1. 最大曝光时间乘以0.95，目的：避免曝光时间超过最大，而造成帧率降低；

2. 去掉多余的std::out，避免采集log过于杂乱； 3. 通过OpenCV从高光谱影像中提取rgb影像； 4. 在log中记录开始采集时间和停止采集时间； 5. 添加手动设置曝光时间的功能：127.0.0.1 7,2； 6. 头文件中写入仪器序列号；
2023-03-19 16:44:12 +08:00
parent e96953b54a
commit 447a1aafb1
11 changed files with 440 additions and 34 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.16)
+cmake_minimum_required(VERSION 3.5.2)
 project(ximeaAirborneSystem)

 set(CMAKE_CXX_STANDARD 14)
@ -9,7 +9,7 @@ set(CMAKE_AUTOUIC ON)
 set(CMAKE_AUTORCC ON)
 set(CMAKE_CXX_STANDARD 11)

-set(QT Core Network SerialPort)
+set(QT Core Network SerialPort Gui)
 set(TEMPLATE app)
 set(TARGET ximeaImageRecorder)
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
@ -17,9 +17,12 @@ find_package(Qt5 REQUIRED ${QT})#

 include_directories(.)
 include_directories(/home/300tc/library/ximeaControlDll/Header_Files)
-
 link_directories(/home/300tc/library/ximeaControlDll)

+find_package(OpenCV 4.2.0 REQUIRED)
+include_directories(/usr/local/include/opencv4/)
+link_directories(/usr/local/lib)
+
 add_executable(${CMAKE_PROJECT_NAME}
        Source_Files/fileoperation.cpp
        Header_Files/fileoperation.h
@ -43,10 +46,11 @@ add_executable(${CMAKE_PROJECT_NAME}
        Source_Files/configfile.cpp
        Header_Files/configfile.h
        Header_Files/MemoryPool.tcc
-        Header_Files/MemoryPool.h)
+        Header_Files/MemoryPool.h Source_Files/rgbImage.cpp Header_Files/rgbImage.h)
 qt5_use_modules(${CMAKE_PROJECT_NAME} ${QT})

 target_link_libraries(${CMAKE_PROJECT_NAME}
        irisXimeaImager
        libconfig.so
-        libconfig++.so)
+        libconfig++.so
+        ${OpenCV_LIBS})
--- a/Header_Files/configfile.h
+++ b/Header_Files/configfile.h
@ -9,6 +9,7 @@
 #include <iomanip>
 #include <cstdlib>
 #include <libconfig.h++>
+#include <string>

 #include <QFileInfo>
 #include <QString>
@ -32,6 +33,7 @@ public:
    bool getEffectiveWindow(int &width, int &offsetx, int &height, int &offsety);
    bool getEffectiveWindowRoi(int &width, int &offsetx);
    bool getGainOffset(float &gain, float &offset);
+    bool getSN(QString &SN);

