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/Source_Files/ximeaimager.cpp
+++ b/Source_Files/ximeaimager.cpp
@ -0,0 +1,578 @@
+#include "Header_Files/ximeaimager.h"
+
+XimeaImager::XimeaImager()
+{
+    m_buffer=nullptr;
+    m_bRecordControl=false;
+    m_iFrameCounter=0;
+    m_iImagerState=0;
+
+    //connect(this, SIGNAL(recordFinished()),this, SLOT());
+}
+
+void XimeaImager::openImger()
+{
+    if(m_iImagerState>0)
+    {
+        emit ximeaImageStatus(m_iImagerState);
+
+        return;
+    }
+
+    try
+    {
+        //std::cout<<"XimeaImager::openImger111111111111111111111:正在打开相机!"<<std::endl;
+        m_imager.connect();
+
+//        bool haha = m_imager.setSpectralBin(2);
+//        bool haha2 = m_imager.setSpatialBin(2);
+
+        //sn008_bin1
+        float a=1.999564;
+        float b=-279.893;
+//        //sn008_bin2
+//        float a = 3.99912794;
+//        float b = -278.89317732225084;
+
+        m_imager.setGainOffset(a, b);
+
+
+        //SN=008自己修改
+//        int OffsetX=272;
+//        int width=1392;
+//
+//        int OffsetY=338;
+//        int height=302;
+//
+//        //SN=008标准
+//        int OffsetX=288;//272
+//        int width=1360;//是16的整数倍
+//
+//        int OffsetY=340;
+//        int height=300;//302
+
+
+//        m_imager.setRoi(288,1360,348,300);//sn0098
+        m_imager.setRoi(288,1360,340,300);//sn008,corning410，bin1
+//        m_imager.setRoi(144,680,170,151);//sn008,corning410，bin2
+
+        setFramerate(100);
+
+        int frameSizeManual = m_imager.get_band_count()*m_imager.get_sample_count()*2;
+        int frameSizeAuto = m_imager.getBufferSizeOfOneFrame();
+
+        m_iFrameSizeInByte = frameSizeAuto;
+
+        m_buffer = new unsigned short[m_iFrameSizeInByte];
+
+        m_iImagerState = 1;
+        emit ximeaImageStatus(m_iImagerState);
+    }
+    catch(int xiApiErrorCodes)
+    {
+        std::cout<<"XimeaImager::openImger----------------:ERROR!"<<std::endl;
+
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+    catch(char const* e1)
+    {
+        std::cout<<"char *e---------!"<<std::endl;
+    }
+}
+
+void XimeaImager::closeImger()
+{
+    if(m_iImagerState==0)
+    {
+        emit ximeaImageStatus(m_iImagerState);
+
+        return;
+    }
+
+    try
+    {
+        m_imager.disconnect();
+
+        m_iImagerState=0;
+        emit ximeaImageStatus(m_iImagerState);
+    }
+    catch(int xiApiErrorCodes)
+    {
+        std::cout<<"XimeaImager::closeImger-------------------!"<<std::endl;
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+}
+
+void XimeaImager::setFramerate(double framerate)
+{
+    try
+    {
+        m_imager.set_framerate(framerate);
+
+        int maxExposureTimeInUs=1/framerate*1000000*0.8;
+        setExposureTime(maxExposureTimeInUs);
+//        setExposureTime(1000);
+
+        m_iImagerState=2;
+        emit ximeaImageStatus(m_iImagerState);
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+}
+
+double XimeaImager::getExposureTime()
+{
+    double exposureTime;
+    try
+    {
+        exposureTime=m_imager.get_integration_time();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return exposureTime;
+}
+
+double XimeaImager::setExposureTime(float exposureTime_in_us)
+{
+    double integrationTime2Return;
+
+    try
+    {
+        //计算最大积分时间
+        float currentFramerate=getFramerate();
+        float maxExposureTime_in_us=1/currentFramerate*1000000;
+
+        //确保设置的积分时间比最大积分时间小
+        if(exposureTime_in_us<maxExposureTime_in_us)
+        {
+
+            m_imager.set_integration_time(exposureTime_in_us);
+
+        }
+        else
+        {
+            m_imager.set_integration_time(maxExposureTime_in_us);
+        }
+
+        //返回设置的积分时间
+        integrationTime2Return=m_imager.get_integration_time();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+
+    return integrationTime2Return;
+}
+
+double XimeaImager::autoExposure()
+{
+    double exposureTime;
+    try
+    {
+        //方式１：在曝光时的帧率前提下，从最大曝光时间开始循环采集
+        int maxValueOfOneFrame;
+        float suitableMaxValue=4095 * 0.8;
+
+        double framerate = m_imager.get_framerate();
+        double maxExposureTime = 1/framerate*1000000;
+        exposureTime=setExposureTime(maxExposureTime);
+
+        bool bIsAutoExposureOk=false;
+        while(!bIsAutoExposureOk)
+        {
+            m_imager.start();
+            m_imager.get_frame(m_buffer);
+            m_imager.stop();
+
+            maxValueOfOneFrame=getMaxValueOfOneFrame(m_buffer,m_imager.get_band_count()*m_imager.get_sample_count());
+
+            if(maxValueOfOneFrame <= suitableMaxValue)
