add，计划采集18，上海农科院3D植物表型：
1、任务类型ObtainingDepthInformation兼容功能：获取植被和升降台的平均深度信息并写入文件：3DPlantPhenotypeScenario\plant_depth_values.txt和3DPlantPhenotypeScenario\LiftingPlatform_depth_values.txt
This commit is contained in:
tangchao0503
138
HPPA/DepthValueLogger.cpp
Normal file
138
HPPA/DepthValueLogger.cpp
Normal file
@ -0,0 +1,138 @@
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#include "stdafx.h"
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#include "DepthValueLogger.h"
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#include "AppSettings.h"
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#include "fileOperation.h"
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#include <QDir>
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DepthValueLogger& DepthValueLogger::instance()
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{
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static DepthValueLogger instance;
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return instance;
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}
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DepthValueLogger::DepthValueLogger()
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{
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}
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DepthValueLogger::~DepthValueLogger()
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{
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}
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QString DepthValueLogger::getLogFilePath(DepthValueType type) const
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{
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FileOperation* fileOperation = new FileOperation();
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QString directory = QString::fromStdString(fileOperation->getDirectoryOfExe());
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QString basePath = directory + QDir::separator() + "3DPlantPhenotypeScenario";
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switch (type)
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{
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case DepthValueType::Plant:
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return basePath + QDir::separator() + "plant_depth_values.txt";
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case DepthValueType::LiftingPlatform:
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return basePath + QDir::separator() + "LiftingPlatform_depth_values.txt";
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default:
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return basePath + QDir::separator() + "plant_depth_values.txt";
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}
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}
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void DepthValueLogger::appendDepthValue(double depthValue, DepthValueType type)
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{
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QString filePath = getLogFilePath(type);
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QFileInfo fileInfo(filePath);
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QDir dir = fileInfo.absoluteDir();
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if (!dir.exists())
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{
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dir.mkpath(".");
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}
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QFile file(filePath);
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if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text))
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{
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QTextStream out(&file);
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QString timestamp = QDateTime::currentDateTime().toString("yyyy-MM-dd HH:mm:ss.zzz");
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out << timestamp << "\t" << QString::number(depthValue, 'f', 6) << "\n";
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file.close();
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emit depthValueLogged(depthValue, type);
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}
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}
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double DepthValueLogger::readLatestDepthValue(DepthValueType type) const
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{
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QString filePath = getLogFilePath(type);
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QFile file(filePath);
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
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{
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return 0.0;
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}
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double latestValue = 0.0;
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QTextStream in(&file);
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while (!in.atEnd())
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{
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QString line = in.readLine().trimmed();
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if (line.isEmpty())
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{
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continue;
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}
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QStringList parts = line.split("\t");
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if (parts.size() >= 2)
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{
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latestValue = parts.last().toDouble();
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}
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}
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file.close();
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return latestValue;
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}
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bool DepthValueLogger::hasValidDepthValue(DepthValueType type) const
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{
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QString filePath = getLogFilePath(type);
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QFile file(filePath);
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text))
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{
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return false;
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}
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bool hasValue = false;
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QTextStream in(&file);
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while (!in.atEnd())
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{
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QString line = in.readLine().trimmed();
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if (!line.isEmpty())
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{
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hasValue = true;
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break;
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}
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}
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file.close();
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return hasValue;
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}
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void DepthValueLogger::appendPlantDepthValue(double depthValue)
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{
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appendDepthValue(depthValue, DepthValueType::Plant);
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}
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void DepthValueLogger::appendLiftingPlatformDepthValue(double depthValue)
