639 lines
19 KiB
C++
639 lines
19 KiB
C++
#include "mainwindow.h"
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#include "ui_mainwindow.h"
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#include "calPoint.h"
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MainWindow::MainWindow(QWidget *parent)
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: QMainWindow(parent)
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, ui(new Ui::MainWindow)
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{
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ui->setupUi(this);
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pos = new PosDevice(this);
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cam = new Camera(this);
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rs = new RotationStage(this);
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tz = new QTimer(this);
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tz_ = new QTimer(this);
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tu = new QTimer(this);
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tu_ = new QTimer(this);
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topLeft=0;
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topRight=0;
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selectWidth=0;
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selectHeight=0;
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isFirstFrame=false;
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loopState = false;
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ui->lineEdit->setMaxLength(500);
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ui->lineEdit_2->setMaxLength(500);
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ui->lineEdit_3->setMaxLength(500);
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ui->lineEdit_9->setMaxLength(500);
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ui->lineEdit_10->setMaxLength(500);
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ui->lineEdit_11->setMaxLength(500);
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tz->setInterval(10);
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tz_->setInterval(10);
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tu->setInterval(10);
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tu_->setInterval(10);
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connect(pos,&PosDevice::sendPosData,this,&MainWindow::revPosData);
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connect(cam,&Camera::sendPicData,this,&MainWindow::revPicData);
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connect(rs,&RotationStage::sendRotateData,this,&MainWindow::revRotateData);
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connect(tz,&QTimer::timeout,this,&MainWindow::zmove);
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connect(tz_,&QTimer::timeout,this,&MainWindow::zmove_);
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connect(tu,&QTimer::timeout,this,&MainWindow::umove);
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connect(tu_,&QTimer::timeout,this,&MainWindow::umove_);
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connect(ui->graphicsView, &ImageView::roiSelected, this, &MainWindow::onRoiSelected);
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}
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MainWindow::~MainWindow()
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{
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delete ui;
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}
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cv::Rect MainWindow::trackRoiWithCorrelation(const cv::Mat &frame)
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{
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if(roiTemplate.empty()) {
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qDebug() << "模板为空";
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return cv::Rect();
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}
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// 定义搜索区域（在上一帧ROI周围扩大区域）
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int searchMargin = 30; // 搜索边界，可根据需要调整
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cv::Rect searchArea;
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searchArea.x = std::max(0, lastRoi.x - searchMargin);
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searchArea.y = std::max(0, lastRoi.y - searchMargin);
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searchArea.width = std::min(frame.cols - searchArea.x,
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lastRoi.width + 2 * searchMargin);
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searchArea.height = std::min(frame.rows - searchArea.y,
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lastRoi.height + 2 * searchMargin);
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// 检查搜索区域有效性
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if(searchArea.width <= 0 || searchArea.height <= 0) {
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qDebug() << "搜索区域无效";
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return lastRoi;
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}
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// 提取搜索区域
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cv::Mat searchRegion = frame(searchArea);
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// 检查模板和搜索区域大小
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if(searchRegion.rows < roiTemplate.rows || searchRegion.cols < roiTemplate.cols) {
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// 搜索区域比模板小，调整模板大小
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double scaleX = static_cast<double>(searchRegion.cols) / roiTemplate.cols;
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double scaleY = static_cast<double>(searchRegion.rows) / roiTemplate.rows;
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double scale = std::min(scaleX, scaleY) * 0.9; // 稍微缩小一点确保安全
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cv::Mat resizedTemplate;
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cv::resize(roiTemplate, resizedTemplate, cv::Size(), scale, scale, cv::INTER_AREA);
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// 模板匹配
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cv::Mat result;
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cv::matchTemplate(searchRegion, resizedTemplate, result, cv::TM_CCOEFF_NORMED);
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// 找到最佳匹配位置
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double maxVal;
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cv::Point maxLoc;
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cv::minMaxLoc(result, nullptr, &maxVal, nullptr, &maxLoc);
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// 设置匹配阈值
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double correlationThreshold = 0.5;
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if(maxVal < correlationThreshold) {
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qDebug() << "匹配度低:" << maxVal;
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return lastRoi;
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}