    bool createConfigFile();
    bool updateConfigFile();
--- a/Header_Files/rgbImage.h
+++ b/Header_Files/rgbImage.h
@ -0,0 +1,75 @@
+//
+// Created by tangchao on 2022/12/24.
+//
+
+#ifndef XIMEAAIRBORNESYSTEM_RGBIMAGE_H
+#define XIMEAAIRBORNESYSTEM_RGBIMAGE_H
+
+#include <iostream>
+#include <string>
+
+#include <QObject>
+#include <QImage>
+#include <opencv2/opencv.hpp>//包含了所有东西，编译很慢
+
+using namespace cv;
+class rgbImage :public QObject
+{
+
+Q_OBJECT
+public:
+    rgbImage(QWidget* pParent = NULL);
+    ~rgbImage();
+
+    void SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber);
+    void FillRgbImage(unsigned short *datacube);
+    void FillFocusGrayImage(unsigned short *datacube);
+    void FillFocusGrayQImage(unsigned short * datacube);
+
+    void FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube);
+
+    QImage *m_QRgbImage;
+    cv::Mat *m_matRgbImage;
+
+    QImage *m_qimageFocusGrayImage;
+    cv::Mat *m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
+    //cv::Mat m_matFocusGrayImage;//用于调焦时，显示一帧的灰度图
+
+
+    CvVideoWriter *m_frame_writer;
+    VideoWriter m_VideoWriter;
+//    VideoWriter m_video("appsrc ! autovideoconvert ! filesink location=/media/nvme/delete/live.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
+//    VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));//
+
+
+
+
+
+    //控制该填充rgb图像第几帧（行）数据
+    //以下两种情况需要重置为0：1）调用函数SetRgbImageWidthAndHeight；2）每次开始填充数据前
+    int m_iFrameCounter;
+
+
+    int m_iFramerate;//
+
+
+protected:
+
+private:
+    int m_iSampleNumber;//
+    int m_iBandNumber;//
+
+    int m_iFrameNumber;//
+
+public slots:
+
+signals :
+    void sendstr(QString str);
+    void sendstr1(QString str);
+    void refreslabelimg(QImage* img1);
+
+
+};
+
+
+#endif //XIMEAAIRBORNESYSTEM_RGBIMAGE_H
--- a/Header_Files/utility_tc.h
+++ b/Header_Files/utility_tc.h
@ -2,12 +2,15 @@
 #define UTILITY_TC_H

 #include <iostream>
+#include <ctime>

 #include <QString>
 #include <QDebug>

 QString getFileNameBaseOnTime();

+QString formatTimeStr(char * format);
+
 //https://blog.csdn.net/MoreWindows/article/details/6657829
 void bubbleSort(unsigned short * a, int n);

--- a/Header_Files/ximeaimager.h
+++ b/Header_Files/ximeaimager.h
@ -41,6 +41,8 @@
 #include <queue>
 #include <QMutex>

+#include "rgbImage.h"
+


 //#ifdef WIN32
@ -96,7 +98,7 @@ Q_OBJECT

 public:
    WriteData2Disk();
-    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool);
+    void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);

 private:
    queue<DataBuffer *> * m_q;
@ -104,6 +106,8 @@ private:
    int m_iFrameSizeInByte;
    MemoryPool<DataBuffer> * m_pool;

+    rgbImage * m_rgbImage;
+
 public slots:
    void write2Disk();

@ -116,10 +120,12 @@ class XimeaImager : public QObject

 public:
    XimeaImager();
+    ~XimeaImager();

    void setFramerate(double framerate);
    double getFramerate();
    double setExposureTime(float exposureTime);
+    double wrapSetExposureTime(float exposureTime_in_us);
    double getExposureTime();
    double autoExposure();
    void setGain(double gain);
@ -159,6 +165,7 @@ private:
    bool m_bRecordControl;
    int m_iFrameCounter;
    int m_iFrameSizeInByte;
+    rgbImage * m_rgbImage;
    void writeHdr();

    void processXiApiErrorCodes(int xiApiErrorCodes);
--- a/Source_Files/configfile.cpp
+++ b/Source_Files/configfile.cpp
@ -206,6 +206,22 @@ bool Configfile::getGainOffset(float &gain, float &offset)
    return true;
 }

