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；

.gitignore

@@ -7,6 +7,7 @@ HPPA类图.drawio
 HPPA - 副本.ui
 icon
 ignore_*
+resources
 
 ## Ignore Visual Studio temporary files, build results, and
 ## files generated by popular Visual Studio add-ons.

HPPA/AppSettings.cpp

@@ -0,0 +1,35 @@
+#include "AppSettings.h"
+
+const QString AppSettings::kDefaultDataFolder = QStringLiteral("C:\\HPPA_image");
+const QString AppSettings::kDefaultFileName = QStringLiteral("test_image");
+
+AppSettings::AppSettings()
+	: m_settings(QSettings::IniFormat, QSettings::UserScope,
+		QStringLiteral("IRIS"), QStringLiteral("HPPA"))
+{
+}
+
+AppSettings& AppSettings::instance()
+{
+	static AppSettings s;
+	return s;
+}
+
+QString AppSettings::dataFolder() const
+{
+	return m_settings.value("General/DataFolder", kDefaultDataFolder).toString();
+}
+
+void AppSettings::setDataFolder(const QString& path)
+{
+	m_settings.setValue("General/DataFolder", path);
+}
+
+QString AppSettings::fileName() const
+{
+	return m_settings.value("General/FileName", kDefaultFileName).toString();
+}
+void AppSettings::setFileName(const QString& path)
+{
+	m_settings.setValue("General/FileName", path);
+}

HPPA/AppSettings.h

@@ -0,0 +1,29 @@
+#pragma once
+
+#include <QSettings>
+#include <QString>
+
+class AppSettings
+{
+public:
+	static AppSettings& instance();
+
+	// 数据路径
+	QString dataFolder() const;
+	void setDataFolder(const QString& path);
+
+	QString fileName() const;
+	void setFileName(const QString& path);
+	// 在此处添加更多参数的 getter/setter ...
+
+private:
+	AppSettings();
+	AppSettings(const AppSettings&) = delete;
+	AppSettings& operator=(const AppSettings&) = delete;
+
+	QSettings m_settings;
+
+	// 默认值
+	static const QString kDefaultDataFolder;
+	static const QString kDefaultFileName;
+};

HPPA/AspectRatioLabel.cpp

@@ -0,0 +1,28 @@
+#include "stdafx.h"
+#include "AspectRatioLabel.h"
+
+AspectRatioLabel::AspectRatioLabel(QWidget* parent)
+	: QLabel(parent)
+{
+	setAlignment(Qt::AlignCenter);
+}
+
+void AspectRatioLabel::setOriginalPixmap(const QPixmap& pixmap)
+{
+	m_originalPixmap = pixmap;
+	updateScaledPixmap();
+}
+
+void AspectRatioLabel::resizeEvent(QResizeEvent* event)
+{
+	QLabel::resizeEvent(event);
+	updateScaledPixmap();
+}
+
+void AspectRatioLabel::updateScaledPixmap()
+{
+	if (m_originalPixmap.isNull())
+		return;
+
+	setPixmap(m_originalPixmap.scaled(size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
+}

HPPA/AspectRatioLabel.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <QLabel>
+#include <QPixmap>
+#include <QResizeEvent>
+
+class AspectRatioLabel : public QLabel
+{
+	Q_OBJECT
+
+public:
+	explicit AspectRatioLabel(QWidget* parent = nullptr);
+
+	void setOriginalPixmap(const QPixmap& pixmap);
+
+protected:
+	void resizeEvent(QResizeEvent* event) override;
+
+private:
+	void updateScaledPixmap();
+	QPixmap m_originalPixmap;
+};

HPPA/CaptureCoordinator.cpp

@@ -97,7 +97,6 @@ void TwoMotionCaptureCoordinator::stop()
 	std::cout << "The user manually stops the collection! " << std::endl;
 	savePathLinesToCsv();
 	
-	emit sequenceComplete(1);
 	emit finishRecordLineNumSignal(m_numCurrentPathLine);
 	//emit stopRecordHSISignal(m_numCurrentPathLine);
 	if (m_cameraCtrl != nullptr)
@@ -106,6 +105,8 @@ void TwoMotionCaptureCoordinator::stop()
 	}
 
 	move2LocBeforeStart();
+
+	emit sequenceComplete(1);
 }
 
 void TwoMotionCaptureCoordinator::getLocBeforeStart()
@@ -471,7 +472,8 @@ OneMotionCaptureCoordinator::OneMotionCaptureCoordinator(
 
 OneMotionCaptureCoordinator::~OneMotionCaptureCoordinator()
 {
-
+	disconnect(m_motorCtrl, &IrisMultiMotorController::motorStopSignal,
+		this, &OneMotionCaptureCoordinator::handleMotorStoped);
 }
 
 void OneMotionCaptureCoordinator::startStepMotion(OneMotionCapturePathLine pathLine)
@@ -585,6 +587,10 @@ void OneMotionCaptureCoordinator::handleMotorStoped(int motorID, double pos)
 		m_cameraCtrl->stop_record();
 	}
 	move2LocBeforeStart();
+
+	// emit sequenceComplete last: the slot connected to it may delete this object,
+	// so no member access is allowed after this point.
+	emit sequenceComplete(0);
 }
 
 void OneMotionCaptureCoordinator::handleCaptureComplete(double index)

HPPA/Carousel.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QWidget>
 #include <QPushButton>
@@ -40,13 +40,13 @@ private:
     QString m_nomalQSS;
     QString m_lockedQSS;
 
-    // ״ֵ̬
+    // 状态值
     int m_currentIndex;
     bool m_isPlaying;
     bool m_isLocked;
     int m_lockedIndex;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 参数
     int m_playInterval;
     int m_intervalButtonSize;
 

HPPA/Corning410Imager.cpp

@@ -1,8 +1,8 @@
-#include "Corning410Imager.h"
+#include "Corning410Imager.h"
 
 Corning410Imager::Corning410Imager()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>У<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//配置文件：如果没有，就创建配置文件
 	string CfgFile = getPathofEXE() + "\\corning410.cfg";
 	m_configfile.setConfigfilePath(CfgFile);
 	if (!m_configfile.isConfigfileExist())
@@ -18,7 +18,7 @@ Corning410Imager::~Corning410Imager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -70,7 +70,7 @@ void Corning410Imager::connectImager(const char* camera_sn)
 {
 	m_imager.connect();
 
-	//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ò<EFBFBD><EFBFBD><EFBFBD>
+	//读取配置文件参数，并为相机设置参数
 	bool ret, ret1, ret2;
 
 	int spatialBin;
@@ -82,8 +82,8 @@ void Corning410Imager::connectImager(const char* camera_sn)
 		bool haha = m_imager.setSpectralBin(spectralBin);
 		bool haha2 = m_imager.setSpatialBin(spatialBin);
 
-		std::cout << "spectralBin<EFBFBD><EFBFBD>" << spectralBin << std::endl;
-		std::cout << "spatialBin<EFBFBD><EFBFBD>" << spatialBin << std::endl;
+		std::cout << "spectralBin：" << spectralBin << std::endl;
+		std::cout << "spatialBin：" << spatialBin << std::endl;
 	}
 
 	float gain, offset;

HPPA/Corning410Imager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <string>
 #include <opencv2/core/core.hpp> 
 

HPPA/CustomDockWidgetBase.cpp

@@ -1,4 +1,4 @@
-#include "CustomDockWidgetBase.h"
+#include "CustomDockWidgetBase.h"
 
 CustomDockWidgetBase::CustomDockWidgetBase(QMainWindow* parent)
     : QDockWidget(parent),
@@ -55,7 +55,7 @@ void CustomDockWidgetBase::initialize()
 			border-top: 1px solid #2c586b;
 			border-left: 1px solid #2c586b;
 			border-right: 1px solid #2c586b;
-			border-bottom: none;  /* ȡ<EFBFBD><EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD>߿<EFBFBD> */
+			border-bottom: none;  /* 取消底部边框 */
 			
 			border-top-left-radius: 5px;
 			border-top-right-radius: 5px;

HPPA/CustomDockWidgetBase.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QDockWidget>
 #include <QToolButton>
 #include <QStyle>

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>

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();
+}

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;
+	
+};

HPPA/FileNameLineEdit.cpp

@@ -0,0 +1,46 @@
+#include "FileNameLineEdit.h"
+
+FileNameLineEdit::FileNameLineEdit(QWidget* parent)
+	: QLineEdit(parent)
+{
+	setText(AppSettings::instance().fileName());
+	connect(this, &QLineEdit::textChanged, this, &FileNameLineEdit::onTextChanged);
+}
+
+void FileNameLineEdit::keyPressEvent(QKeyEvent* event)
+{
+	if (event->key() == Qt::Key_Space)
+	{
+		event->ignore();
+		return;
+	}
+	QLineEdit::keyPressEvent(event);
+}
+
+void FileNameLineEdit::inputMethodEvent(QInputMethodEvent* event)
+{
+	QString commitString = event->commitString();
+	if (commitString.contains(' '))
+	{
+		commitString.remove(' ');
+		QInputMethodEvent filtered(event->preeditString(), event->attributes());
+		filtered.setCommitString(commitString);
+		QLineEdit::inputMethodEvent(&filtered);
+		return;
+	}
+	QLineEdit::inputMethodEvent(event);
+}
+
+void FileNameLineEdit::onTextChanged(const QString& text)
+{
+	QString cleaned = text;
+	if (cleaned.contains(' '))
+	{
+		int pos = cursorPosition();
+		cleaned.remove(' ');
+		setText(cleaned);
+		setCursorPosition(qMin(pos, cleaned.length()));
+		return;
+	}
+	AppSettings::instance().setFileName(cleaned);
+}

HPPA/FileNameLineEdit.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#include <QLineEdit>
+#include <QKeyEvent>
+#include "AppSettings.h"
+
+class FileNameLineEdit : public QLineEdit
+{
+	Q_OBJECT
+
+public:
+	explicit FileNameLineEdit(QWidget* parent = nullptr);
+
+protected:
+	void keyPressEvent(QKeyEvent* event) override;
+
+	void inputMethodEvent(QInputMethodEvent* event) override;
+
+private slots:
+	void onTextChanged(const QString& text);
+};

HPPA/FocusDialog.ui

@@ -13,10 +13,6 @@
   <property name="windowTitle">
    <string>调焦</string>
   </property>
-  <property name="windowIcon">
-   <iconset resource="HPPA.qrc">
-    <normaloff>:/HPPA/HPPA.ico</normaloff>:/HPPA/HPPA.ico</iconset>
-  </property>
   <property name="styleSheet">
    <string notr="true">QLineEdit {
     background-color: #142D7F;
@@ -236,8 +232,8 @@ QSlider::handle:horizontal:pressed {
             <string/>
            </property>
            <property name="icon">
-            <iconset>
-             <normaloff>icon/all/close.svg</normaloff>icon/all/close.svg</iconset>
+            <iconset resource="HPPA.qrc">
+             <normaloff>:/svg/resources/icons/svg/close.svg</normaloff>:/svg/resources/icons/svg/close.svg</iconset>
            </property>
           </widget>
          </item>

HPPA/HPPA - 副本 (2).ui

@@ -0,0 +1,861 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HPPAClass</class>
+ <widget class="QMainWindow" name="HPPAClass">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1486</width>
+    <height>898</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Spectral Insight</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="HPPA.qrc">
+    <normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</iconset>
+  </property>
+  <property name="styleSheet">
+   <string notr="true"/>
+  </property>
+  <widget class="QWidget" name="centralWidget"/>
+  <widget class="QMenuBar" name="menuBar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>1486</width>
+     <height>30</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>-1</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QMenuBar{
+background:#F0F0F0;
+color:rgb(0,0,0);
+font-size:14px;
+padding:1px;
+border:1px solid rgb(165,171,184);
+}
+
+QMenuBar::item{
+background:#F0F0F0;
+width:30px;
+height:15px;
+}
+
+QMenuBar::item:selected{
+background:rgb(185,196,221);
+}
+
+QMenu{
+background:rgb(255,255,255);
+color:rgb(0,0,0);
+border:1px solid rgb(165,171,184);
+}
+
+QMenu::item:selected{
+background:rgb(69,123,255);
+color:white;
+}
+</string>
+   </property>
+   <widget class="QMenu" name="file">
+    <property name="title">
+     <string>文件</string>
+    </property>
+    <addaction name="mActionOpenImg"/>
+    <addaction name="separator"/>
+    <addaction name="mSetting"/>
+    <addaction name="action_exit"/>
+   </widget>
+   <widget class="QMenu" name="menuspectrometer">
+    <property name="title">
+     <string>光谱仪</string>
+    </property>
+    <widget class="QMenu" name="menu">
+     <property name="font">
+      <font>
+       <family>宋体</family>
+      </font>
+     </property>
+     <property name="title">
+      <string>选择相机类型</string>
+     </property>
+     <addaction name="mActionPica_L"/>
+     <addaction name="mActionPica_NIR"/>
+     <addaction name="mActionPika_XC2"/>
+     <addaction name="separator"/>
+     <addaction name="mActionCorning_410"/>
+    </widget>
+    <addaction name="menu"/>
+    <addaction name="action_connect_imager"/>
+    <addaction name="separator"/>
+    <addaction name="action_auto_exposure"/>
+    <addaction name="action_focus"/>
+    <addaction name="action_dark"/>
+    <addaction name="action_reference"/>
+    <addaction name="separator"/>
+    <addaction name="action_start_recording"/>
+    <addaction name="separator"/>
+    <addaction name="actionOpenDirectory"/>
+   </widget>
+   <widget class="QMenu" name="menuhelp">
+    <property name="title">
+     <string>帮助</string>
+    </property>
+    <addaction name="action_about"/>
+   </widget>
+   <widget class="QMenu" name="mWindowsMenu">
+    <property name="title">
+     <string>窗口</string>
+    </property>
+   </widget>
+   <widget class="QMenu" name="menu_2">
+    <property name="title">
+     <string>扫描平台</string>
+    </property>
+    <addaction name="mAction_is_no_motor"/>
+    <addaction name="mAction_1AxisMotor"/>
+    <addaction name="mAction_2AxisMotor_new"/>
+    <addaction name="separator"/>
+    <addaction name="mAction_RobotArm"/>
+   </widget>
+   <widget class="QMenu" name="mMenuScenario">
+    <property name="title">
+     <string>应用场景</string>
+    </property>
+    <addaction name="mActionOneMotorScenario"/>
+    <addaction name="mActionPlantPhenotypeScenario"/>
+   </widget>
+   <widget class="QMenu" name="menu_4">
+    <property name="title">
+     <string>数据处理</string>
+    </property>
+    <addaction name="action_4"/>
+    <addaction name="action_5"/>
+    <addaction name="action_13"/>
+   </widget>
+   <addaction name="file"/>
+   <addaction name="menuspectrometer"/>
+   <addaction name="mMenuScenario"/>
+   <addaction name="menu_4"/>
+   <addaction name="menu_2"/>
+   <addaction name="mWindowsMenu"/>
+   <addaction name="menuhelp"/>
+  </widget>
+  <widget class="QToolBar" name="mainToolBar">
+   <property name="sizePolicy">
+    <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
+     <horstretch>0</horstretch>
+     <verstretch>0</verstretch>
+    </sizepolicy>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+     <pointsize>2</pointsize>
+    </font>
+   </property>
+   <property name="windowTitle">
+    <string>相机控制</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar{
+	
+	background-color: #f5f5f5;
+	color:rgb(0,0,0);
+}
+QToolBar QToolButton {
+    background: #f5f5f5;               /* 按钮背景颜色 */
+	font-size:15px;
+    border-radius: 3px;             /* 按钮圆角 */
+    padding: 4px;                   /* 按钮内边距 */
+}
+QToolBar QToolButton:hover {
+    background: rgb(185,196,221);            /* 按钮悬停背景颜色 */
+    color: white;                   /* 按钮悬停文字颜色 */
+}
+</string>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>TopToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+   <addaction name="action_connect_imager"/>
+   <addaction name="action_auto_exposure"/>
+   <addaction name="action_focus"/>
+   <addaction name="action_dark"/>
+   <addaction name="action_reference"/>
+   <addaction name="action_start_recording"/>
+   <addaction name="actionOpenDirectory"/>
+   <addaction name="mActionPan"/>
+   <addaction name="mActionSpectral"/>
+  </widget>
+  <widget class="QStatusBar" name="statusBar">
+   <property name="styleSheet">
+    <string notr="true">QStatusBar
+{
+	background-color: #0D1233;
+	color: white;
+}
+
+QStatusBar::item
+{
+    border: none;
+}</string>
+   </property>
+  </widget>
+  <widget class="CustomDockWidgetBase" name="mDockWidgetSimulator">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
+   <property name="features">
+    <set>QDockWidget::AllDockWidgetFeatures</set>
+   </property>
+   <property name="windowTitle">
+    <string>3D模型</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>1</number>
+   </attribute>
+   <widget class="QWidget" name="dockWidgetContents_2">
+    <layout class="QGridLayout" name="gridLayout_7">
+     <property name="leftMargin">
+      <number>0</number>
+     </property>
+     <property name="topMargin">
+      <number>0</number>
+     </property>
+     <property name="rightMargin">
+      <number>0</number>
+     </property>
+     <property name="bottomMargin">
+      <number>0</number>
+     </property>
+     <property name="verticalSpacing">
+      <number>0</number>
+     </property>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="CustomDockWidgetHideAbove" name="mDockWidgetSpectrometer">
+   <property name="styleSheet">
+    <string notr="true"/>
+   </property>
+   <property name="windowTitle">
+    <string>控制</string>
+   </property>
+   <attribute name="dockWidgetArea">
+    <number>2</number>
+   </attribute>
+   <widget class="QWidget" name="controlContents">
+    <property name="styleSheet">
+     <string notr="true">QWidget #controlContents
+{
+	background-color: #0E1C4C;
+	
+	border-top: 1px solid #2c586b;
+	border-left: 1px solid #2c586b;
+	border-right: 1px solid #2c586b;
+	border-bottom: 1px solid #2c586b;
+	
+	border-top-left-radius: 0px;
+	border-top-right-radius: 0px;
+	border-bottom-left-radius: 10px;
+	border-bottom-right-radius: 10px;
+}
+</string>
+    </property>
+    <layout class="QGridLayout" name="gridLayout_5">
+     <property name="leftMargin">
+      <number>2</number>
+     </property>
+     <property name="topMargin">
+      <number>2</number>
+     </property>
+     <property name="rightMargin">
+      <number>2</number>
+     </property>
+     <property name="bottomMargin">
+      <number>2</number>
+     </property>
+     <property name="horizontalSpacing">
+      <number>6</number>
+     </property>
+     <item row="0" column="0">
+      <widget class="QTabWidget" name="controlTabWidget">
+       <property name="styleSheet">
+        <string notr="true">QTabBar::tab {
+	background: #0E1C4C;
+	color: white;
+	padding: 6px 12px;
+	border: none;
+	border-top: 1px solid #27376C;
+	height: 41;
+}
+
+QTabBar::tab:selected {
+	background: #0D1233;
+	color: white;
+	border: none;
+}
+
+/*QTabBar::tab:hover {
+	background: #141A45;
+}*/
+
+QTabWidget::pane {
+	border: none;
+	border-top: 1px solid #27376C;
+	background: #0D1233;
+	top: -1px;
+}
+</string>
+       </property>
+       <property name="tabPosition">
+        <enum>QTabWidget::South</enum>
+       </property>
+       <property name="tabShape">
+        <enum>QTabWidget::Rounded</enum>
+       </property>
+       <property name="currentIndex">
+        <number>0</number>
+       </property>
+       <property name="elideMode">
+        <enum>Qt::ElideNone</enum>
+       </property>
+       <widget class="QWidget" name="rgbCameraWidget">
+        <property name="styleSheet">
+         <string notr="true">QGroupBox
+{
+	border: 12px 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>
+        <attribute name="title">
+         <string>rgb相机</string>
+        </attribute>
+        <layout class="QGridLayout" name="gridLayout_4" rowstretch="2,4,2" columnstretch="1,3,1">
+         <item row="0" column="1">
+          <spacer name="verticalSpacer">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>174</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>115</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="1" column="1">
+          <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1">
+           <property name="spacing">
+            <number>20</number>
+           </property>
+           <item row="1" column="0">
+            <widget class="QPushButton" name="take_video_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>录制视频</string>
+             </property>
+            </widget>
+           </item>
+           <item row="1" column="1">
+            <widget class="QPushButton" name="take_photo_btn">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="text">
+              <string>拍照</string>
+             </property>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QPushButton" name="close_rgb_camera_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="open_rgb_camera_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>115</width>
+             <height>20</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+         <item row="2" column="1">
+          <spacer name="verticalSpacer_2">
+           <property name="orientation">
+            <enum>Qt::Vertical</enum>
+           </property>
+           <property name="sizeHint" stdset="0">
+            <size>
+             <width>20</width>
+             <height>173</height>
+            </size>
+           </property>
+          </spacer>
+         </item>
+        </layout>
+       </widget>
+      </widget>
+     </item>
+    </layout>
+   </widget>
+  </widget>
+  <widget class="QToolBar" name="toolBar">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>LeftToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_2">
+   <property name="minimumSize">
+    <size>
+     <width>20</width>
+     <height>0</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_2</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>RightToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <widget class="QToolBar" name="toolBar_3">
+   <property name="minimumSize">
+    <size>
+     <width>0</width>
+     <height>20</height>
+    </size>
+   </property>
+   <property name="windowTitle">
+    <string>toolBar_3</string>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QToolBar {
+	background: #040125;/*transparent*/
+	border: 1px solid #040125;
+}</string>
+   </property>
+   <property name="movable">
+    <bool>false</bool>
+   </property>
+   <attribute name="toolBarArea">
+    <enum>BottomToolBarArea</enum>
+   </attribute>
+   <attribute name="toolBarBreak">
+    <bool>false</bool>
+   </attribute>
+  </widget>
+  <action name="action_exit">
+   <property name="text">
+    <string>退出</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>Adobe Devanagari</family>
+    </font>
+   </property>
+  </action>
+  <action name="action_open">
+   <property name="text">
+    <string>open</string>
+   </property>
+   <property name="iconText">
+    <string>open</string>
+   </property>
+  </action>
+  <action name="actionpreference">
+   <property name="text">
+    <string>preference...</string>
+   </property>
+  </action>
+  <action name="action_start_recording">
+   <property name="text">
+    <string>采集</string>
+   </property>
+  </action>
+  <action name="action_focus">
+   <property name="text">
+    <string>调焦</string>
+   </property>
+  </action>
+  <action name="action_auto_exposure">
+   <property name="text">
+    <string>曝光</string>
+   </property>
+  </action>
+  <action name="action_dark">
+   <property name="text">
+    <string>暗电流</string>
+   </property>
+  </action>
+  <action name="action_reference">
+   <property name="text">
+    <string>白板</string>
+   </property>
+  </action>
+  <action name="action_connect_imager">
+   <property name="text">
+    <string>连接相机</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="actionOpenDirectory">
+   <property name="text">
+    <string>打开文件夹</string>
+   </property>
+  </action>
+  <action name="mActionPica_L">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika L</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="mActionCorning_410">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Corning 410</string>
+   </property>
+  </action>
+  <action name="mActionPika_XC2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika XC2</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="action_about">
+   <property name="text">
+    <string>关于</string>
+   </property>
+  </action>
+  <action name="mActionPica_NIR">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>Pika NIR</string>
+   </property>
+   <property name="font">
+    <font>
+     <family>宋体</family>
+    </font>
+   </property>
+  </action>
+  <action name="actionpanel">
+   <property name="text">
+    <string>面板</string>
+   </property>
+  </action>
+  <action name="action">
+   <property name="text">
+    <string>工具栏</string>
+   </property>
+  </action>
+  <action name="action_2">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>马达</string>
+   </property>
+  </action>
+  <action name="mAction_is_no_motor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="enabled">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>无</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mAction_RobotArm">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="checked">
+    <bool>false</bool>
+   </property>
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="mAction_1AxisMotor">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>1 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mActionOneMotorScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>室内1轴线性平台</string>
+   </property>
+  </action>
+  <action name="action_4">
+   <property name="text">
+    <string>辐亮度</string>
+   </property>
+  </action>
+  <action name="action_5">
+   <property name="text">
+    <string>反射率</string>
+   </property>
+  </action>
+  <action name="action_6">
+   <property name="text">
+    <string>机械臂</string>
+   </property>
+  </action>
+  <action name="action_7">
+   <property name="text">
+    <string>显微镜</string>
+   </property>
+  </action>
+  <action name="action_8">
+   <property name="text">
+    <string>三脚架（旋转平台）</string>
+   </property>
+  </action>
+  <action name="mActionOpenImg">
+   <property name="text">
+    <string>打开影像</string>
+   </property>
+  </action>
+  <action name="action_10">
+   <property name="text">
+    <string>关闭影像</string>
+   </property>
+  </action>
+  <action name="mSetting">
+   <property name="text">
+    <string>设置</string>
+   </property>
+  </action>
+  <action name="action_13">
+   <property name="text">
+    <string>拼接</string>
+   </property>
+  </action>
+  <action name="mActionPlantPhenotypeScenario">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>植物表型</string>
+   </property>
+  </action>
+  <action name="action2">
+   <property name="text">
+    <string>2轴旋转平台</string>
+   </property>
+  </action>
+  <action name="mAction_2AxisMotor_new">
+   <property name="checkable">
+    <bool>true</bool>
+   </property>
+   <property name="text">
+    <string>2 轴线性马达</string>
+   </property>
+  </action>
+  <action name="mActionPan">
+   <property name="text">
+    <string>漫游</string>
+   </property>
+  </action>
+  <action name="mActionSpectral">
+   <property name="text">
+    <string>光谱</string>
+   </property>
+  </action>
+ </widget>
+ <layoutdefault spacing="6" margin="11"/>
+ <customwidgets>
+  <customwidget>
+   <class>CustomDockWidgetBase</class>
+   <extends>QDockWidget</extends>
+   <header>customdockwidgetbase.h</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>CustomDockWidgetHideAbove</class>
+   <extends>QDockWidget</extends>
+   <header>CustomDockWidgetBase.h</header>
+   <container>1</container>
+  </customwidget>
+ </customwidgets>
+ <resources>
+  <include location="HPPA.qrc"/>
+ </resources>
+ <connections/>
+</ui>

