实现功能：提取rgb波段并通过h264编码；

CMakeLists.txt

@@ -23,6 +23,9 @@ find_package(OpenCV 4.2.0 REQUIRED)
 include_directories(/usr/local/include/opencv4/)
 link_directories(/usr/local/lib)
 
+include_directories(/home/300tc/library/ffmpeg_build/include)
+link_directories(/home/300tc/library/ffmpeg_build/lib)
+
 add_executable(${CMAKE_PROJECT_NAME}
         Source_Files/fileoperation.cpp
         Header_Files/fileoperation.h
@@ -53,4 +56,8 @@ target_link_libraries(${CMAKE_PROJECT_NAME}
         irisXimeaImager
         libconfig.so
         libconfig++.so
-        ${OpenCV_LIBS})
+        ${OpenCV_LIBS}
+        avformat
+        avcodec
+        swscale
+        avutil)

Header_Files/rgbImage.h

@@ -11,6 +11,40 @@
 #include <QObject>
 #include <QImage>
 #include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
+#include "opencv2/imgproc/types_c.h"
+
+extern "C"
+{
+    #include <libavcodec/avcodec.h>
+    #include <libavutil/opt.h>
+    #include "libavutil/pixfmt.h"
+    #include "libswscale/swscale.h"
+    #include <libavutil/imgutils.h>
+    #include <libavutil/avutil.h>
+    #include "libavdevice/avdevice.h"
+}
+
+class Encode
+{
+public:
+    Encode();
+    void initffmpeg(int width, int height);
+
+    FILE *fp;
+    AVCodecContext *avcodeccontext;
+    void savedata(AVFrame *frame);
+    void encode(AVCodecContext *enc_ctx, AVFrame *frame, AVPacket *pkt, FILE *outfile);
+    AVPacket m_avpacket;
+    AVFrame *inpic;
+    AVFrame *outpic;
+
+    bool isinit;
+    int index1;
+
+private:
+};
+
+
 
 using namespace cv;
 class rgbImage :public QObject
@@ -27,9 +61,11 @@ public:
     void FillFocusGrayQImage(unsigned short * datacube);
 
     void FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube);
+    QImage Mat2QImage(cv::Mat cvImg);//https://www.cnblogs.com/annt/p/ant003.html
 
     QImage *m_QRgbImage;
     cv::Mat *m_matRgbImage;
+    QImage m_Qphoto;
 
     QImage *m_qimageFocusGrayImage;
     cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
@@ -61,6 +97,8 @@ private:
 
     int m_iFrameNumber;//
 
+    void initffmpeg();
+
 public slots:
 
 signals :

Header_Files/ximeaimager.h

@@ -42,9 +42,12 @@
 #include "MemoryPool.h"
 #include <queue>
 #include <QMutex>
+#include <QUdpSocket>
 
 #include "rgbImage.h"
 
+#define PUSH_FLOW_PORT 666
+
 
 
 //#ifdef WIN32
@@ -152,6 +155,8 @@ public:
     int getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel);
 
     int getImagerState() const;
+
+    Encode ffmpegEncode;
 private:
     //0-61：ximea官方错误代码；99：发生的ximea官方错误代码，没有处理；100：未打开；101：打开；102：设置帧率；103：自动曝光；104：正在采集；
     int m_iImagerState;

Source_Files/rgbImage.cpp

@@ -4,6 +4,131 @@
 
 #include "../Header_Files/rgbImage.h"
 
