优化编码参数解决问题：

1、编码后数据量过大导致大疆图传中断；
2、大疆遥控器解码后，视频出现偶尔后退的情况；

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/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

@@ -11,6 +11,18 @@
 #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"
+}
 
 using namespace cv;
 class rgbImage :public QObject
@@ -21,38 +33,33 @@ 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);
 
     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
     //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:
@@ -61,15 +68,17 @@ private:
 
     int m_iFrameNumber;//
 
+    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>
@@ -42,9 +44,12 @@
 #include "MemoryPool.h"
 #include <queue>
 #include <QMutex>
+#include <QUdpSocket>
 
 #include "rgbImage.h"
 
+#define PUSH_FLOW_PORT 666
+
 
 
 //#ifdef WIN32
@@ -122,6 +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
@@ -145,6 +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);
@@ -169,6 +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;
 
@@ -207,6 +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/main.cpp

@@ -3,7 +3,7 @@
 
 int main(int argc, char *argv[])
 {
-    std::cout<<"ximeaAirborneSystem 版本："<< "40." <<std::endl;
+    std::cout<<"ximeaAirborneSystem 版本："<< "43." <<std::endl;
     QCoreApplication a(argc, argv);
 
     //UdpServer* x=new UdpServer();

Source_Files/rgbImage.cpp

@@ -4,7 +4,6 @@
 
 #include "../Header_Files/rgbImage.h"
 
-
 rgbImage::rgbImage(QWidget* pParent)
 {
     m_QRgbImage = nullptr;
@@ -12,8 +11,9 @@ rgbImage::rgbImage(QWidget* pParent)
     m_matFocusGrayImage = nullptr;
     m_qimageFocusGrayImage = nullptr;
 
-
+    m_iRedBandNumber = 0;
-
+    m_iGreenBandNumber = 0;
+    m_iBlueBandNumber = 0;
 }
 
 rgbImage::~rgbImage()
@@ -21,8 +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;
 
@@ -30,19 +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('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
+//    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));
 
@@ -54,127 +66,169 @@ 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;
 }
 
 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 + m_iRedBandNumber * m_iSampleNumber + j)*255/4096;
+//        g = *(datacube + m_iGreenBandNumber * m_iSampleNumber + j)*255/4096;
+//        b = *(datacube + m_iBlueBandNumber * m_iSampleNumber + j)*255/4096;
+//
+////        r = *(datacube + m_iRedBandNumber * m_iSampleNumber + j);
+////        g = *(datacube + m_iGreenBandNumber * 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
+//        //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
+        //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;
 
-        //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;
-            //std::cout << "操作像素值！" << std::endl;
+//        if(j == column)
-            matRgbImage->at<cv::Vec3w>(rowNumber, j)[2] = r;
+//        {
-            matRgbImage->at<cv::Vec3w>(rowNumber, j)[1] = g;
+//            std::cout << "行：" << rowNumber << "提取：第 " << column << " 列的 r g b 分别为 " << r <<  " " << g <<  " " << b << std::endl;
-            matRgbImage->at<cv::Vec3w>(rowNumber, j)[0] = b;
+////            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
+{
+    QImage qImg;
+    if (cvImg.channels() == 3)//3 channels color image
+    {
+        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;
+    //从第二行开始，向下移动一行，https://blog.csdn.net/u014686356/article/details/65937750
+//    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).clone().copyTo(m_matRgbImage->rowRange(1, m_matRgbImage->rows));//此方式，ximea帧率130hz，1min左右就出现漏帧
 
-    if(m_iFrameCounter<m_iFrameNumber)
+//    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
     {
-        FillOnerowofRgbImage(m_matRgbImage, m_iFrameCounter, datacube);
+        m_matRgbImage->row(i).copyTo(m_matRgbImage->row(i+1));
-//        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
+    FillOnerowofRgbImage(m_matRgbImage, 0, datacube);
-//        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;
-        }
 
+//    m_Qphoto = Mat2QImage(*m_matRgbImage);
 
