300TC 机载系统完整功能，（1）采集影像（2）采集和解析惯导数据（3）惯导磁场校正

2022-06-13 12:01:30 +08:00
commit 1452bcc2b9
21 changed files with 4316 additions and 0 deletions
--- a/Header_Files/ximeaimager.h
+++ b/Header_Files/ximeaimager.h
@ -0,0 +1,115 @@
+#ifndef XIMEAIMAGER_H
+#define XIMEAIMAGER_H
+
+/*
+  This is the reference example application code for XIMEA cameras.
+  You can use it to simplify development of your camera application.
+
+  Sample name:
+    xiAPI / Capture-10-images
+
+  Description:
+    Open camera, capture 10 images while printing first pixel from each image.
+
+  Workflow:
+    1: Open camera
+    2: Set parameters
+    3: Start acquisition
+    4: Each image captured - print dimensions and value of the first pixel
+*/
+
+#include <stdio.h>
+#include <iostream>
+#include <sys/time.h>
+#include <memory.h>
+#include <fstream>
+#include <unistd.h>
+#include <exception>
+
+#include <QObject>
+#include <qthread.h>
+
+#include "irisximeaimager.h"
+#include "math.h"
+#include "utility_tc.h"
+
+
+//#ifdef WIN32
+//#include <xiApi.h>       // Windows
+//#else
+//#include <m3api/xiApi.h> // Linux, OSX
+//#endif
+
+class XimeaImager : public QObject
+{
+    Q_OBJECT
+
+public:
+    XimeaImager();
+
+    void setFramerate(double framerate);
+    double getFramerate();
+    double setExposureTime(float exposureTime);
+    double getExposureTime();
+    double autoExposure();
+    void setGain(double gain);
+    double getGain();
+    int getSampleCount();
+    int getBandCount();
+
+    int getWindowStartBand();
+    int getWindowEndBand();
+    double geWavelengthAtBand(int x);
+
+    void stopRecord();
+    int getFrameCounter();
+
+    int getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel);
+
+    int getImagerState() const;
+private:
+    //0:未打开;1:打开;2:设置帧率;3:自动曝光;4:正在采集;     21,未处理错误;22:RESOURCE_OR_FUNCTION_LOCKED;23,;
+    int m_iImagerState;
+    int m_iImagerStateTemp;
+
+    QString m_baseFileName;
+
+    Iris::IrisXimeaImager m_imager;
+    unsigned short * m_buffer;
+    bool m_bRecordControl;
+    int m_iFrameCounter;
+    int m_iFrameSizeInByte;
+    void writeHdr();
+
+    void processXiApiErrorCodes(int xiApiErrorCodes);
+
+    inline double getSbgTime(double TimeDifferenceBetweensOSAndSbg)
+    {
+        struct timespec systemTime;
+        clock_gettime(CLOCK_REALTIME,&systemTime);
+        tm systemTime_rili;
+        localtime_r(&systemTime.tv_sec, &systemTime_rili);
+
+        double secondSystem=(systemTime_rili.tm_mday-1)*24*60*60+systemTime_rili.tm_hour*60*60+systemTime_rili.tm_min*60+systemTime_rili.tm_sec;
+        double nanosecondSystem=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
+
+
+//        printf("\n");
+//        printf("XimeaImager::getSbgTime------系统时间纳秒%d\n", systemTime.tv_nsec);
+//        printf("XimeaImager::getSbgTime------系统时间(未偏移)%f\n", nanosecondSystem);
+//        printf("XimeaImager::getSbgTime------系统时间(偏移)%f\n", nanosecondSystem-TimeDifferenceBetweensOSAndSbg);
+
+        return nanosecondSystem-TimeDifferenceBetweensOSAndSbg;
+    }
+
+public slots:
+    void openImger();
+    void closeImger();
+
+    void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
+
+signals:
+    void recordFinished();
+    void ximeaImageStatus(int);
+};
+#endif // XIMEAIMAGER_H