1、添加配置文件控制推流参数；

2、解决遥控器解码时帧序混乱的问题（gop_size = 1）；
3、完善代码；

Header_Files/configfile.h

@@ -42,6 +42,8 @@ public:
     bool getBufferPolicy(int &bufferPolicy);
     bool getAcqBufferSize(int &acqBufferSize);
 
+    bool getPushFlowParam(int &flowSwitch, int &rgbHeight, int &framerateVideo);
+
     bool createConfigFile();
     bool updateConfigFile();
 

Header_Files/rgbImage.h

@@ -24,28 +24,6 @@ extern "C"
     #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
 {
@@ -55,7 +33,8 @@ public:
     rgbImage(QWidget* pParent = NULL);
     ~rgbImage();
 
-    void SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber);
+    void SetRgbImageWidthAndHeight(int BandCount, int Width, int height);
+    void SetRgbBandNumber(int redBandNumber, int greenBandNumber, int blueBandNumber);
     void FillRgbImage(unsigned short *datacube);
     void FillFocusGrayImage(unsigned short *datacube);
     void FillFocusGrayQImage(unsigned short * datacube);
@@ -71,24 +50,16 @@ public:
     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:
@@ -99,15 +70,15 @@ private:
 
     void initffmpeg();
 
+    int m_iRedBandNumber;
+    int m_iGreenBandNumber;
+    int m_iBlueBandNumber;
+
 public slots:
 
 signals :
     void sendstr(QString str);
     void sendstr1(QString str);
     void refreslabelimg(QImage* img1);
-
-
 };
-
-
 #endif //XIMEAAIRBORNESYSTEM_RGBIMAGE_H

Header_Files/ximeaimager.h

@@ -27,6 +27,8 @@
 #include <exception>
 #include <fcntl.h>
 #include <sys/mman.h>
+#include <cmath>
+#include <vector>
 
 #include <QObject>
 #include <QDateTime>
@@ -125,6 +127,32 @@ public slots:
 signals:
 };
 
+class PushFlow : public QObject
+{
+Q_OBJECT
+
+public:
+    PushFlow();
+    void setParm(rgbImage * img, int width, int height, int framerateVideo);
+    void exitPushFlow();
+    void setVedioFilePath(QString path);
+
+private:
+    QString m_QVedioFilePath;
+    bool isExitPushFlow;
+
+    rgbImage * m_rgbImage;
+
+    int m_iWidth;
+    int m_iHeight;
+    int m_iFramerateVideo;
+
+public slots:
+    void encodePushFlow();
+
+signals:
+};
+
 class XimeaImager : public QObject
 {
     Q_OBJECT
@@ -148,6 +176,9 @@ public:
     int getWindowEndBand();
     double geWavelengthAtBand(int x);
 
+    static int findClosestIndex(const std::vector<double>& numbers, double target);
+    void getRgbBandNumber(int &redBandNumber, int &greenBandNumber, int &blueBandNumber);
+
     void stopRecord();
     int getFrameCounter();
     void writeXiApiErrorCodes(QString filePath, int xiApiErrorCodes);
@@ -155,8 +186,6 @@ 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;
@@ -174,6 +203,10 @@ private:
     queue<int> * m_qFrameCounter;
     MemoryPool<DataBuffer> * m_pool;
 
+    QThread * m_pushFlowThread;
+    PushFlow * m_pushFlow;
+    int m_iFlowSwitch;
+
     QString m_baseFileName;
     QString m_ximeaTemperatureCSVPath;
 
@@ -212,6 +245,7 @@ signals:
 
     void recordXimeaTemperatureSignal(QString);
     void startWriteDiskSignal();
+    void startPushFlowSignal();
 
     void autoExposeMaxValueOfOneFrame(int, double);
     void frameRateSignal(double);

Source_Files/configfile.cpp

@@ -166,6 +166,64 @@ bool Configfile::getEffectiveWindowRoi(int &width, int &offsetx)
     return true;
 }
 
