642 lines
19 KiB
C++
642 lines
19 KiB
C++
#include "Header_Files/ximeaimager.h"
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XimeaImager::XimeaImager()
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{
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m_buffer=nullptr;
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m_bRecordControl=false;
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m_iFrameCounter=0;
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m_iImagerState=100;
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//connect(this, SIGNAL(recordFinished()),this, SLOT());
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m_configfile.setConfigfilePath("ximea.cfg");
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m_configfile.parseConfigfile();
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// m_configfile.createConfigFile();
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}
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void XimeaImager::openImger()
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{
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if(m_iImagerState != 100)//如果相机已经打开或者已经出错，就直接返回
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{
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emit ximeaImageStatus(m_iImagerState);
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return;
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}
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try
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{
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//std::cout<<"XimeaImager::openImger111111111111111111111:正在打开相机!"<<std::endl;
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m_imager.connect();
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int bin=0;
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m_configfile.getBin(bin);
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bool haha = m_imager.setSpectralBin(bin);
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bool haha2 = m_imager.setSpatialBin(bin);
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float gain, offset;//用于生成头文件中的波长信息
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m_configfile.getGainOffset(gain, offset);
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m_imager.setGainOffset(gain, offset);
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int width = 0, offsetx = 0, height = 0, offsety = 0;
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m_configfile.getEffectiveWindow(width, offsetx, height, offsety);
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m_imager.setRoi(offsetx, width, offsety, height);
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setFramerate(100);
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//经验证：frameSizeManual和frameSizeAuto相等
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int frameSizeManual = m_imager.get_band_count()*m_imager.get_sample_count()*2;
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int frameSizeAuto = m_imager.getBufferSizeOfOneFrame();
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m_iFrameSizeInByte = frameSizeAuto;
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m_buffer = new unsigned short[m_iFrameSizeInByte];
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m_iImagerState = 101;
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emit ximeaImageStatus(m_iImagerState);
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}
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catch(int xiApiErrorCodes)
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{
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std::cout<<"XimeaImager::openImger----------------:ERROR!"<<std::endl;
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processXiApiErrorCodes(xiApiErrorCodes);
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}
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catch(char const* e1)
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{
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std::cout<<"char *e---------!"<<std::endl;
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}
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}
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void XimeaImager::closeImger()
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{
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if(m_iImagerState==100)
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{
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emit ximeaImageStatus(m_iImagerState);
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return;
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}
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try
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{
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m_imager.disconnect();
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m_iImagerState=100;
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emit ximeaImageStatus(m_iImagerState);
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}
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catch(int xiApiErrorCodes)
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{
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std::cout<<"XimeaImager::closeImger-------------------!"<<std::endl;
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processXiApiErrorCodes(xiApiErrorCodes);
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}
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}
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void XimeaImager::setFramerate(double framerate)
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{
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try
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{
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m_imager.set_framerate(framerate);
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int maxExposureTimeInUs=1/framerate*1000000*0.8;
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setExposureTime(maxExposureTimeInUs);
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// setExposureTime(1000);
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m_iImagerState=102;
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emit ximeaImageStatus(m_iImagerState);
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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}
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}
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double XimeaImager::getExposureTime()
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{
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double exposureTime;
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try
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{
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exposureTime=m_imager.get_integration_time();
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return exposureTime;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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double XimeaImager::setExposureTime(float exposureTime_in_us)
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{
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double integrationTime2Return;
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try
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{
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//计算最大积分时间
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float currentFramerate=getFramerate();
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float maxExposureTime_in_us=1/currentFramerate*1000000;
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//确保设置的积分时间比最大积分时间小
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if(exposureTime_in_us<maxExposureTime_in_us)
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{
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m_imager.set_integration_time(exposureTime_in_us);
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}
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else
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{
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m_imager.set_integration_time(maxExposureTime_in_us);
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}
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//返回设置的积分时间
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integrationTime2Return=m_imager.get_integration_time();
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return integrationTime2Return;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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double XimeaImager::autoExposure()
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{
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double exposureTime;
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try
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{
