread* m_DepthCameraThread;
+	
 };

HPPA/HPPA.cpp

@@ -399,12 +399,28 @@ 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();
 
@@ -753,6 +769,7 @@ 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"));
 
@@ -761,6 +778,9 @@ void HPPA::initControlTabwidget()
 	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
@@ -1213,6 +1233,7 @@ void HPPA::createOneMotorScenario()
 	ui.mAction_1AxisMotor->setChecked(true);
 
 	//右下角控制tab
+	m_tabManager->hideTab(m_depthCameraWindow);
 	m_tabManager->hideTab(m_rgbCameraControlWindow);
 	m_tabManager->hideTab(m_adt);
 	m_tabManager->hideTab(m_pc);
@@ -1244,6 +1265,7 @@ void HPPA::createPlantPhenotypeScenario()
 	m_tabManager->hideTab(m_rac);
 	m_tabManager->hideTab(m_omc);
 
+	m_tabManager->showTab(m_depthCameraWindow);
 	m_tabManager->showTab(m_rgbCameraControlWindow);
 	m_tabManager->showTab(m_adt);
 	m_tabManager->showTab(m_pc);
@@ -1763,6 +1785,23 @@ 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);

HPPA/HPPA.h

@@ -271,6 +271,7 @@ private:
 
 	MyCarousel* m_carousel;
 	QLabel* m_cam_label;
+	QLabel* m_depthCamera_label;
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;
 
@@ -351,8 +352,10 @@ public Q_SLOTS:
 		void OnSendLogToCallClass(QString str);
 
 		void onPlotRgbImage();
+		void onPlotDepthImage();
 		
 		void onClearLabel();
+		void onClearDepthLabel();
 
 		void onCopyFinished();
 

HPPA/HPPA.vcxproj

@@ -55,8 +55,8 @@
   </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'">
@@ -66,7 +66,7 @@
   </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>

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();
 }

HPPA/RgbCameraOperation.h

@@ -42,6 +42,7 @@ public slots:
 signals:
 	void PlotSignal();
 
-	void CamClosed();
+	void CamOpenedSignal();
+	void CamClosedSignal();
 };
 #endif // !RGBCAMERAOPERATION_H

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);
 		}
 	}
 

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()