tangchao0503/ximeaAirborneSystem
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1. 使用相机时间来计算times文件；

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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；
This commit is contained in:
tangchao0503
2023-06-30 15:21:23 +08:00
parent e620c87ecf
commit cc76d62ded
3 changed files with 90 additions and 52 deletions
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24
Header_Files/ximeaimager.h
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@ -100,10 +100,11 @@ Q_OBJECT
public:
WriteData2Disk();
void setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
void setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage);
private:
queue<DataBuffer *> * m_q;
queue<int> * m_qFrameCounter;
QString m_QbaseFileName;
int m_iFrameSizeInByte;
int m_iNumber_WriteDisk;
@ -163,6 +164,7 @@ private:
QThread * writeData2DiskThread;
WriteData2Disk * writeData2Disk;
queue<DataBuffer *> * q;
queue<int> * m_qFrameCounter;
MemoryPool<DataBuffer> * m_pool;
QString m_baseFileName;
@ -179,23 +181,10 @@ private:
void processXiApiErrorCodes(int xiApiErrorCodes);
inline double getSbgTime(double TimeDifferenceBetweensOSAndSbg)
inline double getSbgTime(XI_IMG * image, double timeDifferenceBetweenSbgAndXimea)
{
struct timespec systemTime;
clock_gettime(CLOCK_REALTIME,&systemTime);
tm systemTime_rili;
localtime_r(&systemTime.tv_sec, &systemTime_rili);
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;
double nanosecondSystem=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
// printf("\n");
// printf("XimeaImager::getSbgTime------系统时间纳秒%d\n", systemTime.tv_nsec);
// printf("XimeaImager::getSbgTime------系统时间(未偏移)%f\n", nanosecondSystem);
// printf("XimeaImager::getSbgTime------系统时间(偏移)%f\n", nanosecondSystem-TimeDifferenceBetweensOSAndSbg);
return nanosecondSystem-TimeDifferenceBetweensOSAndSbg;
double ximeaTime = (double)image->tsSec + (double)image->tsUSec/1000000;
return ximeaTime + timeDifferenceBetweenSbgAndXimea;
}
Configfile m_configfile;
@ -206,6 +195,7 @@ public slots:
void openImger();
void closeImger();
double calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * m_image, double timeDifferenceBetweenSbgAndOS);
void startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName);
signals:

4
Source_Files/udpserver.cpp
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@ -60,9 +60,11 @@ UdpServer::UdpServer()
//当软件不正常关闭并且重启后，通知其他psdk程序
m_clientIpAddress=QHostAddress(QHostAddress::LocalHost);
sendSerialPortStatus(0);
sendXimeaImageStatus(0);
sendXimeaImageStatus(100);
sendCopyFileStatus(0);
system("sudo gpio write 10 0");
std::cout<<"UdpServer::UdpServer--------:System ready!"<<std::endl;
}

114
Source_Files/ximeaimager.cpp
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@ -44,6 +44,7 @@ XimeaImager::XimeaImager()
m_pool = new MemoryPool<DataBuffer>;
q = new queue<DataBuffer *>;
m_qFrameCounter = new queue<int>;
m_rgbImage = new rgbImage();
}
@ -79,6 +80,8 @@ void XimeaImager::openImger()
bool haha2 = m_imager.setSpatialBin(spatialBin);
emit binSignal(spatialBin, spectralBin);
std::cout<<"spectralBin："<< spectralBin <<std::endl;
std::cout<<"spatialBin："<< spatialBin <<std::endl;
}
float gain, offset;//用于生成头文件中的波长信息
@ -96,6 +99,7 @@ void XimeaImager::openImger()
m_rgbImage->SetRgbImageWidthAndHeight(height, width, 20);
std::cout<<"height："<< height <<std::endl;
std::cout<<"width："<< width <<std::endl;
std::cout<<"每帧字节数："<< width * height * 2 <<std::endl;
}
// int width_roi = 0, offsetx_roi = 0;
@ -489,6 +493,34 @@ int XimeaImager::getImagerState() const
return m_iImagerState;
}
double XimeaImager::calculateTimeDifferenceBetweenSbgAndximea(XI_IMG * image, double timeDifferenceBetweenSbgAndOS)