HPPA/HPPA.h

@@ -67,6 +67,19 @@
 #include "MapToolSpectral.h"
 #include "MapTools.h"
 
+#include "AspectRatioLabel.h"
+
+#include "HyperImagerControl.h"
+
+#include "recordFrameCounter.h"
+
+#include "setWindow.h"
+#include "AppSettings.h"
+#include "FileNameLineEdit.h"
+
+#include "rgbCameraWindow.h"
+#include "DepthCameraWindow.h"
+
 #define PI 3.1415926
 
 QT_CHARTS_USE_NAMESPACE//QChartView 使用 需要加宏， 否则无法使用
@@ -155,7 +168,7 @@ class WidgetWithBackgroundPicture : public QWidget
 public:
 	explicit WidgetWithBackgroundPicture(QWidget* parent = nullptr)
 		: QWidget(parent),
-		m_pixmap(".//icon//titile_bar_bgp.png")  // 使用资源或绝对路径
+		m_pixmap(":/png/resources/icons/png/titile_bar_bgp.png")  // 使用资源或绝对路径
 	{
 		// 可选：设置初始大小
 		resize(800, 600);
@@ -184,8 +197,6 @@ public:
 	static HPPA* instance();
 	LayerTreeNode* rasterGroupNode() const;
 
-	void CalculateIntegratioinTimeRange();//通过帧率计算积分时间范围，设置slider最大值
-
 	WorkerThread * m_TestImagerStausThread;//检测相机连接状态的线程
 
 private:
@@ -202,7 +213,7 @@ private:
 	QWidget* tmp(QWidget* a);
 
 	QLineEdit * frame_number;
-	QLineEdit * m_FilenameLineEdit;
+	FileNameLineEdit * m_FilenameLineEdit;
 	QLabel * xmotor_state_label1;
 	QLabel * ymotor_state_label1;
 
@@ -213,7 +224,7 @@ private:
 	int m_RecordState;//用来控制相机采集流程，取2的余数，1 → 正在采集，0 → 停止采集
 
 	QThread * m_RecordThread;//影像采集线程
-	QThread * m_RgbCameraThread;//rgb相机获取图像线程
+	
 	QThread * m_CopyFileThread;//影像文件复制线程
 	FileOperation * m_FileOperation;
 
@@ -235,7 +246,7 @@ private:
 
 	//
 	int m_TabWidgetCurrentIndex;//当手动选择TabWidget的标签时，记录变化后的tab index
-	RgbCameraOperation *m_RgbCamera;
+	
 
 	void getRequest(QString str);
 
@@ -260,12 +271,16 @@ private:
 
 	MyCarousel* m_carousel;
 	QLabel* m_cam_label;
+	QLabel* m_depthCamera_label;
 	QPushButton* m_open_rgb_camera_btn;
 	QPushButton* m_close_rgb_camera_btn;
 
 	TabManager* m_tabManager;
 
+	HyperImagerControl* m_hic;
+	rgbCameraWindow* m_rgbCameraControlWindow;
 	ImageControl* m_ic;
+	DepthCameraWindow* m_depthCameraWindow;
 	adjustTable* m_adt;
 	PowerControl* m_pc;
 	RobotArmControl* m_rac;
@@ -289,9 +304,16 @@ private:
 
 	QWidget* m_focusTab=nullptr;
 
+	recordFrameCounter* m_recordFrameCounter = nullptr;
+
+	bool testImagerVality();
+	void showMessageBox(QString msg, QString title= QString::fromLocal8Bit("提示"));
+	bool showResultMessageBox(QString title, QString msg);
+	void disconnectImagerAndCleanup();
+
 public Q_SLOTS:
 	void onPlotHyperspectralImageRgbImage(int fileNumber, int frameNumber, QString filePath);
-	void PlotSpectral(int state);
+	void focusPlotSpectralImg(int state);
 	void onRecordFinishedSignal_WhenFrameNumberMeet();
 	void onRecordFinishedSignal_WhenFrameNumberNotMeet();
 	void onsequenceComplete();
@@ -306,6 +328,7 @@ public Q_SLOTS:
 	void onFocus2(int command);
 	void onFocusWindowClosed();
 	void onAbout();
+	void settingWindow();
 	void onDark();
 	void recordDarkFinish();
 	void onReference();
@@ -315,16 +338,12 @@ public Q_SLOTS:
 	void onTabWidgetCurrentChanged(int index);
 	void onActionOpenDirectory();
 
-	void OnFramerateLineeditEditingFinished();//
-		void OnFramerateSliderChanged(double framerate);//
+	void onFramerateChanged(double framerate);
+	void onIntegrationTimeChanged(double integrationTime);
+	void onGainChanged(double gain);
 
-		void OnIntegratioinTimeEditingFinished();//
-		void OnIntegratioinTimeSliderChanged(double IntegratioinTime);//
-		void OnGainEditingFinished();//
-		void OnGainSliderChanged(double Gain);//
-
-		void onLeftMouseButtonPressed(int x, int y, QVector<double> wavelengths, QVector<double> spectrum);//点击影像像元显示光谱
-		void setAxis(QValueAxis* axisX, QValueAxis* axisY);
+	void onLeftMouseButtonPressed(int x, int y, QVector<double> wavelengths, QVector<double> spectrum);//点击影像像元显示光谱
+	void setAxis(QValueAxis* axisX, QValueAxis* axisY);
 
 
 		void timerEvent(QTimerEvent *event);
@@ -333,8 +352,10 @@ public Q_SLOTS:
 		void OnSendLogToCallClass(QString str);
 
 		void onPlotRgbImage();
-		void onCloseRgbCamera();
+		void onPlotDepthImage();
+		
 		void onClearLabel();
+		void onClearDepthLabel();
 
 		void onCopyFinished();
 
@@ -367,4 +388,6 @@ signals:
 
 	void RecordWhiteSignal();
 	void RecordDarlSignal();
+
+	void updateRecordingFileInfoSignal(const QString& filePath, const QString& baseName, int frameNumber);
 };

HPPA/HPPA.qrc

@@ -1,5 +1,53 @@
 <RCC>
-    <qresource prefix="/HPPA">
-        <file>HPPA.ico</file>
+    <qresource prefix="/svg">
+        <file>resources/icons/svg/arrow_down.svg</file>
+        <file>resources/icons/svg/arrow_up.svg</file>
+        <file>resources/icons/svg/close.svg</file>
+        <file>resources/icons/svg/connect_imager.svg</file>
+        <file>resources/icons/svg/connect_imager_done.svg</file>
+        <file>resources/icons/svg/connect_imager_ing.svg</file>
+        <file>resources/icons/svg/dark.svg</file>
+        <file>resources/icons/svg/dark_done.svg</file>
+        <file>resources/icons/svg/dark_ing.svg</file>
+        <file>resources/icons/svg/exposure.svg</file>
+        <file>resources/icons/svg/exposure_done.svg</file>
+        <file>resources/icons/svg/exposure_ing.svg</file>
+        <file>resources/icons/svg/focus.svg</file>
+        <file>resources/icons/svg/focus_done.svg</file>
+        <file>resources/icons/svg/focus_ing.svg</file>
+        <file>resources/icons/svg/openDirectory.svg</file>
+        <file>resources/icons/svg/openDirectory_done.svg</file>
+        <file>resources/icons/svg/pan.svg</file>
+        <file>resources/icons/svg/pan_done.svg</file>
+        <file>resources/icons/svg/record.svg</file>
+        <file>resources/icons/svg/record_done.svg</file>
+        <file>resources/icons/svg/record_ing.svg</file>
+        <file>resources/icons/svg/reference.svg</file>
+        <file>resources/icons/svg/reference_done.svg</file>
+        <file>resources/icons/svg/reference_ing.svg</file>
+        <file>resources/icons/svg/software_icon.svg</file>
+        <file>resources/icons/svg/software_icon_small.svg</file>
+        <file>resources/icons/svg/spectral.svg</file>
+        <file>resources/icons/svg/spectral_done.svg</file>
+        <file>resources/icons/svg/tree_tri_down.svg</file>
+        <file>resources/icons/svg/tree_tri_right.svg</file>
+        <file>resources/icons/svg/mIconRaster.svg</file>
+    </qresource>
+    <qresource prefix="/png">
+        <file>resources/icons/png/Spectral_Insight_27.png</file>
+        <file>resources/icons/png/Spectral_Insight_54.png</file>
+        <file>resources/icons/png/Spectral_Insight_170.png</file>
+        <file>resources/icons/png/Spectral_Insight_340.png</file>
+        <file>resources/icons/png/titile_bar_bgp.png</file>
+        <file>resources/icons/png/titile_bar_bgp2x.png</file>
+    </qresource>
+    <qresource prefix="/imagerPicture">
+        <file>resources/icons/imagerPicture/corning410.png</file>
+        <file>resources/icons/imagerPicture/IR.png</file>
+        <file>resources/icons/imagerPicture/L.png</file>
+        <file>resources/icons/imagerPicture/XC2.png</file>
+    </qresource>
+    <qresource prefix="/ico">
+        <file>resources/icons/ico/Spectral_Insight_128.ico</file>
     </qresource>
 </RCC>

HPPA/HPPA.ui

@@ -14,8 +14,8 @@
    <string>Spectral Insight</string>
   </property>
   <property name="windowIcon">
-   <iconset>
-    <normaloff>icon/all/png/Group 356_slices/22.png</normaloff>icon/all/png/Group 356_slices/22.png</iconset>
+   <iconset resource="HPPA.qrc">
+    <normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</normaloff>:/ico/resources/icons/ico/Spectral_Insight_128.ico</iconset>
   </property>
   <property name="styleSheet">
    <string notr="true"/>
@@ -72,7 +72,7 @@ color:white;
     </property>
     <addaction name="mActionOpenImg"/>
     <addaction name="separator"/>
-    <addaction name="action_11"/>
+    <addaction name="mSetting"/>
     <addaction name="action_exit"/>
    </widget>
    <widget class="QMenu" name="menuspectrometer">
@@ -202,10 +202,16 @@ QToolBar QToolButton:hover {
   </widget>
   <widget class="QStatusBar" name="statusBar">
    <property name="styleSheet">
-    <string notr="true">QStatusBar {
+    <string notr="true">QStatusBar
+{
 	background-color: #0D1233;
-    }
-</string>
+	color: white;
+}
+
+QStatusBar::item
+{
+    border: none;
+}</string>
    </property>
   </widget>
   <widget class="CustomDockWidgetBase" name="mDockWidgetSimulator">
@@ -251,9 +257,9 @@ QToolBar QToolButton:hover {
    <attribute name="dockWidgetArea">
     <number>2</number>
    </attribute>
-   <widget class="QWidget" name="dockWidgetContents_4">
+   <widget class="QWidget" name="controlContents">
     <property name="styleSheet">
-     <string notr="true">QWidget #dockWidgetContents_4
+     <string notr="true">QWidget #controlContents
 {
 	background-color: #0E1C4C;
 	
@@ -327,327 +333,6 @@ QTabWidget::pane {
        <property name="elideMode">
         <enum>Qt::ElideNone</enum>
        </property>
-       <widget class="QWidget" name="tab">
-        <property name="styleSheet">
-         <string notr="true">
-QLineEdit {
-    background-color: #142D7F;
-    color: #e6eeff;
-    border: 1px solid #2f6bff;
-    border-radius: 6px;
-    padding: 4px 8px;
-    min-width: 70px;
-    min-height: 20px;
-    font-size: 13px;
-}
-QLineEdit:hover {
-    border: 1px solid #4d8dff;
-}
-
-QLineEdit:focus {
-    border: 1px solid #6aa2ff;
-    background-color: #23345c;
-}
-
-
-
-
-
-
-QSlider::groove:horizontal {
-    height: 10px;
-    background: #1e2a44;
-    border-radius: 3px;
-}
-
-/* 已滑过：渐变蓝 */
-QSlider::sub-page:horizontal {
-    background: qlineargradient(
-        x1:0, y1:0, x2:1, y2:0,
-        stop:0   #1f4fff,
-        stop:0.5 #2f6bff,
-        stop:1   #5fa0ff
-    );
-    border-radius: 3px;
-}
-
-/* 未滑过 */
-QSlider::add-page:horizontal {
-	height: 10px;
-    background: #2a3550;
-    border-radius: 3px;
-}
-
-/* ===== 滑块按钮 ===== */
-QSlider::handle:horizontal {
-    width: 15px;
-    height: 10px;
-
-    /* 蓝色实心 */
-    background: #2f6bff;
-
-    /* 白色外圈 */
-    border: 2px solid #ffffff;
-    border-radius: 5px;
-
-    /* 垂直居中 */
-    margin: -5px 0;
-}
-
-/* 悬停 */
-QSlider::handle:horizontal:hover {
-    background: #4d8dff;
-}
-
-/* 按下 */
-QSlider::handle:horizontal:pressed {
-    background: #1f4fff;
-}</string>
-        </property>
-        <attribute name="title">
-         <string>光谱仪</string>
-        </attribute>
-        <layout class="QGridLayout" name="gridLayout_2">
-         <property name="leftMargin">
-          <number>10</number>
-         </property>
-         <property name="topMargin">
-          <number>10</number>
-         </property>
-         <property name="rightMargin">
-          <number>10</number>
-         </property>
-         <property name="bottomMargin">
-          <number>10</number>
-         </property>
-         <property name="spacing">
-          <number>10</number>
-         </property>
-         <item row="0" column="0">
-          <widget class="QLabel" name="imagerPictureLabel">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <property name="text">
-            <string/>
-           </property>
-           <property name="scaledContents">
-            <bool>true</bool>
-           </property>
-           <property name="alignment">
-            <set>Qt::AlignCenter</set>
-           </property>
-          </widget>
-         </item>
-         <item row="1" column="0">
-          <widget class="QWidget" name="widget_3" native="true">
-           <property name="sizePolicy">
-            <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
-             <horstretch>0</horstretch>
-             <verstretch>0</verstretch>
-            </sizepolicy>
-           </property>
-           <layout class="QGridLayout" name="gridLayout">
-            <property name="leftMargin">
-             <number>0</number>
-            </property>
-            <property name="topMargin">
-             <number>0</number>
-            </property>
-            <property name="rightMargin">
-             <number>0</number>
-            </property>
-            <property name="bottomMargin">
-             <number>0</number>
-            </property>
-            <property name="spacing">
-             <number>10</number>
-            </property>
-            <item row="0" column="0">
-             <widget class="QLabel" name="label">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>16777215</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">color: rgb(255, 255, 255);</string>
-              </property>
-              <property name="text">
-               <string>帧率</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="0" column="1">
-             <layout class="QHBoxLayout" name="horizontalLayout">
-              <item>
-               <widget class="QLineEdit" name="framerate_lineEdit">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSlider" name="FramerateSlider">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </item>
-            <item row="1" column="0">
-             <widget class="QLabel" name="label_2">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>16777215</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">color: rgb(255, 255, 255);</string>
-              </property>
-              <property name="text">
-               <string>积分时间</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="1" column="1">
-             <layout class="QHBoxLayout" name="horizontalLayout_2">
-              <item>
-               <widget class="QLineEdit" name="integratioin_time_lineEdit">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSlider" name="IntegratioinTimeSlider">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </item>
-            <item row="2" column="0">
-             <widget class="QLabel" name="label_3">
-              <property name="sizePolicy">
-               <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
-                <horstretch>0</horstretch>
-                <verstretch>0</verstretch>
-               </sizepolicy>
-              </property>
-              <property name="minimumSize">
-               <size>
-                <width>0</width>
-                <height>0</height>
-               </size>
-              </property>
-              <property name="maximumSize">
-               <size>
-                <width>16777215</width>
-                <height>16777215</height>
-               </size>
-              </property>
-              <property name="styleSheet">
-               <string notr="true">color: rgb(255, 255, 255);</string>
-              </property>
-              <property name="text">
-               <string>gain</string>
-              </property>
-              <property name="alignment">
-               <set>Qt::AlignCenter</set>
-              </property>
-             </widget>
-            </item>
-            <item row="2" column="1">
-             <layout class="QHBoxLayout" name="horizontalLayout_3">
-              <item>
-               <widget class="QLineEdit" name="gain_lineEdit">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="styleSheet">
-                 <string notr="true"/>
-                </property>
-               </widget>
-              </item>
-              <item>
-               <widget class="QDoubleSlider" name="GainSlider">
-                <property name="sizePolicy">
-                 <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
-                  <horstretch>0</horstretch>
-                  <verstretch>0</verstretch>
-                 </sizepolicy>
-                </property>
-                <property name="orientation">
-                 <enum>Qt::Horizontal</enum>
-                </property>
-               </widget>
-              </item>
-             </layout>
-            </item>
-           </layout>
-          </widget>
-         </item>
-        </layout>
-       </widget>
        <widget class="QWidget" name="rgbCameraWidget">
         <property name="styleSheet">
          <string notr="true">QGroupBox
@@ -698,119 +383,6 @@ QPushButton:pressed
         <attribute name="title">
          <string>rgb相机</string>
         </attribute>
-        <layout class="QGridLayout" name="gridLayout_4" rowstretch="2,4,2" columnstretch="1,3,1">
-         <item row="0" column="1">
-          <spacer name="verticalSpacer">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>174</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>115</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-         <item row="1" column="1">
-          <layout class="QGridLayout" name="gridLayout_3" columnstretch="1,1">
-           <property name="spacing">
-            <number>20</number>
-           </property>
-           <item row="1" column="0">
-            <widget class="QPushButton" name="take_video_btn">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>录制视频</string>
-             </property>
-            </widget>
-           </item>
-           <item row="1" column="1">
-            <widget class="QPushButton" name="take_photo_btn">
-             <property name="sizePolicy">
-              <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
-               <horstretch>0</horstretch>
-               <verstretch>0</verstretch>
-              </sizepolicy>
-             </property>
-             <property name="text">
-              <string>拍照</string>
-             </property>
-            </widget>
-           </item>
-           <item row="0" column="1">
-            <widget class="QPushButton" name="close_rgb_camera_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="open_rgb_camera_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>115</width>
-             <height>20</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-         <item row="2" column="1">
-          <spacer name="verticalSpacer_2">
-           <property name="orientation">
-            <enum>Qt::Vertical</enum>
-           </property>
-           <property name="sizeHint" stdset="0">
-            <size>
-             <width>20</width>
-             <height>173</height>
-            </size>
-           </property>
-          </spacer>
-         </item>
-        </layout>
        </widget>
       </widget>
      </item>
@@ -1112,7 +684,7 @@ QPushButton:pressed
     <string>关闭影像</string>
    </property>
   </action>
-  <action name="action_11">
+  <action name="mSetting">
    <property name="text">
     <string>设置</string>
    </property>
@@ -1156,11 +728,6 @@ QPushButton:pressed
  </widget>
  <layoutdefault spacing="6" margin="11"/>
  <customwidgets>
-  <customwidget>
-   <class>QDoubleSlider</class>
-   <extends>QSlider</extends>
-   <header>qdoubleslider.h</header>
-  </customwidget>
   <customwidget>
    <class>CustomDockWidgetBase</class>
    <extends>QDockWidget</extends>

