419 lines
13 KiB
C++
419 lines
13 KiB
C++
#include "QtWidgetsApplication.h"
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QtWidgetsApplication::QtWidgetsApplication(QWidget *parent)
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: QMainWindow(parent)
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{
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ui.setupUi(this);
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// 获取 控制系统 单例并初始化
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Mycontrol::getInstance().init();
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//相机需要的显示控件
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m_scene = new QGraphicsScene(this);
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ui.imgView->setScene(m_scene);
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//保存路径
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ui.edtSaveDir->setText("D:/");
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//TCT检测显示需要
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tct_pixmapItem = new QGraphicsPixmapItem(tct_pixmap);
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tct_scene = new QGraphicsScene(this);
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tct_scene->addItem(tct_pixmapItem);
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//TCT模型处理的线程
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my_TCT = new TCT(this);
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m_infQthread = new QThread(nullptr);
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my_TCT->moveToThread(m_infQthread);
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//TCT模型处理需要的信号与槽
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connect(this, &QtWidgetsApplication::emit_img, my_TCT, &TCT::main_module);
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connect(my_TCT, &TCT::em_img, this, &QtWidgetsApplication::input_img);
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m_infQthread->start();
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//定时器定时获取当前位置
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QTimer* timer = new QTimer(this);
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timer->setInterval(50); // 设置定时器间隔为 50 毫秒
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timer->setSingleShot(false); // 非单次触发，持续运行
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connect(timer, &QTimer::timeout, [this]() {
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Mycontrol& Mycontrol = Mycontrol::getInstance();
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ui.m_xpos->setValue(Mycontrol::getInstance().getXPos());
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ui.m_ypos->setValue(Mycontrol::getInstance().getYPos());
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ui.m_zpos->setValue(Mycontrol::getInstance().getZPos());
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});
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timer->start();
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}
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QtWidgetsApplication::~QtWidgetsApplication()
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{
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}
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//选择相机
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void QtWidgetsApplication::on_pb_camera_clicked() {
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QString currentText = ui.CameraBox->currentText(); // 获取文本
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if (currentText == "haikang camera")
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{
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// 创建相机线程，和信号与槽
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cam_thread = new QThread(this);
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Hacm_worker = new haikang(this);
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Hacm_worker->moveToThread(cam_thread);
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connect(cam_thread, &QThread::started, Hacm_worker, &haikang::GrabThreadProcess);
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//connect(Hacm_worker, &haikang::img_redy, this, &QtWidgetsApplication::do_hai_img_redy); //弃用
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m_hwndDisplay = (HWND)ui.imgView->winId();//弃用
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connect(cam_thread, &QThread::finished, Hacm_worker, &haikang::finish);
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connect(Hacm_worker, &haikang::img_to, this, &QtWidgetsApplication::hai_img_redy);
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cam_thread->start();
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setSlideSpinboxCheckboxSync();
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}
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if (currentText == "flir camera")
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{
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qRegisterMetaType<ImagePtr>("ImagePtr");
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// 创建相机线程，和信号与槽
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cam_thread = new QThread(this);
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cam_worker = new M_camera(nullptr);
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cam_worker->moveToThread(cam_thread);
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connect(cam_thread, &QThread::started, cam_worker, &M_camera::do_start);//线程开始，让相机初始化
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connect(cam_worker, &M_camera::img_redy, this, &QtWidgetsApplication::do_img_redy);
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cam_thread->start();
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//让曝光，增益的Slide和Spinbox同步
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setSlideSpinboxCheckboxSync();
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}
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}
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// 将海康相机传回来的图片进行显示
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void QtWidgetsApplication::hai_img_redy(QImage image, void* handle)
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{
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hikimage = image; //往tct里面送的时候用
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HK_handle = handle; //相机句柄
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m_scene->clear(); // 清除旧图像
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QPixmap pixmap = QPixmap::fromImage(image);
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pixmapItem = m_scene->addPixmap(pixmap);
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ui.imgView->fitInView(pixmapItem, Qt::KeepAspectRatio);
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ui.imgView->setScene(m_scene);
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ui.imgView->show();
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}
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//将海康相机传回来的图片进行显示 //SB处理办法
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void QtWidgetsApplication::do_hai_img_redy(MV_FRAME_OUT stImageInfo, void *handle)
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{
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//HK_handle = handle;
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//MV_DISPLAY_FRAME_INFO stDisplayInfo = {0};
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//stDisplayInfo.hWnd = m_hwndDisplay; //显示的句柄 这种显示方式相当于绑定句柄