{
printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndOS: %f s\n", timeDifferenceBetweenSbgAndOS);
double ximeaTime=image->tsSec + image->tsUSec/1000000;
printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--ximeaTime: %f s\n", ximeaTime);
//获取系统时间（纳秒）
struct timespec systemTime;
clock_gettime(CLOCK_REALTIME,&systemTime);
tm systemTime_rili;
localtime_r(&systemTime.tv_sec, &systemTime_rili);
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;
double timeOS=secondSystem+static_cast<double>(systemTime.tv_nsec)/1000000000;
printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--osTime: %f s\n", timeOS);
//计算系统时间和gps时间之间的差距
double timeDifferenceBetweenSbgAndximea = timeOS - timeDifferenceBetweenSbgAndOS - ximeaTime;
printf("XimeaImager::calculateTimeDifferenceBetweenSystemAndximea--timeDifferenceBetweenSbgAndximea: %f s\n", timeDifferenceBetweenSbgAndximea);
return timeDifferenceBetweenSbgAndximea;
}
void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName)
{
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；
@ -515,23 +547,24 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
m_baseFileName=baseFileName;
QString timesFileName=m_baseFileName+".times";
FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
// ofstream timesFile(timesFileName.toStdString());
std::cout << "曝光时间为：" << getExposureTime()/1000 << "ms" <<std::endl;
using namespace std;
// ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
int number_WriteDisk = 100;
writeData2Disk->setParm(q,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
writeData2Disk->setParm(q, m_qFrameCounter,m_baseFileName,m_iFrameSizeInByte, number_WriteDisk, m_pool, m_rgbImage);
emit startWriteDiskSignal();
int indexofbuff;
DataBuffer * buffer;
QString timesFileName=m_baseFileName+".times";
FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
// ofstream timesFile(timesFileName.toStdString());
double timeDifferenceBetweenSbgAndXimea;
double * sbgTimeBuffer = new double[number_WriteDisk];
m_imager.start();
struct timeval timeStart, timeEnd;
double runTime=0;
@ -541,11 +574,10 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
unsigned short *x=m_imager.get_frame(m_buffer);
m_iFrameCounter+=1;
//fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
// fwrite(m_imager.m_image.bp,static_cast<int>(m_imager.m_image.bp_size),1,hFile);
//fflush(hFile);//只保证了将IO缓冲写入系统缓冲中，使IO读操作能成功，但系统什么时候写入磁盘，由系统决定，一般是达到一定量时系统他就写入磁盘。
//sync();//强制系统将系统文件缓冲的内容写入磁盘
if (m_iFrameCounter == 1)
{
timeDifferenceBetweenSbgAndXimea = calculateTimeDifferenceBetweenSbgAndximea(&m_imager.m_image, TimeDifferenceBetweensOSAndSbg);
}
indexofbuff = m_iFrameCounter % number_WriteDisk;
@ -559,48 +591,59 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
if (indexofbuff == 0)
{
memcpy((void *)buffer->data + (number_WriteDisk - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
sbgTimeBuffer[number_WriteDisk - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
}
else
{
memcpy((void *)buffer->data + (indexofbuff - 1) * m_iFrameSizeInByte,m_imager.m_image.bp,m_iFrameSizeInByte);
sbgTimeBuffer[indexofbuff - 1] = getSbgTime(&m_imager.m_image, timeDifferenceBetweenSbgAndXimea);
}
if (indexofbuff == 0)
{
r_qtx.lock();
q->push(buffer);
m_qFrameCounter->push(number_WriteDisk);
r_qtx.unlock();
for (int i = 0; i < number_WriteDisk; ++i)
{
fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
}
}
}
if (indexofbuff != 0)
{
r_qtx.lock();
q->push(buffer);
m_qFrameCounter->push(indexofbuff);
r_qtx.unlock();
for (int i = 0; i < indexofbuff; ++i)
{
fprintf(hHimesFile,"%f\n",sbgTimeBuffer[i]);
}
double sbgTime=getSbgTime(TimeDifferenceBetweensOSAndSbg);
fprintf(hHimesFile,"%f\n",sbgTime);