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//方式１：在曝光时的帧率前提下，从最大曝光时间开始循环采集
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int maxValueOfOneFrame;
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float suitableMaxValue=4095 * 0.8;
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double framerate = m_imager.get_framerate();
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double maxExposureTime = 1/framerate*1000000;
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exposureTime=setExposureTime(maxExposureTime);
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bool bIsAutoExposureOk=false;
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while(!bIsAutoExposureOk)
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{
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m_imager.start();
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m_imager.get_frame(m_buffer);
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m_imager.stop();
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maxValueOfOneFrame=getMaxValueOfOneFrame(m_buffer,m_imager.get_band_count()*m_imager.get_sample_count());
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if(maxValueOfOneFrame <= suitableMaxValue)
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{
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bIsAutoExposureOk=true;
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}
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else
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{
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exposureTime = exposureTime*0.95;
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exposureTime=setExposureTime(exposureTime);
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}
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}
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// //方式2：
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// int baseExposureTime_in_us=5000;
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// float suitableMaxValue=4095 * 0.8;
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// int maxValueOfOneFrame;
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// setExposureTime(baseExposureTime_in_us);
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// m_imager.start();
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// m_imager.get_frame(m_buffer);
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// m_imager.stop();
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// std::cout<<"1111111111111111111111111111111111!"<<std::endl;
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// maxValueOfOneFrame=getMaxValueOfOneFrame(m_buffer,m_imager.get_band_count()*m_imager.get_sample_count());
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// std::cout<<"2222222222222222222222222222222222!"<<std::endl;
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// float scale=suitableMaxValue/maxValueOfOneFrame;
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// float suitableExposureTime=baseExposureTime_in_us * scale;
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// exposureTime=setExposureTime(suitableExposureTime);
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m_iImagerState=103;
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emit ximeaImageStatus(m_iImagerState);
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std::cout<<"自动曝光完成!"<<std::endl;
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return exposureTime;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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std::cout<<"自动曝光失败!"<<std::endl;
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return -1;
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}
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}
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double XimeaImager::getFramerate()
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{
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double framerate;
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try
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{
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framerate=m_imager.get_framerate();
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return framerate;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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void XimeaImager::setGain(double gain)
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{
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try
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{
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m_imager.set_gain(gain);
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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}
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}
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double XimeaImager::getGain()
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{
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try
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{
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return m_imager.get_gain();
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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int XimeaImager::getSampleCount()
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{
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try
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{
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int sampleCount=m_imager.get_sample_count();
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return sampleCount;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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int XimeaImager::getBandCount()
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{
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int bandCount;
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try
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{
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bandCount=m_imager.get_band_count();
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return bandCount;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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int XimeaImager::getWindowStartBand()
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{
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int windowStartBand;
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try
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{
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windowStartBand=m_imager.get_start_band();
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return windowStartBand;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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int XimeaImager::getWindowEndBand()
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{
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int windowEndBand;
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try
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{
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windowEndBand=m_imager.get_end_band();
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return windowEndBand;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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double XimeaImager::geWavelengthAtBand(int x)
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{
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double wavelengthAtBand;
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try
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{
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wavelengthAtBand=m_imager.get_wavelength_at_band(x);
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return wavelengthAtBand;
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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return -1;
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}
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}
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int XimeaImager::getMaxValueOfOneFrame(unsigned short * data, int numberOfPixel)
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{
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//排序
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//bubbleSort(data,1000);
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//计算出最大的10%值的平均值
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unsigned short maxValue=0;
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for(int i=0;i<numberOfPixel;i++)
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{
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if (data[i]>maxValue)
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{
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maxValue=data[i];
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}