+bool Configfile::getPushFlowParam(int &flowSwitch, int &rgbHeight, int &framerateVideo)
+{
+    Setting& root = cfg.getRoot();
+
+    if (!root.exists("push_flow_param"))
+    {
+        // 配置项不存在，添加配置项
+        Setting & push_flow_param = root.add("push_flow_param", Setting::TypeGroup);
+
+        push_flow_param.add("flow_switch", Setting::TypeInt) = 0;
+        push_flow_param.add("rgb_height", Setting::TypeInt) = 720;
+        push_flow_param.add("framerate_video", Setting::TypeInt) = 5;
+
+        // 保存修改后的配置到文件
+        try
+        {
+            QList<QString> fileInfo = getFileInfo(QString::fromStdString(m_configfilePath));
+            bool ret = createDir(fileInfo[0]);
+
+            cfg.writeFile(m_configfilePath.c_str());
+            std::cout << "Config item 'push_flow_param' added." << std::endl;
+
+            flowSwitch = 0;
+            rgbHeight = 720;
+            framerateVideo = 5;
+
+            return true;
+        }
+        catch (const libconfig::FileIOException &fioex)
+        {
+            std::cerr << "I/O error while writing file." << std::endl;
+            return false;
+        }
+    }
+    else
+    {
+        try
+        {
+            const Setting &push_flow_param = root["push_flow_param"];
+
+            if(!(push_flow_param.lookupValue("rgb_height", rgbHeight)
+                 && push_flow_param.lookupValue("framerate_video", framerateVideo)
+                 && push_flow_param.lookupValue("flow_switch", flowSwitch)
+            ))
+            {
+                return false;
+            }
+        }
+        catch(const SettingNotFoundException &nfex)
+        {
+            // Ignore.
+            return false;
+        }
+
+        return true;
+    }
+}
+
 bool Configfile::getWindowOffsety_HeightOfSpectral(int &offsety, int &height, string spectralBinString)
 {
     const Setting& root = cfg.getRoot();

Source_Files/rgbImage.cpp

@@ -4,138 +4,16 @@
 
 #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)
 {
     m_QRgbImage = nullptr;
     m_matRgbImage = nullptr;
     m_matFocusGrayImage = nullptr;
     m_qimageFocusGrayImage = nullptr;
+
+    m_iRedBandNumber = 0;
+    m_iGreenBandNumber = 0;
+    m_iBlueBandNumber = 0;
 }
 
 rgbImage::~rgbImage()
@@ -143,8 +21,18 @@ rgbImage::~rgbImage()
 
 }
 
+void rgbImage::SetRgbBandNumber(int redBandNumber, int greenBandNumber, int blueBandNumber)
+{
+    m_iRedBandNumber = redBandNumber;
+    m_iGreenBandNumber = greenBandNumber;
+    m_iBlueBandNumber = blueBandNumber;
 
-void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNumber)
+//    std::cout<<"rgbImage::SetRgbBandNumber，红波段的波段号："<< redBandNumber <<std::endl;
+//    std::cout<<"rgbImage::SetRgbBandNumber，绿波段的波段号："<< greenBandNumber <<std::endl;
+//    std::cout<<"rgbImage::SetRgbBandNumber，蓝波段的波段号："<< blueBandNumber <<std::endl;
+}
+
+void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Width, int height)
 {
     using namespace cv;
 
@@ -152,21 +40,21 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
     {
         delete m_QRgbImage;//有问题？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？？
     }
-    //m_QRgbImage = new QImage(Sample, FrameNumber, QImage::Format_RGB888);
+    //m_QRgbImage = new QImage(Width, height, QImage::Format_RGB888);
 
 
     if (m_matRgbImage != nullptr)
     {
         delete m_matRgbImage;
     }
-    m_matRgbImage = new Mat(FrameNumber, Sample, CV_8UC3, Scalar(0, 0, 0));
+    m_matRgbImage = new Mat(height, Width, CV_8UC3, Scalar(0, 0, 0));
 
-    int codec = VideoWriter::fourcc('H', '2', '6', '4');  // 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
+//    double fps = 20.0;// framerate of the created video stream
-    std::string filename = "appsrc ! autovideoconvert ! filesink location=/media/nvme/live.mp4";//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
-//    std::string filename = "/media/nvme/live.mp4";
+////    std::string filename = "/media/nvme/live.mp4";
-    auto ddddd=m_matRgbImage->size();
+//    auto ddddd=m_matRgbImage->size();
-    m_VideoWriter.open(filename, codec, fps, Size(20, 1368), true);
+//    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));
 