HPPA/HPPA.vcxproj

@@ -36,8 +36,8 @@
     <QtBuildConfig>debug</QtBuildConfig>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)' == 'Release|x64'" Label="QtSettings">
-    <QtInstall>5.9_msvc2017_64</QtInstall>
-    <QtModules>core;network;gui;widgets;serialport;websockets;charts</QtModules>
+    <QtInstall>5.13.2_msvc2017_64</QtInstall>
+    <QtModules>core;network;gui;svg;widgets;serialport;websockets;3dcore;3danimation;3dextras;3dinput;3dlogic;3drender;3dquick;charts</QtModules>
     <QtBuildConfig>release</QtBuildConfig>
   </PropertyGroup>
   <Target Name="QtMsBuildNotFound" BeforeTargets="CustomBuild;ClCompile" Condition="!Exists('$(QtMsBuild)\qt.targets') or !Exists('$(QtMsBuild)\qt.props')">
@@ -55,16 +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>
+    <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>
@@ -106,11 +108,16 @@
   <ItemGroup>
     <ClCompile Include="aboutWindow.cpp" />
     <ClCompile Include="adjustTable.cpp" />
+    <ClCompile Include="AppSettings.cpp" />
+    <ClCompile Include="AspectRatioLabel.cpp" />
     <ClCompile Include="CaptureCoordinator.cpp" />
     <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" />
     <ClCompile Include="imageControl.cpp" />
     <ClCompile Include="ImagerOperationBase.cpp" />
     <ClCompile Include="imager_base.cpp" />
@@ -128,6 +135,7 @@
     <ClCompile Include="MapToolPan.cpp" />
     <ClCompile Include="MapTools.cpp" />
     <ClCompile Include="MapToolSpectral.cpp" />
+    <ClCompile Include="MotorWindowBase.cpp" />
     <ClCompile Include="OneMotorControl.cpp" />
     <ClCompile Include="path_tc.cpp" />
     <ClCompile Include="PowerControl.cpp" />
@@ -136,10 +144,13 @@
     <ClCompile Include="RasterDataProvider.cpp" />
     <ClCompile Include="RasterLayer.cpp" />
     <ClCompile Include="RasterRenderer.cpp" />
+    <ClCompile Include="recordFrameCounter.cpp" />
     <ClCompile Include="resononImager.cpp" />
     <ClCompile Include="ResononNirImager.cpp" />
     <ClCompile Include="RgbCameraOperation.cpp" />
+    <ClCompile Include="rgbCameraWindow.cpp" />
     <ClCompile Include="RobotArmControl.cpp" />
+    <ClCompile Include="setWindow.cpp" />
     <ClCompile Include="stdafx.cpp">
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">Create</PrecompiledHeader>
       <PrecompiledHeader Condition="'$(Configuration)|$(Platform)'=='Release|x64'">Create</PrecompiledHeader>
@@ -152,6 +163,7 @@
     <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" />
@@ -165,13 +177,16 @@
     <ClCompile Include="imagerSimulatioin.cpp" />
     <ClCompile Include="ImageViewer.cpp" />
     <ClCompile Include="main.cpp" />
+    <QtUic Include="hyperImagerControl.ui" />
     <QtUic Include="imgControl.ui" />
     <QtUic Include="oneMotorControl.ui" />
     <QtUic Include="PathPlan.ui" />
     <QtUic Include="PowerControl.ui" />
     <QtUic Include="RadianceConversion.ui" />
     <QtUic Include="ReflectanceConversion.ui" />
+    <QtUic Include="rgbCamera.ui" />
     <QtUic Include="RobotArmControl.ui" />
+    <QtUic Include="set.ui" />
     <QtUic Include="twoMotorControl.ui" />
   </ItemGroup>
   <ItemGroup>
@@ -194,6 +209,11 @@
     <QtMoc Include="CustomDockWidgetBase.h" />
     <QtMoc Include="Carousel.h" />
     <QtMoc Include="imageControl.h" />
+    <QtMoc Include="AspectRatioLabel.h" />
+    <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" />
@@ -213,8 +233,12 @@
     <QtMoc Include="MapToolPan.h" />
     <QtMoc Include="MapToolSpectral.h" />
     <QtMoc Include="MapTools.h" />
+    <ClInclude Include="MotorWindowBase.h" />
     <ClInclude Include="RasterDataProvider.h" />
     <ClInclude Include="RasterRenderer.h" />
+    <QtMoc Include="recordFrameCounter.h" />
+    <QtMoc Include="setWindow.h" />
+    <QtMoc Include="rgbCameraWindow.h" />
     <ClInclude Include="utility_tc.h" />
     <QtMoc Include="aboutWindow.h" />
     <ClInclude Include="hppaConfigFile.h" />
@@ -240,7 +264,7 @@
     <ResourceCompile Include="HPPA.rc" />
   </ItemGroup>
   <ItemGroup>
-    <Image Include="HPPA.ico" />
+    <Image Include="resources\icons\ico\Spectral_Insight_128.ico" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Condition="Exists('$(QtMsBuild)\qt.targets')">

HPPA/HPPA.vcxproj.filters

@@ -190,6 +190,33 @@
     <ClCompile Include="MapTools.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="AspectRatioLabel.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="HyperImagerControl.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="recordFrameCounter.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="setWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="AppSettings.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="FileNameLineEdit.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="MotorWindowBase.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="rgbCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
+    <ClCompile Include="DepthCameraWindow.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="fileOperation.h">
@@ -306,6 +333,27 @@
     <QtMoc Include="MapTools.h">
       <Filter>Header Files</Filter>
     </QtMoc>
+    <QtMoc Include="AspectRatioLabel.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="HyperImagerControl.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="recordFrameCounter.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="setWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="FileNameLineEdit.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="rgbCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
+    <QtMoc Include="DepthCameraWindow.h">
+      <Filter>Header Files</Filter>
+    </QtMoc>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="imageProcessor.h">
@@ -347,6 +395,12 @@
     <ClInclude Include="LayerTreeView.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="AppSettings.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
+    <ClInclude Include="MotorWindowBase.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <QtUic Include="FocusDialog.ui">
@@ -382,6 +436,18 @@
     <QtUic Include="imgControl.ui">
       <Filter>Form Files</Filter>
     </QtUic>
+    <QtUic Include="hyperImagerControl.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="set.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="rgbCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
+    <QtUic Include="DepthCamera.ui">
+      <Filter>Form Files</Filter>
+    </QtUic>
   </ItemGroup>
   <ItemGroup>
     <None Include="cpp.hint" />
@@ -392,7 +458,7 @@
     </ResourceCompile>
   </ItemGroup>
   <ItemGroup>
-    <Image Include="HPPA.ico">
+    <Image Include="resources\icons\ico\Spectral_Insight_128.ico">
       <Filter>Resource Files</Filter>
     </Image>
   </ItemGroup>

HPPA/HyperImagerControl.cpp

@@ -0,0 +1,195 @@
+#include "HyperImagerControl.h"
+
+HyperImagerControl::HyperImagerControl(QWidget* parent)
+	: QDialog(parent)
+{
+	ui.setupUi(this);
+
+	connect(ui.framerate_spinBox, &QDoubleSpinBox::editingFinished, this, &HyperImagerControl::onFramerateSpinBoxEditingFinished);
+	connect(ui.FramerateSlider, &QDoubleSlider::valueChanged, this, &HyperImagerControl::onFramerateSliderChanged);
+	connect(ui.FramerateSlider, &QDoubleSlider::sliderReleased, this, &HyperImagerControl::onFramerateSliderReleased);
+
+	connect(ui.integratioin_time_spinBox, &QDoubleSpinBox::editingFinished, this, &HyperImagerControl::onIntegrationTimeSpinBoxEditingFinished);
+	connect(ui.IntegratioinTimeSlider, &QDoubleSlider::valueChanged, this, &HyperImagerControl::onIntegrationTimeSliderChanged);
+	connect(ui.IntegratioinTimeSlider, &QDoubleSlider::sliderReleased, this, &HyperImagerControl::onIntegrationTimeSliderReleased);
+
+	connect(ui.gain_spinBox, &QDoubleSpinBox::editingFinished, this, &HyperImagerControl::onGainSpinBoxEditingFinished);
+	connect(ui.GainSlider, &QSlider::valueChanged, this, &HyperImagerControl::onGainSliderChanged);
+	connect(ui.GainSlider, &QSlider::sliderReleased, this, &HyperImagerControl::onGainSliderReleased);
+
+	ui.GainSlider->setMaximum(12);
+	ui.GainSlider->setMinimum(0);
+
+	ui.gain_spinBox->setMaximum(12);
+	ui.gain_spinBox->setMinimum(0);
+
+	ui.widget_3->setStyleSheet(R"(
+		QDoubleSpinBox {
+			border: 1px solid #999;
+			border-radius: 4px;
+			padding: 2px 20px 2px 6px;  /* 右侧留空间给按钮 */
+			background: #0e1c4c;
+			selection-background-color: #0078d7;
+			font-size: 12px;
+			color:#ACCDFF ;
+		}
+
+		QDoubleSpinBox::up-button {
+			subcontrol-origin: border;
+			subcontrol-position: top right;
+			width: 16px;
+			border-left: 1px solid #ccc;
+		}
+
+		QDoubleSpinBox::down-button {
+			subcontrol-origin: border;
+			subcontrol-position: bottom right;
+			width: 16px;
+			border-left: 1px solid #ccc;
+		}
+
+		QDoubleSpinBox::up-arrow {
+			image: url(:/svg/resources/icons/svg/arrow_up.svg);
+			width: 10px;
+			height: 10px;
+		}
+
+		QDoubleSpinBox::down-arrow {
+			image: url(:/svg/resources/icons/svg/arrow_down.svg);
+			width: 10px;
+			height: 10px;
+		}
+
+		QDoubleSpinBox::up-button:hover,
+		QDoubleSpinBox::down-button:hover {
+			background: #e6f2ff;
+		}
+
+		QDoubleSpinBox::up-button:pressed,
+		QDoubleSpinBox::down-button:pressed {
+			background: #cce4ff;
+		}
+	)");
+
+}
+
+HyperImagerControl::~HyperImagerControl()
+{
+}
+
+void HyperImagerControl::setFrameRate(double frameRate)
+{
+	ui.framerate_spinBox->setValue(frameRate);
+	ui.FramerateSlider->setValue(frameRate);
+
+	updateIntegrationTimeRange(frameRate);
+}
+
+void HyperImagerControl::setIntegrationTime(double integrationTime)
+{
+	ui.integratioin_time_spinBox->setValue(integrationTime);
+	ui.IntegratioinTimeSlider->setValue(integrationTime);
+
+	updateFramerateRange(integrationTime);
+}
+
+void HyperImagerControl::setGain(double gain)
+{
+	ui.gain_spinBox->setValue(gain);
+	ui.GainSlider->setValue(gain);
+}
+
+void HyperImagerControl::onFramerateSpinBoxEditingFinished()
+{
+	double framerate = ui.framerate_spinBox->value();
+	ui.FramerateSlider->setValue(framerate);
+	emit framerateChanged(framerate);
+}
+
+void HyperImagerControl::onFramerateSliderChanged(double framerate)
+{
+	ui.framerate_spinBox->blockSignals(true);
+	ui.framerate_spinBox->setValue(framerate);
+	ui.framerate_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::onFramerateSliderReleased()
+{
+	double framerate = ui.framerate_spinBox->value();
+	emit framerateChanged(framerate);
+}
+
+void HyperImagerControl::onIntegrationTimeSpinBoxEditingFinished()
+{
+	double integrationTime = ui.integratioin_time_spinBox->value();
+	ui.IntegratioinTimeSlider->setValue(integrationTime);
+	emit integrationTimeChanged(integrationTime);
+}
+
+void HyperImagerControl::onIntegrationTimeSliderChanged(double integrationTime)
+{
+	ui.integratioin_time_spinBox->blockSignals(true);
+	ui.integratioin_time_spinBox->setValue(integrationTime);
+	ui.integratioin_time_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::onIntegrationTimeSliderReleased()
+{
+	double integrationTime = ui.integratioin_time_spinBox->value();
+	emit integrationTimeChanged(integrationTime);
+}
+
+void HyperImagerControl::onGainSpinBoxEditingFinished()
+{
+	double gain = ui.gain_spinBox->value();
+	ui.GainSlider->setValue(gain);
+	emit gainChanged(gain);
+}
+
+void HyperImagerControl::onGainSliderChanged(double gain)
+{
+	ui.gain_spinBox->blockSignals(true);
+	ui.gain_spinBox->setValue(gain);
+	ui.gain_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::onGainSliderReleased()
+{
+	double gain = ui.gain_spinBox->value();
+	emit gainChanged(gain);
+}
+
+void HyperImagerControl::updateIntegrationTimeRange(double frameRate)
+{
+	double maxIntegrationTime = 1.0 / frameRate * 1000.0; // 毫秒
+
+	ui.IntegratioinTimeSlider->blockSignals(true);
+	ui.IntegratioinTimeSlider->setMaximum(maxIntegrationTime);
+	ui.IntegratioinTimeSlider->setMinimum(1);
+	ui.IntegratioinTimeSlider->blockSignals(false);
+
+	ui.integratioin_time_spinBox->blockSignals(true);
+	ui.integratioin_time_spinBox->setMaximum(maxIntegrationTime);
+	ui.integratioin_time_spinBox->setMinimum(1);
+	ui.integratioin_time_spinBox->blockSignals(false);
+}
+
+void HyperImagerControl::updateFramerateRange(double integrationTime)
+{
+	double maxFramerate = 1.0 / (integrationTime / 1000.0); // 积分时间(毫秒)转帧率
+
+	if(maxFramerate > m_frameRateLimit)
+	{
+		maxFramerate = m_frameRateLimit;
+	}
+
+	ui.FramerateSlider->blockSignals(true);
+	ui.FramerateSlider->setMaximum(maxFramerate);
+	ui.FramerateSlider->setMinimum(1);
+	ui.FramerateSlider->blockSignals(false);
+
+	ui.framerate_spinBox->blockSignals(true);
+	ui.framerate_spinBox->setMaximum(maxFramerate);
+	ui.framerate_spinBox->setMinimum(1);
+	ui.framerate_spinBox->blockSignals(false);
+}

HPPA/HyperImagerControl.h

@@ -0,0 +1,47 @@
+#pragma once
+
+#include <QDialog>
+
+#include "ui_hyperImagerControl.h"
+
+#include "AspectRatioLabel.h"
+
+class QDoubleSlider;
+
+class HyperImagerControl : public QDialog
+{
+	Q_OBJECT
+
+public:
+	HyperImagerControl(QWidget* parent = nullptr);
+	~HyperImagerControl();
+
+	AspectRatioLabel* imagerPictureLabel() const { return ui.imagerPictureLabel; }
+
+	void setFrameRate(double frameRate);
+	void setIntegrationTime(double integrationTime);
+	void setGain(double gain);
+
+signals:
+	void framerateChanged(double framerate);
+	void integrationTimeChanged(double integrationTime);
+	void gainChanged(double gain);
+
+private Q_SLOTS:
+	void onFramerateSpinBoxEditingFinished();
+	void onFramerateSliderChanged(double framerate);
+	void onFramerateSliderReleased();
+	void onIntegrationTimeSpinBoxEditingFinished();
+	void onIntegrationTimeSliderChanged(double integrationTime);
+	void onIntegrationTimeSliderReleased();
+	void onGainSpinBoxEditingFinished();
+	void onGainSliderChanged(double gain);
+	void onGainSliderReleased();
+
+private:
+	void updateIntegrationTimeRange(double frameRate);
+	void updateFramerateRange(double integrationTime);
+	double m_frameRateLimit = 150;//相机的最大帧率限制为250fps
+
+	Ui::HyperImagerControl ui;
+};

HPPA/ImageReaderWriter.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 
 #include "ImageReaderWriter.h"
@@ -11,11 +11,11 @@ ImageReaderWriter::ImageReaderWriter(const char * fileName)
 	m_poDataset = (GDALDataset *)GDALOpen(fileName, GA_ReadOnly);
 	if (m_poDataset == NULL)
 	{
-		std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>" << std::endl;
+		std::cout << "打开影像失败！" << std::endl;
 		return;
 	}
 
-	//<EFBFBD><EFBFBD>ȡӰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
+	//获取影像信息
 	m_DataType = m_poDataset->GetRasterBand(1)->GetRasterDataType();
 	m_iBands = m_poDataset->GetRasterCount();
 	m_iXCount = m_poDataset->GetRasterXSize();
@@ -47,11 +47,11 @@ float * ImageReaderWriter::ReadImage(int nXOff, int nYOff, int nXSize, int nYSiz
 		float *pDataBuffer = (float*)CPLMalloc(sizeof(float)*(1)*(1)*(m_iBands));
 		memset(pDataBuffer, 0, 1 * 1 * m_iBands * sizeof(float));
 