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}
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printf("本帧最大值为: %d.\n",maxValue);
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return maxValue;
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}
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int XimeaImager::getImagerState() const
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{
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return m_iImagerState;
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}
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void XimeaImager::startRecord(double TimeDifferenceBetweensOSAndSbg,QString baseFileName)
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{
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try
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{
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if(m_iImagerState <= 99 || m_iImagerState==100 || m_iImagerState==104)
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{
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emit ximeaImageStatus(m_iImagerState);
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return;
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}
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m_iImagerStateTemp=m_iImagerState;
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m_iImagerState=104;
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emit ximeaImageStatus(m_iImagerState);
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printf("开始采集!\n");
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m_iFrameCounter=0;
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m_bRecordControl=true;
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m_imager.start();
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m_baseFileName=baseFileName;
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QString imageFileName=m_baseFileName+".bil";
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QString timesFileName=m_baseFileName+".times";
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//
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FILE *hFile=fopen(imageFileName.toStdString().c_str(),"w+b");
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FILE *hHimesFile=fopen(timesFileName.toStdString().c_str(),"w+");
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using namespace std;
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ofstream timesFileHandle(timesFileName.toStdString()+"_ofstream");
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struct timeval timeStart, timeEnd;
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double runTime=0;
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gettimeofday(&timeStart, NULL);
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while (m_bRecordControl)
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{
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unsigned short *x=m_imager.get_frame(m_buffer);
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//fwrite(m_buffer,2,getBandCount()*getSampleCount(),hFile);
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fwrite(m_buffer,1,m_iFrameSizeInByte,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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m_iFrameCounter+=1;
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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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timesFileHandle << sbgTime << "\n";
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// std::cout<<"XimeaImager::startRecord---std::cout: "<<sbgTime<<std::endl;
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// //用于测试是否漏帧
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// if(m_iFrameCounter==getFramerate()*20)
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// {
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// break;
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// }
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// unsigned char pixel = *(unsigned char*)image.bp;//Default value: XI_MONO8
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// unsigned short pixel =*(unsigned short*)image.bp;//XI_RAW16
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// printf("Image %d (%dx%d) received from camera. First pixel value: %d\n", m_iFrameCounter, (int)image.width, (int)image.height, pixel);
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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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double frameInTheory=runTime * getFramerate();
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double frameLossed=frameInTheory - m_iFrameCounter;
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double frameLossRate=frameLossed / frameInTheory;
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std::cout<<"当前采集文件为: "<<baseFileName.toStdString()<<std::endl;
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std::cout<<"采集时间为: "<<runTime<<std::endl;
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std::cout<<"理论采集帧数为: "<<frameInTheory<<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<<std::endl;
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fclose(hFile);
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fclose(hHimesFile);
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timesFileHandle.close();
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printf("Stopping acquisition...\n");
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m_imager.stop();
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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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emit recordFinished();
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}
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catch(int xiApiErrorCodes)
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{
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processXiApiErrorCodes(xiApiErrorCodes);
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}
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}
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void XimeaImager::writeHdr()
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{
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using namespace std;
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QString hdrPath=m_baseFileName+".hdr";
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ofstream hdrFileHandle(hdrPath.toStdString());
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hdrFileHandle << "ENVI\n";
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hdrFileHandle << "interleave = bil\n";
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hdrFileHandle << "byte order = 0\n";
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hdrFileHandle << "data type = 2\n";
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//hdrFileHandle << "bit depth = 12\n";
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hdrFileHandle << "samples = " << getSampleCount() << "\n";
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hdrFileHandle << "bands = " << getBandCount() << "\n";
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hdrFileHandle << "lines = " << m_iFrameCounter << "\n";
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hdrFileHandle << "sample binning = " << m_imager.getSpatialBin() << "\n";
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hdrFileHandle << "spectral binning = " << m_imager.getSpectralBin() << "\n";
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hdrFileHandle << "framerate = " << getFramerate() << "\n";
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hdrFileHandle << "shutter = " << getExposureTime()/1000 << "\n";
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hdrFileHandle << "shutter units = milliseconds\n";
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hdrFileHandle << "gain = " << getGain() << "\n";
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hdrFileHandle << "wavelength units = nanometers\n";
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hdrFileHandle << "wavelength = {";
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//hdrFileHandle << std::setprecision(5);
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for (int i = getWindowStartBand(); i < getWindowEndBand(); i++)
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{
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hdrFileHandle << geWavelengthAtBand(i);
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if (i < getWindowEndBand() - 1)
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hdrFileHandle << ", ";
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else
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{
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printf("头文件中写入了多少个波段:%d\n",i-getWindowStartBand()+1);//???????????????