+Encode::Encode()
+{
+    fp= fopen("/media/nvme/delete/av.h264","wb");
+    index1 = 0;
+}
+
+void Encode::initffmpeg(int width, int height)
+{
+    const AVCodec *codec;
+
+    int i, ret, x, y, got_output;
+
+    std::cout<<"init ok";
+    codec = avcodec_find_encoder(AV_CODEC_ID_H264);
+    if (!codec)
+    {
+        fprintf(stderr, "Codec not found\n");
+        exit(1);
+    }
+
+    // 根据编码器，创建相对应的编码器上下文
+    avcodeccontext = avcodec_alloc_context3(codec);
+    if (!avcodeccontext) {
+        fprintf(stderr, "Could not allocate video codec context\n");
+        exit(1);
+    }
+    avcodeccontext->bit_rate = 400000;
+
+    avcodeccontext->width = width;
+    avcodeccontext->height = height;
+    /* frames per second */
+    //时间基，每一秒25帧，每一刻度25分之1(时间基根据帧率而变化)
+    avcodeccontext->time_base = (AVRational){1, 25};
+    //帧率
+    avcodeccontext->framerate = (AVRational){25, 1};
+
+    /* emit one intra frame every ten frames
+     * check frame pict_type before passing frame
+     * to encoder, if frame->pict_type is AV_PICTURE_TYPE_I
+     * then gop_size is ignored and the output of encoder
+     * will always be I frame irrespective to gop_size
+     */
+    //多少帧产生一组关键帧
+    avcodeccontext->gop_size = 10;
+    //b帧，参考帧
+    avcodeccontext->max_b_frames = 1;
+    //编码的原始数据的YUV格式
+    avcodeccontext->pix_fmt = AV_PIX_FMT_YUV420P;
+
+    //如果编码器id 是 h264
+    if (codec->id == AV_CODEC_ID_H264)
+        // preset表示采用一个预先设定好的h264参数集，级别是slow，slow表示压缩速度是慢的，慢的可以保证视频质量，用快的会降低视频质量
+        av_opt_set(avcodeccontext->priv_data, "preset", "slow", 0);
+
+    /* open it */
+    //打开编码器
+    if (avcodec_open2(avcodeccontext, codec, NULL) < 0) {
+        fprintf(stderr, "Could not open codec\n");
+        exit(1);
+    }
+    //  avcodeccontext=c;
+    std::cout<<"init ok";
+    inpic = av_frame_alloc();
+    outpic = av_frame_alloc();
+
+//avpicture_fill sets all of the data pointers in the AVFrame structures
+//to the right places in the data buffers.  It does not copy the data so
+//the QImage and out_buffer still need to live after calling these.
+    inpic->width=width;
+    inpic->height=height;
+    inpic->format=AV_PIX_FMT_ARGB;
+    inpic->linesize[0]=width;
+    outpic->width=width;
+    outpic->height=height;
+    outpic->format=AV_PIX_FMT_YUV420P;
+    outpic->linesize[0]=width;
+    isinit= true;
+}
+
+void Encode::savedata(AVFrame *frame)
+{
+    AVPacket pkt;
+    av_init_packet(&pkt);
+    pkt.data = NULL;    // packet data will be allocated by the encoder
+    pkt.size = 0;
+    frame->pts = index1;
+
+    AVCodecInternal *avci = avcodeccontext->internal;
+//    if (avci->draining)
+//        return AVERROR_EOF;
+//    if (avci->buffer_frame->data[0])
+//        return AVERROR(EAGAIN);
+    encode(avcodeccontext,frame,&pkt,fp);
+
+    av_packet_unref(&pkt);
+    index1++;
+}
+
+void Encode::encode(AVCodecContext *enc_ctx, AVFrame *frame, AVPacket *pkt, FILE *outfile)
+{
+    int ret;
+    /* send the frame to the encoder */
+    if (frame)
+        //  printf("Send frame %3\"PRId64\"\n", frame->pts);
+        ret = avcodec_send_frame(enc_ctx, frame);
+    if (ret < 0) {
+        fprintf(stderr, "Error sending a frame for encoding\n");
+        exit(1);
+    }
+    while (ret >= 0) {
+        ret = avcodec_receive_packet(enc_ctx, pkt);
+        if (ret == AVERROR(EAGAIN) || ret == AVERROR_EOF)
+            return;
+        else if (ret < 0) {
+            fprintf(stderr, "Error during encoding\n");
+            exit(1);
+        }
+        // printf("Write packet %3\"PRId64\" (size=%5d)\n", pkt->pts, pkt->size);
+        fwrite(pkt->data, 1, pkt->size, outfile);
+        QByteArray buf;
+        buf.append((char *)pkt->data,pkt->size);
+//        emit senddata(buf);
+        av_packet_unref(pkt);
+    }
+}
 