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{
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appendDepthValue(depthValue, DepthValueType::LiftingPlatform);
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}
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double DepthValueLogger::readLatestPlantDepthValue() const
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{
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return readLatestDepthValue(DepthValueType::Plant);
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}
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double DepthValueLogger::readLatestLiftingPlatformDepthValue() const
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{
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return readLatestDepthValue(DepthValueType::LiftingPlatform);
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}
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41
HPPA/DepthValueLogger.h
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41
HPPA/DepthValueLogger.h
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@ -0,0 +1,41 @@
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#ifndef DEPTH_VALUE_LOGGER_H
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#define DEPTH_VALUE_LOGGER_H
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#include <QObject>
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#include <QString>
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enum class DepthValueType
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{
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Plant,
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LiftingPlatform
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};
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class DepthValueLogger : public QObject
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{
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Q_OBJECT
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public:
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static DepthValueLogger& instance();
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void appendDepthValue(double depthValue, DepthValueType type);
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double readLatestDepthValue(DepthValueType type) const;
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bool hasValidDepthValue(DepthValueType type) const;
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void appendPlantDepthValue(double depthValue);
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void appendLiftingPlatformDepthValue(double depthValue);
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double readLatestPlantDepthValue() const;
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double readLatestLiftingPlatformDepthValue() const;
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signals:
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void depthValueLogged(double value, DepthValueType type);
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private:
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DepthValueLogger();
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~DepthValueLogger();
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DepthValueLogger(const DepthValueLogger&) = delete;
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DepthValueLogger& operator=(const DepthValueLogger&) = delete;
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QString getLogFilePath(DepthValueType type) const;
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};
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#endif
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@ -776,7 +776,7 @@ void HPPA::onStartTimedDataCollection(int camType)
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void HPPA::onObtainTargetDepthInformation(SubTask subTaskParams)
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{
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m_tmc->run4_ObtainTargetDepthInfo(m_depthCameraWindow, subTaskParams.depthInfoX, subTaskParams.depthInfoY, subTaskParams.averageNumberOfTimes, subTaskParams.percentageOfEffectiveArea);
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m_tmc->run4_ObtainTargetDepthInfo(m_depthCameraWindow, subTaskParams.depthType, subTaskParams.depthInfoX, subTaskParams.depthInfoY, subTaskParams.averageNumberOfTimes, subTaskParams.percentageOfEffectiveArea);
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}
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void HPPA::onTimedDataCollection()
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@ -1057,6 +1057,11 @@ void HPPA::initControlTabwidget()
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m_omc->setWindowFlags(Qt::Widget);
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ui.controlTabWidget->addTab(m_omc, QString::fromLocal8Bit("1轴马达控制"));
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//1轴马达控制，上海3D植物表情，白板/调焦纸升降
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m_omc_LiftingPlatform = new OneMotorControl_LiftingPlatform();
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m_omc_LiftingPlatform->setWindowFlags(Qt::Widget);
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ui.controlTabWidget->addTab(m_omc_LiftingPlatform, QString::fromLocal8Bit("白板/调焦升降台"));
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//2轴马达控制
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m_tmc = new TwoMotorControl(this);
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//connect(m_tmc, SIGNAL(startLineNumSignal(int)), this, SLOT(onCreateTab(int)));
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@ -1679,6 +1684,7 @@ void HPPA::create3DPlantPhenotypeScenario()
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//m_tabManager->showTab(m_pc);
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m_tabManager->showTab(m_pc3D);
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m_tabManager->showTab(m_tmc);
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m_tabManager->showTab(m_omc_LiftingPlatform);
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m_view3DModelManager->switchScenario(View3DModelManager::ScenarioType::PlantPhenotype);
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@ -321,6 +321,7 @@ private:
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PowerControl3D* m_pc3D;
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RobotArmControl* m_rac;
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OneMotorControl* m_omc;
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OneMotorControl_LiftingPlatform* m_omc_LiftingPlatform;
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TwoMotorControl* m_tmc;
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FodisWindow* m_fodisWindow;
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GonggaShanRecordCtl* m_gonggaShanRecordCtl;
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@ -186,6 +186,7 @@
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<QtUic Include="gonggashanCtl.ui" />
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<QtUic Include="HPPA.ui" />
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<QtMoc Include="HPPA.h" />
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<ClCompile Include="DepthValueLogger.cpp" />
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<ClCompile Include="fileOperation.cpp" />
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<ClCompile Include="focusWindow.cpp" />
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<ClCompile Include="HPPA.cpp" />
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@ -212,6 +213,7 @@
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<QtUic Include="twoMotorControl.ui" />
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</ItemGroup>
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<ItemGroup>
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<QtMoc Include="DepthValueLogger.h" />
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<QtMoc Include="fileOperation.h" />
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</ItemGroup>
