1. 使用相机时间来计算times文件;
2. times放弃每帧写一次的方法; 3. 不满100帧的内容不丢弃:添加一个队列来记录压入队列的帧数;
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@ -44,6 +44,7 @@ XimeaImager::XimeaImager()
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m_pool = new MemoryPool<DataBuffer>;
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q = new queue<DataBuffer *>;
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m_qFrameCounter = new queue<int>;
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m_rgbImage = new rgbImage();
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}
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@ -79,6 +80,8 @@ void XimeaImager::openImger()
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bool haha2 = m_imager.setSpatialBin(spatialBin);
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emit binSignal(spatialBin, spectralBin);
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std::cout<<"spectralBin:"<< spectralBin <<std::endl;
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std::cout<<"spatialBin:"<< spatialBin <<std::endl;
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}
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float gain, offset;//用于生成头文件中的波长信息
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@ -96,6 +99,7 @@ void XimeaImager::openImger()
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m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
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std::cout<<"height:"<< height <<std::endl;
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std::cout<<"width:"<< width <<std::endl;
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std::cout<<"每帧字节数:"<< width * height * 2 <<std::endl;
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}
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// int width_roi = 0, offsetx_roi = 0;
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@ -489,6 +493,34 @@ int XimeaImager::getImagerState() const
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return m_iImagerState;
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}
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double XimeaImager::calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * image, double timeDifferenceBetweenSbgAndOS)
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{
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printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndOS: %f s\n", timeDifferenceBetweenSbgAndOS);
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double ximeaTime=image->tsSec + image->tsUSec/1000000;
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printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--ximeaTime: %f s\n", ximeaTime);
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//获取系统时间(纳秒)
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struct timespec systemTime;
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clock_gettime(CLOCK_REALTIME,&systemTime);
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tm systemTime_rili;
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localtime_r(&systemTime.tv_sec, &systemTime_rili);
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double secondSystem=(systemTime_rili.tm_mday-1)*24*60*60+systemTime_rili.tm_hour*60*60+systemTime_rili.tm_min*60+systemTime_rili.tm_sec;
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double timeOS=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
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printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--osTime: %f s\n", timeOS);
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//计算系统时间和gps时间之间的差距
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double timeDifferenceBetweenSbgAndximea = timeOS - timeDifferenceBetweenSbgAndOS - ximeaTime;
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printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndximea: %f s\n", timeDifferenceBetweenSbgAndximea);
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return timeDifferenceBetweenSbgAndximea;
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}
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void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName)
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{
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m_ximeaTemperature->stopRecordTemperature();//开始采集影像前,停止获取相机的温度,以免降低帧率;
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@ -515,23 +547,24 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
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m_baseFileName=baseFileName;
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QString timesFileName=m_baseFileName+".times";
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FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
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// ofstream timesFile(timesFileName.toStdString());
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std::cout << "曝光时间为:" << getExposureTime()/1000 << "ms" <<std::endl;
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using namespace std;
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// ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
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int number_WriteDisk = 100;
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writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
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writeData2Disk->setParm(q, m_qFrameCounter,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
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emit startWriteDiskSignal();
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int indexofbuff;
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DataBuffer * buffer;
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QString timesFileName=m_baseFileName+".times";
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FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
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// ofstream timesFile(timesFileName.toStdString());
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double timeDifferenceBetweenSbgAndXimea;
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double * sbgTimeBuffer = new double[number_WriteDisk];
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m_imager.start();
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struct timeval timeStart, timeEnd;
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double runTime=0;
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@ -541,11 +574,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
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unsigned short *x=m_imager.get_frame(m_buffer);
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m_iFrameCounter+=1;
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//fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
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// fwrite(m_imager.m_image.bp,static_cast<int>(m_imager.m_image.bp_size),1,hFile);
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//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。
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//sync();//强制系统将系统文件缓冲的内容写入磁盘
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if (m_iFrameCounter == 1)
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{
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timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
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}
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indexofbuff = m_iFrameCounter % number_WriteDisk;
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@ -559,48 +591,59 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
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if (indexofbuff == 0)
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{
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memcpy((void *)buffer->data + (number_WriteDisk - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
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sbgTimeBuffer[number_WriteDisk - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
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}
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else
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{
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memcpy((void *)buffer->data + (indexofbuff - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
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sbgTimeBuffer[indexofbuff - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
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}
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if (indexofbuff == 0)
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{
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r_qtx.lock();
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q->push(buffer);
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m_qFrameCounter->push(number_WriteDisk);
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r_qtx.unlock();