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//stDisplayInfo.pData = stImageInfo.pBufAddr;
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//stDisplayInfo.nDataLen = stImageInfo.stFrameInfo.nFrameLen;
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//stDisplayInfo.nWidth = stImageInfo.stFrameInfo.nWidth;
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//stDisplayInfo.nHeight = stImageInfo.stFrameInfo.nHeight;
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//stDisplayInfo.enPixelType = stImageInfo.stFrameInfo.enPixelType;
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//MV_CC_DisplayOneFrame(handle, &stDisplayInfo);
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//MV_CC_FreeImageBuffer(handle, &stImageInfo);
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}
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//将flir相机传回来的图片进行显示
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void QtWidgetsApplication::do_img_redy(ImagePtr pResultImage)
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{
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const size_t width = pResultImage->GetWidth();
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const size_t height = pResultImage->GetHeight();
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const unsigned char* pData = (const unsigned char*)pResultImage->GetData();
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// 根据像素格式创建 QImage
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QImage qImage(pData, static_cast<int>(width), static_cast<int>(height),
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static_cast<int>(width * pResultImage->GetBitsPerPixel() / 8),
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QImage::Format_RGB888); // 根据实际情况调整格式
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m_scene->clear(); // 清除旧图像
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QPixmap pixmap = QPixmap::fromImage(qImage);
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pixmapItem = m_scene->addPixmap(pixmap);
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ui.imgView->fitInView(pixmapItem, Qt::KeepAspectRatio);
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ui.imgView->setScene(m_scene);
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ui.imgView->show();
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}
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int QtWidgetsApplication::resetExposure() {
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Spinnaker::GenApi::INodeMap& nodeMap = cam_worker->pCam->GetNodeMap();
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CEnumerationPtr exposureAuto = nodeMap.GetNode("ExposureAuto");
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exposureAuto->SetIntValue(exposureAuto->GetEntryByName("Continuous")->GetValue());
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return 0;
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}
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int QtWidgetsApplication::configureExposure(double exposure) {
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Spinnaker::GenApi::INodeMap& nodeMap = cam_worker->pCam->GetNodeMap();
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CEnumerationPtr exposureAuto = nodeMap.GetNode("ExposureAuto");
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exposureAuto->SetIntValue(exposureAuto->GetEntryByName("Off")->GetValue());
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CEnumerationPtr exposureMode = nodeMap.GetNode("ExposureMode");
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exposureMode->SetIntValue(exposureMode->GetEntryByName("Timed")->GetValue());
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CFloatPtr exposureTime = nodeMap.GetNode("ExposureTime");
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exposureTime->SetValue(exposure);
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return 0;
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}
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void QtWidgetsApplication::setSlideSpinboxCheckboxSync() {
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QString currentText = ui.CameraBox->currentText();
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if (currentText == "flir camera") {
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// Exposure
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connect(ui.sldExposure, &QSlider::valueChanged, ui.spinExposure, [this](int sliderValue) {
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ui.spinExposure->setValue(static_cast<double>(sliderValue));
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});
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connect(ui.spinExposure, QOverload<double>::of(&QDoubleSpinBox::valueChanged), ui.sldExposure, [this](double spinValue) {
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ui.sldExposure->setValue(static_cast<int>(spinValue));
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configureExposure(spinValue);
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});
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connect(ui.chkExposure, &QCheckBox::toggled, [this](bool checked) {
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bool isEnabled = !checked;
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ui.spinExposure->setEnabled(isEnabled);
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ui.sldExposure->setEnabled(isEnabled);
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resetExposure();
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});
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// Gain
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connect(ui.sldGain, &QSlider::valueChanged, ui.spinGain, [this](int sliderValue) {
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ui.spinGain->setValue(static_cast<double>(sliderValue) / 100.0);
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});
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connect(ui.spinGain, QOverload<double>::of(&QDoubleSpinBox::valueChanged), ui.sldGain, [this](double spinValue) {
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ui.sldGain->setValue(static_cast<int>(spinValue * 100));
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configureGain(spinValue);
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});
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connect(ui.chkGain, &QCheckBox::toggled, [this](bool checked) {
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bool isEnabled = !checked;
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ui.spinGain->setEnabled(isEnabled);
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ui.sldGain->setEnabled(isEnabled);
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resetGain();
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});
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}
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if (currentText =="haikang camera") {
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// Exposure
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connect(ui.sldExposure, &QSlider::valueChanged, ui.spinExposure, [this](int sliderValue) {
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ui.spinExposure->setValue(static_cast<double>(sliderValue));
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});
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connect(ui.spinExposure, QOverload<double>::of(&QDoubleSpinBox::valueChanged), ui.sldExposure, [this](double spinValue) {