+bool Configfile::getSN(QString &SN)
+{
+    try
+    {
+        std::string SN_tem = cfg.lookup("SN");
+        SN = QString::fromStdString(SN_tem);
+
+        return true;
+    }
+    catch(const SettingNotFoundException &nfex)
+    {
+        cerr << "No 'spectralBin' setting in configuration file." << endl;
+        return false;
+    }
+}
+
 bool Configfile::createConfigFile()
 {
    using namespace std;
--- a/Source_Files/rgbImage.cpp
+++ b/Source_Files/rgbImage.cpp
@ -0,0 +1,253 @@
+//
+// Created by tangchao on 2022/12/24.
+//
+
+#include "../Header_Files/rgbImage.h"
+
+
+rgbImage::rgbImage(QWidget* pParent)
+{
+    m_QRgbImage = nullptr;
+    m_matRgbImage = nullptr;
+    m_matFocusGrayImage = nullptr;
+    m_qimageFocusGrayImage = nullptr;
+
+
+
+}
+
+rgbImage::~rgbImage()
+{
+
+}
+
+
+void rgbImage::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_8UC3, Scalar(0, 0, 0));
+
+    int codec = VideoWriter::fourcc('M', 'P', '4', '2');  // 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
+    m_VideoWriter.open(filename, codec, fps, m_matRgbImage->size(), true);
+
+//    VideoWriter video("test.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25.0, Size(640, 480));
+
+//    m_frame_writer = cvCreateVideoWriter("/media/nvme/delete/live.avi",  cv::VideoWriter::fourcc('M', 'J', 'P', 'G'), 20.0, Size(688, 688), false);
+
+
+
+
+
+    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 rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsigned short *datacube)
+{
+    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;
+
+        //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_16UC3)
+        {
+            //std::cout << "操作像素值！" << std::endl;
+            matRgbImage->at<cv::Vec3w>(rowNumber, j)[2] = r;
+            matRgbImage->at<cv::Vec3w>(rowNumber, j)[1] = g;
+            matRgbImage->at<cv::Vec3w>(rowNumber, j)[0] = b;
+        }
+    }
+}
+
+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));
+        for (int i = 1; i < m_matRgbImage->rows; ++i)
+        {
+//            std::cout << "大于：" << i << std::endl;
+            m_matRgbImage->col(i).copyTo(m_matRgbImage->col(i-1));
+//            std::cout << "--------------" << i << std::endl;
+        }
+
+
+//        std::cout << "1111111111111111111111111111"<< std::endl;
+        //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)
+        {
+            ////保存文件
+            //FileOperation * fileOperation = new FileOperation();
+            //string directory = fileOperation->getDirectoryOfExe();
+            //string rgbFilePathStrech = “/media/nvme/300TC/config/” + "\\tmp_image_strech.png";//没有拉伸图片
+//            std::string rgbFilePathNoStrech = "/media/nvme/300TC/config/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
+
+            //m_QRgbImage->save(QString::fromStdString(rgbFilePathNoStrech), "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++;
+}
+
+void rgbImage::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 rgbImage::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]));
+
+
+        }
+    }*/
+
+}
--- a/Source_Files/sbgrecorder.cpp
+++ b/Source_Files/sbgrecorder.cpp
@ -622,19 +622,19 @@ void sbgtc::SbgRecorder::parseSbgMessage(QByteArray * sbgMessage)
            switch (mode)
            {
            case SBG_ECOM_SOL_MODE_UNINITIALIZED:
-                std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
+//                std::cout<<"此刻模式为: "<<"UNINITIALIZED"<<std::endl;
                break;
            case SBG_ECOM_SOL_MODE_VERTICAL_GYRO:
-                std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
+//                std::cout<<"此刻模式为: "<<"VERTICAL_GYRO"<<std::endl;
                break;
            case SBG_ECOM_SOL_MODE_AHRS:
-                std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
+//                std::cout<<"此刻模式为: "<<"AHRS"<<std::endl;
                break;
            case SBG_ECOM_SOL_MODE_NAV_VELOCITY:
-                std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
+//                std::cout<<"此刻模式为: "<<"NAV_VELOCITY"<<std::endl;
                break;
            case SBG_ECOM_SOL_MODE_NAV_POSITION:
-                std::cout<<"此刻模式为: "<<"NAV_POSITION"<<std::endl;
+//                std::cout<<"此刻模式为: "<<"NAV_POSITION"<<std::endl;