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}
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}
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hdrFileHandle << "}\n";
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hdrFileHandle.close();
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}
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/*
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#define MM40_OK 0 //!< Function call succeeded
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#define MM40_INVALID_HANDLE 1 //!< Invalid handle
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#define MM40_READREG 2 //!< Register read error
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#define MM40_WRITEREG 3 //!< Register write error
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#define MM40_FREE_RESOURCES 4 //!< Freeing resources error
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#define MM40_FREE_CHANNEL 5 //!< Freeing channel error
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#define MM40_FREE_BANDWIDTH 6 //!< Freeing bandwith error
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#define MM40_READBLK 7 //!< Read block error
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#define MM40_WRITEBLK 8 //!< Write block error
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#define MM40_NO_IMAGE 9 //!< No image
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#define MM40_TIMEOUT 10 //!< Timeout
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#define MM40_INVALID_ARG 11 //!< Invalid arguments supplied
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#define MM40_NOT_SUPPORTED 12 //!< Not supported
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#define MM40_ISOCH_ATTACH_BUFFERS 13 //!< Attach buffers error
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#define MM40_GET_OVERLAPPED_RESULT 14 //!< Overlapped result
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#define MM40_MEMORY_ALLOCATION 15 //!< Memory allocation error
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#define MM40_DLLCONTEXTISNULL 16 //!< DLL context is NULL
|
||
#define MM40_DLLCONTEXTISNONZERO 17 //!< DLL context is non zero
|
||
#define MM40_DLLCONTEXTEXIST 18 //!< DLL context exists
|
||
#define MM40_TOOMANYDEVICES 19 //!< Too many devices connected
|
||
#define MM40_ERRORCAMCONTEXT 20 //!< Camera context error
|
||
#define MM40_UNKNOWN_HARDWARE 21 //!< Unknown hardware
|
||
#define MM40_INVALID_TM_FILE 22 //!< Invalid TM file
|
||
#define MM40_INVALID_TM_TAG 23 //!< Invalid TM tag
|
||
#define MM40_INCOMPLETE_TM 24 //!< Incomplete TM
|
||
#define MM40_BUS_RESET_FAILED 25 //!< Bus reset error
|
||
#define MM40_NOT_IMPLEMENTED 26 //!< Not implemented
|
||
#define MM40_SHADING_TOOBRIGHT 27 //!< Shading is too bright
|
||
#define MM40_SHADING_TOODARK 28 //!< Shading is too dark
|
||
#define MM40_TOO_LOW_GAIN 29 //!< Gain is too low
|
||
#define MM40_INVALID_BPL 30 //!< Invalid sensor defect correction list
|
||
#define MM40_BPL_REALLOC 31 //!< Error while sensor defect correction list reallocation
|
||
#define MM40_INVALID_PIXEL_LIST 32 //!< Invalid pixel list
|
||
#define MM40_INVALID_FFS 33 //!< Invalid Flash File System
|
||
#define MM40_INVALID_PROFILE 34 //!< Invalid profile
|
||
#define MM40_INVALID_CALIBRATION 35 //!< Invalid calibration
|
||
#define MM40_INVALID_BUFFER 36 //!< Invalid buffer
|
||
#define MM40_INVALID_DATA 38 //!< Invalid data
|
||
#define MM40_TGBUSY 39 //!< Timing generator is busy
|
||
#define MM40_IO_WRONG 40 //!< Wrong operation open/write/read/close
|
||
#define MM40_ACQUISITION_ALREADY_UP 41 //!< Acquisition already started
|
||
#define MM40_OLD_DRIVER_VERSION 42 //!< Old version of device driver installed to the system.
|
||
#define MM40_GET_LAST_ERROR 43 //!< To get error code please call GetLastError function.
|
||
#define MM40_CANT_PROCESS 44 //!< Data cannot be processed
|
||
#define MM40_ACQUISITION_STOPED 45 //!< Acquisition is stopped. It needs to be started to perform operation.