// fwrite(&sbgTime,sizeof(double),1,hHimesFile);
// timesFile<<sbgTime<< "\n";
// timesFileHandle << sbgTime << "\n";
std::cout << "没凑满: " << indexofbuff <<std::endl;
}
gettimeofday(&timeEnd, NULL);
runTime = (timeEnd.tv_sec - timeStart.tv_sec ) + (double)(timeEnd.tv_usec -timeStart.tv_usec)/1000000;
m_imager.stop();
writeData2Disk->exitWriteData2Disk();
writeHdr();
m_iFrameCounter = m_iFrameCounter - indexofbuff;
if (indexofbuff != 0)
{
m_pool->deleteElement(buffer);
}
delete[] sbgTimeBuffer;
double frameInTheory=runTime * getFramerate() - indexofbuff;
double frameInTheory=runTime * getFramerate();
double frameLossed=m_imager.m_image.acq_nframe - indexofbuff - m_iFrameCounter;
double frameLossRate=frameLossed / (m_imager.m_image.acq_nframe - indexofbuff);
double frameLossed = m_imager.m_image.acq_nframe - m_iFrameCounter;
double frameLossRate = frameLossed / m_imager.m_image.acq_nframe;
std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<<std::endl;
std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<< ".bil" <<std::endl;
std::cout<<"采集时间为: "<<runTime<< "s" <<std::endl;
std::cout<<"当前帧率为: "<<getFramerate() << "hz" <<std::endl;
std::cout<<"每秒数据量为: "<<getFramerate()*m_iFrameSizeInByte/(1024*1024)<<"MB"<<std::endl;
std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe - indexofbuff<<std::endl;
std::cout<<"理论采集帧数为: "<<m_imager.m_image.acq_nframe<<std::endl;
std::cout<<"实际采集帧数为："<<m_iFrameCounter<<std::endl;
std::cout<<"丢失帧数为: "<<frameLossed<<std::endl;
std::cout<<"丢帧率为: "<<frameLossRate * 100<< "%" <<std::endl;
@ -612,8 +655,6 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
timeStr = formatTimeStr(timeFormat);
printf("停止采集：%s!\n", timeStr.toStdString().c_str());
writeHdr();
m_iImagerState=m_iImagerStateTemp;
emit ximeaImageStatus(m_iImagerState);
@ -900,6 +941,7 @@ void WriteData2Disk::write2Disk()
FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
int frameCounter = 0;
int frameNumber;
unsigned short * dataBuffer = new unsigned short[m_iFrameSizeInByte/2*m_iNumber_WriteDisk];
isExitWriteData2Disk = false;
while(true)
@ -920,10 +962,12 @@ void WriteData2Disk::write2Disk()
r_qtx.lock();
DataBuffer * buffer = m_q->front();
memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*m_iNumber_WriteDisk);
int frameNumber = m_qFrameCounter->front();
memcpy(dataBuffer,buffer->data,m_iFrameSizeInByte*frameNumber);
// m_pool->destroy(m_q->front());
m_pool->deleteElement(buffer);
m_q->pop();
m_qFrameCounter->pop();
r_qtx.unlock();
//构造rgb图像，用于推流到m300遥控器
@ -931,14 +975,15 @@ void WriteData2Disk::write2Disk()
// std::cout<<"WriteData2Disk::write2Disk-----------------------正在写磁盘!" << m_pool->max_size() <<std::endl;//
fwrite(dataBuffer,1,m_iFrameSizeInByte*m_iNumber_WriteDisk, hFile);
fwrite(dataBuffer,1,m_iFrameSizeInByte*frameNumber, hFile);
frameCounter++;
}
m_rgbImage->m_VideoWriter.release();
fclose(hFile);
delete[] dataBuffer;
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*m_iNumber_WriteDisk <<std::endl;
std::cout<<"WriteData2Disk::write2Disk-----------------------写磁盘线程将退出，fwrite 调用次数：" << frameCounter <<std::endl;
}
void WriteData2Disk::exitWriteData2Disk()
@ -946,9 +991,10 @@ void WriteData2Disk::exitWriteData2Disk()
isExitWriteData2Disk = true;
}
void WriteData2Disk::setParm(queue<DataBuffer *> * q, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
void WriteData2Disk::setParm(queue<DataBuffer *> * q, queue<int> * qFrameCounter, QString baseFileName, int frameSizeInByte, int number_WriteDisk, MemoryPool<DataBuffer> * pool, rgbImage * rgbImage)
{
m_q = q;
m_qFrameCounter = qFrameCounter;
m_QbaseFileName = baseFileName;
m_iFrameSizeInByte = frameSizeInByte;
m_iNumber_WriteDisk = number_WriteDisk;