+            {
+                bIsAutoExposureOk=true;
+            }
+            else
+            {
+                exposureTime = exposureTime*0.95;
+                exposureTime=setExposureTime(exposureTime);
+            }
+        }
+
+
+//        //方式2：
+//        int baseExposureTime_in_us=5000;
+//        float suitableMaxValue=4095 * 0.8;
+//        int maxValueOfOneFrame;
+
+//        setExposureTime(baseExposureTime_in_us);
+
+//        m_imager.start();
+//        m_imager.get_frame(m_buffer);
+//        m_imager.stop();
+
+//        std::cout<<"1111111111111111111111111111111111!"<<std::endl;
+//        maxValueOfOneFrame=getMaxValueOfOneFrame(m_buffer,m_imager.get_band_count()*m_imager.get_sample_count());
+//        std::cout<<"2222222222222222222222222222222222!"<<std::endl;
+
+//        float scale=suitableMaxValue/maxValueOfOneFrame;
+//        float suitableExposureTime=baseExposureTime_in_us * scale;
+//        exposureTime=setExposureTime(suitableExposureTime);
+
+        m_iImagerState=3;
+        emit ximeaImageStatus(m_iImagerState);
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    std::cout<<"自动曝光完成!"<<std::endl;
+    return exposureTime;
+}
+
+double XimeaImager::getFramerate()
+{
+    double framerate;
+
+    try
+    {
+        framerate=m_imager.get_framerate();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return framerate;
+}
+
+void XimeaImager::setGain(double gain)
+{
+    try
+    {
+        m_imager.set_gain(gain);
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+}
+
+double XimeaImager::getGain()
+{
+    try
+    {
+        return m_imager.get_gain();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+}
+
+int XimeaImager::getSampleCount()
+{
+    int sampleCount;
+
+    try
+    {
+        sampleCount=m_imager.get_sample_count();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return sampleCount;
+}
+
+int XimeaImager::getBandCount()
+{
+    int bandCount;
+
+    try
+    {
+        bandCount=m_imager.get_band_count();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return bandCount;
+}
+
+int XimeaImager::getWindowStartBand()
+{
+    int windowStartBand;
+
+    try
+    {
+        windowStartBand=m_imager.get_start_band();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return windowStartBand;
+}
+
+int XimeaImager::getWindowEndBand()
+{
+    int windowEndBand;
+
+    try
+    {
+        windowEndBand=m_imager.get_end_band();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return windowEndBand;
+}
+
+double XimeaImager::geWavelengthAtBand(int x)
+{
+    double wavelengthAtBand;
+
+    try
+    {
+        wavelengthAtBand=m_imager.get_wavelength_at_band(x);
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+
+    return wavelengthAtBand;
+}
+
+int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
+{
+    //排序
+    //bubbleSort(data,1000);
+
+
+    //计算出最大的10%值的平均值
+    unsigned short maxValue=0;
+    for(int i=0;i<numberOfPixel;i++)
+    {
+        if (data[i]>maxValue)
+        {
+            maxValue=data[i];
+        }
+    }
+    printf("本帧最大值为: %d.\n",maxValue);
+
+    return maxValue;
+}
+
+int XimeaImager::getImagerState() const
+{
+    return m_iImagerState;
+}
+
+void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName)
+{
+    try
+    {
+        if(m_iImagerState==4 || m_iImagerState==0 || m_iImagerState>=21)
+        {
+            emit ximeaImageStatus(m_iImagerState);
+
+            return;
+        }
+
+        m_iImagerStateTemp=m_iImagerState;
+
+        m_iImagerState=4;
+        emit ximeaImageStatus(m_iImagerState);
+
+        printf("开始采集!\n");
+        m_iFrameCounter=0;
+        m_bRecordControl=true;
+
+        m_imager.start();
+
+        m_baseFileName=baseFileName;
+
+        QString imageFileName=m_baseFileName+".bil";
+        QString timesFileName=m_baseFileName+".times";
+
+        //
+        FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
+        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
+
+        using namespace std;
+        ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
+
+
+        struct timeval timeStart, timeEnd;
+        double runTime=0;
+        gettimeofday(&timeStart, NULL);
+
+        while (m_bRecordControl)
+        {
+            unsigned short *x=m_imager.get_frame(m_buffer);
+
+            //fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
+            fwrite(m_buffer,1,m_iFrameSizeInByte,hFile);//*********************************
+            //fflush(hFile);//只保证了将IO缓冲写入系统缓冲中，使IO读操作能成功，但系统什么时候写入磁盘，由系统决定，一般是达到一定量时系统他就写入磁盘。
+            //sync();//强制系统将系统文件缓冲的内容写入磁盘
+