 rgbImage::rgbImage(QWidget* pParent)
 {
@@ -11,9 +136,6 @@ rgbImage::rgbImage(QWidget* pParent)
     m_matRgbImage = nullptr;
     m_matFocusGrayImage = nullptr;
     m_qimageFocusGrayImage = nullptr;
-
-
-
 }
 
 rgbImage::~rgbImage()
@@ -39,10 +161,12 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
     }
     m_matRgbImage = new Mat(FrameNumber, Sample, CV_8UC3, Scalar(0, 0, 0));
 
-    int codec = VideoWriter::fourcc('M', 'P', '4', '2');  // select desired codec (must be available at runtime)
+    int codec = VideoWriter::fourcc('H', '2', '6', '4');  // select desired codec (must be available at runtime)
     double fps = 20.0;// framerate of the created video stream
-    std::string filename = "appsrc ! autovideoconvert ! filesink location=/media/nvme/delete/live.avi";//https://blog.csdn.net/ancientapesman/article/details/117324638
+    std::string filename = "appsrc ! autovideoconvert ! filesink location=/media/nvme/live.mp4";//https://blog.csdn.net/ancientapesman/article/details/117324638
-    m_VideoWriter.open(filename, codec, fps, m_matRgbImage->size(), true);
+//    std::string filename = "/media/nvme/live.mp4";
+    auto ddddd=m_matRgbImage->size();
+    m_VideoWriter.open(filename, codec, fps, Size(20, 1368), true);
 
 //    VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
 
@@ -87,7 +211,50 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
 
 void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube)
 {
+    //方式1：逐像素修改
+//    unsigned short r, g, b;
+//    for (int j = 0; j < m_iSampleNumber; j++)
+//    {
+//        //取值：一帧影像中，从左到右的rgb像元值
+//        r = *(datacube + 121 * m_iSampleNumber + j)*255/4096;
+//        g = *(datacube + 79 * m_iSampleNumber + j)*255/4096;
+//        b = *(datacube + 40 * m_iSampleNumber + j)*255/4096;
+//
+////        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 (matRgbImage->type() == CV_8UC3)
+//        {
+////            std::cout << "操作像素值！" << std::endl;
+//            matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] = r;
+//            matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] = g;
+//            matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] = b;
+//
+////            QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.png";
+////            cv::imwrite(savePath_cv.toStdString(), *matRgbImage);
+//        }
+//
+//        int column = 800;
+//        if(j == column)
+//        {
+//            std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r <<  " " << g <<  " " << b << std::endl;
+//            std::cout << "mat：第 " << column << " 列的 r g b 分别为 " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] << std::endl;
+//        }
+//    }
+
+    //方式2：通过指针操作，更快
     unsigned short r, g, b;
+    const int cols = matRgbImage->cols;
+    const int step = matRgbImage->channels();
+
+    unsigned char *p_row0_b = matRgbImage->ptr(rowNumber);
+    unsigned char *p_row0_g = matRgbImage->ptr(rowNumber) + 1;
+    unsigned char *p_row0_r = matRgbImage->ptr(rowNumber) + 2;
+
     for (int j = 0; j < m_iSampleNumber; j++)
     {
         //取值：一帧影像中，从左到右的rgb像元值
@@ -95,86 +262,102 @@ void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsign
         g = *(datacube + 79 * m_iSampleNumber + j)*255/4096;
         b = *(datacube + 40 * m_iSampleNumber + j)*255/4096;
 
