a629115e91
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；
159 lines
3.1 KiB
C++
159 lines
3.1 KiB
C++
#include "Corning410Imager.h"
|
||
|
||
Corning410Imager::Corning410Imager()
|
||
{
|
||
//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())
|
||
{
|
||
m_configfile.createConfigFile();
|
||
qDebug() << "create: " << QString::fromStdString(CfgFile);
|
||
}
|
||
m_configfile.parseConfigfile();
|
||
qDebug() << "exist: " << QString::fromStdString(CfgFile);
|
||
}
|
||
|
||
Corning410Imager::~Corning410Imager()
|
||
{
|
||
if (buffer != nullptr)
|
||
{
|
||
std::cout << "释放堆上内存" << std::endl;
|
||
free(buffer);
|
||
free(dark);
|
||
free(white);
|
||
}
|
||
}
|
||
|
||
double Corning410Imager::getFramerate()
|
||
{
|
||
return m_imager.get_framerate();
|
||
}
|
||
|
||
double Corning410Imager::getIntegrationTime()
|
||
{
|
||
return m_imager.get_integration_time() / 1000;
|
||
}
|
||
|
||
double Corning410Imager::getGain()
|
||
{
|
||
return m_imager.get_gain();
|
||
}
|
||
|
||
void Corning410Imager::setGain(const double gain)
|
||
{
|
||
m_imager.set_gain(gain);
|
||
}
|
||
|
||
void Corning410Imager::setFramerate(const double frames_per_second)
|
||
{
|
||
m_imager.set_framerate(frames_per_second);
|
||
m_RgbImage->m_iFramerate = frames_per_second;
|
||
}
|
||
|
||
void Corning410Imager::setIntegrationTime(const double milliseconds)
|
||
{
|
||
m_imager.set_integration_time(milliseconds * 1000);
|
||
}
|
||
|
||
int Corning410Imager::getStartBand()
|
||
{
|
||
return m_imager.get_start_band();
|
||
}
|
||
|
||
int Corning410Imager::getEndBand()
|
||
{
|
||
return m_imager.get_end_band();
|
||
}
|
||
|
||
void Corning410Imager::connectImager(const char* camera_sn)
|
||
{
|
||
m_imager.connect();
|
||
|
||
//读取配置文件参数，并为相机设置参数
|
||
bool ret, ret1, ret2;
|
||
|
||
int spatialBin;
|
||
int spectralBin;
|
||
ret1 = m_configfile.getspatialBin(spatialBin);
|
||
ret2 = m_configfile.getSpectralBin(spectralBin);
|
||
if (ret1 && ret2)
|
||
{
|
||
bool haha = m_imager.setSpectralBin(spectralBin);
|
||
bool haha2 = m_imager.setSpatialBin(spatialBin);
|
||
|
||
std::cout << "spectralBin：" << spectralBin << std::endl;
|
||
std::cout << "spatialBin：" << spatialBin << std::endl;
|
||
}
|
||
|
||
float gain, offset;
|
||
ret = m_configfile.getGainOffset(gain, offset);
|
||
if (ret)
|
||
{
|
||
m_imager.setGainOffset(gain, offset);
|
||
}
|
||
|
||
int width = 0, offsetx = 0, height = 0, offsety = 0;
|
||
ret = m_configfile.getEffectiveWindow(width, offsetx, height, offsety);
|
||
if (ret)
|
||
{
|
||
m_imager.setEffectiveWindow(offsetx, width, offsety, height);
|
||
}
|
||
|
||
|
||
int bufferPolicy, acqBufferSize;
|
||
ret1 = m_configfile.getBufferPolicy(bufferPolicy);
|
||
if (ret1)
|
||
{
|
||
m_imager.setBufferPolicy(bufferPolicy);
|
||
}
|
||
ret1 = m_configfile.getAcqBufferSize(acqBufferSize);
|
||
if (ret1)
|
||
{
|
||
m_imager.setAcqBufferSize(acqBufferSize);
|
||
}
|
||
|
||
}
|
||
|
||
void Corning410Imager::disconnectImager()
|
||
{
|
||
m_imager.disconnect();
|
||
}
|
||
|
||
void Corning410Imager::imagerStartCollect()
|
||
{
|
||
m_imager.start();
|
||
}
|
||
|
||
void Corning410Imager::imagerStopCollect()
|
||
{
|
||
m_imager.stop();
|
||
}
|
||
|
||
unsigned short* Corning410Imager::getFrame(unsigned short* buffer)
|
||
{
|
||
m_imager.get_frame(buffer);
|
||
|
||
return buffer;
|
||
}
|
||
|
||
void Corning410Imager::setSpectraBin(int new_spectral_bin)
|
||
{
|
||
|
||
}
|
||
|
||
double Corning410Imager::getWavelengthAtBand(int band)
|
||
{
|
||
return m_imager.get_wavelength_at_band(band);
|
||
}
|
||
|
||
int Corning410Imager::getBandCount()
|
||
{
|
||
return m_imager.get_band_count();
|
||
}
|
||
|
||
int Corning410Imager::getSampleCount()
|
||
{
|
||
return m_imager.get_sample_count();
|
||
}
|