-		CPLErr status = m_poDataset->RasterIO(GF_Read, nXOff, nYOff, nXSize, nYSize, pDataBuffer, xBuff, yBuff, GDT_Float32, m_iBands, NULL, 0, 0, 0); //<EFBFBD>ȸߺ<EFBFBD><EFBFBD><EFBFBD>
+		CPLErr status = m_poDataset->RasterIO(GF_Read, nXOff, nYOff, nXSize, nYSize, pDataBuffer, xBuff, yBuff, GDT_Float32, m_iBands, NULL, 0, 0, 0); //先高后宽
 
 		if (status != CE_None)
 		{
-			std::cout << "<EFBFBD><EFBFBD>ȡӰ<EFBFBD><EFBFBD>ʧ<EFBFBD>ܣ<EFBFBD>" << std::endl;
+			std::cout << "读取影像失败！" << std::endl;
 			return 0;
 		}
 

HPPA/ImageReaderWriter.h

@@ -1,4 +1,4 @@
-#ifndef IMAGE_READER_WRITER
+#ifndef IMAGE_READER_WRITER
 #define IMAGE_READER_WRITER
 #include "stdafx.h"
 #include "gdal_priv.h"

HPPA/ImageViewer.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <cmath>
 
@@ -20,7 +20,7 @@ Mapcavas::Mapcavas(QWidget* pParent) :QGraphicsView(pParent)
     setRenderHint(QPainter::SmoothPixmapTransform);
     setDragMode(QGraphicsView::ScrollHandDrag);
 
-    // ʹ<EFBFBD><EFBFBD> Qt Ĭ<EFBFBD><EFBFBD> anchor <EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 使用 Qt 默认 anchor 行为以外的配置
     setTransformationAnchor(QGraphicsView::NoAnchor);
     setResizeAnchor(QGraphicsView::NoAnchor);
 

HPPA/ImageViewer.h

@@ -1,4 +1,4 @@
-#ifndef MAPCAVAS_H
+#ifndef MAPCAVAS_H
 #define MAPCAVAS_H
 
 #include "QGraphicsView"
@@ -35,15 +35,15 @@ public:
 	void wheelEvent(QWheelEvent *event) Q_DECL_OVERRIDE;
 	void scaling(qreal scaleFactor);
 
-	void zoomIn();  // <EFBFBD>Ŵ<EFBFBD>
-	void zoomOut();  // <EFBFBD><EFBFBD>С
-	void zoom(float scaleFactor); // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> - scaleFactor<EFBFBD><EFBFBD><EFBFBD>ŵı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void zoomIn();  // 放大
+	void zoomOut();  // 缩小
+	void zoom(float scaleFactor); // 缩放 - scaleFactor缩放的比例因子
 
-	// ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
+	// 平移速度
 	void setTranslateSpeed(qreal speed);
 	qreal translateSpeed() const;
 
-	// <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// 缩放的增量
 	void setZoomDelta(qreal delta);
 	qreal zoomDelta() const;
 
@@ -63,16 +63,16 @@ protected:
 	QGraphicsScene *m_qtGraphicsScene;
 private:
 	QGraphicsPixmapItem *m_GraphicsPixmapItemHandle;
-	QLabel *m_framNumberLabel;//<EFBFBD><EFBFBD>ʾʵʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+	QLabel *m_framNumberLabel;//显示实时采集到的帧数
 
 	RasterLayer* m_rasterLayer = nullptr; // associated raster layer
 	MapTool* m_mapTool = nullptr;         // current active map tool
 
-	qreal m_translateSpeed;  // ƽ<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-	qreal m_zoomDelta;  // <EFBFBD><EFBFBD><EFBFBD>ŵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	bool m_bMouseTranslate;  // ƽ<EFBFBD>Ʊ<EFBFBD>ʶ
-	QPoint m_lastMousePos;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µ<EFBFBD>λ<EFBFBD><EFBFBD>
-	qreal m_scale;  // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	qreal m_translateSpeed;  // 平移速度
+	qreal m_zoomDelta;  // 缩放的增量
+	bool m_bMouseTranslate;  // 平移标识
+	QPoint m_lastMousePos;  // 鼠标最后按下的位置
+	qreal m_scale;  // 缩放值
 
 	double m_CrosshairHalfLen = 10.0;
 	QGraphicsLineItem* m_hLine = nullptr;  // horizontal line

HPPA/ImagerOperationBase.cpp

@@ -1,4 +1,5 @@
-#include "ImagerOperationBase.h"
+#include "ImagerOperationBase.h"
+#include <QDir>
 
 ImagerOperationBase::ImagerOperationBase()
 {
@@ -44,11 +45,11 @@ void ImagerOperationBase::connect_imager(int frameNumber)
 
 double ImagerOperationBase::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -57,7 +58,7 @@ double ImagerOperationBase::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4094)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.95);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -69,7 +70,7 @@ double ImagerOperationBase::auto_exposure()
 
 	emit autoExposureSignal();
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -79,7 +80,7 @@ void ImagerOperationBase::focus()
 	m_iFocusFramesNumber = 0;
 
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -87,7 +88,7 @@ void ImagerOperationBase::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	int iWidth, iHeight;
 	GetFrameSize(iWidth, iHeight);
@@ -99,7 +100,7 @@ void ImagerOperationBase::focus()
 	m_bFocusControlState = true;
 	while (m_bFocusControlState)
 	{
-		////<EFBFBD><EFBFBD>֡ƽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		////多帧平均，减弱单帧跳动
 		//memset((void*)buffer, 0, m_FrameSize * sizeof(unsigned short));
 		//int fn = 5;
 		//for (int i = 0; i < fn; i++)
@@ -123,7 +124,7 @@ void ImagerOperationBase::focus()
 
 		double focusIndex = calcFocusIndexSobelPrivate(buffer);
 		emit FocusIndexSobelSignal(focusIndex);
-		std::cout << "focusIndex<EFBFBD><EFBFBD>" << focusIndex << std::endl;
+		std::cout << "focusIndex：" << focusIndex << std::endl;
 
 		emit SpectralSignal(1);
 
@@ -140,7 +141,7 @@ void ImagerOperationBase::focus()
 
 void ImagerOperationBase::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	imagerStartCollect();
 	
 	unsigned int* dark_tmp = new unsigned int[m_FrameSize];
@@ -172,7 +173,7 @@ void ImagerOperationBase::record_dark()
 
 void ImagerOperationBase::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	imagerStartCollect();
 
 	unsigned int* white_tmp = new unsigned int[m_FrameSize];
@@ -197,7 +198,7 @@ void ImagerOperationBase::record_white()
 	
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -225,17 +226,17 @@ void ImagerOperationBase::start_record()
     //std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
-	// <EFBFBD>ڿ<EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>Ϣ<EFBFBD><EFBFBD>UI <20><><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><D0B4><EFBFBD> MapLayer <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
 	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
 	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
@@ -250,6 +251,7 @@ void ImagerOperationBase::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
+
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -257,8 +259,9 @@ void ImagerOperationBase::start_record()
 
 		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
+		//qDebug() << "time ns-------------------: " << timeOs;
+		
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -276,12 +279,12 @@ void ImagerOperationBase::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -297,14 +300,14 @@ void ImagerOperationBase::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%d\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
 			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
@@ -318,15 +321,15 @@ void ImagerOperationBase::start_record()
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1, filePath);
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
 
-	// <EFBFBD><EFBFBD><EFBFBD><EFBFBD> ImageFileSaved <EFBFBD>źţ<EFBFBD>֪ͨ UI <20><><EFBFBD>Ѹ<EFBFBD><D1B8>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><CDBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	// m_FileName2Save2 <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˱<EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD> .bil <20>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> "tmp_image_0.bil"<EFBFBD><EFBFBD>
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
 	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
 
 	m_FileSavedCounter++;
@@ -357,6 +360,14 @@ void ImagerOperationBase::setFileName2Save(string FileName)
 	m_FileSavedCounter = 0;
 }
 
+void ImagerOperationBase::updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber)
+{
+	m_FileName2Save = (filePath + QDir::separator() + baseName).toStdString();
+	m_FileSavedCounter = 0;
+
+	setFrameNumber(frameNumber);
+}
+
 void ImagerOperationBase::setFocusControlState(bool FocusControlState)
 {
 	m_bFocusControlState = FocusControlState;
@@ -397,7 +408,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 	unsigned short* psData;
 	psData = (unsigned short*)pvData;
 
-	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֤<EFBFBD><EFBFBD>gray.data<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݺ<EFBFBD>psDataһ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	cv::Mat gray(iHeight, iWidth, CV_16UC1, psData);//经验证，gray.data的数据和psData一样；
 	/*string rgbFilePathNoStrech = "E:\\hppa\\delete\\focusImg_";
 	string tmp1 = std::to_string(m_iFocusFramesNumber);
 	string tmp2 = ".png";*/
@@ -407,7 +418,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 	//cv::imwrite(rgbFilePathNoStrech, gray);
 	m_iFocusFramesNumber++;
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD>
+	//进行滤波
 	//cv::Mat outputImage;
 	//cv::Size kernelSize(5, 5);
 	//double sigmaX = 1.5;
@@ -417,7 +428,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 
 	cv::Mat gradX, gradY, absGradX, absGradY;
 
-	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16S<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>cv::magnitude<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	cv::Sobel(outputImage, gradX, CV_32F, 1, 0);//如果参数为CV_16S，则函数cv::magnitude报错
 	cv::Sobel(outputImage, gradY, CV_32F, 0, 1);
 	cv::convertScaleAbs(gradX, absGradX);
 	cv::convertScaleAbs(gradY, absGradY);
@@ -426,7 +437,7 @@ double ImagerOperationBase::calcFocusIndexSobelPrivate(void* pvData)
 
 	cv::Mat magnitude, direction;
 	cv::magnitude(gradX, gradY, magnitude);//
-	cv::phase(gradX, gradY, direction, true);  // true<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>ؽǶȶ<EFBFBD><EFBFBD>ǻ<EFBFBD><EFBFBD><EFBFBD>
+	cv::phase(gradX, gradY, direction, true);  // true表示返回角度而非弧度
 
 
 	return cv::mean(magnitude)[0];
@@ -479,23 +490,23 @@ int ImagerOperationBase::getFocusFrameCounter() const
 
 void ImagerOperationBase::set_buffer()
 {
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//如果
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 	}
 
 	m_FrameSize = getBandCount() * getSampleCount();
-	//std::cout << "m_FrameSize<EFBFBD><EFBFBD>СΪ" << m_FrameSize << std::endl;
+	//std::cout << "m_FrameSize大小为" << m_FrameSize << std::endl;
 
 	buffer = new unsigned short[m_FrameSize];
 	dark = new unsigned short[m_FrameSize];
 	white = new unsigned short[m_FrameSize];
 
-	std::cout << "buffer<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << buffer << std::endl;
-	std::cout << "dark<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << dark << std::endl;
-	std::cout << "white<EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַ" << white << std::endl;
+	std::cout << "buffer内存地址" << buffer << std::endl;
+	std::cout << "dark内存地址" << dark << std::endl;
+	std::cout << "white内存地址" << white << std::endl;
 }
 
 void ImagerOperationBase::WriteHdr()
@@ -540,6 +551,6 @@ unsigned short ImagerOperationBase::GetMaxValue(unsigned short* dark, int number
 			max = dark[i];
 		}
 	}
-	//std::cout << "<EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵΪ" << max << std::endl;
+	//std::cout << "本帧最大值为" << max << std::endl;
 	return max;
 }

HPPA/ImagerOperationBase.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QObject>
 #include <QString>
 
@@ -49,7 +49,7 @@ public:
     int getFrameCounter() const;
     int getFocusFrameCounter() const;
 
-    unsigned short* buffer;//<EFBFBD>洢<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>м<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>д<EFBFBD>뵽Ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    unsigned short* buffer;//存储采集到的影像的中间变量，下一步写入到硬盘中
     void set_buffer();
     void setFileName2Save(string FileName);
 
@@ -60,25 +60,25 @@ public:
     
 
 protected:
-    CImage* m_RgbImage;//<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD>
-    bool m_bRecordControlState;//<EFBFBD>ɼ<EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    int m_iFrameCounter;//<EFBFBD><EFBFBD>¼<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
-    int m_iFocusFrameCounter;//<EFBFBD><EFBFBD>¼<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
-    int m_FrameSize;//<EFBFBD><EFBFBD>ʾһ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD>ٸ<EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
-    int m_iFrameNumber;//<EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD>
+    CImage* m_RgbImage;//显示的rgb图像
+    bool m_bRecordControlState;//采集状态；可用于执行停止采集操作
+    int m_iFrameCounter;//记录采集的帧数
+    int m_iFocusFrameCounter;//记录调焦时采集的帧数
+    int m_FrameSize;//表示一帧代表有多少个数值：m_FrameSize = m_imager.get_band_count()*m_imager.get_sample_count();
+    int m_iFrameNumber;//需要采集的总帧数
 
-    //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڸ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    string m_FileName2Save;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>
+    //以下两个参数用于给保存的影像文件命名
+    string m_FileName2Save;//保存的影像文件名
     string m_FileName2Save2;
-    int m_FileSavedCounter;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˼<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+    int m_FileSavedCounter;//保存了几个影像文件
 
-    bool m_HasDark;//<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>˰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
-    bool m_HasWhite;//<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD>˰װ<EFBFBD>֮<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue
+    bool m_HasDark;//当采集了暗电流之后，设置为true
+    bool m_HasWhite;//当采集了白板之后，设置为true
 
-    unsigned short* dark;//<EFBFBD>洢<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    unsigned short* white;//<EFBFBD>洢<EFBFBD>װ<EFBFBD>
+    unsigned short* dark;//存储暗电流
+    unsigned short* white;//存储白板
 
-    bool m_bFocusControlState;//<EFBFBD><EFBFBD><EFBFBD>Ƶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    bool m_bFocusControlState;//控制调焦结束
 
     
 
@@ -92,7 +92,7 @@ private:
     double calcFocusIndexSobelPrivate(void* pvData);
 
 public slots:
-    virtual void connect_imager(int frameNumber);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ٻ<EFBFBD><EFBFBD><EFBFBD>
+    virtual void connect_imager(int frameNumber);//连接相机、开辟缓存
     virtual double auto_exposure();
     virtual void focus();
     virtual void start_record();
@@ -101,11 +101,14 @@ public slots:
     virtual void record_white();
 
     void getFocusIndexSobel();
+
+	void updateRecordingFileInfo(const QString& filePath, const QString& baseName, int frameNumber);
+
 signals:
-    void PlotSignal(int, int, QString);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD>񣻵ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-1<><31><EFBFBD><EFBFBD><EFBFBD>˴βɼ<CEB2><C9BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD><CEBB><EFBFBD>
-    void RecordFinishedSignal_WhenFrameNumberMeet();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>m_iFrameNumber<EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    void RecordFinishedSignal_WhenFrameNumberNotMeet();//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>m_iFrameNumber<EFBFBD><EFBFBD>û<EFBFBD>вɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD><EFBFBD><EFBFBD>;ֹͣ<EFBFBD>ɼ<EFBFBD>
-    void SpectralSignal(int);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƹ<EFBFBD><EFBFBD>ף<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɣ<EFBFBD>
+    void PlotSignal(int, int, QString);//绘制影像信号，第一个参数：第几个影像；第二个参数：采集到的帧数，-1代表此次采集的最后一次绘制
+    void RecordFinishedSignal_WhenFrameNumberMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）采集完成
+    void RecordFinishedSignal_WhenFrameNumberNotMeet();//采集完成信号：需要采集的总帧数（m_iFrameNumber）没有采集完成，中途停止采集
+    void SpectralSignal(int);//发射1代表正在调焦，绘制光谱，发射0表示调焦完成；
 
     void RecordWhiteFinishSignal();
     void RecordDarlFinishSignal();
@@ -113,12 +116,12 @@ signals:
     void FocusIndexSobelSignal(double);
 
 
-    void testImagerStatus();//<EFBFBD><EFBFBD>ʾ<EFBFBD><EFBFBD><EFBFBD>Բ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬<EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    void testImagerStatus();//表示可以测试相机连接状态：是否连接，并反映到界面上
     void autoExposureSignal();
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD><EFBFBD>.bil/.hdr<64><72>д<EFBFBD><D0B4><EFBFBD><EFBFBD><EFBFBD>ɺ󷢳<C9BA><F3B7A2B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӳɼ<D3B2><C9BC>̷߳<DFB3><CCB7><EFBFBD><EFBFBD><EFBFBD>Qt <20><><EFBFBD><EFBFBD> queued connection<EFBFBD><EFBFBD>
+    // 新增：当一组影像文件（.bil/.hdr）写入完成后发出（会从采集线程发出，Qt 会做 queued connection）
     void ImageFileSaved(const QString& path, int fileIndex);
 
-    // <EFBFBD>޸ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>ӷ<EFBFBD><EFBFBD><EFBFBD> MapLayer*<2A><><EFBFBD><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD><EFBFBD>ļ<EFBFBD><C4BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD>UI <20>㸺<EFBFBD>𴴽<EFBFBD> MapLayer <20><><EFBFBD>󲢹<EFBFBD><F3B2A2B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 修改：不再直接发送 MapLayer*，而是发送文件名与文件路径，UI 层负责创建 MapLayer 对象并管理生命周期
     void LayerFileCreated(const QString& baseName, const QString& filePath, int fileIndex);
 };

HPPA/ImagerPositionSimulation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 
 #include "ImagerPositionSimulation.h"
 
@@ -61,7 +61,7 @@ void ImagerPositionSimulation::mouseReleaseEvent(QMouseEvent *event)
 {
 	QPoint viewPos = event->pos();
 
-	////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	////输出类型
 	//const type_info &x = typeid(imager);
 	//qDebug() << "---------------type_info: " << x.name() << x.raw_name() << x.hash_code();
 

HPPA/ImagerPositionSimulation.h

@@ -1,4 +1,4 @@
-#ifndef IMAGER_POSITION_SIMULATION
+#ifndef IMAGER_POSITION_SIMULATION
 #define IMAGER_POSITION_SIMULATION
 #include <QGraphicsView>
 #include <QGraphicsScene>
@@ -16,7 +16,7 @@ public:
 
 	void drawX();
 
-	void setSceneRect();//<EFBFBD><EFBFBD>QGraphicsView<EFBFBD><EFBFBD>viewport<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪsceneRect
+	void setSceneRect();//将QGraphicsView的viewport设置为sceneRect
 
 	QRectF sceneRect();
 

HPPA/LayerTree.cpp

@@ -1,4 +1,4 @@
-#include "LayerTree.h"
+#include "LayerTree.h"
 
 LayerTree::LayerTree(QObject* parent)
     : LayerTreeGroup("__root__", parent)

HPPA/LayerTree.h

@@ -1,14 +1,14 @@
-#pragma once
+#pragma once
 
 #include "LayerTreeGroupNode.h"
 
 /**
- * LayerTree<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD>̳<EFBFBD><EFBFBD><EFBFBD> LayerTreeGroup<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĸ<EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD>ṩ<EFBFBD>ɼ<EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>븸<EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD>µľ<EFBFBD>̬<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * LayerTree：图层树根节点
+ * - 继承自 LayerTreeGroup，本身就是树的根节点
+ * - 提供可见性级联与父节点三态更新的静态工具
  *
- * ע<EFBFBD>⣺beginInsertRows/endInsertRows <EFBFBD><EFBFBD> Qt Model <EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨӦ<EFBFBD><EFBFBD> Model <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
- * LayerTree ֻ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ά<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݽṹ<EFBFBD><EFBFBD>ȷ<EFBFBD>ԡ<EFBFBD>
+ * 注意：beginInsertRows/endInsertRows 等 Qt Model 变更通知应由 Model 驱动调用，
+ * LayerTree 只负责维护数据结构正确性。
  */
 class LayerTree : public LayerTreeGroup
 {
@@ -20,7 +20,7 @@ public:
     LayerTree(const LayerTree&) = delete;
     LayerTree& operator=(const LayerTree&) = delete;
 
-    // <EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>߼<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Model <EFBFBD><EFBFBD><EFBFBD>ã<EFBFBD>
+    // 可见性逻辑（供 Model 调用）
     static void setChildrenVisible(LayerTreeNode* n, Qt::CheckState state);
     static void updateParentVisibleFromChildren(LayerTreeNode* parent);
 };

HPPA/LayerTreeGroupNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeGroupNode.h"
+#include "LayerTreeGroupNode.h"
 #include "LayerTreeLayerNode.h"
 
 LayerTreeGroup::LayerTreeGroup(const QString& name, QObject* parent)