|
||
#define MM40_ACQUISITION_STOPED_WERR 46 //!< Acquisition has been stopped with an error.
|
||
#define MM40_INVALID_INPUT_ICC_PROFILE 47 //!< Input ICC profile missing or corrupted
|
||
#define MM40_INVALID_OUTPUT_ICC_PROFILE 48 //!< Output ICC profile missing or corrupted
|
||
#define MM40_DEVICE_NOT_READY 49 //!< Device not ready to operate
|
||
#define MM40_SHADING_TOOCONTRAST 50 //!< Shading is too contrast
|
||
#define MM40_ALREADY_INITIALIZED 51 //!< Module already initialized
|
||
#define MM40_NOT_ENOUGH_PRIVILEGES 52 //!< Application does not have enough privileges (one or more app)
|
||
#define MM40_NOT_COMPATIBLE_DRIVER 53 //!< Installed driver is not compatible with current software
|
||
#define MM40_TM_INVALID_RESOURCE 54 //!< TM file was not loaded successfully from resources
|
||
#define MM40_DEVICE_HAS_BEEN_RESETED 55 //!< Device has been reset, abnormal initial state
|
||
#define MM40_NO_DEVICES_FOUND 56 //!< No Devices Found
|
||
#define MM40_RESOURCE_OR_FUNCTION_LOCKED 57 //!< Resource (device) or function locked by mutex
|
||
#define MM40_BUFFER_SIZE_TOO_SMALL 58 //!< Buffer provided by user is too small
|
||
#define MM40_COULDNT_INIT_PROCESSOR 59 //!< Could not initialize processor.
|
||
#define MM40_NOT_INITIALIZED 60 //!< The object/module/procedure/process being referred to has not been started.
|
||
#define MM40_RESOURCE_NOT_FOUND 61 //!< Resource not found(could be processor, file, item...).
|
||
*/
|
||
|
||
void XimeaImager::processXiApiErrorCodes(int xiApiErrorCodes)
|
||
{
|
||
using namespace std;
|
||
switch (xiApiErrorCodes)
|
||
{
|
||
case 1:
|
||
std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Invalid handle!"<<std::endl;
|
||
m_iImagerState=xiApiErrorCodes;
|
||
emit ximeaImageStatus(m_iImagerState);
|
||
|
||
break;
|
||
case 15:
|
||
std::cout<<"XimeaImager::processXiApiErrorCodes-----------:Memory allocation error!"<<std::endl;
|
||
m_iImagerState=xiApiErrorCodes;
|
||
emit ximeaImageStatus(m_iImagerState);
|
||
|
||
break;
|
||
case 56:
|
||
std::cout<<"XimeaImager::processXiApiErrorCodes-----------:NO_DEVICES_FOUND!"<<std::endl;
|
||
m_iImagerState=xiApiErrorCodes;
|
||
emit ximeaImageStatus(m_iImagerState);
|
||
|
||
break;
|
||
case 57:
|
||
std::cout<<"XimeaImager::processXiApiErrorCodes-----------:RESOURCE_OR_FUNCTION_LOCKED!"<<std::endl;
|
||
m_iImagerState=xiApiErrorCodes;
|
||
emit ximeaImageStatus(m_iImagerState);
|
||
|
||
break;
|
||
default:
|
||
QString ximeaError="ximeaError.txt";
|
||
ofstream ximeaErrorFile(ximeaError.toStdString().c_str(),ios::app);
|
||
|
||
ximeaErrorFile<< xiApiErrorCodes << "\n";
|
||
|
||
ximeaErrorFile.close();
|
||
|
||
|
||
|
||
m_iImagerState=99;
|
||
emit ximeaImageStatus(m_iImagerState);
|
||
break;
|
||
}
|
||
}
|
||
|
||
void XimeaImager::stopRecord()
|
||
{
|
||
//printf("Stop record!\n");
|
||
m_bRecordControl=false;
|
||
}
|
||
|
||
int XimeaImager::getFrameCounter()
|
||
{
|
||
return m_iFrameCounter;
|
||
}
|