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<ItemGroup>
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@ -283,6 +283,9 @@
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<ClCompile Include="ResononNirImager.cpp">
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<Filter>Source Files\hyperImagerCtl</Filter>
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</ClCompile>
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<ClCompile Include="DepthValueLogger.cpp">
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<Filter>Source Files</Filter>
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</ClCompile>
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</ItemGroup>
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<ItemGroup>
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<QtMoc Include="fileOperation.h">
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@ -453,6 +456,9 @@
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<QtMoc Include="resononImager.h">
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<Filter>Header Files\hyperImagerCtl</Filter>
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</QtMoc>
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<QtMoc Include="DepthValueLogger.h">
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<Filter>Header Files</Filter>
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</QtMoc>
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</ItemGroup>
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<ItemGroup>
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<ClInclude Include="imageProcessor.h">
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@ -267,3 +267,276 @@ bool OneMotorControl::getMotorsConnectionStatus()
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{
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return m_xMotorConnectionStatus;
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}
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//------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
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OneMotorControl_LiftingPlatform::OneMotorControl_LiftingPlatform(QWidget* parent) : QDialog(parent)
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{
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ui.setupUi(this);
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connect(this->ui.connect_btn, SIGNAL(pressed()), this, SLOT(onConnectMotor()));
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connect(this->ui.right_btn, SIGNAL(pressed()), this, SLOT(onxMotorRight()));
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connect(this->ui.right_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
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connect(this->ui.left_btn, SIGNAL(pressed()), this, SLOT(onxMotorLeft()));
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connect(this->ui.left_btn, SIGNAL(released()), this, SLOT(onxMotorStop()));
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connect(this->ui.move2loc_pushButton, SIGNAL(pressed()), this, SLOT(onxMove2Loc()));
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connect(this->ui.zero_start_btn, SIGNAL(released()), this, SLOT(zeroStart()));
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connect(this->ui.rangeMeasurement_btn, SIGNAL(pressed()), this, SLOT(onx_rangeMeasurement()));
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// 从 AppSettings 读取速度参数
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AppSettings& settings = AppSettings::instance();
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ui.speed_lineEdit->setText(QString::number(settings.scanSpeed()));
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ui.return_speed_lineEdit->setText(QString::number(settings.returnSpeed()));
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// 连接信号，当控件数值变化时保存到 AppSettings
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connect(ui.speed_lineEdit, &QLineEdit::editingFinished, [this]() {
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AppSettings::instance().setScanSpeed(ui.speed_lineEdit->text().toDouble());
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});
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connect(ui.return_speed_lineEdit, &QLineEdit::editingFinished, [this]() {
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AppSettings::instance().setReturnSpeed(ui.return_speed_lineEdit->text().toDouble());
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});
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}
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OneMotorControl_LiftingPlatform::~OneMotorControl_LiftingPlatform()
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{
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m_motorThread.quit();
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m_motorThread.wait();
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}
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void OneMotorControl_LiftingPlatform::onConnectMotor()
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{
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connectMotor(true);
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}
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void OneMotorControl_LiftingPlatform::connectMotor(bool isNotification)
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{
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if (getMotorsConnectionStatus())
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{
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if (isNotification)
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{
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QMessageBox msgBox;
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msgBox.setText(QString::fromLocal8Bit("马达已连接！"));
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msgBox.exec();
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}
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return;
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}
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if (m_multiAxisController != nullptr)
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{
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disconnect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
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disconnect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
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disconnect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
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disconnect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
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disconnect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
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disconnect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
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disconnect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
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disconnect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
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m_motorThread.quit();
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m_motorThread.wait();
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m_multiAxisController = nullptr;
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}
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try
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{
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FileOperation* fileOperation = new FileOperation();
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string directory = fileOperation->getDirectoryOfExe();
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QString configFilePath = QString::fromStdString(directory) + "\\oneMotorConfigFile_LiftingPlatform.cfg";
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m_multiAxisController = new IrisMultiMotorController(configFilePath);
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}