HPPA/LayerTreeGroupNode.h

@@ -1,12 +1,12 @@
-#pragma once
+#pragma once
 #include "LayerTreeNode.h"
 
 class LayerTreeLayer;
 
 /**
- * LayerTreeGroup<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ LayerTreeNode
- * - <EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ㣨LayerTreeLayer<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>飨LayerTreeGroup<EFBFBD><EFBFBD><EFBFBD>ı<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+ * LayerTreeGroup：图层组节点
+ * - 基类为 LayerTreeNode
+ * - 提供插入图层节点（LayerTreeLayer）或图层组（LayerTreeGroup）的便利方法
  */
 class LayerTreeGroup : public LayerTreeNode
 {
@@ -17,28 +17,28 @@ public:
 
     Type type() const override { return Type::Group; }
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 便利方法：插入子组
     LayerTreeGroup* insertGroup(int index, const QString& name);
     LayerTreeGroup* addGroup(const QString& name);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 便利方法：插入图层节点
     LayerTreeLayer* insertLayer(int index, LayerTreeLayer* layer);
     LayerTreeLayer* addLayer(LayerTreeLayer* layer);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 插入任意节点
     void insertChildNode(int index, LayerTreeNode* node);
     void addChildNode(LayerTreeNode* node);
 
-    // <EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㣨<EFBFBD><EFBFBD> delete<74><65><EFBFBD><EFBFBD><EFBFBD>ر<EFBFBD><D8B1>Ƴ<EFBFBD><C6B3>ڵ㣩
+    // 移除子节点（不 delete，返回被移除节点）
     LayerTreeNode* removeChildNode(LayerTreeNode* node);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    // 查找
     LayerTreeLayer* findLayer(const QString& name) const;
     QList<LayerTreeLayer*> findLayers() const;
     QList<LayerTreeGroup*> findGroups() const;
 
-    // <EFBFBD>Ժ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>collapsed / groupOpacity <EFBFBD><EFBFBD>
+    // 以后可扩展：collapsed / groupOpacity 等
 };
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 保持向后兼容
 using LayerTreeGroupNode = LayerTreeGroup;

HPPA/LayerTreeLayerNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeLayerNode.h"
+#include "LayerTreeLayerNode.h"
 
 LayerTreeLayer::LayerTreeLayer(MapLayer* layer, QObject* parent)
     : LayerTreeNode(layer ? layer->name() : QString(), parent), m_layer(layer)
@@ -10,7 +10,7 @@ LayerTreeNode::Type LayerTreeLayer::type() const
     return Type::Layer; 
 }
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD> MapLayer ָ<EFBFBD>루<EFBFBD><EFBFBD>ӵ<EFBFBD>У<EFBFBD>
+// 持有一个 MapLayer 指针（不拥有）
 void LayerTreeLayer::setMapLayer(MapLayer* layer) 
 { 
     m_layer = layer; 

HPPA/LayerTreeLayerNode.h

@@ -1,11 +1,11 @@
-#pragma once
+#pragma once
 #include "LayerTreeNode.h"
 #include "MapLayer.h"
 
 /**
- * LayerTreeLayer<EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ LayerTreeNode
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD> MapLayer ָ<EFBFBD>루<EFBFBD><EFBFBD>ӵ<EFBFBD>У<EFBFBD>
+ * LayerTreeLayer：图层节点
+ * - 基类为 LayerTreeNode
+ * - 持有一个 MapLayer 指针（不拥有）
  */
 class LayerTreeLayer : public LayerTreeNode
 {
@@ -21,8 +21,8 @@ public:
 private:
     MapLayer* m_layer = nullptr;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD>չ<EFBFBD><EFBFBD>layerId / pointer / legendItems <EFBFBD><EFBFBD>
+    // 可扩展：layerId / pointer / legendItems 等
 };
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 保持向后兼容
 using LayerTreeLayerNode = LayerTreeLayer;

HPPA/LayerTreeModel.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeModel.h"
+#include "LayerTreeModel.h"
 #include "LayerTreeGroupNode.h"
 #include "LayerTreeLayerNode.h"
 
@@ -64,7 +64,7 @@ QVariant LayerTreeModel::data(const QModelIndex& index, int role) const
         else if (LayerTreeNode::isLayer(tmp))
         {
             QString basePath = QCoreApplication::applicationDirPath();
-            return QIcon(basePath + "/icons/mIconRaster.svg");
+            return QIcon(":/svg/resources/icons/svg/mIconRaster.svg");
         }
     }
 
@@ -90,15 +90,15 @@ bool LayerTreeModel::setData(const QModelIndex& index, const QVariant& value, in
 
         n->setVisible(newState);
 
-        // 1) <EFBFBD><EFBFBD> -> <EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>
+        // 1) 父 -> 子 级联
         if (m_cascadeCheck) {
             LayerTree::setChildrenVisible(n, newState);
         }
 
-        // 2) <EFBFBD><EFBFBD> -> <EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> PartiallyChecked
+        // 2) 子 -> 父 更新 PartiallyChecked
         LayerTree::updateParentVisibleFromChildren(n->parentNode());
 
-        // <EFBFBD>򻯣<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD>£<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>滻Ϊ<EFBFBD><EFBFBD>׼ dataChanged<EFBFBD><EFBFBD>
+        // 简化：整体刷新（你后续可替换为精准 dataChanged）
         emit layoutChanged();
         return true;
     }
@@ -156,7 +156,7 @@ bool LayerTreeModel::cascadeCheckEnabled() const
     return m_cascadeCheck;
 }
 
-// <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD>֣<EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㲢<EFBFBD><EFBFBD> model <EFBFBD>Ϸ<EFBFBD><EFBFBD><EFBFBD> begin/endRemoveRows
+// 新增实现：移除子节点并在 model 上发出 begin/endRemoveRows
 LayerTreeNode* LayerTreeModel::removeNode(LayerTreeNode* parent, int row)
 {
     if (!parent) parent = m_tree;

HPPA/LayerTreeModel.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QCoreApplication>
 #include <QAbstractItemModel>
 #include "LayerTree.h"
@@ -6,9 +6,9 @@
 class LayerTreeLayer; // forward declare
 
 /**
- * LayerTreeModel<EFBFBD><EFBFBD>Qt <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㣨<EFBFBD><EFBFBD><EFBFBD>ٹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - 1 <EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƣ<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>꣩+ checkbox
- * - <EFBFBD><EFBFBD>ѡ<EFBFBD>ɼ<EFBFBD><EFBFBD>ԣ<EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>
+ * LayerTreeModel：Qt 适配层（不再管理树）
+ * - 1 列：名称（带图标）+ checkbox
+ * - 勾选可见性（可选级联勾选）
  */
 class LayerTreeModel : public QAbstractItemModel
 {
@@ -19,7 +19,7 @@ public:
         bool cascadeCheck = true);
     ~LayerTreeModel() override = default;
 
-    // QAbstractItemModel <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
+    // QAbstractItemModel 必须接口
     QModelIndex index(int row, int column,
         const QModelIndex& parent = QModelIndex()) const override;
     QModelIndex parent(const QModelIndex& child) const override;
@@ -30,7 +30,7 @@ public:
     bool setData(const QModelIndex& index, const QVariant& value, int role) override;
     Qt::ItemFlags flags(const QModelIndex& index) const override;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> API<50><49><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڲ<EFBFBD><DAB2><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD> begin/endInsertRows<EFBFBD><EFBFBD>
+    // 对外 API：构建树（内部会正确调用 begin/endInsertRows）
     LayerTreeNode* root() const;
 
     LayerTreeNode* addGroup(LayerTreeNode* parent, const QString& name, const QIcon& icon = QIcon());
@@ -39,7 +39,7 @@ public:
     void setCascadeCheckEnabled(bool enabled);
     bool cascadeCheckEnabled() const;
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӹ<EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ㣨<EFBFBD><EFBFBD>װ LayerTree::removeNode <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> model ֪ͨ<EFBFBD><EFBFBD>
+    // 新增：从父节点移除子节点（包装 LayerTree::removeNode 并发出 model 通知）
     LayerTreeNode* removeNode(LayerTreeNode* parent, int row);
 
 private:

HPPA/LayerTreeNode.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeNode.h"
+#include "LayerTreeNode.h"
 
 #include <QtGlobal>
 
@@ -55,7 +55,7 @@ LayerTreeNode* LayerTreeNode::parentNode() const
 void LayerTreeNode::setParentNode(LayerTreeNode* p)
 {
     m_parentNode = p;
-    // <EFBFBD><EFBFBD> QObject <EFBFBD><EFBFBD> parent Ҳ<EFBFBD><EFBFBD><EFBFBD>棨<EFBFBD><EFBFBD><EFBFBD><EFBFBD> Qt <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ι<EFBFBD><CEB9><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD><D2B2><EFBFBD>Ӱ<EFBFBD><D3B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֶ<EFBFBD> delete children<EFBFBD><EFBFBD>
+    // 让 QObject 的 parent 也跟随（便于 Qt 对象层次管理，且不会影响我们手动 delete children）
     if (p) this->setParent(p);
     else this->setParent(nullptr);
 }

HPPA/LayerTreeNode.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QVector>
@@ -6,14 +6,14 @@
 #include <QString>
 
 /**
- * LayerTreeNode<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ࣨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ԣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>/ͼ<><CDBC>/<2F>ɼ<EFBFBD><C9BC><EFBFBD>/<2F><><EFBFBD>ӹ<EFBFBD>ϵ
- * - Group / Layer <EFBFBD>ڵ<EFBFBD>ͨ<EFBFBD><EFBFBD><EFBFBD>̳<EFBFBD>ʵ<EFBFBD><EFBFBD>
- * - <EFBFBD>ṩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/ɾ<><C9BE><EFBFBD>ڵ<EFBFBD><DAB5><EFBFBD><EFBFBD>ź<EFBFBD>֪ͨ
+ * LayerTreeNode：节点基类（抽象）
+ * - 仅包含通用属性：名称/图标/可见性/父子关系
+ * - Group / Layer 节点通过继承实现
+ * - 提供插入/删除节点的信号通知
  *
- * ˵<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
- * - <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͬʱά<EFBFBD><EFBFBD>"<22><><EFBFBD><EFBFBD>ָ<EFBFBD><D6B8>"<22><>m_parentNode<EFBFBD><EFBFBD><EFBFBD><EFBFBD> QObject parent<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ѡ<EFBFBD><EFBFBD>
- * - children <EFBFBD>ɽڵ<EFBFBD><EFBFBD>Լ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>в<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ delete children<EFBFBD><EFBFBD>
+ * 说明：
+ * - 这里同时维护"树父指针"（m_parentNode）与 QObject parent（可选）
+ * - children 由节点自己持有并负责释放（析构时 delete children）
  */
 class LayerTreeNode : public QObject
 {
@@ -52,8 +52,8 @@ public:
     void appendChild(LayerTreeNode* child);
     void insertChild(int row, LayerTreeNode* child);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD> QgsLayerTreeNode::removeChildrenPrivate <EFBFBD>Ľ<EFBFBD>
-    // from: <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>, count: <EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, destroy: true <EFBFBD><EFBFBD> delete <EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ڵ<EFBFBD>
+    // 基于 QgsLayerTreeNode::removeChildrenPrivate 改进
+    // from: 起始索引, count: 移除数量, destroy: true 则 delete 被移除节点
     void removeChild(int from, int count, bool destroy = true);
 
     // ---- static type helpers ----
@@ -68,11 +68,11 @@ public:
     }
 
 signals:
-    // <EFBFBD>ڲ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӽڵ<EFBFBD>֮ǰ/֮<>󷢳<EFBFBD>
+    // 在插入子节点之前/之后发出
     void willAddChildren(LayerTreeNode* node, int indexFrom, int indexTo);
     void addedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
 
-    // <EFBFBD><EFBFBD><EFBFBD>Ƴ<EFBFBD><EFBFBD>ӽڵ<EFBFBD>֮ǰ/֮<>󷢳<EFBFBD>
+    // 在移除子节点之前/之后发出
     void willRemoveChildren(LayerTreeNode* node, int indexFrom, int indexTo);
     void removedChildren(LayerTreeNode* node, int indexFrom, int indexTo);
 

HPPA/LayerTreeView.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeView.h"
+#include "LayerTreeView.h"
 #include "LayerTreeViewMenuProvider.h"
 #include <QContextMenuEvent>
 #include <QMenu>

HPPA/LayerTreeView.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QTreeView>
 

HPPA/LayerTreeViewMenuProvider.cpp

@@ -1,4 +1,4 @@
-#include "LayerTreeViewMenuProvider.h"
+#include "LayerTreeViewMenuProvider.h"
 #include "LayerTreeView.h"
 #include "LayerTreeModel.h"
 #include "LayerTreeNode.h"
@@ -36,7 +36,7 @@ QMenu* LayerTreeViewMenuProvider::createContextMenu()
 
     if (node->type() == LayerTreeNode::Type::Layer)
     {
-        QAction* removeAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+        QAction* removeAction = new QAction(QStringLiteral("移除图层"), menu);
         connect(removeAction, &QAction::triggered, HPPA::instance(), &HPPA::removeLayerByTreeIndex);
         menu->addAction(removeAction);
     }
@@ -45,7 +45,7 @@ QMenu* LayerTreeViewMenuProvider::createContextMenu()
         HPPA* app = HPPA::instance();
         if (app && node == app->rasterGroupNode())
         {
-            QAction* removeAllAction = new QAction(QStringLiteral("<EFBFBD>Ƴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>"), menu);
+            QAction* removeAllAction = new QAction(QStringLiteral("移除所有图层"), menu);
             connect(removeAllAction, &QAction::triggered, app, &HPPA::removeAllLayersInRasterGroup);
             menu->addAction(removeAllAction);
         }

HPPA/LayerTreeViewMenuProvider.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QMenu>
 #include <QObject>
@@ -15,7 +15,7 @@ public:
     explicit LayerTreeViewMenuProvider(LayerTreeView* view, QObject* parent = nullptr);
     ~LayerTreeViewMenuProvider() override = default;
 
-    // <EFBFBD><EFBFBD><EFBFBD>ݸ<EFBFBD><EFBFBD><EFBFBD> index <20><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD>˵<EFBFBD><CBB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߸<EFBFBD><DFB8><EFBFBD>ɾ<EFBFBD><C9BE><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD> QMenu*
+    // 根据给定 index 创建一个菜单，调用者负责删除返回的 QMenu*
     QMenu* createContextMenu();
 
 private:

HPPA/MapLayer.cpp

@@ -1,4 +1,4 @@
-#include "MapLayer.h"
+#include "MapLayer.h"
 
 MapLayer::MapLayer(const QString& name, const QString& uri)
     : QObject(nullptr), m_name(name), m_uri(uri)

HPPA/MapLayer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QString>

HPPA/MapLayerStore.cpp

@@ -1,4 +1,4 @@
-#include "MapLayerStore.h"
+#include "MapLayerStore.h"
 #include "MapLayer.h"
 
 MapLayerStore::MapLayerStore(QObject* parent)

HPPA/MapLayerStore.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QString>

HPPA/MotorWindowBase.cpp

@@ -0,0 +1,11 @@
+#include "MotorWindowBase.h"
+
+MotorWindowBase::MotorWindowBase()
+{
+
+}
+
+MotorWindowBase::~MotorWindowBase()
+{
+
+}

HPPA/MotorWindowBase.h

@@ -0,0 +1,15 @@
+#pragma once
+
+class MotorWindowBase
+{
+
+public:
+    MotorWindowBase();
+    ~MotorWindowBase();
+
+protected:
+    virtual bool getMotorsConnectionStatus()=0;
+
+private:
+
+};

HPPA/OneMotorControl.cpp

@@ -1,4 +1,4 @@
-#include "OneMotorControl.h"
+#include "OneMotorControl.h"
 
 OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 {
@@ -6,6 +6,16 @@ OneMotorControl::OneMotorControl(QWidget* parent) : QDialog(parent)
 
     connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
 
+    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
 }
 
 OneMotorControl::~OneMotorControl()
@@ -16,6 +26,31 @@ OneMotorControl::~OneMotorControl()
 
 void OneMotorControl::onConnectMotor()
 {
+    if (getMotorsConnectionStatus())
+    {
+        QMessageBox msgBox;
+        msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+        msgBox.exec();
+
+        return;
+    }
+
+    if (m_multiAxisController != nullptr)
+    {
+        disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
+        disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+        disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+        disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+        disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+        disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+        disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+        disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+        m_motorThread.quit();
+        m_motorThread.wait();
+        m_multiAxisController = nullptr;
+    }
+
 	try
 	{
         FileOperation* fileOperation = new FileOperation();
@@ -27,35 +62,27 @@ void OneMotorControl::onConnectMotor()
 	catch (std::exception const& e)
 	{
         QMessageBox msgBox;
-        msgBox.setText(QString::fromLocal8Bit("<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"));
+        msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
         msgBox.exec();
+        return;
 	}
-    
+
     m_multiAxisController->moveToThread(&m_motorThread);
     connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
-    connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-    connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-    connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-    connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-    connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
-
     connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
 
     connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
     connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
     connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
 
-    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
     connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
-    
+
     m_motorThread.start();
     emit testConnectivitySignal(0, 1000);
 }
@@ -73,11 +100,36 @@ void OneMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(0,255,0);}");
+        m_xMotorConnectionStatus = true;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: #08FACE;
+				border-radius: 4px;
+			}
+		)");
     }
     else
     {
-        this->ui.motor_state_label->setStyleSheet("QLabel{background-color:rgb(255,0,0);}");
+        m_xMotorConnectionStatus = false;
+
+        this->ui.motor_state_label->setStyleSheet(R"(
+			QLabel
+			{
+				background-color: red;
+				border-radius: 4px;
+			}
+		)");
+    }
+
+    if (getMotorsConnectionStatus())
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+    }
+    else
+    {
+        this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
     }
 }
 
@@ -150,15 +202,12 @@ void OneMotorControl::record_white()
 
 void OneMotorControl::run()
 {
-    if (m_coordinator == nullptr)
-    {
-        qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
-        m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
-        connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
-        connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    qRegisterMetaType<OneMotionCapturePathLine>("OneMotionCapturePathLine");
+    m_coordinator = new OneMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+    connect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    connect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
 
-        connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
-    }
+    connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
 
     OneMotionCapturePathLine tmp;
     tmp.speedRecord = ui.speed_lineEdit->text().toDouble();
@@ -172,7 +221,22 @@ void OneMotorControl::stop()
     emit stopStepMotionSignal();
 }
 
-void OneMotorControl::onSequenceComplete()
+void OneMotorControl::onSequenceComplete(int state)
 {
     emit sequenceComplete();
+
+    disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
+    disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
+    disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
+
+    // Use deleteLater() instead of delete: this slot may have been called directly
+    // from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
+    // the object here would cause a crash when execution returns to the destroyed object.
+    m_coordinator->deleteLater();
+    m_coordinator = nullptr;
+}
+
+bool OneMotorControl::getMotorsConnectionStatus()
+{
+    return m_xMotorConnectionStatus;
 }

HPPA/OneMotorControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QThread>
 #include <QMessageBox>
 
@@ -7,8 +7,9 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
-class OneMotorControl : public QDialog
+class OneMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -24,6 +25,7 @@ public:
     void record_dark();
     void record_white();
 
+    bool getMotorsConnectionStatus();
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -38,7 +40,7 @@ public Q_SLOTS:
     void onxMotorLeft();
     void onxMotorStop();
 
-    void onSequenceComplete();
+    void onSequenceComplete(int state);
 
 signals:
     void moveSignal(int, bool, double, int);
@@ -61,11 +63,13 @@ private:
     Ui::OneMotorControl_UI ui;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 
     OneMotionCaptureCoordinator* m_coordinator = nullptr;
     ImagerOperationBase* m_Imager;
 
     DarkAndWhiteCaptureCoordinator* m_darkCaptureCoordinator = nullptr;
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
+
+    bool m_xMotorConnectionStatus = false;
 };

HPPA/PowerControl.cpp

@@ -1,4 +1,4 @@
-#include "PowerControl.h"
+#include "PowerControl.h"
 
 PowerControl::PowerControl(QWidget *parent)
 	: QDialog(parent)

HPPA/PowerControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>

HPPA/QDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "qDoubleSlider.h"
 QDoubleSlider::QDoubleSlider(QWidget* pParent /*= NULL*/) :
 QSlider(pParent),
@@ -7,18 +7,19 @@ m_Multiplier(100.0)
 	connect(this, SIGNAL(valueChanged(int)), this, SLOT(notifyValueChanged(int)));
 
 	setSingleStep(1);
+	setRange(1, 500);
 
 	setOrientation(Qt::Horizontal);
 	setFocusPolicy(Qt::NoFocus);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value / m_Multiplier);
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QDoubleSlider.h