@@ -178,33 +66,26 @@ void rgbImage::SetRgbImageWidthAndHeight(int BandCount, int Sample, int FrameNum
 
     if (m_qimageFocusGrayImage == nullptr)
     {
-        m_qimageFocusGrayImage = new QImage(Sample, BandCount, QImage::Format_RGB32);
+        m_qimageFocusGrayImage = new QImage(Width, BandCount, QImage::Format_RGB32);
     }
 
 
     if (m_matFocusGrayImage == nullptr)
     {
-        m_matFocusGrayImage = new Mat(BandCount, Sample, CV_16U, Scalar(0));
+        m_matFocusGrayImage = new Mat(BandCount, Width, CV_16U, Scalar(0));
 
-        //cv::Mat matAdjustPreview = Mat::zeros(BandCount, Sample, CV_16U);
+        //cv::Mat matAdjustPreview = Mat::zeros(BandCount, Width, CV_16U);
     }
 
-    //cv::Mat matAdjustPreview = Mat::zeros(BandCount, Sample, CV_16U);
+    //cv::Mat matAdjustPreview = Mat::zeros(BandCount, Width, CV_16U);
     //m_matFocusGrayImage = matAdjustPreview;
 
-
+    std::cout << "高光谱rgb图像设置高度：" << height << std::endl;
-
-
-
-
-
-
-    std::cout << "设置帧数：" << FrameNumber << std::endl;
 
     m_iFrameCounter = 0;//每次都重置为0
-    m_iSampleNumber = Sample;
+    m_iSampleNumber = Width;
     m_iBandNumber = BandCount;
-    m_iFrameNumber = FrameNumber;
+    m_iFrameNumber = height;
 
     //std::cout << "rgb影像内存地址为：" << m_QRgbImage << std::endl;
 }
@@ -216,13 +97,13 @@ void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsign
 //    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;
+//        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
-//        g = *(datacube + 79 * m_iSampleNumber + j)*255/4096;
+//        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
-//        b = *(datacube + 40 * m_iSampleNumber + j)*255/4096;
+//        b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
 //
-////        r = *(datacube + 121 * m_iSampleNumber + j);
+////        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j);
-////        g = *(datacube + 79 * m_iSampleNumber + j);
+////        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j);
-////        b = *(datacube + 40 * m_iSampleNumber + j);
+////        b = *(datacube + m_iBlueBandNumber * 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
@@ -257,10 +138,10 @@ void rgbImage::FillOnerowofRgbImage(cv::Mat * matRgbImage, int rowNumber, unsign
 
     for (int j = 0; j < m_iSampleNumber; j++)
     {
-        //取值：一帧影像中，从左到右的rgb像元值
+        //取值：一帧影像中，从左到右的rgb像元值，线性拉伸
-        r = *(datacube + 121 * m_iSampleNumber + j)*255/4096;
+        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
-        g = *(datacube + 79 * m_iSampleNumber + j)*255/4096;
+        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
-        b = *(datacube + 40 * m_iSampleNumber + j)*255/4096;
+        b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
 
         *p_row0_b = b;
         *p_row0_g = g;
@@ -320,25 +201,15 @@ QImage rgbImage::Mat2QImage(cv::Mat cvImg)//https://www.cnblogs.com/annt/p/ant00
 
 void rgbImage::FillRgbImage(unsigned short *datacube)
 {
-    //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
+    //从第二行开始，向下移动一行，https://blog.csdn.net/u014686356/article/details/65937750
-    //经tc验证：此行代码工作异常，
+//    m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//经tc验证：此行代码工作异常，为啥不加.clone()就异常？？？？？？
-//    m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));
+//    m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).clone().copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//此方式，ximea帧率130hz，1min左右就出现漏帧
-//
-//    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)
+//    cv::Mat upperPart = m_matRgbImage->rowRange(0, m_matRgbImage->rows - 1).clone();//此方式，ximea帧率130hz，1min左右就出现漏帧
+//    upperPart.copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));
+
+    for (int i = m_matRgbImage->rows - 2; i >= 0; --i)//此方式，ximea帧率130hz，4.5min左右出现漏帧 → 此方式效率最高
     {
-//            std::cout << "大于：" << i << std::endl;
         m_matRgbImage->row(i).copyTo(m_matRgbImage->row(i+1));
     }
 