                break;
            default:
@ -798,7 +798,7 @@ void sbgtc::SbgRecorder::startRecordSbg()
    while (m_bRecordControl)
    {
        //std::cout<<"SbgRecorder::startRecordSbg--------------:"<<std::endl;
-        if(m_serial->waitForReadyRead())
+        if(m_serial->waitForReadyRead(30000))
        {
            //requestData.resize(m_serial->size());
            requestData = m_serial->readAll();
--- a/Source_Files/udpserver.cpp
+++ b/Source_Files/udpserver.cpp
@ -169,18 +169,9 @@ void UdpServer::processPendingDatagrams()
        }
        case 7:
        {
-            if(datagramList[1].toInt()==1)
-            {
-                std::cout<<"拷贝数据!"<<std::endl;
-
-                emit startCopyFileSignal();
-            }
-            else if(datagramList[1].toInt()==0)
-            {
-                std::cout<<"删除数据!"<<std::endl;
-
-                emit startDeleteFileSignal();
-            }
+            float time = datagramList[1].toFloat();//ms
+            m_imager->wrapSetExposureTime(time*1000);
+            std::cout<<"7，手动设置曝光时间为：" << time <<std::endl;

            break;
        }
@ -260,9 +251,9 @@ void UdpServer::sender(int status)

 void UdpServer::sendSerialPortStatus(int serialPortStatus)
 {
-    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< serialPortStatus <<std::endl;
+//    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< serialPortStatus <<std::endl;

-    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< m_clientIpAddress.AnyIPv4 <<std::endl;
+//    std::cout<<"UdpServer::sendSerialPortStatus---------------------:"<< m_clientIpAddress.AnyIPv4 <<std::endl;

    QByteArray datagram2send;

@ -274,7 +265,7 @@ void UdpServer::sendSerialPortStatus(int serialPortStatus)

 void UdpServer::sendSbgSolutionModeState(int SolutionMode)
 {
-    std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;
+//    std::cout<<"UdpServer::sendSbgSolutionModeState---------------------:"<< SolutionMode <<std::endl;

    QByteArray datagram2send;

@ -298,7 +289,7 @@ void UdpServer::sendSbgAccuracyState(int Accuracy,int SatelliteCounter)

 void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)
 {
-    std::cout<<"UdpServer::sendXimeaImageStatus---------------------:"<< ximeaImageStatus <<std::endl;
+//    std::cout<<"UdpServer::sendXimeaImageStatus---------------------:"<< ximeaImageStatus <<std::endl;

    QByteArray datagram2send;

@ -310,7 +301,7 @@ void UdpServer::sendXimeaImageStatus(int ximeaImageStatus)

 void UdpServer::sendCopyFileStatus(int fileStatus)
 {
-    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;
+//    std::cout<<"UdpServer::sendCopyFileStatus---------------------:"<< fileStatus <<std::endl;

    QByteArray datagram2send;

--- a/Source_Files/utility_tc.cpp
+++ b/Source_Files/utility_tc.cpp
@ -1,6 +1,25 @@
 #include "Header_Files/utility_tc.h"
 #include <QDir>

+QString formatTimeStr(char * format)
+{
+    //获取系统时间
+    time_t timer;//time_t就是long int 类型
+    struct tm *tblock;
+    timer = time(NULL);//返回秒数(精度为秒)，从1970-1-1,00:00:00 可以当成整型输出或用于其它函数
+    tblock = localtime(&timer);
+    //printf("Local time is: %s\n", asctime(tblock));
+
+    //格式化时间为需要的格式
+    char timeStr_tmp[256] = { 0 };
+    strftime(timeStr_tmp, sizeof(timeStr_tmp), format, tblock);//
+
+    QString timeStr2(timeStr_tmp);
+//    qDebug() << "time is:" << timeStr2;
+
+    return timeStr2;
+}
+
 QString getFileNameBaseOnTime()
 {
    using namespace std;
--- a/Source_Files/ximeaimager.cpp
+++ b/Source_Files/ximeaimager.cpp
@ -30,6 +30,13 @@ XimeaImager::XimeaImager()

    m_pool = new MemoryPool<DataBuffer>;
    q = new queue<DataBuffer *>;
+
+    m_rgbImage = new rgbImage();
+}
+
+XimeaImager::~XimeaImager()
+{
+
 }

 void XimeaImager::openImger()
@ -70,6 +77,9 @@ void XimeaImager::openImger()
        if (ret)
        {
            m_imager.setEffectiveWindow(offsetx, width, offsety, height);
+            m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
+            std::cout<<"height："<< height <<std::endl;
+            std::cout<<"width："<< width <<std::endl;
        }