-        //将像元值赋值到cv::Mat中，操作像元值：https://zhuanlan.zhihu.com/p/51842288
+        *p_row0_b = b;
-        //int dataType = m_matRgbImage->type();//当数据类型为CV_16UC3时，返回18
+        *p_row0_g = g;
-        //std::cout << "m_matRgbImage数据类型为：" << dataType << std::endl;
+        *p_row0_r = r;
-        if (matRgbImage->type() == CV_16UC3)
+
+//        int column = 800;
+//        if(j == column)
+//        {
+//            std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r <<  " " << g <<  " " << b << std::endl;
+////            std::cout << "修改后" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << (unsigned short)*p_row0_r <<  " " << (unsigned short)*p_row0_g <<  " " << (unsigned short)*p_row0_b << std::endl;
+////            std::cout << "mat：第 " << column << " 列的 r g b 分别为 " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[2] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[1] <<  " " << (unsigned short)matRgbImage->at<cv::Vec3b>(rowNumber, j)[0] << std::endl;
+//        }
+
+        p_row0_b += step;
+        p_row0_g += step;
+        p_row0_r += step;
+    }
+
+    //方式3：通过内存拷贝快速提取rgb
+//    if (matRgbImage->isContinuous())// check mat is continuous or not
+//        matRgbImage->reshape(1, matRgbImage->rows * matRgbImage->cols).col(0).setTo(Scalar(value));
+//    else
+//    {
+//        for (int i = 0; i < matRgbImage->rows; i++)
+//            matRgbImage->row(i).reshape(1, matRgbImage->cols).col(0).setTo(Scalar(value));
+//    }
+}
+
+QImage rgbImage::Mat2QImage(cv::Mat cvImg)//https://www.cnblogs.com/annt/p/ant003.html
 {
-            //std::cout << "操作像素值！" << std::endl;
+    QImage qImg;
-            matRgbImage->at<cv::Vec3w>(rowNumber, j)[2] = r;
+    if (cvImg.channels() == 3)//3 channels color image
-            matRgbImage->at<cv::Vec3w>(rowNumber, j)[1] = g;
+    {
-            matRgbImage->at<cv::Vec3w>(rowNumber, j)[0] = b;
+        cv::cvtColor(cvImg, cvImg, CV_BGR2RGB);
+        qImg = QImage((const unsigned char*)(cvImg.data),
+                      cvImg.cols, cvImg.rows,
+                      cvImg.cols*cvImg.channels(),
+                      QImage::Format_RGB888);
     }
+    else if (cvImg.channels() == 1)//grayscale image
+    {
+        qImg = QImage((const unsigned char*)(cvImg.data),
+                      cvImg.cols, cvImg.rows,
+                      cvImg.cols*cvImg.channels(),
+                      QImage::Format_Indexed8);
     }
+    else
+    {
+        qImg = QImage((const unsigned char*)(cvImg.data),
+                      cvImg.cols, cvImg.rows,
+                      cvImg.cols*cvImg.channels(),
+                      QImage::Format_RGB888);
+    }
+
+    return qImg;
 }
 
 void rgbImage::FillRgbImage(unsigned short *datacube)
 {
-    unsigned short *r_row, *g_row, *b_row;
-
-    if(m_iFrameCounter<m_iFrameNumber)
-    {
-        FillOnerowofRgbImage(m_matRgbImage, m_iFrameCounter, datacube);
-//        std::cout << "小于：" << m_iFrameNumber << std::endl;
-    }
-    else
-    {
-//        std::cout << "大于：" << m_iFrameNumber << std::endl;
-
     //通过行赋值将前m_iFrameNumber-1行向上移动一行，https://blog.csdn.net/u014686356/article/details/65937750
-//        m_matRgbImage->rowRange(1, m_matRgbImage->rows).copyTo(m_matRgbImage->rowRange(0, m_matRgbImage->rows-1));
+    //经tc验证：此行代码工作异常，
-        for (int i = 1; i < m_matRgbImage->rows; ++i)
+//    m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));
+//
+//    QString savePath_cv_3 = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "full0_cv.jpg";
+//    cv::imwrite(savePath_cv_3.toStdString(), *m_matRgbImage);
+//
+//    cv::Mat upperPart = m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1);
+//    QString savePath_cv_ = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "upperPart_cv.jpg";
+//    cv::imwrite(savePath_cv_.toStdString(), upperPart);
+//
+//    // 将上半部分的数据复制到下一行
+//    upperPart.copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//?????????????????????????????????????????
+//    QString savePath_cv_2 = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "full_cv.jpg";
+//    cv::imwrite(savePath_cv_2.toStdString(), *m_matRgbImage);
+
+    for (int i = m_matRgbImage->rows - 2; i >= 0; --i)
     {
 //            std::cout << "大于：" << i << std::endl;
-            m_matRgbImage->col(i).copyTo(m_matRgbImage->col(i-1));
+        m_matRgbImage->row(i).copyTo(m_matRgbImage->row(i+1));
-//            std::cout << "--------------" << i << std::endl;
     }
 