@@ -1,4 +1,4 @@
-#ifndef Q_DOUBLE_SLIDER_H
+#ifndef Q_DOUBLE_SLIDER_H
 #define Q_DOUBLE_SLIDER_H
 #include <QtGui/QtGui>
 #include <QSlider>
@@ -17,14 +17,14 @@ public:
 	double value() const;
 
 	public slots:
-	void notifyValueChanged(int value);//<EFBFBD>ź<EFBFBD>valueChanged(int)<EFBFBD><EFBFBD>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
+	void notifyValueChanged(int value);//信号valueChanged(int)的wrap
+	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue函数的wrap
 
 	private slots:
 
 signals :
-	void valueChanged(double Value);
-	void rangeChanged(double Min, double Max);
+	void valueChanged(double Value);//QSlider的valueChanged信号的参数为整型
+	void rangeChanged(double Min, double Max);//QSlider的rangeChanged信号的参数为整型
 
 private:
 	double	m_Multiplier;

HPPA/QMotorDoubleSlider.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "QMotorDoubleSlider.h" 
 QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pParent)
 {
@@ -14,9 +14,9 @@ QMotorDoubleSlider::QMotorDoubleSlider(QWidget* pParent /*= NULL*/) :QSlider(pPa
 
 void QMotorDoubleSlider::setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam)
 {
-	//<EFBFBD><EFBFBD><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>룺1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/(360/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
-	//m_Multiplier(0.00054496986),//<EFBFBD>Ϻ<EFBFBD>ũ<EFBFBD><EFBFBD>Ժ<EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD>ǰ<EFBFBD><EFBFBD>0.00052734375/5=0.00010546875<EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD>׼ȷֵΪ0.000544969862759644<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0.00054496986/5=0.000108993972<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD>и<EFBFBD><EFBFBD><EFBFBD>еװ<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>5<EFBFBD><EFBFBD>
-	//m_Multiplier(0.00054496986)//<EFBFBD>˰<EFBFBD><EFBFBD><EFBFBD>ũ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//根据公式将脉冲换算为距离：1脉冲距离(m_Multiplier)=导程/(360/步距角*细分倍数)；网址：https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
+	//m_Multiplier(0.00054496986),//上海农科院，修改前：0.00052734375/5=0.00010546875；修改后准确值为0.000544969862759644，近似为0.00054496986/5=0.000108993972，因为有个机械装置1脉冲距离需要除以5；
+	//m_Multiplier(0.00054496986)//兴安盟农研所
 	m_Multiplier = lead / (360 / stepAnglemar * getValidSubdivision(subdivisionParam)) * scaleFactor;
 }
 
@@ -38,13 +38,13 @@ int QMotorDoubleSlider::getValidSubdivision(int subdivisionParam)
 		return 256;
 }
 
-//<EFBFBD><EFBFBD><EFBFBD>ⷢ<EFBFBD><EFBFBD>
+//向外发射
 void QMotorDoubleSlider::notifyValueChanged(int Value)
 {
 	emit valueChanged((double)Value * m_Multiplier);//////////
 }
 
-//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+//接收外边
 void QMotorDoubleSlider::setValue(double Value, bool BlockSignals)
 {
 	QSlider::blockSignals(BlockSignals);

HPPA/QMotorDoubleSlider.h

@@ -1,4 +1,4 @@
-#ifndef Q_MOTOR_DOUBLE_SLIDER_H
+#ifndef Q_MOTOR_DOUBLE_SLIDER_H
 #define Q_MOTOR_DOUBLE_SLIDER_H
 #include <QtGui/QtGui>
 #include <QSlider>
@@ -15,7 +15,7 @@ public:
 	void setMultiplier(float lead, float stepAnglemar, float scaleFactor, int subdivisionParam);
 	int getValidSubdivision(int subdivisionParam);
 
-	double	m_Multiplier;//<EFBFBD><EFBFBD><EFBFBD>ݹ<EFBFBD>ʽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>廻<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD><EFBFBD>룺1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>(m_Multiplier)=<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/(360/<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>*ϸ<>ֱ<EFBFBD><D6B1><EFBFBD>)<29><><EFBFBD><EFBFBD>ַ<EFBFBD><D6B7>https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
+	double	m_Multiplier;//根据公式将脉冲换算为距离：1脉冲距离(m_Multiplier)=导程/(360/步距角*细分倍数)；网址：https://wenku.baidu.com/view/4b2ea88bd0d233d4b14e69b8.html
 
 	void setRange(double Min, double Max);
 	void setMinimum(double Min);
@@ -23,13 +23,13 @@ public:
 	void setMaximum(double Max);
 	double maximum() const;
 	double value() const;
-	double OriginalValue() const;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫʵ<EFBFBD>ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ǿ<EFBFBD><EFBFBD><EFBFBD>
-	long getPositionPulse(double position);//<EFBFBD><EFBFBD><EFBFBD>ݴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ľ<EFBFBD><EFBFBD>뷵<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
+	double OriginalValue() const;//返回脉冲值：马达需要实际的脉冲值，而不是距离
+	long getPositionPulse(double position);//根据传入的距离返回脉冲值
 	double getDistanceFromPulse(int pulse);
 
 public slots:
-	void notifyValueChanged(int value);//<EFBFBD>ź<EFBFBD>valueChanged(int)<EFBFBD><EFBFBD>wrap
-	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>wrap
+	void notifyValueChanged(int value);//信号valueChanged(int)的wrap
+	void setValue(double Value, bool BlockSignals = true);//QSlider::setValue函数的wrap
 
 signals:
 	void valueChanged(double Value);

HPPA/RasterDataProvider.cpp

@@ -1,4 +1,4 @@
-#include "RasterDataProvider.h"
+#include "RasterDataProvider.h"
 #include <QString>
 #include <QDebug>
 #include <QFile>

HPPA/RasterDataProvider.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QString>
 #include <vector>

HPPA/RasterLayer.cpp

@@ -1,4 +1,4 @@
-#include "RasterLayer.h"
+#include "RasterLayer.h"
 #include "RasterDataProvider.h"
 #include "RasterRenderer.h"
 #include <algorithm>

HPPA/RasterLayer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include "MapLayer.h"
 #include <memory>

HPPA/RasterRenderer.cpp

@@ -1,4 +1,4 @@
-#include "RasterRenderer.h"
+#include "RasterRenderer.h"
 #include "RasterDataProvider.h"
 #include <QDebug>
 #include <algorithm>

HPPA/RasterRenderer.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QImage>
 #include <vector>

HPPA/ResononNirImager.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include <iostream>
 #include <fstream>
 #include <iomanip>
@@ -14,7 +14,7 @@ ResononNirImager::~ResononNirImager()
 {
 	if (buffer != nullptr)
 	{
-		std::cout << "<EFBFBD>ͷŶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD>" << std::endl;
+		std::cout << "释放堆上内存" << std::endl;
 		free(buffer);
 		free(dark);
 		free(white);
@@ -40,12 +40,12 @@ double ResononNirImager::getIntegrationTime()
 double ResononNirImager::getGain()
 {
 	//return m_ResononNirImager.get_gain();
-	return 0.0;//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	return 0.0;//nir不支持gian
 }
 
 void ResononNirImager::setGain(const double gain)
 {
-	//m_ResononNirImager.set_gain(gain);//nir<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>gian
+	//m_ResononNirImager.set_gain(gain);//nir不支持gian
 }
 
 void ResononNirImager::setFramerate(const double frames_per_second)
@@ -103,12 +103,12 @@ void ResononNirImager::setSpectraBin(int new_spectral_bin)
 
 double ResononNirImager::auto_exposure()
 {
-	//<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD>ڵ<EFBFBD>ǰ֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	double x = 1 / getFramerate() * 1000;//<EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第一步：先设置曝光时间为在当前帧率情况下最大
+	double x = 1 / getFramerate() * 1000;//获取最大毫秒曝光时间
 	reConnectImage();
 	setIntegrationTime(x);
 
-	//<EFBFBD>ڶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͨ<EFBFBD><EFBFBD>ѭ<EFBFBD><EFBFBD>Ѱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>
+	//第二步：通过循环寻找最佳曝光时间
 	imagerStartCollect();
 
 	while (true)
@@ -117,7 +117,7 @@ double ResononNirImager::auto_exposure()
 		if (GetMaxValue(buffer, m_FrameSize) >= 4095)
 		{
 			setIntegrationTime(getIntegrationTime() * 0.8);
-			std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع<EFBFBD>-----------" << std::endl;
+			std::cout << "自动曝光-----------" << std::endl;
 		}
 		else
 		{
@@ -128,7 +128,7 @@ double ResononNirImager::auto_exposure()
 	reConnectImage();
 	//imagerStopCollect();
 
-	//std::cout << "<EFBFBD>Զ<EFBFBD><EFBFBD>ع⣺" << getIntegrationTime() << std::endl;
+	//std::cout << "自动曝光：" << getIntegrationTime() << std::endl;
 
 	return getIntegrationTime();
 }
@@ -151,7 +151,7 @@ int ResononNirImager::getSampleCount()
 void ResononNirImager::focus()
 {
 	m_iFocusFrameCounter = 1;
-	//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>-----------" << std::endl;
+	//std::cout << "调焦-----------" << std::endl;
 
 	double tmpFrmerate = getFramerate();
 	double tmpIntegrationTime = getIntegrationTime();
@@ -159,7 +159,7 @@ void ResononNirImager::focus()
 
 	setFramerate(5);
 	auto_exposure();
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ع<EFBFBD>ʱ<EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << getIntegrationTime() << std::endl;
+	std::cout << "调焦获得的曝光时间为：" << getIntegrationTime() << std::endl;
 
 	reConnectImage();
 	imagerStartCollect();
@@ -183,12 +183,12 @@ void ResononNirImager::focus()
 	reConnectImage();
 	setIntegrationTime(tmpIntegrationTime);
 
-	setFramerate(tmpFrmerate);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	setFramerate(tmpFrmerate);//必须要放在这里，如果不放这里，这行代码就要出错。。。。。。
 }
 
 void ResononNirImager::record_dark()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集暗电流！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 
@@ -221,7 +221,7 @@ void ResononNirImager::record_dark()
 
 void ResononNirImager::record_white()
 {
-	std::cout << "<EFBFBD>ɼ<EFBFBD><EFBFBD>װ壡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << std::endl;
+	std::cout << "采集白板！！！！！！！！！" << std::endl;
 	reConnectImage();
 	imagerStartCollect();
 	
@@ -247,7 +247,7 @@ void ResononNirImager::record_white()
 
 	imagerStopCollect();
 
-	//<EFBFBD>װ<EFBFBD><EFBFBD>۰<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//白板扣暗电流
 	if (m_HasDark)
 	{
 		for (size_t i = 0; i < m_FrameSize; i++)
@@ -275,18 +275,23 @@ void ResononNirImager::start_record()
 	//std::cout << "------------------------------------------------------" << std::endl;
 
 	m_iFrameCounter = 0;
-	m_RgbImage->m_iFrameCounter = 0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>0<EFBFBD><EFBFBD>
+	m_RgbImage->m_iFrameCounter = 0;//设置填充rgb图像的第0行
 	m_bRecordControlState = true;
 
-	//<EFBFBD>ж<EFBFBD><EFBFBD>ڴ<EFBFBD>buffer<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//判断内存buffer是否正常分配
 	if (buffer == 0)
 	{
 		std::cerr << "Error: memory could not be allocated for datacube";
 		exit(EXIT_FAILURE);
 	}
 
+	// 在开始采集时仅发出文件信息，UI 层自行创建 MapLayer 并管理生命周期
+	// prepare file name that will be used for saving
 	m_FileName2Save2 = m_FileName2Save + "_" + std::to_string(m_FileSavedCounter) + ".bil";
+	QString baseName = QString::fromStdString(getFileNameFromPath(m_FileName2Save2));
 	QString filePath = QString::fromStdString(m_FileName2Save2);
+	emit LayerFileCreated(baseName, filePath, m_FileSavedCounter);
+
 	FILE* m_fImage = fopen(m_FileName2Save2.c_str(), "w+b");
 
 	size_t x;
@@ -295,7 +300,7 @@ void ResononNirImager::start_record()
 	string timesFile = removeFileExtension(m_FileName2Save2) + ".times";
 	FILE* hTimesFile = fopen(timesFile.c_str(), "w+");
 
-	reConnectImage();//nir<EFBFBD>ڶ<EFBFBD><EFBFBD>βɼ<EFBFBD>ʱ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>imagerStartCollect()<EFBFBD>ᱨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	reConnectImage();//nir第二次采集时需要重新连接相机，否则函数imagerStartCollect()会报错。。。。。。
 	imagerStartCollect();
 	while (m_bRecordControlState)
 	{
@@ -305,7 +310,7 @@ void ResononNirImager::start_record()
 		long long timeOs = getNanosecondsSinceMidnight();
 		//qDebug() << "time ns-------------------: " << timeOs;
 
-		//<EFBFBD><EFBFBD>ȥ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ӦΪbuffer<EFBFBD><EFBFBD>dark<EFBFBD><EFBFBD><EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ե<EFBFBD>dark>bufferʱ<EFBFBD><EFBFBD>buffer-dark=65535
+		//减去暗电流，应为buffer和dark都是unsigned short，所以当dark>buffer时，buffer-dark=65535
 		if (m_HasDark)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
@@ -323,12 +328,12 @@ void ResononNirImager::start_record()
 		}
 
 
-		//ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		//转反射率
 		if (m_HasWhite)
 		{
 			for (size_t i = 0; i < m_FrameSize; i++)
 			{
-				//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>װ壩Ϊ0<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+				//处理除数（白板）为0的情况
 				if (white[i] != 0)
 				{
 					pixelValueTmp = buffer[i];
@@ -344,14 +349,14 @@ void ResononNirImager::start_record()
 		}
 
 		x = fwrite(buffer, 2, m_FrameSize, m_fImage);
-		fprintf(hTimesFile, "%lld\n", timeOs);
+		fprintf(hTimesFile, "%ll\n", timeOs);
 
-		//<EFBFBD><EFBFBD>rgb<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ա<EFBFBD><EFBFBD>ڽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ
+		//将rgb波段提取出来，以便在界面中显示
 		m_RgbImage->FillRgbImage(buffer);//??????????????????????????????????????????????????????????????????????????????????????????????????????
 
-		//std::cout << "<EFBFBD><EFBFBD>" << m_iFrameCounter << "֡д<EFBFBD><EFBFBD>" << x << "<EFBFBD><EFBFBD>unsigned short<EFBFBD><EFBFBD>" << std::endl;
+		//std::cout << "第" << m_iFrameCounter << "帧写了" << x << "个unsigned short。" << std::endl;
 
-		//ÿ<EFBFBD><EFBFBD>1s<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>ν<EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD>λ<EFBFBD><EFBFBD><EFBFBD>
+		//每隔1s进行一次界面图形绘制
 		if (m_iFrameCounter % (int)getFramerate() == 0)
 		{
 			emit PlotSignal(m_FileSavedCounter, m_iFrameCounter, filePath);
@@ -360,18 +365,22 @@ 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>";
 		}
 
 	}
 	imagerStopCollect();
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼǰ<EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	//在最后一次画图前需要进行一次拉伸
 	//m_RgbImage
-	emit PlotSignal(m_FileSavedCounter, -1, filePath);//<EFBFBD>ɼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>λ<EFBFBD>ͼ<EFBFBD><EFBFBD><EFBFBD>Է<EFBFBD><EFBFBD>ɼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD>ʵı<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼ<EFBFBD><EFBFBD>ȫ
+	emit PlotSignal(m_FileSavedCounter, -1, filePath);//采集完成后进行一次画图，以防采集帧数不是帧率的倍数时，画图不全
 
 	m_bRecordControlState = false;
 	WriteHdr();
+
+	// 发射 ImageFileSaved 信号，通知 UI 层把该文件加入图层管理器
+	// m_FileName2Save2 保存了本次写入的 .bil 文件名（例如 "tmp_image_0.bil"）
+	emit ImageFileSaved(QString::fromStdString(m_FileName2Save2), m_FileSavedCounter);
+
 	m_FileSavedCounter++;
 
 	if (m_iFrameCounter >= m_iFrameNumber)

HPPA/ResononNirImager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <string>
 #include <opencv2/core/core.hpp> 

HPPA/RgbCameraOperation.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "RgbCameraOperation.h"
 
 RgbCameraOperation::RgbCameraOperation()
@@ -14,14 +14,14 @@ RgbCameraOperation::~RgbCameraOperation()
 
 void RgbCameraOperation::OpenCamera()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -30,20 +30,20 @@ void RgbCameraOperation::OpenCamera()
 
 	cam->release();
 
-	emit CamClosed();
+	emit CamOpenedSignal();
 
 }
 
 void RgbCameraOperation::OpenCamera_callback()
 {
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "打开摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 	cam = new cv::VideoCapture(0);
 
 	record = true;
 
 	while (record)
 	{
-		//std::cout << "<EFBFBD>ɼ<EFBFBD>Ӱ<EFBFBD><EFBFBD>+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+		//std::cout << "采集影像+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 		cam->read(frame);
 		m_qImage = m_ImageProcessor->Mat2QImage(frame);
 
@@ -62,7 +62,9 @@ void RgbCameraOperation::setCallback(void(*func)())
 
 void RgbCameraOperation::CloseCamera()
 {
-	std::cout << "<EFBFBD>ر<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͷ+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
+	std::cout << "关闭摄像头+++++++++++++++++++++++++++++++++++++++++++" << std::endl;
 
 	record = false;
+
+	emit CamClosedSignal();
 }

HPPA/RgbCameraOperation.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #ifndef RGBCAMERAOPERATION_H
 #define RGBCAMERAOPERATION_H
 
@@ -36,12 +36,13 @@ private:
 
 public slots:
 	void OpenCamera();
-	void OpenCamera_callback();//<EFBFBD><EFBFBD>ʹ<EFBFBD><EFBFBD><EFBFBD>źŶ<EFBFBD>ʹ<EFBFBD>ûص<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֪ͨ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˢ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ƶ
+	void OpenCamera_callback();//不使用信号而使用回调函数来通知界面刷新视频
 	void CloseCamera();
 
 signals:
 	void PlotSignal();
 
-	void CamClosed();
+	void CamOpenedSignal();
+	void CamClosedSignal();
 };
 #endif // !RGBCAMERAOPERATION_H

HPPA/RobotArmControl.cpp

@@ -1,4 +1,4 @@
-#include "RobotArmControl.h"
+#include "RobotArmControl.h"
 
 RobotArmControl::RobotArmControl(QWidget* parent): QDialog(parent)
 {
@@ -82,7 +82,7 @@ void RobotArmControl::getTaskList()
         files.append(line.trimmed());
     }
 
-    ////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD>Ȼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    ////先清除数据，然后添加数据
     //for (size_t i = 0; i < files.length(); i++)
     //{
     //    int row = m_pModel->rowCount();
@@ -112,7 +112,7 @@ void RobotArmControl::executeTaskWithHyperImager()
     QModelIndex index = ui.taskList_listView->currentIndex();
     if (-1 == index.row())
     {
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+        //弹窗提示用户选择文件
         ui.textEdit->append("Please select file on the left!");
         return;
     }
@@ -148,7 +148,7 @@ void RobotArmControl::executeTaskWithoutHyperImager()
     QModelIndex index = ui.taskList_listView->currentIndex();
     if (-1 == index.row())
     {
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾ<EFBFBD>û<EFBFBD>ѡ<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+        //弹窗提示用户选择文件
         ui.textEdit->append("Please select file on the left!");
         return;
     }
@@ -290,7 +290,7 @@ bool RobotController::processResponse_getJbiState(QJsonObject response, QString&
 void RobotController::getPoint()
 {
     QJsonObject response;
-    getJbiState(response);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    getJbiState(response);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     QString result;
     bool x = processResponse_getJbiState(response, result);
     //qDebug() << "getJbiState:" << result;
@@ -302,7 +302,7 @@ void RobotController::getPoint()
         m_iCurrentJbiJobLine = 0;
         m_iFileCounter = 0;
 
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机停止采集
         emit hsiRecordSignal(-1);
 
         return;
@@ -321,12 +321,12 @@ void RobotController::getPoint()
         m_iFileCounter++;
 
         qDebug() << "Changed! CurrentJobLine:" << m_iCurrentJbiJobLine_tmp;
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֹͣ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机停止采集
         emit hsiRecordSignal(-1);
 
         m_iCurrentJbiJobLine = m_iCurrentJbiJobLine_tmp;
 