Source_Files/ximeaimager.cpp

@@ -47,6 +47,12 @@ XimeaImager::XimeaImager()
     writeData2DiskThread->start(QThread::HighestPriority);
     connect(this, SIGNAL(startWriteDiskSignal()), writeData2Disk, SLOT(write2Disk()));
 
+    m_pushFlowThread=new QThread();
+    m_pushFlow = new PushFlow();
+    m_pushFlow->moveToThread(m_pushFlowThread);
+    m_pushFlowThread->start();
+    connect(this, SIGNAL(startPushFlowSignal()), m_pushFlow, SLOT(encodePushFlow()));
+
     m_pool = new MemoryPool<DataBuffer>;
     q = new queue<DataBuffer *>;
     m_qFrameCounter = new queue<int>;
@@ -100,8 +106,21 @@ void XimeaImager::openImger()
         ret = m_configfile.getEffectiveWindow(width, offsetx, height, offsety);
         if (ret)
         {
+            int rgbHeight;
+            int framerateVideo;
+            m_configfile.getPushFlowParam(m_iFlowSwitch, rgbHeight, framerateVideo);
+            std::cout <<"rgbHeight：" << rgbHeight << ", framerateVideo：" << framerateVideo << std::endl;
+
             m_imager.setEffectiveWindow(offsetx, width, offsety, height);
-            m_rgbImage->SetRgbImageWidthAndHeight(height, width, 720);
+            m_rgbImage->SetRgbImageWidthAndHeight(height, width, rgbHeight);
+            m_pushFlow->setParm(m_rgbImage,width,rgbHeight,framerateVideo);
+
+            int redBandNumber;
+            int greenBandNumber;
+            int blueBandNumber;
+            getRgbBandNumber(redBandNumber, greenBandNumber, blueBandNumber);
+            m_rgbImage->SetRgbBandNumber(redBandNumber, greenBandNumber, blueBandNumber);
+
             std::cout<<"height："<< height <<std::endl;
             std::cout<<"width："<< width <<std::endl;
             std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
@@ -487,6 +506,65 @@ double XimeaImager::geWavelengthAtBand(int x)
     }
 }
 
+void XimeaImager::getRgbBandNumber(int &redBandNumber, int &greenBandNumber, int &blueBandNumber)
+{
+    vector<double> wavelengths;
+    if (m_imager.getSpectralBin() == 1)
+    {
+        for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
+        {
+            wavelengths.push_back(geWavelengthAtBand(i));
+        }
+    }
+    else if (m_imager.getSpectralBin() == 2)
+    {
+        for (int i = m_iOffsetyOfSpectralBin2; i < m_iOffsetyOfSpectralBin2 + m_iHeightOfSpectralBin2; i++)
+        {
+            if (i*2 + 1 > m_iOffsetyOfSpectralBin1 + m_iHeightOfSpectralBin1)
+            {
+                printf("XimeaImager::writeHdr 出现错误：窗口中，光谱 bin1 波段数小于 bin2 的 2 倍。\n");
+                break;
+            }
+            wavelengths.push_back((geWavelengthAtBand(i*2) + geWavelengthAtBand(i*2 + 1)) / 2);
+        }
+    }
+
+    //envi打开文件时的红绿蓝波长（nm）
+    int r_envi = 640;
+    int g_envi = 550;
+    int b_envi = 470;
+    redBandNumber = findClosestIndex(wavelengths, r_envi);
+    greenBandNumber = findClosestIndex(wavelengths, g_envi);
+    blueBandNumber = findClosestIndex(wavelengths, b_envi);
+
+//    std::cout<<"红波段的波段号："<< redBandNumber <<std::endl;
+//    std::cout<<"绿波段的波段号："<< greenBandNumber <<std::endl;
+//    std::cout<<"蓝波段的波段号："<< blueBandNumber <<std::endl;
+}
+
+int XimeaImager::findClosestIndex(const std::vector<double>& numbers, double target)
+{
+    if (numbers.empty()) {
+        // 处理空向量的情况
+        return -1;
+    }
+
+    double minDifference = std::abs(numbers[0] - target);
+    int closestIndex = 0;
+
+    for (int i = 1; i < numbers.size(); ++i)
+    {
+        double currentDifference = std::abs(numbers[i] - target);
+        if (currentDifference < minDifference)
+        {
+            minDifference = currentDifference;
+            closestIndex = i;
+        }
+    }
+
+    return closestIndex;
+}
+
 int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
 {
     //排序
@@ -592,124 +670,13 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
         double * imageBuffer = new double[number_WriteDisk];
 