+    FillOnerowofRgbImage(m_matRgbImage, 0, datacube);
 
-//        std::cout << "1111111111111111111111111111"<< std::endl;
+//    m_Qphoto = Mat2QImage(*m_matRgbImage);
-        //通过FillOnerowofRgbImage为m_iFrameNumber行赋值
-        FillOnerowofRgbImage(m_matRgbImage, m_iFrameNumber-1, datacube);
-//        std::cout << "22222222222222222"<< std::endl;
-
-
-
-
-
-//        //循环给每行像素赋值
-//        r_row = datacube + 121 * m_iSampleNumber;
-//        g_row = datacube + 79 * m_iSampleNumber;
-//        b_row = datacube + 40 * m_iSampleNumber;
-//        for (int j = 0; j < m_iFrameNumber; j++)
-//        {
-//            p = m_matRgbImage.ptr<uchar>(j);
-//            for ( j = 0; j < nCols; ++j){
-//                p[j] = table[p[j]];
-//            }
-//
-//        }
-
-
 
     //保存rgb图片
-        if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
+//    if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
-        {
+//    {
-            ////保存文件
+////        QString savePath = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_qt.jpg";
-            //FileOperation * fileOperation = new FileOperation();
+////        m_Qphoto.save(savePath);
-            //string directory = fileOperation->getDirectoryOfExe();
+//
-            //string rgbFilePathStrech = “/media/nvme/300TC/config/” + "\\tmp_image_strech.png";//没有拉伸图片
+//        QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.jpg";
-//            std::string rgbFilePathNoStrech = "/media/nvme/300TC/config/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
+//        cv::imwrite(savePath_cv.toStdString(), *m_matRgbImage);
-
+//    }
-            //m_QRgbImage->save(QString::fromStdString(rgbFilePathNoStrech), "PNG");
+//    m_VideoWriter.write(*m_matRgbImage);
-
+//    std::string rgbFilePathNoStrech = "/media/nvme/delete/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
 //    cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
-            //cv::imwrite(rgbFilePathStrech, CStretch(*m_matRgbImage, 0.01));
-
-        }
-        m_VideoWriter.write(*m_matRgbImage);
-        std::string rgbFilePathNoStrech = "/media/nvme/delete/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
-        cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
-    }
-
 
     m_iFrameCounter++;
 }

Source_Files/ximeaimager.cpp

@@ -101,7 +101,7 @@ void XimeaImager::openImger()
         if (ret)
         {
             m_imager.setEffectiveWindow(offsetx, width, offsety, height);
-            m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
+            m_rgbImage->SetRgbImageWidthAndHeight(height, width, 720);
             std::cout<<"height："<< height <<std::endl;
             std::cout<<"width："<< width <<std::endl;
             std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
@@ -592,6 +592,124 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
         double * imageBuffer = new double[number_WriteDisk];
 