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ui.sldExposure->setValue(static_cast<int>(spinValue));
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HK_configureExposure(spinValue);
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});
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connect(ui.chkExposure, &QCheckBox::toggled, [this](bool checked) {
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bool isEnabled = !checked;
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ui.spinExposure->setEnabled(isEnabled);
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ui.sldExposure->setEnabled(isEnabled);
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HK_resetExposure();
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});
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// Gain
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connect(ui.sldGain, &QSlider::valueChanged, ui.spinGain, [this](int sliderValue) {
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ui.spinGain->setValue(static_cast<double>(sliderValue) / 100.0);
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});
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connect(ui.spinGain, QOverload<double>::of(&QDoubleSpinBox::valueChanged), ui.sldGain, [this](double spinValue) {
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ui.sldGain->setValue(static_cast<int>(spinValue * 100));
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HK_configureGain(spinValue);
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});
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connect(ui.chkGain, &QCheckBox::toggled, [this](bool checked) {
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bool isEnabled = !checked;
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ui.spinGain->setEnabled(isEnabled);
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ui.sldGain->setEnabled(isEnabled);
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HK_resetGain();
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});
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}
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}
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void QtWidgetsApplication::HK_resetGain() {
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MV_CC_SetExposureAutoMode(HK_handle, 2);
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}
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void QtWidgetsApplication::HK_resetExposure()
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{
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MV_CC_SetGain(HK_handle, 2);
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}
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void QtWidgetsApplication::HK_configureExposure(double exposure)
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{
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MV_CC_SetFloatValue(HK_handle, "ExposureTime", exposure);
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}
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void QtWidgetsApplication::HK_configureGain(double gain)
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{
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MV_CC_SetFloatValue(HK_handle, "Gain", gain);
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}
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int QtWidgetsApplication::configureGain(double gain) {
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Spinnaker::GenApi::INodeMap& nodeMap = cam_worker->pCam->GetNodeMap();
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CEnumerationPtr gainAuto = nodeMap.GetNode("GainAuto");
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gainAuto->SetIntValue(gainAuto->GetEntryByName("Off")->GetValue());
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CFloatPtr gainValue = nodeMap.GetNode("Gain");
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gainValue->SetValue(gain);
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return 0;
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}
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int QtWidgetsApplication::resetGain() {
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Spinnaker::GenApi::INodeMap& nodeMap = cam_worker->pCam->GetNodeMap();
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CEnumerationPtr gainAuto = nodeMap.GetNode("GainAuto");
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gainAuto->SetIntValue(gainAuto->GetEntryByName("Continuous")->GetValue());
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return 0;
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}
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//单张图片的保存
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void QtWidgetsApplication::on_btnSingleImageSave_clicked() {
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QString currentText = ui.CameraBox->currentText();
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if (currentText == "flir camera") {
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qDebug() << "Single image save clicked";
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QString fileName = QDateTime::currentDateTime().toString("yyyy-MM-dd-hh-mm-ss-zzz");
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QString absPath = ui.edtSaveDir->text() + "/" + fileName + ".tif";
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qDebug() << "Save path: " << absPath << "";
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ImagePtr pImage = cam_worker->pCam->GetNextImage(1000);
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if (pImage->IsIncomplete()) {
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qDebug() << "Image incomplete in 1s: " << Image::GetImageStatusDescription(pImage->GetImageStatus()) << "...";
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}
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ImagePtr pConvertedImage = processor.Convert(pImage, PixelFormat_RGB8);
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pConvertedImage->Save(absPath.toStdString().c_str());
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}
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if (currentText == "haikang camera") {
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}
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}
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//选择保存路径
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void QtWidgetsApplication::on_btnSaveDir_clicked() {
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qDebug() << "Choose save dir clicked";
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QString dirPath = QFileDialog::getExistingDirectory(
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this,
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QString::fromUtf8(u8"请选择图像保存路径")
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);
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qDebug() << "Choose save dir: " << dirPath << "";
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ui.edtSaveDir->setText(dirPath);
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}
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// 将TCT检测的图片进行显示
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void QtWidgetsApplication::input_img(QImage image)
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{
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in_image = image;
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// 显示经过网络检测后的图片