-        //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>źţ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD>ɼ<EFBFBD>
+        //发射信号，相机开始采集
         emit hsiRecordSignal(m_iFileCounter);
     }
 }
@@ -421,7 +421,7 @@ bool RobotController::getRobotMode(QJsonObject& re)
 bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
 {
     QJsonObject paramsRunJbi;
-    paramsRunJbi["filename"] = jbiFilename;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    paramsRunJbi["filename"] = jbiFilename;//使用对象结构
 
     sendCommand("checkJbiExist", paramsRunJbi);
     socket->waitForReadyRead(m_iTimeout);
@@ -432,7 +432,7 @@ bool RobotController::checkJbiExist(const QString& jbiFilename, QJsonObject& re)
 bool RobotController::setServoStatus(int status, QJsonObject& re)
 {
     QJsonObject params_set_servo_status;
-    params_set_servo_status["status"] = status;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    params_set_servo_status["status"] = status;//使用对象结构
 
     sendCommand("set_servo_status", params_set_servo_status);
     socket->waitForReadyRead(m_iTimeout);
@@ -443,7 +443,7 @@ bool RobotController::setServoStatus(int status, QJsonObject& re)
 bool RobotController::runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi)
 {
     QJsonObject paramsRunJbi;
-    paramsRunJbi["filename"] = jbiFilename;//ʹ<EFBFBD>ö<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ṹ
+    paramsRunJbi["filename"] = jbiFilename;//使用对象结构
 
     sendCommand("runJbi", paramsRunJbi);
     socket->waitForReadyRead(m_iTimeout);

HPPA/RobotArmControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <qdialog.h>
 #include <QTcpSocket>
 #include <QJsonDocument>
@@ -26,33 +26,33 @@ struct ECData
     quint32 msgSize;
     quint64 timeStamp;
     quint8 auto_cycle;
-    double machinePos[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machinePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double machineUserPose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double torque[8];//<EFBFBD>ؽڶ<EFBFBD><EFBFBD><EFBFBD>ذٷֱ<EFBFBD>
-    quint32 robotState;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    quint32 servoReady;//<EFBFBD>ŷ<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint32 can_motor_run;//ͬ<EFBFBD><EFBFBD>״̬
-    qint32 motor_speed[8];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
-    quint32 robotMode;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ģʽ
-    double analog_ioInput[3];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    double analog_ioOutput[5];//ģ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    quint64 digital_ioInput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint64 digital_ioOutput;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵĶ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
-    quint8 collision;//<EFBFBD><EFBFBD>ײ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
-    double machineFlangePose[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    double machineUserFlangePose[6];//<EFBFBD>û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µķ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-    quint8 emergencyStopState;//<EFBFBD><EFBFBD>ǰ<EFBFBD>Ƿ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD>ͣ״̬
-    double tcpSpeed;//tcp<EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntSpeed[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double tcpAcc;//tcp<EFBFBD><EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntAcc[8];//<EFBFBD>ؽ<EFBFBD><EFBFBD>˶<EFBFBD><EFBFBD>¸<EFBFBD><EFBFBD>ؽڼ<EFBFBD><EFBFBD>ٶ<EFBFBD>
-    double joIntTemperature[6];//<EFBFBD>¶<EFBFBD>
-    double joIntTorque[6];//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ť<EFBFBD><EFBFBD>
-    double extJoIntTorques[6];//<EFBFBD>ⲿ<EFBFBD>ؽ<EFBFBD>Ť<EFBFBD><EFBFBD>ֵ
-    double exTcpForceIntool[6];//<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD>µ<EFBFBD><EFBFBD>ⲿĩ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>/<2F><><EFBFBD>ع<EFBFBD><D8B9><EFBFBD>ֵ
-    quint8 dragState;//<EFBFBD>϶<EFBFBD>ʹ<EFBFBD><EFBFBD>״̬
-    quint8 sensor_connected_state;//<EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬
+    double machinePos[8];//关节坐标
+    double machinePose[6];//基座坐标
+    double machineUserPose[6];//用户坐标
+    double torque[8];//关节额定力矩百分比
+    quint32 robotState;//机器人状态
+    quint32 servoReady;//伺服使能状态
+    quint32 can_motor_run;//同步状态
+    qint32 motor_speed[8];//各轴电机转速
+    quint32 robotMode;//机器人模式
+    double analog_ioInput[3];//模拟量输入口数据
+    double analog_ioOutput[5];//模拟量输出口数据
+    quint64 digital_ioInput;//数字量输入口数据的二进制形式
+    quint64 digital_ioOutput;//数字量输出口数据的二进制形式
+    quint8 collision;//碰撞报警状态
+    double machineFlangePose[6];//基座坐标系下的法兰盘中心位姿
+    double machineUserFlangePose[6];//用户坐标系下的法兰盘中心位姿
+    quint8 emergencyStopState;//当前是否处于急停状态
+    double tcpSpeed;//tcp运动速度
+    double joIntSpeed[8];//关节运动下各关节运动速度
+    double tcpAcc;//tcp加速度
+    double joIntAcc[8];//关节运动下各关节加速度
+    double joIntTemperature[6];//温度
+    double joIntTorque[6];//输出扭矩
+    double extJoIntTorques[6];//外部关节扭矩值
+    double exTcpForceIntool[6];//当前工具坐标系下的外部末端力/力矩估计值
+    quint8 dragState;//拖动使能状态
+    quint8 sensor_connected_state;//力控传感器连接状态
     quint8 reserved;
     quint32 matchingWord;
 };
@@ -98,10 +98,10 @@ public:
     bool processResponse_getJbiState(QJsonObject response, QString& result);
 
     bool getRobotPose(QJsonObject& re);
-    bool getRobotState(QJsonObject& re);//ֹͣ״̬ 0<><30><EFBFBD><EFBFBD>ͣ״̬ 1<><31><EFBFBD><EFBFBD>ͣ״̬ 2<><32><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 3<><33><EFBFBD><EFBFBD><EFBFBD><EFBFBD>״̬ 4<><34><EFBFBD><EFBFBD>ײ״̬ 5
-    bool getJbiState(QJsonObject& re);//0 ֹͣ״̬,1 <20><>ͣ״̬,2 <20><>ͣ״̬,3 <20><><EFBFBD><EFBFBD>״̬,4 <20><><EFBFBD><EFBFBD>״̬
+    bool getRobotState(QJsonObject& re);//停止状态 0，暂停状态 1，急停状态 2，运行状态 3，报警状态 4，碰撞状态 5
+    bool getJbiState(QJsonObject& re);//0 停止状态,1 暂停状态,2 急停状态,3 运行状态,4 错误状态
     bool getCurrentJobLine(QJsonObject& re);
-    bool getRobotMode(QJsonObject& re);//ʾ<EFBFBD><EFBFBD>ģʽ 0<><30><EFBFBD>Զ<EFBFBD>ģʽ 1<><31>Զ<EFBFBD><D4B6>ģʽ 2
+    bool getRobotMode(QJsonObject& re);//示教模式 0，自动模式 1，远程模式 2
     bool checkJbiExist(const QString& jbiFilename, QJsonObject& re);
     bool setServoStatus(int status, QJsonObject& re);
     bool runJbi(const QString& jbiFilename, QJsonObject& re, bool isRecordHsi);

HPPA/TabManager.cpp

@@ -1,4 +1,4 @@
-#include "TabManager.h"
+#include "TabManager.h"
 
 TabManager::TabManager(QTabWidget* tabWidget, QObject* parent)
     : QObject(parent),
@@ -27,7 +27,7 @@ void TabManager::hideTab(QWidget* page)
 
     m_hiddenTabs.insert(page, info);
 
-    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD><EFBFBD>ǵ<EFBFBD>ǰҳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>л<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>հ<EFBFBD>
+    // 如果隐藏的是当前页，先切换，避免空白
     if (m_tabWidget->currentIndex() == index)
     {
         int next = (index > 0) ? index - 1 : 0;

HPPA/TabManager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QObject>
 #include <QTabWidget>

HPPA/TwoMotorControl.cpp

@@ -18,6 +18,22 @@ TwoMotorControl::TwoMotorControl(QWidget* parent) : QDialog(parent)
     connect(ui.deleteRecordLine_btn, SIGNAL(clicked()), this, SLOT(onDeleteRecordLine_btn()));
     connect(ui.saveRecordLine2File_btn, SIGNAL(clicked()), this, SLOT(onSaveRecordLine2File_btn()));
     connect(ui.readRecordLineFile_btn, SIGNAL(clicked()), this, SLOT(onReadRecordLineFile_btn()));
+
+    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
+    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
+    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
+
+    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
+    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
+    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
+
+    connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
+    connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
+
+    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
+    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
 }
 
 void TwoMotorControl::setImager(ImagerOperationBase* imager)
@@ -34,6 +50,9 @@ void TwoMotorControl::setPosFileName(QString posFileName)
 
 bool TwoMotorControl::getState()
 {
+	if (m_coordinator == nullptr)
+		return false;
+
 	QEventLoop loop;
 	bool tmp = false;
 	bool received = false;
@@ -86,29 +105,33 @@ void TwoMotorControl::record_white()
 
 void TwoMotorControl::run()
 {
-	if (m_coordinator==nullptr)
-	{
-		qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
-		m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
-		m_coordinator->moveToThread(&m_coordinatorThread);
-		connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
-		connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
-		connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
-		connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
-		connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
-		connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
-		m_coordinatorThread.start();
-	}
-
 	if (getState())
 	{
-		//std::cout << "已经开始运行，请勿重复点击！！！！！！！！" << std::endl;
-		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！！！！！！！！！"));
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("已经开始运行，请勿重复点击！"));
 		return;
 	}
 
-	QVector<PathLine> pathLines;
 	int rowCount = ui.recordLine_tableWidget->rowCount();
+	if(rowCount == 0)
+	{
+		QMessageBox::information(this, QString::fromLocal8Bit("提示"), QString::fromLocal8Bit("请至少添加一行采集线！"));
+
+		emit sequenceComplete();
+		return;
+	}
+
+	qRegisterMetaType<QVector<PathLine>>("QVector<PathLine>");
+	m_coordinator = new TwoMotionCaptureCoordinator(m_multiAxisController, m_Imager);
+	m_coordinator->moveToThread(&m_coordinatorThread);
+	connect(&m_coordinatorThread, SIGNAL(finished()), m_coordinator, SLOT(deleteLater()));
+	connect(this, SIGNAL(start(QVector<PathLine>)), m_coordinator, SLOT(start(QVector<PathLine>)));
+	connect(this, SIGNAL(stopSignal()), m_coordinator, SLOT(stop()));
+	connect(m_coordinator, SIGNAL(startRecordLineNumSignal(int)), this, SLOT(receiveStartRecordLineNum(int)));
+	connect(m_coordinator, SIGNAL(finishRecordLineNumSignal(int)), this, SLOT(receiveFinishRecordLineNum(int)));
+	connect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete()));
+	m_coordinatorThread.start();
+
+	QVector<PathLine> pathLines;
 	//int columnCount = ui.recordLine_tableWidget->columnCount();
 	for (size_t i = 0; i < rowCount; i++)
 	{
@@ -128,7 +151,7 @@ void TwoMotorControl::run()
 	{
 		for (size_t j = 0; j < ui.recordLine_tableWidget->columnCount(); j++)
 		{
-			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor(240, 240, 240));
+			ui.recordLine_tableWidget->item(i, j)->setBackgroundColor(QColor("#0E1C4C"));
 		}
 	}
 
@@ -151,6 +174,30 @@ TwoMotorControl::~TwoMotorControl()
 
 void TwoMotorControl::onConnectMotor()
 {
+	if (getMotorsConnectionStatus())
+	{
+		QMessageBox msgBox;
+		msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
+		msgBox.exec();
+		return;
+	}
+
+	if (m_multiAxisController != nullptr)
+	{
+		disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
+		disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
+		disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
+		disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
+		disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
+		disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
+		disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
+		disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
+
+		m_motorThread.quit();
+		m_motorThread.wait();
+		m_multiAxisController = nullptr;
+	}
+
     try
     {
         FileOperation* fileOperation = new FileOperation();
@@ -164,34 +211,20 @@ void TwoMotorControl::onConnectMotor()
         QMessageBox msgBox;
         msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
         msgBox.exec();
+        return;
     }
 
     m_multiAxisController->moveToThread(&m_motorThread);
     connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
 
-    connect(this->ui.xmotor_right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
-    connect(this->ui.xmotor_right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-    connect(this->ui.xmotor_left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
-    connect(this->ui.xmotor_left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
-
-    connect(this->ui.ymotor_forward_btn, SIGNAL(pressed()), this, SLOT(onyMotorforward()));
-    connect(this->ui.ymotor_forward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-    connect(this->ui.ymotor_backward_btn, SIGNAL(pressed()), this, SLOT(onyMotorbackward()));
-    connect(this->ui.ymotor_backward_btn, SIGNAL(released()), this, SLOT(onyMotorStop()));
-
-    connect(this->ui.move2loc_x_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
-	connect(this->ui.move2loc_y_pushButton, SIGNAL(pressed()), this, SLOT(onyMove2Loc()));
-
     connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(displayRealTimeLoc(std::vector<double>)));
 
     connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
     connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
     connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
 
-    connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
     connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
 
-    connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(on_rangeMeasurement()));
     connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
 
     connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
@@ -223,15 +256,26 @@ void TwoMotorControl::onSequenceComplete()
 {
 	isWritePosFile = false;
 	fclose(m_posFileHandle);
-	
+
+	m_coordinatorThread.quit();
+	m_coordinatorThread.wait();
+	m_coordinator = nullptr;
+
 	emit sequenceComplete();
 }
 
+bool TwoMotorControl::getMotorsConnectionStatus()
+{
+	return m_xMotorConnectionStatus && m_yMotorConnectionStatus;
+}
+
 void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 {
     //std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
     if (connectivity[0])
     {
+		m_xMotorConnectionStatus = true;
+
 		this->ui.xMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -242,6 +286,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     }
     else
     {
+		m_xMotorConnectionStatus = false;
+
 		this->ui.xMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -253,6 +299,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 
     if (connectivity[1])
     {
+		m_yMotorConnectionStatus = true;
+
 		this->ui.yMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -263,6 +311,8 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
     }
     else
     {
+		m_yMotorConnectionStatus = false;
+
 		this->ui.yMotorStateLabel->setStyleSheet(R"(
 			QLabel
 			{
@@ -271,6 +321,15 @@ void TwoMotorControl::display_motors_connectivity(std::vector<int> connectivity)
 			}
 		)");
     }
+
+	if(getMotorsConnectionStatus())
+	{
+		this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
+	}
+	else
+	{
+		this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
+	}
 }
 
 void TwoMotorControl::onxMotorRight()

HPPA/TwoMotorControl.h

@@ -8,12 +8,11 @@
 #include "IrisMultiMotorController.h"
 #include "fileOperation.h"
 #include "CaptureCoordinator.h"
+#include "MotorWindowBase.h"
 
 #define PI 3.1415926
 
-
-
-class TwoMotorControl : public QDialog
+class TwoMotorControl : public QDialog, public MotorWindowBase
 {
     Q_OBJECT
 
@@ -26,6 +25,8 @@ public:
 
     void record_dark();
     void record_white();
+
+    bool getMotorsConnectionStatus();
     
 private:
     ImagerOperationBase* m_Imager;
@@ -35,6 +36,8 @@ private:
     QString m_posFileName;
     FILE* m_posFileHandle;
 
+	bool m_xMotorConnectionStatus = false;
+	bool m_yMotorConnectionStatus = false;
 
 public Q_SLOTS:
     void onConnectMotor();
@@ -94,5 +97,5 @@ private:
     DarkAndWhiteCaptureCoordinator* m_whiteCaptureCoordinator = nullptr;
 
     QThread m_motorThread;
-    IrisMultiMotorController* m_multiAxisController;
+    IrisMultiMotorController* m_multiAxisController = nullptr;
 };

HPPA/View3D.h

@@ -1,4 +1,4 @@
-#ifndef VIEW3D_H
+#ifndef VIEW3D_H
 #define VIEW3D_H
 
 #include <QWidget>

HPPA/View3DModelManager.cpp

@@ -1,4 +1,4 @@
-#include "View3DModelManager.h"
+#include "View3DModelManager.h"
 
 View3DModelManager::View3DModelManager(QWidget* parent)
     : QWidget(parent)

HPPA/View3DModelManager.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QObject>
 #include <QStackedWidget>
 #include <QCoreApplication>

HPPA/about.ui

@@ -16,10 +16,6 @@
   <property name="windowTitle">
    <string>Dialog</string>
   </property>
-  <property name="windowIcon">
-   <iconset>
-    <normaloff>C:/Users/73505/.designer/backup/HPPA.ico</normaloff>C:/Users/73505/.designer/backup/HPPA.ico</iconset>
-  </property>
   <layout class="QGridLayout" name="gridLayout">
    <property name="leftMargin">
     <number>0</number>
@@ -96,7 +92,7 @@
             <string/>
            </property>
            <property name="pixmap">
-            <pixmap>icon/all/png/Group 356_slices/22.png</pixmap>
+            <pixmap resource="HPPA.qrc">:/png/resources/icons/png/Spectral_Insight_27.png</pixmap>
            </property>
           </widget>
          </item>
@@ -173,8 +169,8 @@ QPushButton:pressed
             <string/>
            </property>
            <property name="icon">
-            <iconset>
-             <normaloff>icon/all/close.svg</normaloff>icon/all/close.svg</iconset>
+            <iconset resource="HPPA.qrc">
+             <normaloff>:/svg/resources/icons/svg/close.svg</normaloff>:/svg/resources/icons/svg/close.svg</iconset>
            </property>
           </widget>
          </item>
@@ -196,7 +192,7 @@ QPushButton:pressed
           <string/>
          </property>
          <property name="pixmap">
-          <pixmap>C:/Users/73505/.designer/backup/icon/all/png/Group 356_slices/Group 356.png</pixmap>
+          <pixmap resource="HPPA.qrc">:/png/resources/icons/png/Spectral_Insight_170.png</pixmap>
          </property>
         </widget>
         <widget class="QWidget" name="widget_2" native="true">
@@ -292,7 +288,7 @@ QPushButton:pressed
 }</string>
             </property>
             <property name="text">
-             <string>版本：3.0</string>
+             <string>版本：3.0.1</string>
             </property>
            </widget>
           </item>
@@ -305,6 +301,8 @@ QPushButton:pressed
    </item>
   </layout>
  </widget>
- <resources/>
+ <resources>
+  <include location="HPPA.qrc"/>
+ </resources>
  <connections/>
 </ui>

HPPA/aboutWindow.cpp

@@ -1,4 +1,4 @@
-#include "aboutWindow.h"
+#include "aboutWindow.h"
 #include <QSvgRenderer>
 #include <QPainter> 
 
@@ -6,7 +6,7 @@ aboutWindow::aboutWindow(QWidget* parent)
 {
 	ui.setupUi(this);
 
-	ui.companylname_label->setOpenExternalLinks(true);//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊtrue<EFBFBD><EFBFBD><EFBFBD>ܴ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҳ
+	ui.companylname_label->setOpenExternalLinks(true);//设置为true才能打开网页
 	QString text = ui.companylname_label->text();
 	ui.companylname_label->setText("<a style='color: green; text-decoration: none' href = http://www.iris-rs.cn/pr.jsp?_jcp=3_10>" + text);
 

HPPA/aboutWindow.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 #include <QtWidgets/qdialog.h>
 #include <qstring.h>
 

HPPA/adjustTable.cpp

@@ -1,4 +1,4 @@
-#include "adjustTable.h"
+#include "adjustTable.h"
 
 adjustTable::adjustTable(QWidget *parent)
 	: QDialog(parent)

HPPA/adjustTable.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>

HPPA/adjustTable.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>501</width>
-    <height>363</height>
+    <height>267</height>
    </rect>
   </property>
   <property name="sizePolicy">

HPPA/fileOperation.cpp

@@ -1,5 +1,6 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "fileOperation.h"
+#include "AppSettings.h"
 
 FileOperation::FileOperation()
 {
@@ -27,12 +28,17 @@ string FileOperation::getDirectoryOfExe()
 
 string FileOperation::getDirectoryFromString(string directory)
 {
+	if (directory.empty())
+	{
+		directory = AppSettings::instance().dataFolder().toStdString();
+	}
+
 	QString tmp = QString::fromStdString(directory);
 	QDir dir;
 	if (!dir.exists(tmp))
 	{
 		bool res = dir.mkpath(tmp);
-		//qDebug() << "<EFBFBD>½<EFBFBD>Ŀ¼<EFBFBD>Ƿ<EFBFBD><EFBFBD>ɹ<EFBFBD>" << res;
+		//qDebug() << "新建目录是否成功" << res;
 	}
 	return directory;
 }
@@ -41,7 +47,7 @@ bool FileOperation::copyFile(QString source, QString target)
 {
 	string source1 = source.toStdString();
 	string target1 = target.toStdString();
-
+	
 	char buffer[256];
 	int n;
 