-        //tc+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+        QString vedioFileName=m_baseFileName+".h264";
-        // 创建输出视频的AVFormatContext
+        m_pushFlow->setVedioFilePath(vedioFileName);
-        const char* outputVideoPath = "/media/nvme/delete/300tc.h264";
+        if(m_iFlowSwitch == 1)
-        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";
+            emit startPushFlowSignal();
-            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;
@@ -725,48 +692,11 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
             }
             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_iFlowSwitch == 1)
-
-
-            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]);
+                m_rgbImage->FillRgbImage((unsigned short *)m_imager.m_image.bp);
-//                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;
 
             if (indexofbuff == 0)
@@ -801,23 +731,7 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         writeData2Disk->exitWriteData2Disk();
         writeHdr();
 
-        fclose(fp);
+        m_pushFlow->exitPushFlow();
-        // 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;
 
@@ -1239,3 +1153,213 @@ void WriteData2Disk::setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter
 
     m_rgbImage = rgbImage;
 }
+
+PushFlow::PushFlow()
+{
+    m_iWidth = 1368;
+    m_iHeight = 720;
+    m_iFramerateVideo = 5;
+}
+
+void PushFlow::setParm(rgbImage * img, int width, int height, int framerateVideo)
+{
+    m_rgbImage = img;
+
+    m_iWidth = width;
+    m_iHeight = height;
+    m_iFramerateVideo = framerateVideo;
+}
+
+void PushFlow::setVedioFilePath(QString path)
+{
+    m_QVedioFilePath = path;
+}
+
+void PushFlow::exitPushFlow()
+{
+    isExitPushFlow = true;
+}
+
+void PushFlow::encodePushFlow()
+{
+    // 创建输出视频的AVFormatContext
+    const char* outputVideoPath = "/media/nvme/delete/300tc.h264";
+
+    FILE *fp = fopen(m_QVedioFilePath.toStdString().c_str(),"w+b");
+
+    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 = m_iWidth;
+    videoStream->codecpar->height = m_iHeight;
+    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 = m_iWidth;
+    codecContext->height = m_iHeight;
+    codecContext->time_base = {1, m_iFramerateVideo};
+    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(m_iWidth, m_iHeight, AV_PIX_FMT_BGR24,
+                                            m_iWidth, m_iHeight, 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, m_iWidth, m_iHeight, AV_PIX_FMT_YUV420P, 1);
+
+    // 设置目标图像参数
+    dstFrame->width = m_iWidth;
+    dstFrame->height = m_iHeight;
+    dstFrame->format = AV_PIX_FMT_YUV420P;
+
+    AVFrame* frame = av_frame_alloc();
+    av_image_alloc(frame->data, frame->linesize, m_iWidth, m_iHeight, AV_PIX_FMT_BGR24, 1);
+
+    QUdpSocket * m_udpSocket = new QUdpSocket();
+    m_udpSocket->bind(PUSH_FLOW_PORT, QUdpSocket::ShareAddress);
+    QHostAddress m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
+//    QHostAddress m_clientIpAddress("192.168.1.30");
+//    QHostAddress m_clientIpAddress("192.168.111.1");
+    int udpSendCounter=0;
+    int encodeCounter=0;
+
+    isExitPushFlow = false;
+
+    unsigned long sleepTime = 1/(float)m_iFramerateVideo * 1000;
+    std::cout<< "推流帧率: " << m_iFramerateVideo << ", sleepTime：" << sleepTime << "ms." << std::endl;
+
+    while(true)
+    {
+        QThread::msleep(sleepTime);
+
+        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, m_iHeight,
+                  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 << "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++;
+
+        if(isExitPushFlow)
+        {
+            std::cout<<"PushFlow::encodePushFlow-----------------------推流线程将退出！"<<std::endl;
+            break;
+        }
+    }
+
+    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);
+
+    std::cout<<"PushFlow::encodePushFlow-----------------------推流线程已经退出！" << std::endl;
+}