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catch (std::exception const& e)
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{
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QMessageBox msgBox;
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msgBox.setText(QString::fromLocal8Bit("请连接马达！"));
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msgBox.exec();
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return;
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}
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m_multiAxisController->moveToThread(&m_motorThread);
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connect(&m_motorThread, SIGNAL(finished()), m_multiAxisController, SLOT(deleteLater()));
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connect(m_multiAxisController, SIGNAL(broadcastLocationSignal(std::vector<double>)), this, SLOT(display_x_loc(std::vector<double>)));
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connect(this, SIGNAL(moveSignal(int, bool, double, int)), m_multiAxisController, SLOT(move(int, bool, double, int)));
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connect(this, SIGNAL(move2LocSignal(int, double, double, int)), m_multiAxisController, SLOT(moveTo(int, double, double, int)));
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connect(this, SIGNAL(stopSignal(int)), m_multiAxisController, SLOT(stop(int)));
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connect(this, SIGNAL(zeroStartSignal(int)), m_multiAxisController, SLOT(zeroStart(int)));
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connect(this, SIGNAL(rangeMeasurement(int, double, int)), m_multiAxisController, SLOT(rangeMeasurement(int, double, int)));
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connect(this, SIGNAL(testConnectivitySignal(int, int)), m_multiAxisController, SLOT(testConnectivity(int, int)));
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connect(m_multiAxisController, SIGNAL(broadcastConnectivity(std::vector<int>)), this, SLOT(display_motors_connectivity(std::vector<int>)));
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m_motorThread.start();
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emit testConnectivitySignal(0, 1000);
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}
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void OneMotorControl_LiftingPlatform::display_x_loc(std::vector<double> loc)
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{
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double tmp = round(loc[0] * 100) / 100;
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this->ui.realTimeLoc_lineEdit->setText(QString::number(tmp));
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emit broadcastLocationSignal(loc);
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}
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void OneMotorControl_LiftingPlatform::display_motors_connectivity(std::vector<int> connectivity)
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{
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//std::cout << "-----------------------------------"<<connectivity.size()<< std::endl;
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if (connectivity[0])
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{
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m_xMotorConnectionStatus = true;
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this->ui.motor_state_label->setStyleSheet(R"(
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QLabel
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{
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background-color: #08FACE;
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border-radius: 4px;
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}
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)");
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}
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else
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{
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m_xMotorConnectionStatus = false;
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this->ui.motor_state_label->setStyleSheet(R"(
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QLabel
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{
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background-color: red;
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border-radius: 4px;
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}
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)");
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}
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if (getMotorsConnectionStatus())
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{
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this->ui.connect_btn->setText(QString::fromLocal8Bit("已连接"));
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}
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else
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{
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this->ui.connect_btn->setText(QString::fromLocal8Bit("重新连接"));
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}
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}
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void OneMotorControl_LiftingPlatform::zeroStart()
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{
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zeroStartSignal(0);
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}
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void OneMotorControl_LiftingPlatform::onx_rangeMeasurement()
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{
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double s0 = ui.speed_lineEdit->text().toDouble();
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emit rangeMeasurement(0, s0, 1000);
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}
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void OneMotorControl_LiftingPlatform::onxMove2Loc()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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double l = ui.move2loc_lineEdit->text().toDouble();
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emit move2LocSignal(0, l, s, 1000);
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}
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void OneMotorControl_LiftingPlatform::onxMotorRight()
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{
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double s = ui.speed_lineEdit->text().toDouble();
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|
||||
emit moveSignal(0, false, s, 1000);
|
||||
}
|
||||
|
||||
void OneMotorControl_LiftingPlatform::onxMotorLeft()
|
||||
{
|
||||
double s = ui.speed_lineEdit->text().toDouble();
|
||||
|
||||
emit moveSignal(0, true, s, 1000);
|
||||
}
|
||||
|
||||
void OneMotorControl_LiftingPlatform::onxMotorStop()
|
||||
{
|
||||
emit stopSignal(0);
|
||||
}
|
||||
|
||||
void OneMotorControl_LiftingPlatform::run()
|
||||
{
|
||||
if (m_coordinator)//当高光谱相机停止采集后，马达还未回到原点时，上次任务的m_coordinator还没有被销毁
|
||||
{
|
||||
onSequenceComplete(0);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void OneMotorControl_LiftingPlatform::stop()
|
||||
{
|
||||
emit stopStepMotionSignal();
|
||||
}
|
||||
|
||||
void OneMotorControl_LiftingPlatform::onSequenceComplete(int state)
|
||||
{
|
||||
emit sequenceComplete();
|
||||
|
||||
disconnect(this, SIGNAL(start(OneMotionCapturePathLine)), m_coordinator, SLOT(startStepMotion(OneMotionCapturePathLine)));
|
||||
disconnect(this, SIGNAL(stopStepMotionSignal()), m_coordinator, SLOT(stopStepMotion()));
|
||||
disconnect(m_coordinator, SIGNAL(sequenceComplete(int)), this, SLOT(onSequenceComplete(int)));
|
||||
|
||||
// Use deleteLater() instead of delete: this slot may have been called directly
|
||||
// from OneMotionCaptureCoordinator's call stack (direct connection), so deleting
|
||||
// the object here would cause a crash when execution returns to the destroyed object.