+        //tc+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        // 创建输出视频的AVFormatContext
+        const char* outputVideoPath = "/media/nvme/delete/300tc.h264";
+        int width = 1368;
+        int height = 720;
+        int framerateVideo = 10;
+
+        AVFormatContext* formatContext = nullptr;
+        avformat_alloc_output_context2(&formatContext, nullptr, "mp4", outputVideoPath);
+        if (!formatContext)
+        {
+            qDebug() << "Error: Failed to allocate output context";
+            return;
+        }
+
+        // 查找H.264编码器
+        const AVCodec* codec = avcodec_find_encoder(AV_CODEC_ID_H264);
+        if (!codec)
+        {
+            qDebug() << "Error: Codec not found";
+            avformat_free_context(formatContext);
+            return;
+        }
+
+        // 创建输出视频流
+        AVStream* videoStream = avformat_new_stream(formatContext, codec);
+        if (!videoStream)
+        {
+            qDebug() << "Error: Failed to create video stream";
+            avformat_free_context(formatContext);
+            return;
+        }
+        // 设置视频流的参数，例如分辨率、帧率等
+        videoStream->codecpar->width = width;
+        videoStream->codecpar->height = height;
+        videoStream->codecpar->codec_id = AV_CODEC_ID_H264; // 设置为H.264编解码器
+        videoStream->codecpar->format = AV_PIX_FMT_YUV420P; // 设置为YUV420P像素格式
+
+        // 配置视频流的参数
+        AVCodecContext* codecContext = avcodec_alloc_context3(codec);
+        if (!codecContext)
+        {
+            qDebug() << "Error: Failed to allocate codec context";
+            avformat_free_context(formatContext);
+            return;
+        }
+
+        // 设置视频流的参数，例如分辨率、帧率等
+        codecContext->width = width;
+        codecContext->height = height;
+        codecContext->time_base = {1, framerateVideo}; // 30 frames per second
+        codecContext->pix_fmt = AV_PIX_FMT_YUV420P;  // 设置为YUV420P格式
+        codecContext->gop_size = 1;//多少帧产生一组关键帧
+        codecContext->max_b_frames = 1;//b帧，参考帧
+//        codecContext->bit_rate = 1000000; // 设置比特率为 1000000
+
+        // 打开视频编码器
+        if (avcodec_open2(codecContext, codec, nullptr) < 0)
+        {
+            qDebug() << "Error: Failed to open codec";
+            avcodec_free_context(&codecContext);
+            avformat_free_context(formatContext);
+            return;
+        }
+
+        // 打开输出文件
+        if (avio_open(&formatContext->pb, outputVideoPath, AVIO_FLAG_WRITE) < 0)
+        {
+            qDebug() << "Error: Failed to open output file";
+            avcodec_close(codecContext);
+            avcodec_free_context(&codecContext);
+            avformat_free_context(formatContext);
+            return;
+        }
+
+        // 写入文件头
+        avformat_write_header(formatContext, nullptr);
+
+        // 使用sws_scale进行颜色空间转换
+        SwsContext* swsContext = sws_getContext(width, height, AV_PIX_FMT_BGR24,
+                                                width, height, AV_PIX_FMT_YUV420P,
+                                                SWS_BICUBIC, nullptr, nullptr, nullptr);
+        if (!swsContext)
+        {
+            qDebug() << "Error: Failed to create sws context";
+            avio_closep(&formatContext->pb);
+            avcodec_close(codecContext);
+            avcodec_free_context(&codecContext);
+            avformat_free_context(formatContext);
+            return;
+        }
+
+        // 创建 AVFrame 作为目标图像
+        AVFrame* dstFrame = av_frame_alloc();
+        av_image_alloc(dstFrame->data, dstFrame->linesize, width, height, AV_PIX_FMT_YUV420P, 1);
+
+        // 设置目标图像参数
+        dstFrame->width = width;
+        dstFrame->height = height;
+        dstFrame->format = AV_PIX_FMT_YUV420P;
+
+        AVFrame* frame = av_frame_alloc();
+        av_image_alloc(frame->data, frame->linesize, width, height, AV_PIX_FMT_BGR24, 1);
+
+        double framerate = getFramerate();