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this->ui.TCT_View->setScene(tct_scene);
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tct_pixmap = QPixmap::fromImage(in_image);
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tct_pixmapItem = tct_scene->addPixmap(tct_pixmap);
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// 自适应显示图片
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ui.TCT_View->fitInView(tct_pixmapItem, Qt::KeepAspectRatio);
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ui.TCT_View->setRenderHint(QPainter::Antialiasing); // 抗锯齿
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ui.TCT_View->setDragMode(QGraphicsView::ScrollHandDrag); // 启动手动拖动模式
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ui.TCT_View->show();
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}
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// 将ImagePtr转换成QImage
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QImage convertToQImage(const ImagePtr& pImage)
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{
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// 获取图像尺寸
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int width = pImage->GetWidth();
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int height = pImage->GetHeight();
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// 获取像素数据指针（假设为 uchar* 类型）
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const uchar* pData = reinterpret_cast<const uchar*>(pImage->GetData());
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// 获取每行的字节数（步长）
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int stride = width * 3; // 假设存在此方法，若不存在可设为 width * 3
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// 构造 QImage
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QImage qImage(pData, width, height, stride, QImage::Format_RGB888);
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// 返回深拷贝，避免原始图像数据被释放导致 QImage 无效
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return qImage.copy();
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}
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// 将相机图片输入到网络的线程中
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void QtWidgetsApplication::on_pb_model_clicked()
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{
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/*QString fileName = QFileDialog::getOpenFileName(this, "选择图片", "D:/TCT_down/dataset/test/images", "Images (*.png *.jpg)");
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QImage image(fileName);*/
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QString currentText = ui.CameraBox->currentText();
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if (currentText == "flir camera") {
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ImagePtr pImage = cam_worker->pCam->GetNextImage(1000);
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if (pImage->IsIncomplete()) {
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qDebug() << "Image incomplete in 1s: " << Image::GetImageStatusDescription(pImage->GetImageStatus()) << "...";
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}
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ImagePtr pConvertedImage = processor.Convert(pImage, PixelFormat_RGB8);
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QImage image = convertToQImage(pConvertedImage);
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emit emit_img(image);
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}
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if (currentText == "haikang camera") {
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emit emit_img(hikimage);
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}
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}
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// 运动控制
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void QtWidgetsApplication::on_btnUp_clicked() {
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double zdis = ui.spinZDis->value();
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qDebug() << "up clicked, move up: " << zdis << "um";
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Mycontrol::getInstance().moveBy(3, zdis * -1e-3);
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}
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void QtWidgetsApplication::on_btnDown_clicked() {
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double zdis = ui.spinZDis->value();
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qDebug() << "up clicked, move up: " << zdis << "um";
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Mycontrol::getInstance().moveBy(3, -zdis * -1e-3);
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}
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void QtWidgetsApplication::on_btnLeft_clicked() {
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double xdis = ui.spinXDis->value();
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qDebug() << "up clicked, move up: " << xdis << "um";
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Mycontrol::getInstance().moveBy(2, -xdis * -1e-3);
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}
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void QtWidgetsApplication::on_btnRight_clicked() {
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double xdis = ui.spinXDis->value();
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qDebug() << "up clicked, move up: " << xdis << "um";
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Mycontrol::getInstance().moveBy(2, xdis * -1e-3);
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}
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void QtWidgetsApplication::on_btnForward_clicked() {
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double ydis = ui.spinYDis->value();
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qDebug() << "up clicked, move up: " << ydis << "um";
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Mycontrol::getInstance().moveBy(1, -ydis * -1e-3);
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}
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void QtWidgetsApplication::on_btnBackward_clicked() {
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double ydis = ui.spinYDis->value();
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qDebug() << "up clicked, move up: " << ydis << "um";
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Mycontrol::getInstance().moveBy(1, ydis * -1e-3);
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}
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double sharpnessSobel(cv::Mat image) {
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cv::Mat roi = image(cv::Rect(968, 768, 512, 512));
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cv::Mat gray;
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cv::cvtColor(roi, gray, cv::COLOR_BGR2GRAY);
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cv::GaussianBlur(gray, gray, cv::Size(5, 5), 0);
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cv::Mat sobelx, sobely;
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cv::Sobel(gray, sobelx, CV_64F, 1, 0, 3);
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cv::Sobel(gray, sobely, CV_64F, 0, 1, 3);
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cv::Mat magnitude;
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cv::magnitude(sobelx, sobely, magnitude);
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return cv::mean(magnitude)[0];
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} |