|
||||
m_coordinator->deleteLater();
|
||||
m_coordinator = nullptr;
|
||||
}
|
||||
|
||||
bool OneMotorControl_LiftingPlatform::getMotorsConnectionStatus()
|
||||
{
|
||||
return m_xMotorConnectionStatus;
|
||||
}
|
||||
|
||||
@ -77,3 +77,61 @@ private:
|
||||
|
||||
bool m_xMotorConnectionStatus = false;
|
||||
};
|
||||
|
||||
class OneMotorControl_LiftingPlatform : public QDialog, public MotorWindowBase
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
OneMotorControl_LiftingPlatform(QWidget* parent = nullptr);
|
||||
~OneMotorControl_LiftingPlatform();
|
||||
|
||||
void run();
|
||||
void stop();
|
||||
|
||||
bool getMotorsConnectionStatus();
|
||||
|
||||
void connectMotor(bool isNotification);
|
||||
|
||||
public Q_SLOTS:
|
||||
void onConnectMotor();
|
||||
|
||||
void display_x_loc(std::vector<double> loc);
|
||||
void display_motors_connectivity(std::vector<int> connectivity);
|
||||
void onxMove2Loc();
|
||||
void zeroStart();
|
||||
void onx_rangeMeasurement();
|
||||
|
||||
void onxMotorRight();
|
||||
void onxMotorLeft();
|
||||
void onxMotorStop();
|
||||
|
||||
void onSequenceComplete(int state);
|
||||
|
||||
signals:
|
||||
void moveSignal(int, bool, double, int);
|
||||
void move2LocSignal(int, double, double, int);
|
||||
void move2LocSignal(const std::vector<double>, const std::vector<double>, int);
|
||||
void stopSignal(int);
|
||||
|
||||
void rangeMeasurement(int, double, int);
|
||||
void zeroStartSignal(int);
|
||||
void testConnectivitySignal(int, int);
|
||||
|
||||
void start(OneMotionCapturePathLine);
|
||||
void stopStepMotionSignal();
|
||||
|
||||
void sequenceComplete();
|
||||
|
||||
void broadcastLocationSignal(std::vector<double>);
|
||||
|
||||
private:
|
||||
Ui::OneMotorControl_UI ui;
|
||||
|
||||
QThread m_motorThread;
|
||||
IrisMultiMotorController* m_multiAxisController = nullptr;
|
||||
|
||||
QPointer<OneMotionCaptureCoordinator> m_coordinator;
|
||||
|
||||
bool m_xMotorConnectionStatus = false;
|
||||
};
|
||||
|
||||
@ -145,6 +145,7 @@ QJsonObject TimedDataCollectionDataStructuresReaderWriter::subTaskToJson(const S
|
||||
obj["depthInfoY"] = subTask.depthInfoY;
|
||||
obj["averageNumberOfTimes"] = subTask.averageNumberOfTimes;
|
||||
obj["percentageOfEffectiveArea"] = subTask.percentageOfEffectiveArea;
|
||||
obj["depthType"] = subTask.depthType;
|
||||
return obj;
|
||||
}
|
||||
|
||||
@ -170,6 +171,7 @@ bool TimedDataCollectionDataStructuresReaderWriter::jsonToSubTask(const QJsonObj
|
||||
subTask.depthInfoY = json["depthInfoY"].toDouble();
|
||||
subTask.averageNumberOfTimes = json["averageNumberOfTimes"].toInt();
|
||||
subTask.percentageOfEffectiveArea = json["percentageOfEffectiveArea"].toDouble();
|
||||
subTask.depthType = json["depthType"].toInt();
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@ -50,6 +50,7 @@ struct SubTask {
|
||||
int captureIntervalSeconds = 5; // 单反/深度相机用
|
||||
|
||||
//任务ObtainingDepthInformation所需的x和y坐标
|
||||
int depthType = 0;//0表示植被深度，1表示白板/调焦版深度
|
||||
double depthInfoX = 0.0;
|
||||
double depthInfoY = 0.0;
|
||||