+        int pushFlowFactor = framerate/framerateVideo;
+
+        FILE * fp= fopen("/media/nvme/delete/300tc_fp.h264","wb");
+
+        QUdpSocket * m_udpSocket = new QUdpSocket();
+        m_udpSocket->bind(PUSH_FLOW_PORT, QUdpSocket::ShareAddress);
+        QHostAddress m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
+//        QHostAddress m_clientIpAddress("192.168.1.21");
+//        QHostAddress m_clientIpAddress("192.168.111.1");
+        int udpSendCounter=0;
+        int encodeCounter=0;
+        //tc--------------------------------------------------------------------------------------------------------------------------
+
         m_imager.start();
         struct timeval timeStart, timeEnd;
         double runTime=0;
@@ -606,6 +724,48 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
                 timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
             }
             fwrite(m_imager.m_image.bp,1,m_iFrameSizeInByte, hFile);
+            //构造rgb图像，用于推流到m300遥控器
+            m_rgbImage->FillRgbImage((unsigned short *)m_imager.m_image.bp);
+
+
+            if (m_iFrameCounter % pushFlowFactor == 0)
+            {
+                memcpy(frame->data[0], m_rgbImage->m_matRgbImage->data, m_rgbImage->m_matRgbImage->rows * m_rgbImage->m_matRgbImage->step[0]);
+//                memcpy(frame->data[0], m_rgbImage->m_Qphoto.bits(), m_rgbImage->m_Qphoto.byteCount());
+
+                // 使用sws_scale进行颜色空间转换
+                sws_scale(swsContext, frame->data, frame->linesize, 0, height,
+                          dstFrame->data, dstFrame->linesize);
+                dstFrame->pts = encodeCounter;
+
+                // 将AVFrame编码为视频帧
+                AVPacket pkt;
+                av_init_packet(&pkt);
+                pkt.data = nullptr;
+                pkt.size = 0;
+
+                if (avcodec_send_frame(codecContext, dstFrame) == 0 &&
+                    avcodec_receive_packet(codecContext, &pkt) == 0)
+                {
+//                    fwrite(pkt.data, 1, pkt.size, fp);
+//
+                    m_udpSocket->writeDatagram((const char *)pkt.data,pkt.size,m_clientIpAddress, PUSH_FLOW_PORT);
+//
+//                    std::cout<< "第 " << m_iFrameCounter<< " 帧，" << "编码第 " << udpSendCounter << " 帧数据大小: " << pkt.size << std::endl;
+//                    std::cout<< "pkt.pts: " << pkt.pts << std::endl;
+//                    std::cout<< "pkt.dts: " << pkt.dts << std::endl << std::endl;
+                    udpSendCounter++;
+
+                    // 将编码后的帧写入文件
+//                    pkt.stream_index = videoStream->index;
+//                    av_interleaved_write_frame(formatContext, &pkt);
+//                    av_write_frame(formatContext, &pkt);
+
+                    av_packet_unref(&pkt);
+                }
+                encodeCounter++;
+            }
+
 
             indexofbuff = m_iFrameCounter % number_WriteDisk;
 
@@ -641,6 +801,24 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         writeData2Disk->exitWriteData2Disk();
         writeHdr();
 
+        fclose(fp);
+        // 写入文件尾
+        av_write_trailer(formatContext);
+
+        // 释放AVFrame和相关资源
+        av_freep(&frame->data[0]);
+        av_frame_free(&frame);
+
+        // 释放资源
+        sws_freeContext(swsContext);
+        av_freep(&dstFrame->data[0]);
+        av_frame_free(&dstFrame);
+//        av_packet_free(&pkt);
+        avcodec_close(codecContext);
+        avcodec_free_context(&codecContext);
+        avio_closep(&formatContext->pb);
+        avformat_free_context(formatContext);
+
         delete[] sbgTimeBuffer;
 
         double frameInTheory=runTime * getFramerate();
@@ -1025,7 +1203,7 @@ void WriteData2Disk::write2Disk()
         r_qtx.unlock();
 
         //构造rgb图像，用于推流到m300遥控器
-//        m_rgbImage->FillRgbImage(dataBuffer);
+        m_rgbImage->FillRgbImage(dataBuffer);
 
 
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//