+            m_iFrameCounter+=1;
+
+
+            double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
+
+            fprintf(hHimesFile,"%f\n",sbgTime);
+            //fwrite(&sbgTime,sizeof(double),1,hHimesFile);
+
+            timesFileHandle << sbgTime << "\n";
+
+//            std::cout<<"XimeaImager::startRecord---std::cout: "<<sbgTime<<std::endl;
+
+//            //用于测试是否漏帧
+//            if(m_iFrameCounter==getFramerate()*20)
+//            {
+//                break;
+//            }
+
+//            unsigned char pixel = *(unsigned char*)image.bp;//Default value: XI_MONO8
+//            unsigned short pixel =*(unsigned short*)image.bp;//XI_RAW16
+//            printf("Image %d (%dx%d) received from camera. First pixel value: %d\n", m_iFrameCounter, (int)image.width, (int)image.height, pixel);
+        }
+
+        gettimeofday(&timeEnd, NULL);
+        runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
+
+        double frameInTheory=runTime * getFramerate();
+        double frameLossed=frameInTheory - m_iFrameCounter;
+        double frameLossRate=frameLossed / frameInTheory;
+
+        std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<<std::endl;
+        std::cout<<"采集时间为: "<<runTime<<std::endl;
+        std::cout<<"理论采集帧数为: "<<frameInTheory<<std::endl;
+        std::cout<<"实际采集帧数为："<<m_iFrameCounter<<std::endl;
+        std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
+        std::cout<<"丢帧率为: "<<frameLossRate<<std::endl;
+
+        fclose(hFile);
+        fclose(hHimesFile);
+        timesFileHandle.close();
+
+        printf("Stopping acquisition...\n");
+        m_imager.stop();
+
+        writeHdr();
+
+        m_iImagerState=m_iImagerStateTemp;
+        emit ximeaImageStatus(m_iImagerState);
+
+        emit recordFinished();
+    }
+    catch(int xiApiErrorCodes)
+    {
+        processXiApiErrorCodes(xiApiErrorCodes);
+    }
+}
+
+void XimeaImager::writeHdr()
+{
+    using namespace std;
+
+    QString hdrPath=m_baseFileName+".hdr";
+
+    ofstream hdrFileHandle(hdrPath.toStdString());
+    hdrFileHandle << "ENVI\n";
+    hdrFileHandle << "interleave = bil\n";
+    hdrFileHandle << "byte order = 0\n";
+    hdrFileHandle << "data type = 2\n";
+    //hdrFileHandle << "bit depth = 12\n";
+
+    hdrFileHandle << "samples = " << getSampleCount() << "\n";
+    hdrFileHandle << "bands = " << getBandCount() << "\n";
+    hdrFileHandle << "lines = " << m_iFrameCounter << "\n";
+    hdrFileHandle << "sample binning = " << m_imager.getSpatialBin() << "\n";
+    hdrFileHandle << "spectral binning = " << m_imager.getSpectralBin() << "\n";
+
+    hdrFileHandle << "framerate = " << getFramerate() << "\n";
+    hdrFileHandle << "shutter = " << getExposureTime()/1000 << "\n";
+    hdrFileHandle << "shutter units = milliseconds\n";
+    hdrFileHandle << "gain = " << getGain() << "\n";
+
+    hdrFileHandle << "wavelength units = nanometers\n";
+    hdrFileHandle << "wavelength = {";
+    //hdrFileHandle << std::setprecision(5);
+    for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
+    {
+        hdrFileHandle << geWavelengthAtBand(i);
+        if (i < getWindowEndBand() - 1)
+            hdrFileHandle << ", ";
+        else
+        {
+            printf("头文件中写入了多少个波段:%d\n",i-getWindowStartBand()+1);//???????????????
+        }
+    }
+    hdrFileHandle << "}\n";
+    hdrFileHandle.close();
+}
+
+void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
+{
+    using namespace std;
+    switch (xiApiErrorCodes)
+    {
+    case 1:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Invalid handle!"<<std::endl;
+        m_iImagerState=0;
+        emit ximeaImageStatus(m_iImagerState);
+
+        break;
+    case 56:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:NO_DEVICES_FOUND!"<<std::endl;
+        m_iImagerState=0;
+        emit ximeaImageStatus(m_iImagerState);
+
+        break;
+    case 57:
+        std::cout<<"XimeaImager::processXiApiErrorCodes-----------:RESOURCE_OR_FUNCTION_LOCKED!"<<std::endl;
+        m_iImagerState=22;
+        emit ximeaImageStatus(m_iImagerState);
+
+        break;
+    default:
+        QString ximeaError="ximeaError.txt";
+        ofstream ximeaErrorFile(ximeaError.toStdString().c_str(),ios::app);
+
+        ximeaErrorFile<< xiApiErrorCodes << "\n";
+
+        ximeaErrorFile.close();
+
+
+
+        m_iImagerState=21;
+        emit ximeaImageStatus(m_iImagerState);
+        break;
+    }
+}
+
+void XimeaImager::stopRecord()
+{
+    //printf("Stop record!\n");
+    m_bRecordControl=false;
+}
+
+int XimeaImager::getFrameCounter()
+{
+    return m_iFrameCounter;
+}