int averageNumberOfTimes = 1; //任务ObtainingDepthInformation所需的平均次数
|
||||
|
||||
@ -210,8 +210,10 @@ void TwoMotorControl::onBack2Origin2()
|
||||
emit back2OriginSignal_TimedDataCollection();
|
||||
}
|
||||
|
||||
void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
|
||||
void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea)
|
||||
{
|
||||
m_depthType = depthType;
|
||||
|
||||
window->m_DepthCameraOperation->setAverageNumberOfTimes(averageNumberOfTimes);
|
||||
window->m_DepthCameraOperation->setPercentageOfEffectiveArea(percentageOfEffectiveArea);
|
||||
|
||||
@ -219,7 +221,8 @@ void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, doub
|
||||
connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::ArrivalSignal, window, &DepthCameraWindow::OpenDepthCamera_getDepthValue);
|
||||
|
||||
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2origin);
|
||||
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete);//关灯
|
||||
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::sequenceComplete, Qt::UniqueConnection);//关灯
|
||||
connect(window->m_DepthCameraOperation, &DepthCameraOperation::DepthValueSignal, this, &TwoMotorControl::saveDepthValue, Qt::UniqueConnection);//控制白板平台升降
|
||||
|
||||
connect(m_ObtainTargetDepthInfoCoordinator, &TwoMotor1PosCoordinator::back2OriginSignal, this, &TwoMotorControl::onBack2Origin3);
|
||||
|
||||
@ -229,6 +232,18 @@ void TwoMotorControl::run4_ObtainTargetDepthInfo(DepthCameraWindow* window, doub
|
||||
m_ObtainTargetDepthInfoCoordinator->moveToTarget(depthInfoX, depthInfoY, xmotor_move_speed, ymotor_move_speed);
|
||||
}
|
||||
|
||||
void TwoMotorControl::saveDepthValue(double depthValue)
|
||||
{
|
||||
if (m_depthType == 0)//0表示植被深度，1表示白板/调焦版深度
|
||||
{
|
||||
DepthValueLogger::instance().appendPlantDepthValue(depthValue);
|
||||
}
|
||||
else if (m_depthType == 1)
|
||||
{
|
||||
DepthValueLogger::instance().appendLiftingPlatformDepthValue(depthValue);
|
||||
}
|
||||
}
|
||||
|
||||
void TwoMotorControl::onBack2Origin3()
|
||||
{
|
||||
m_ObtainTargetDepthInfoCoordinator->deleteLater();
|
||||
|
||||
@ -15,6 +15,8 @@
|
||||
|
||||
#include "PathLine.h"
|
||||
|
||||
#include "DepthValueLogger.h"
|
||||
|
||||
#define PI 3.1415926
|
||||
|
||||
class TwoMotorControl : public QDialog, public MotorWindowBase
|
||||
@ -82,8 +84,9 @@ public Q_SLOTS:
|
||||
|
||||
void run2(SingleLensReflexCameraWindow* w);
|
||||
void run3(DepthCameraWindow* window);
|
||||
void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea);
|
||||
void run4_ObtainTargetDepthInfo(DepthCameraWindow* window, int depthType, double depthInfoX, double depthInfoY, int averageNumberOfTimes, double percentageOfEffectiveArea);
|
||||
void onBack2Origin2();
|
||||
void saveDepthValue(double depthValue);
|
||||
void onBack2Origin3();
|
||||
|
||||
void stop_record();
|
||||
@ -120,4 +123,6 @@ private:
|
||||
|
||||
QThread m_motorThread;
|
||||
IrisMultiMotorController* m_multiAxisController = nullptr;
|
||||
|
||||
int m_depthType;
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user