-//        std::cout << "1111111111111111111111111111"<< std::endl;
+    //保存rgb图片
-        //通过FillOnerowofRgbImage为m_iFrameNumber行赋值
+//    if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
-        FillOnerowofRgbImage(m_matRgbImage, m_iFrameNumber-1, datacube);
+//    {
-//        std::cout << "22222222222222222"<< std::endl;
+////        QString savePath = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_qt.jpg";
-
+////        m_Qphoto.save(savePath);
-
-
-
-
-//        //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]];
-//            }
 //
-//        }
+//        QString savePath_cv = "/media/nvme/delete/" + QString::number(m_iFrameCounter) + "_cv.jpg";
-
+//        cv::imwrite(savePath_cv.toStdString(), *m_matRgbImage);
-
+//    }
-
+//    m_VideoWriter.write(*m_matRgbImage);
-        //保存rgb图片
+//    std::string rgbFilePathNoStrech = "/media/nvme/delete/" + std::to_string(m_iFrameCounter) + "ctmp_image_no_strech.png";
-        if (m_iFrameCounter % m_iFramerate == 0 || m_iFrameCounter == m_iFrameNumber - 1)
+//    cv::imwrite(rgbFilePathNoStrech, *m_matRgbImage);
-        {
-            ////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++;
 }

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, 20);
+            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
@@ -592,6 +670,13 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
         double * imageBuffer = new double[number_WriteDisk];
 
+        QString vedioFileName=m_baseFileName+".h264";
+        m_pushFlow->setVedioFilePath(vedioFileName);
+        if(m_iFlowSwitch == 1)
+        {
+            emit startPushFlowSignal();
+        }
+
         m_imager.start();
         struct timeval timeStart, timeEnd;
         double runTime=0;
@@ -606,6 +691,11 @@ 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
+            if(m_iFlowSwitch == 1)
+            {
+                m_rgbImage->FillRgbImage((unsigned short *)m_imager.m_image.bp);
+            }
 
             indexofbuff = m_iFrameCounter % number_WriteDisk;
 
@@ -641,6 +731,8 @@ void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString base
         writeData2Disk->exitWriteData2Disk();
         writeHdr();
 
+        m_pushFlow->exitPushFlow();
+
         delete[] sbgTimeBuffer;
 
         double frameInTheory=runTime * getFramerate();
@@ -940,10 +1032,27 @@ void RecordXimeaTemperature::recordTemperature(QString filePath= nullptr)
             system("/home/300tc/projects/udpClient/udpClient 127.0.0.1 2");
         }
 
+        // 获取剩余硬盘空间和剩余采集时间
+        FILE *fp;
+        char buffer[128];
+        fp = popen("cat /sys/devices/virtual/thermal/thermal_zone1/temp", "r");
+        if (fp == NULL) {
+            perror("popen");
+        }
+
+        // 读取输出并处理
+        unsigned long long temper;
+        if (fgets(buffer, sizeof(buffer), fp) != NULL)
+        {
+            temper = strtoull(buffer, NULL, 10);
+//            printf("CPU温度: %.2f;\n", (float)temper/1000);
+        }
+        pclose(fp);
+
         QDateTime curDateTime = QDateTime::currentDateTime();
         QString currentTime = curDateTime.toString("yyyy/MM/dd hh:mm:ss");
 
-        ximeaTemperatureFile << currentTime.toStdString() << "," << temp << "\n";
+        ximeaTemperatureFile << currentTime.toStdString() << "," << temp << "," << (float)temper/1000 << "\n";
 
 //        std::cout<<"RecordXimeaTemperature::recordTemperature----------------:ximea Temperature is "<< temp <<std::endl;
 //        std::cout<<"RecordXimeaTemperature::recordTemperature----------------:ximea state is "<< m_ximeaImager->getImagerState() <<std::endl;
@@ -1008,7 +1117,7 @@ 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;//
@@ -1044,3 +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 = 50;//多少帧产生一组关键帧
+    codecContext->max_b_frames = 0;//b帧，参考帧：设置为1会导致视频回退的现象
+//    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;
+}