@@ -52,9 +58,9 @@ bool FileOperation::copyFile(QString source, QString target)
 
 	while (!in.eof())
 	{
-		in.read(buffer, 256);       //<EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD><EFBFBD>ж<EFBFBD>ȡ256<EFBFBD><EFBFBD><EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-		n = in.gcount();             //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>в<EFBFBD>֪<EFBFBD><EFBFBD>ȡ<EFBFBD>˶<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ݣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ú<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>¡<EFBFBD>
-		out.write(buffer, n);       //д<EFBFBD><EFBFBD><EFBFBD>Ǹ<EFBFBD><EFBFBD>ֽڵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		in.read(buffer, 256);       //从文件中读取256个字节的数据到缓存区
+		n = in.gcount();             //由于最后一行不知读取了多少字节的数据，所以用函数计算一下。
+		out.write(buffer, n);       //写入那个字节的数据
 	}
 	in.close();
 	out.close();
@@ -62,7 +68,7 @@ bool FileOperation::copyFile(QString source, QString target)
 	string::size_type idx;
 
 	idx = source1.find("hdr");
-	if (idx == string::npos) //<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڡ<EFBFBD>
+	if (idx == string::npos) //不存在。
 		emit CopyFinishedSignal();
 
 	return 1;

HPPA/fileOperation.h

@@ -1,4 +1,4 @@
-#ifndef FILE_OPERATIOIN_H
+#ifndef FILE_OPERATIOIN_H
 #define FILE_OPERATIOIN_H
 
 #include <iostream>
@@ -17,7 +17,7 @@ public:
 	~FileOperation();
 
 	string getDirectoryOfExe();//getDirectoryOfExe
-	string getDirectoryFromString(string directory="C:\\HPPA_image");
+	string getDirectoryFromString(string directory="");
 
 
 	
@@ -36,6 +36,6 @@ public Q_SLOTS:
 
 
 signals:
-	void CopyFinishedSignal();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӱ<EFBFBD><EFBFBD><EFBFBD>ź<EFBFBD>
+	void CopyFinishedSignal();//绘制影像信号
 };
 #endif

HPPA/focusWindow.cpp

@@ -10,7 +10,7 @@ focusWindow::focusWindow(QWidget *parent, ImagerOperationBase* imager)
 	setWindowFlags(Qt::FramelessWindowHint);
 	ui.titlebarWidget->installEventFilter(this);
 
-	QSvgRenderer svgRenderer(QString(".//icon//all//focus.svg"));
+	QSvgRenderer svgRenderer(QString(":/svg/resources/icons/svg/focus.svg"));
 	QPixmap pixmap(24, 24);
 	pixmap.fill(Qt::transparent); // 背景透明
 	QPainter painter(&pixmap);

HPPA/focusWindow.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include "windows.h"
 #include <cstdio>
@@ -33,19 +33,19 @@
 #include <Eigen/Dense>
 #include <cmath>
 
-// <EFBFBD><EFBFBD><EFBFBD>ݼ<EFBFBD>¼<EFBFBD>ṹ<EFBFBD><EFBFBD>
+// 数据记录结构体
 struct PositionData {
-	double targetPosition;    // Ŀ<EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-	double actualPosition; // ʵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>
-	double cameraIndex;    // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɼ<EFBFBD>ָ<EFBFBD><EFBFBD>
-	QDateTime timestamp;   // ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	double targetPosition;    // 目标位置
+	double actualPosition; // 实际马达位置
+	double cameraIndex;    // 相机采集指数
+	QDateTime timestamp;   // 时间戳
 
 	PositionData(double target = 0, double actual = 0.0, double index = 0.0)
 		: targetPosition(target), actualPosition(actual),
 		cameraIndex(index), timestamp(QDateTime::currentDateTime()) {}
 };
 
-// Э<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+// 协调控制器
 class MotionCaptureCoordinator : public QObject
 {
 	Q_OBJECT
@@ -59,7 +59,7 @@ public:
 	bool saveToCsv(const QString& filename);
 
 public slots:
-	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);//-1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ܵ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Զλ<EFBFBD><EFBFBD>
+	void startStepMotion(double speed, int stepInterval = 100, double startPos = 0, double endPos = -1);//-1：马达能到达的最远位置
 	void stopStepMotion();
 
 signals:
@@ -159,7 +159,7 @@ public Q_SLOTS:
 	void onExit();
 
 signals:
-	void StartManualFocusSignal(int);//1<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD>ֹͣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+	void StartManualFocusSignal(int);//1：开始调焦；0：停止调焦；
 
 	void move2LocSignal(int, double, double, int);
 	void move2MaxLocSignal(int, double, int);

HPPA/hppaConfigFile.cpp

@@ -1,4 +1,4 @@
-//
+//
 // Created by tangchao on 2023/3/25.
 //
 
@@ -301,10 +301,10 @@ bool Configfile::createConfigFile()
     Setting& x = motionPlatform.add("x", Setting::TypeGroup);
     Setting& y = motionPlatform.add("y", Setting::TypeGroup);
 
-    Setting& x_StepAnglemar = x.add("StepAnglemar", Setting::TypeFloat) = 1.8;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-    Setting& x_Lead = x.add("Lead", Setting::TypeFloat) = 13.5;//<EFBFBD><EFBFBD><EFBFBD>̣<EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD><EFBFBD>cm
-    Setting& x_SubdivisionMultiples = x.add("SubdivisionMultiples", Setting::TypeInt) = 7;//ϸ<EFBFBD>ֱ<EFBFBD><EFBFBD><EFBFBD>
-    Setting& x_ScaleFactor = x.add("ScaleFactor", Setting::TypeFloat) = 1.0;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+    Setting& x_StepAnglemar = x.add("StepAnglemar", Setting::TypeFloat) = 1.8;//步距角
+    Setting& x_Lead = x.add("Lead", Setting::TypeFloat) = 13.5;//导程，单位：cm
+    Setting& x_SubdivisionMultiples = x.add("SubdivisionMultiples", Setting::TypeInt) = 7;//细分倍数
+    Setting& x_ScaleFactor = x.add("ScaleFactor", Setting::TypeFloat) = 1.0;//缩放因子
     Setting& x_MaxRange = x.add("MaxRange", Setting::TypeFloat) = 120.0;
     Setting& y_StepAnglemar = y.add("StepAnglemar", Setting::TypeFloat) = 1.8;
     Setting& y_Lead = y.add("Lead", Setting::TypeFloat) = 13.5;
@@ -569,14 +569,14 @@ bool CorningConfigfile::getPushFlowParam(int& flowSwitch, int& rgbHeight, int& f
 
     if (!root.exists("push_flow_param"))
     {
-        // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڣ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+        // 配置项不存在，添加配置项
         Setting& push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
 
         push_flow_param.add("flow_switch", Setting::TypeInt) = 0;
         push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
         push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
 
-        // <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>޸ĺ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>õ<EFBFBD><EFBFBD>ļ<EFBFBD>
+        // 保存修改后的配置到文件
         try
         {
             QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));

HPPA/hppaConfigFile.h

@@ -1,4 +1,4 @@
-//
+//
 // Created by tangchao on 2023/3/25.
 //
 
@@ -62,7 +62,7 @@ public:
     bool getspatialBin(int& spatialBin);
     bool getEffectiveWindow(int& width, int& offsetx, int& height, int& offsety);
     bool getEffectiveWindowRoi(int& width, int& offsetx);
-    bool getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString);//spectralBinString = "bin1"<EFBFBD><EFBFBD><EFBFBD>ߡ<EFBFBD>bin2<EFBFBD><EFBFBD>
+    bool getWindowOffsety_HeightOfSpectral(int& offsety, int& height, string spectralBinString);//spectralBinString = "bin1"或者”bin2“
     bool getGainOffset(float& gain, float& offset);
     bool getGainOffsetOfSpectralBin1(float& gain, float& offset);
     bool getSN(QString& SN);

HPPA/hyperImagerControl.ui

@@ -0,0 +1,341 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>HyperImagerControl</class>
+ <widget class="QWidget" name="HyperImagerControl">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>437</width>
+    <height>372</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Color Adjust</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: 10pt &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 8px;
+    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;
+}
+
+QLabel {
+    color: rgb(255, 255, 255);
+}
+
+QSlider::groove:horizontal {
+    height: 10px;
+    background: #1e2a44;
+    border-radius: 3px;
+}
+
+/* 已滑过：渐变蓝 */
+QSlider::sub-page:horizontal {
+    background: qlineargradient(
+        x1:0, y1:0, x2:1, y2:0,
+        stop:0   #1f4fff,
+        stop:0.5 #2f6bff,
+        stop:1   #5fa0ff
+    );
+    border-radius: 3px;
+}
+
+/* 未滑过 */
+QSlider::add-page:horizontal {
+	height: 10px;
+    background: #2a3550;
+    border-radius: 3px;
+}
+
+/* ===== 滑块按钮 ===== */
+QSlider::handle:horizontal {
+    width: 15px;
+    height: 10px;
+
+    /* 蓝色实心 */
+    background: #2f6bff;
+
+    /* 白色外圈 */
+    border: 2px solid #ffffff;
+    border-radius: 5px;
+
+    /* 垂直居中 */
+    margin: -5px 0;
+}
+
+/* 悬停 */
+QSlider::handle:horizontal:hover {
+    background: #4d8dff;
+}
+
+/* 按下 */
+QSlider::handle:horizontal:pressed {
+    background: #1f4fff;
+}</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout_2" rowstretch="3,2">
+   <item row="0" column="0">
+    <widget class="AspectRatioLabel" name="imagerPictureLabel">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Ignored" vsizetype="Ignored">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+    </widget>
+   </item>
+   <item row="1" column="0">
+    <widget class="QWidget" name="widget_3" native="true">
+     <property name="sizePolicy">
+      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+       <horstretch>0</horstretch>
+       <verstretch>0</verstretch>
+      </sizepolicy>
+     </property>
+     <layout class="QGridLayout" name="gridLayout">
+      <property name="horizontalSpacing">
+       <number>16</number>
+      </property>
+      <item row="0" column="1">
+       <widget class="QDoubleSpinBox" name="framerate_spinBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="decimals">
+         <number>2</number>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="2">
+       <widget class="QDoubleSlider" name="FramerateSlider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="0">
+       <widget class="QLabel" name="label_3">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">color: rgb(255, 255, 255);</string>
+        </property>
+        <property name="text">
+         <string>gain</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="0">
+       <widget class="QLabel" name="label_2">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">color: rgb(255, 255, 255);</string>
+        </property>
+        <property name="text">
+         <string>积分时间</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="1">
+       <widget class="QDoubleSpinBox" name="gain_spinBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="decimals">
+         <number>2</number>
+        </property>
+       </widget>
+      </item>
+      <item row="2" column="2">
+       <widget class="QSlider" name="GainSlider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="1">
+       <widget class="QDoubleSpinBox" name="integratioin_time_spinBox">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="decimals">
+         <number>2</number>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="2">
+       <widget class="QDoubleSlider" name="IntegratioinTimeSlider">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Expanding" vsizetype="Fixed">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QLabel" name="label">
+        <property name="sizePolicy">
+         <sizepolicy hsizetype="Maximum" vsizetype="Preferred">
+          <horstretch>0</horstretch>
+          <verstretch>0</verstretch>
+         </sizepolicy>
+        </property>
+        <property name="minimumSize">
+         <size>
+          <width>0</width>
+          <height>0</height>
+         </size>
+        </property>
+        <property name="maximumSize">
+         <size>
+          <width>16777215</width>
+          <height>16777215</height>
+         </size>
+        </property>
+        <property name="styleSheet">
+         <string notr="true">color: rgb(255, 255, 255);</string>
+        </property>
+        <property name="text">
+         <string>帧率</string>
+        </property>
+        <property name="alignment">
+         <set>Qt::AlignCenter</set>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="3">
+       <widget class="QLabel" name="label_4">
+        <property name="text">
+         <string>hz</string>
+        </property>
+       </widget>
+      </item>
+      <item row="1" column="3">
+       <widget class="QLabel" name="label_5">
+        <property name="text">
+         <string>ms</string>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </widget>
+   </item>
+  </layout>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>AspectRatioLabel</class>
+   <extends>QLabel</extends>
+   <header>AspectRatioLabel.h</header>
+  </customwidget>
+  <customwidget>
+   <class>QDoubleSlider</class>
+   <extends>QSlider</extends>
+   <header location="global">qdoubleslider.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>

HPPA/image2display.cpp

@@ -1,4 +1,4 @@
-#include "stdafx.h"
+#include "stdafx.h"
 #include "image2display.h"
 #include <iostream>
 
@@ -16,7 +16,7 @@ void CImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumbe
 
 	if (m_QRgbImage != nullptr)
 	{
-		delete m_QRgbImage;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>⣿<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+		delete m_QRgbImage;//有问题？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
 	}
 	//m_QRgbImage = new QImage(Sample, FrameNumber, QImage::Format_RGB888);
 
@@ -54,19 +54,19 @@ void CImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumbe
 
 
 
-	std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << FrameNumber << std::endl;
+	std::cout << "设置帧数：" << FrameNumber << std::endl;
 
-	m_iFrameCounter = 0;//ÿ<EFBFBD>ζ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0
+	m_iFrameCounter = 0;//每次都重置为0
 	m_iSampleNumber = Sample;
 	m_iBandNumber = BandCount;
 	m_iFrameNumber = FrameNumber;
 
-	//std::cout << "rgbӰ<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>ַΪ<EFBFBD><EFBFBD>" << m_QRgbImage << std::endl;
+	//std::cout << "rgb影像内存地址为：" << m_QRgbImage << std::endl;
 }
 
 void CImage::FillRgbImage(unsigned short *datacube)
 {
-	//uchar==unsigned char<EFBFBD><EFBFBD><EFBFBD>ڴ<EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD>ֽڣ<EFBFBD><EFBFBD><EFBFBD>ΧΪ0-255
+	//uchar==unsigned char，内存大小：1个字节，范围为0-255
 	//uchar * imagebits24 = m_QRgbImage->bits();
 
 	//uchar * imagebits24 = m_QRgbImage->scanLine(m_iFrameCounter);//??????????????????????????????????????????????????????????????????????
@@ -75,26 +75,26 @@ void CImage::FillRgbImage(unsigned short *datacube)
 
  	for (int j = 0; j < m_iSampleNumber; j++)
 	{
-		//std::cout << "rgbͼ<EFBFBD><EFBFBD>д<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD><EFBFBD>" << j << std::endl;
+		//std::cout << "rgb图像写入数据帧数：" << j << std::endl;
 
-		//ȡֵ<EFBFBD><EFBFBD>һ֡Ӱ<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ҵ<EFBFBD>rgb<EFBFBD><EFBFBD>Ԫֵ
+		//取值：一帧影像中，从左到右的rgb像元值
 		r = *(datacube + 121 * m_iSampleNumber + j);
 		g = *(datacube + 79 * m_iSampleNumber + j);
 		b = *(datacube + 40 * m_iSampleNumber + j);
 
-		//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫֵ<EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>cv::Mat<61>У<EFBFBD><D0A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫֵ<D4AA><D6B5>https://zhuanlan.zhihu.com/p/51842288
-		//int dataType = m_matRgbImage->type();//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ΪCV_16UC3ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>18
-		//std::cout << "m_matRgbImage<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><EFBFBD>" << dataType << std::endl;
+		//将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
+		//int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18
+		//std::cout << "m_matRgbImage数据类型为：" << dataType << std::endl;
 		if (m_matRgbImage->type() == CV_16UC3)
 		{
-			//std::cout << "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>" << std::endl;
+			//std::cout << "操作像素值！" << std::endl;
 			m_matRgbImage->at<cv::Vec3w>(m_iFrameCounter, j)[2] = r;
 			m_matRgbImage->at<cv::Vec3w>(m_iFrameCounter, j)[1] = g;
 			m_matRgbImage->at<cv::Vec3w>(m_iFrameCounter, j)[0] = b;
 		}
 
 
-		////<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ԫֵ<EFBFBD><EFBFBD>4095<EFBFBD><EFBFBD>һ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>255<EFBFBD>ķ<EFBFBD>Χ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ<EFBFBD><EFBFBD>QImage<EFBFBD><EFBFBD>
+		////将像元值从4095归一化到255的范围并赋值到QImage中
 		//imagebits24[j * 3] = uchar(r * 255 / 4095);
 		//imagebits24[j * 3 + 1] = uchar(g * 255 / 4095);
 		//imagebits24[j * 3 + 2] = uchar(b * 255 / 4095);
@@ -102,14 +102,14 @@ void CImage::FillRgbImage(unsigned short *datacube)
 
 	m_iFrameCounter++;
 
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼƬ
+	//保存rgb图片
 	if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
 	{
-		////<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+		////保存文件
 		//FileOperation * fileOperation = new FileOperation();
 		//string directory = fileOperation->getDirectoryOfExe();
-		//string rgbFilePathStrech = directory + "\\tmp_image_strech.png";//û<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
-		//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͼƬ
+		//string rgbFilePathStrech = directory + "\\tmp_image_strech.png";//没有拉伸图片
+		//string rgbFilePathNoStrech = directory + "\\tmp_image_no_strech.png";//拉伸图片
 
 		//m_QRgbImage->save(QString::fromStdString(rgbFilePathNoStrech), "PNG");
 
@@ -147,28 +147,24 @@ void CImage::FillFocusGrayImage(unsigned short * datacube)
 	//	}
 	//}
 
-	//<EFBFBD><EFBFBD>mat<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ļ<EFBFBD>
+	//将mat保存成文件
 	//cv::imwrite("D:/delete/2222222222/test.bmp", m_matFocusGrayImage);
 }
 
 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/image2display.h

@@ -1,9 +1,9 @@
-#ifndef CIMAGE
+#ifndef CIMAGE
 #define CIMAGE
 #include <stdio.h>
 
 
-#include <opencv2/opencv.hpp>//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ж<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
 //#include <opencv2/core/core.hpp> 
 //#include <opencv2/highgui/highgui.hpp> 
 
@@ -29,12 +29,12 @@ public:
 	cv::Mat *m_matRgbImage;
 
 	QImage *m_qimageFocusGrayImage;
-	cv::Mat *m_matFocusGrayImage;//<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾһ֡<EFBFBD>ĻҶ<EFBFBD>ͼ
-	//cv::Mat m_matFocusGrayImage;//<EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʾһ֡<EFBFBD>ĻҶ<EFBFBD>ͼ
+	cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
+	//cv::Mat m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
 
 
-	//<EFBFBD><EFBFBD><EFBFBD>Ƹ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>rgbͼ<EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD>֡<EFBFBD><EFBFBD><EFBFBD>У<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
-	//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ0<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ú<EFBFBD><EFBFBD><EFBFBD>SetRgbImageWidthAndHeight<EFBFBD><EFBFBD>2<EFBFBD><EFBFBD>ÿ<EFBFBD>ο<EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ǰ
+	//控制该填充rgb图像第几帧（行）数据
+	//以下两种情况需要重置为0：1）调用函数SetRgbImageWidthAndHeight；2）每次开始填充数据前
 	int m_iFrameCounter;
 
 

HPPA/imageControl.cpp

@@ -1,4 +1,4 @@
-#include "imageControl.h"
+#include "imageControl.h"
 #include "RasterLayer.h"
 #include <algorithm>
 #include <cmath>
@@ -42,7 +42,7 @@ ImageControl::ImageControl(QWidget* parent)
 		QDoubleSpinBox {
 			border: 1px solid #999;
 			border-radius: 4px;
-			padding: 2px 20px 2px 6px;  /* <EFBFBD>Ҳ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>ռ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ť */
+			padding: 2px 20px 2px 6px;  /* 右侧留空间给按钮 */
 			background: #0e1c4c;
 			selection-background-color: #0078d7;
 			font-size: 12px;
@@ -64,13 +64,13 @@ ImageControl::ImageControl(QWidget* parent)
 		}
 
 		QDoubleSpinBox::up-arrow {
-			image: url(D:/cpp_project_vs2022/HPPA/HPPA/icon/all/arrow_up.svg);
+			image: url(:/svg/resources/icons/svg/arrow_up.svg);
 			width: 10px;
 			height: 10px;
 		}
 
 		QDoubleSpinBox::down-arrow {
-			image: url(D:/cpp_project_vs2022/HPPA/HPPA/icon/all/arrow_down.svg);
+			image: url(:/svg/resources/icons/svg/arrow_down.svg);
 			width: 10px;
 			height: 10px;
 		}

HPPA/imageControl.h

@@ -1,4 +1,4 @@
-#pragma once
+#pragma once
 
 #include <QDialog>
 #include <QNetworkRequest>