 //        int width_roi = 0, offsetx_roi = 0;
@ -206,6 +216,14 @@ double XimeaImager::setExposureTime(float exposureTime_in_us)
    }
 }

+double XimeaImager::wrapSetExposureTime(float exposureTime_in_us)
+{
+    setExposureTime(exposureTime_in_us);
+
+    m_iImagerState=103;
+    emit ximeaImageStatus(m_iImagerState);
+}
+
 double XimeaImager::autoExposure()
 {
    double exposureTime;
@ -216,7 +234,7 @@ double XimeaImager::autoExposure()
        float suitableMaxValue=4095 * 0.8;

        double framerate = m_imager.get_framerate();
-        double maxExposureTime = 1/framerate*1000000;
+        double maxExposureTime = 1/framerate*1000000*0.95;//0.95目的：避免曝光时间超过最大，而造成帧率降低
        exposureTime=setExposureTime(maxExposureTime);

        bool bIsAutoExposureOk=false;
@ -447,7 +465,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
        m_iImagerState=104;
        emit ximeaImageStatus(m_iImagerState);

-        printf("开始采集!\n");
+        char * timeFormat="%Y%m%d_%H%M%S";
+        QString timeStr = formatTimeStr(timeFormat);
+        printf("开始采集：%s!\n", timeStr.toStdString().c_str());
+
        m_iFrameCounter=0;
        m_bRecordControl=true;

@ -456,11 +477,12 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base

        QString timesFileName=m_baseFileName+".times";
        FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
+        std::cout << "曝光时间为：" << getExposureTime()/1000 << "ms" <<std::endl;

        using namespace std;
 //        ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");

-        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, m_pool);
+        writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, m_pool, m_rgbImage);
        emit startWriteDiskSignal();

        m_imager.start();
@ -528,7 +550,8 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
        fclose(hHimesFile);
 //        timesFileHandle.close();

-        printf("Stopping acquisition...\n");
+        timeStr = formatTimeStr(timeFormat);
+        printf("停止采集：%s!\n", timeStr.toStdString().c_str());

        writeHdr();

@ -553,6 +576,11 @@ void XimeaImager::writeHdr()

    ofstream hdrFileHandle(hdrPath.toStdString());
    hdrFileHandle << "ENVI\n";
+
+    QString SN;
+    m_configfile.getSN(SN);
+    hdrFileHandle << "SN = " << SN.toStdString() << "\n";
+
    hdrFileHandle << "interleave = bil\n";
    hdrFileHandle << "byte order = 0\n";
    hdrFileHandle << "data type = 2\n";
@ -798,19 +826,27 @@ void WriteData2Disk::write2Disk()
        m_q->pop();
        r_qtx.unlock();

+        //构造rgb图像，用于推流到m300遥控器
+        m_rgbImage->FillRgbImage(dataBuffer);
+
+
 //        std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
        fwrite(dataBuffer,1,m_iFrameSizeInByte, hFile);
        frameCounter++;
    }
+    m_rgbImage->m_VideoWriter.release();
+
    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，内存池可达到的最多元素数：" << m_pool->max_size() <<std::endl;
    std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，共写帧数：" << frameCounter <<std::endl;
 }

-void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool)
+void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
 {
    m_q = q;
    m_QbaseFileName = baseFileName;
    m_iFrameSizeInByte = frameSizeInByte;

    m_pool = pool;
+
+    m_rgbImage = rgbImage;
 }