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for (int i = 0; i < number_WriteDisk; ++i)
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{
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fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
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}
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}
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}
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if (indexofbuff != 0)
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{
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r_qtx.lock();
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q->push(buffer);
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m_qFrameCounter->push(indexofbuff);
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r_qtx.unlock();
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for (int i = 0; i < indexofbuff; ++i)
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{
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fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
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}
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double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
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fprintf(hHimesFile,"%f\n",sbgTime);
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// fwrite(&sbgTime,sizeof(double),1,hHimesFile);
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// timesFile<<sbgTime<< "\n";
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// timesFileHandle << sbgTime << "\n";
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std::cout << "没凑满: " << indexofbuff <<std::endl;
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}
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gettimeofday(&timeEnd, NULL);
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runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
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m_imager.stop();
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writeData2Disk->exitWriteData2Disk();
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writeHdr();
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m_iFrameCounter = m_iFrameCounter - indexofbuff;
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if (indexofbuff != 0)
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{
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m_pool->deleteElement(buffer);
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}
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delete[] sbgTimeBuffer;
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double frameInTheory=runTime * getFramerate() - indexofbuff;
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double frameInTheory=runTime * getFramerate();
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double frameLossed=m_imager.m_image.acq_nframe - indexofbuff - m_iFrameCounter;
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double frameLossRate=frameLossed / (m_imager.m_image.acq_nframe - indexofbuff);
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double frameLossed = m_imager.m_image.acq_nframe - m_iFrameCounter;
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double frameLossRate = frameLossed / m_imager.m_image.acq_nframe;
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std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<<std::endl;
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std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
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std::cout<<"采集时间为: "<<runTime<< "s" <<std::endl;
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std::cout<<"当前帧率为: "<<getFramerate() << "hz" <<std::endl;
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std::cout<<"每秒数据量为: "<<getFramerate()*m_iFrameSizeInByte/(1024*1024)<<"MB"<<std::endl;
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std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe - indexofbuff<<std::endl;
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std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe<<std::endl;
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std::cout<<"实际采集帧数为:"<<m_iFrameCounter<<std::endl;
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std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
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std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;
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@ -612,8 +655,6 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
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timeStr = formatTimeStr(timeFormat);
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printf("停止采集:%s!\n", timeStr.toStdString().c_str());
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writeHdr();
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m_iImagerState=m_iImagerStateTemp;
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emit ximeaImageStatus(m_iImagerState);
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@ -900,6 +941,7 @@ void WriteData2Disk::write2Disk()
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FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
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int frameCounter = 0;
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int frameNumber;
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unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
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isExitWriteData2Disk = false;
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while(true)
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@ -920,10 +962,12 @@ void WriteData2Disk::write2Disk()
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r_qtx.lock();
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DataBuffer * buffer = m_q->front();
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memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*m_iNumber_WriteDisk);
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int frameNumber = m_qFrameCounter->front();
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memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*frameNumber);
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// m_pool->destroy(m_q->front());
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m_pool->deleteElement(buffer);
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m_q->pop();
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m_qFrameCounter->pop();
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r_qtx.unlock();
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//构造rgb图像,用于推流到m300遥控器
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@ -931,14 +975,15 @@ void WriteData2Disk::write2Disk()
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// std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
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fwrite(dataBuffer,1,m_iFrameSizeInByte*m_iNumber_WriteDisk, hFile);
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fwrite(dataBuffer,1,m_iFrameSizeInByte*frameNumber, hFile);
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frameCounter++;
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}
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m_rgbImage->m_VideoWriter.release();
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fclose(hFile);
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delete[] dataBuffer;
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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;
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std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出,共写帧数:" << frameCounter*m_iNumber_WriteDisk <<std::endl;
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std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出,fwrite 调用次数:" << frameCounter <<std::endl;
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}
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void WriteData2Disk::exitWriteData2Disk()
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@ -946,9 +991,10 @@ void WriteData2Disk::exitWriteData2Disk()
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isExitWriteData2Disk = true;
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}
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void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
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void WriteData2Disk::setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
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{
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m_q = q;
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m_qFrameCounter = qFrameCounter;
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m_QbaseFileName = baseFileName;
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m_iFrameSizeInByte = frameSizeInByte;
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m_iNumber_WriteDisk = number_WriteDisk;
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