1、添加corning 410控制; 2、通过 IrisMultiMotorController 添加一轴马达控制,通过配置文件控制马达个数和马达初始化参数; fix 1、修复点击显示光谱bug; 2、修复机械臂bug;
195 lines
5.5 KiB
C++
195 lines
5.5 KiB
C++
#include "stdafx.h"
|
||
#include "image2display.h"
|
||
#include <iostream>
|
||
|
||
CImage::CImage(QWidget* pParent) :QObject(pParent)
|
||
{
|
||
m_QRgbImage = nullptr;
|
||
m_matRgbImage = nullptr;
|
||
m_matFocusGrayImage = nullptr;
|
||
m_qimageFocusGrayImage = nullptr;
|
||
}
|
||
|
||
void CImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber)
|
||
{
|
||
using namespace cv;
|
||
|
||
if (m_QRgbImage != nullptr)
|
||
{
|
||
delete m_QRgbImage;//有问题????????????????????????????????????????????????
|
||
}
|
||
//m_QRgbImage = new QImage(Sample, FrameNumber, QImage::Format_RGB888);
|
||
|
||
|
||
if (m_matRgbImage != nullptr)
|
||
{
|
||
delete m_matRgbImage;
|
||
}
|
||
m_matRgbImage = new Mat(FrameNumber, Sample, CV_16UC3, Scalar(0, 0, 0));
|
||
|
||
|
||
|
||
|
||
|
||
if (m_qimageFocusGrayImage == nullptr)
|
||
{
|
||
m_qimageFocusGrayImage = new QImage(Sample, BandCount, QImage::Format_RGB32);
|
||
}
|
||
|
||
|
||
if (m_matFocusGrayImage == nullptr)
|
||
{
|
||
m_matFocusGrayImage = new Mat(BandCount, Sample, CV_16U, Scalar(0));
|
||
|
||
//cv::Mat matAdjustPreview = Mat::zeros(BandCount, Sample, CV_16U);
|
||
}
|
||
|
||
//cv::Mat matAdjustPreview = Mat::zeros(BandCount, Sample, CV_16U);
|
||
//m_matFocusGrayImage = matAdjustPreview;
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
std::cout << "设置帧数:" << FrameNumber << std::endl;
|
||
|
||
m_iFrameCounter = 0;//每次都重置为0
|
||
m_iSampleNumber = Sample;
|
||
m_iBandNumber = BandCount;
|
||
m_iFrameNumber = FrameNumber;
|
||
|
||
//std::cout << "rgb影像内存地址为:" << m_QRgbImage << std::endl;
|
||
}
|
||
|
||
void CImage::FillRgbImage(unsigned short *datacube)
|
||
{
|
||
//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);//??????????????????????????????????????????????????????????????????????
|
||
|
||
unsigned short r, g, b;
|
||
|
||
for (int j = 0; j < m_iSampleNumber; j++)
|
||
{
|
||
//std::cout << "rgb图像写入数据帧数:" << j << std::endl;
|
||
|
||
//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);
|
||
|
||
//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 << "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;
|
||
}
|
||
|
||
|
||
////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);
|
||
}
|
||
|
||
m_iFrameCounter++;
|
||
|
||
//保存rgb图片
|
||
if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
|
||
{
|
||
////保存文件
|
||
//FileOperation * fileOperation = new FileOperation();
|
||
//string directory = fileOperation->getDirectoryOfExe();
|
||
//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");
|
||
|
||
//ImageProcessor imageProcessor;
|
||
//cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
|
||
//cv::imwrite(rgbFilePathStrech, imageProcessor.CStretch(*m_matRgbImage, 0.02));
|
||
|
||
}
|
||
}
|
||
|
||
void CImage::FillFocusGrayImage(unsigned short * datacube)
|
||
{
|
||
int rowCount = m_matFocusGrayImage->rows;
|
||
int colCount = m_matFocusGrayImage->cols;
|
||
for (unsigned short i = 0; i < m_matFocusGrayImage->rows; i++)
|
||
{
|
||
for (unsigned short j = 0; j < m_matFocusGrayImage->cols; j++)
|
||
{
|
||
//m_matFocusGrayImage->at<ushort>(i, j) = *(datacube + m_matFocusGrayImage->cols*i + j);
|
||
m_matFocusGrayImage->at<ushort>(i, j) = datacube[m_matFocusGrayImage->cols*i + j];
|
||
}
|
||
}
|
||
|
||
|
||
|
||
//int rowCount = m_matFocusGrayImage.rows;
|
||
//int colCount = m_matFocusGrayImage.cols;
|
||
////memcpy(m_matFocusGrayImage.data, datacube, rowCount*colCount);
|
||
//for (unsigned short i = 0; i < m_matFocusGrayImage.rows; i++)
|
||
//{
|
||
// for (unsigned short j = 0; j < m_matFocusGrayImage.cols; j++)
|
||
// {
|
||
// m_matFocusGrayImage.at<ushort>(i, j) = *(datacube + m_matFocusGrayImage.cols*i + j);
|
||
// //m_matFocusGrayImage.at<ushort>(i, j) = datacube[colCount*i + j];
|
||
// }
|
||
//}
|
||
|
||
//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);
|
||
|
||
int width = m_qimageFocusGrayImage->width();
|
||
int height = m_qimageFocusGrayImage->height();
|
||
for (unsigned short i = 0; i < height; i++)
|
||
{
|
||
for (unsigned short 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));
|
||
}
|
||
}
|
||
|
||
//m_qimageFocusGrayImage->save("D:/delete/2222222222/test.bmp");
|
||
|
||
|
||
|
||
|
||
/*float two_eight = pow(2.0, 8);
|
||
float two_sixteen = pow(2.0, 16);
|
||
QImage *qi = new QImage(imwidth, imheight, QImage::Format_RGB32);
|
||
for (int i = 0; i < imheight; i++)
|
||
{
|
||
for (int j = 0; j < imwidth; j++)
|
||
{
|
||
floatData[i*imwidth + j] = (two_eight* floatData[i*imwidth + j]) / two_sixteen;
|
||
qi->setPixel(j, i, qRgb((unsigned char)floatData[i*imwidth + j], (unsigned char)floatData[i*imwidth + j], (unsigned char)floatData[i*imwidth + j]));
|
||
|
||
|
||
}
|
||
}*/
|
||
|
||
}
|