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// 计算新的ROI位置
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cv::Rect newRoi;
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newRoi.x = searchArea.x + maxLoc.x;
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newRoi.y = searchArea.y + maxLoc.y;
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newRoi.width = resizedTemplate.cols;
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newRoi.height = resizedTemplate.rows;
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qDebug() << "模板匹配成功, 相似度:" << maxVal << "位置:" << newRoi.x << newRoi.y;
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lastRoi = newRoi;
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return newRoi;
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} else {
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// 正常情况下的模板匹配
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cv::Mat result;
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cv::matchTemplate(searchRegion, roiTemplate, result, cv::TM_CCOEFF_NORMED);
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// 找到最佳匹配位置
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double maxVal;
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cv::Point maxLoc;
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cv::minMaxLoc(result, nullptr, &maxVal, nullptr, &maxLoc);
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// 设置匹配阈值
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double correlationThreshold = 0.6;
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if(maxVal < correlationThreshold) {
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qDebug() << "匹配度低:" << maxVal;
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return lastRoi;
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}
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// 计算新的ROI位置
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cv::Rect newRoi;
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newRoi.x = searchArea.x + maxLoc.x;
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newRoi.y = searchArea.y + maxLoc.y;
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newRoi.width = roiTemplate.cols;
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newRoi.height = roiTemplate.rows;
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qDebug() << "模板匹配成功, 相似度:" << maxVal << "位置:" << newRoi.x << newRoi.y;
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lastRoi = newRoi;
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return newRoi;
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}
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}
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void MainWindow::updateTemplate(const cv::Mat &frame, const cv::Rect &roi)
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{
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static int updateCounter = 0;
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updateCounter++;
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// 每N帧更新一次模板
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if(updateCounter % 15 == 0) { // 每15帧更新一次
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if(roi.x >= 0 && roi.y >= 0 &&
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roi.x + roi.width <= frame.cols &&
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roi.y + roi.height <= frame.rows) {
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cv::Mat newTemplate = frame(roi).clone();
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// 使用加权平均更新模板
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double alpha = 0.1; // 学习率，较小的值使模板更新更慢
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if(roiTemplate.size() == newTemplate.size()) {
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cv::addWeighted(roiTemplate, 1.0 - alpha, newTemplate, alpha, 0, roiTemplate);
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qDebug() << "模板已更新";
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}
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}
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updateCounter = 0;
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}
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}
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QImage MainWindow::cvMatToQImage(const cv::Mat &mat)
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{
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switch(mat.type()) {
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case CV_8UC1: { // 灰度图
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QImage img(mat.data, mat.cols, mat.rows,
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static_cast<int>(mat.step), QImage::Format_Grayscale8);
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return img.copy(); // 创建副本以避免内存问题
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}
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case CV_8UC3: { // 彩色图
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QImage img(mat.data, mat.cols, mat.rows,
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static_cast<int>(mat.step), QImage::Format_RGB888);
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return img.rgbSwapped().copy();
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}
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case CV_8UC4: { // 带透明度的彩色图
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QImage img(mat.data, mat.cols, mat.rows,
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static_cast<int>(mat.step), QImage::Format_ARGB32);
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return img.copy();
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}
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default:
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qWarning() << "不支持的图像格式:" << mat.type();
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return QImage();
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}
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}
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cv::Point2f MainWindow::calculateCentroid(const cv::Mat &image, const cv::Rect &roi)
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{
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// 提取ROI区域
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cv::Mat roiRegion = image(roi);
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// 使用灰度图像直接计算矩
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cv::Moments m = cv::moments(roiRegion, true);
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if(m.m00 == 0) {
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qDebug() << "无法计算质心：区域可能为全黑";
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return cv::Point2f(-1, -1);
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}
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// 计算质心坐标
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float centroidX = static_cast<float>(m.m10 / m.m00);
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float centroidY = static_cast<float>(m.m01 / m.m00);
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// 转换为图像坐标系
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centroidX += roi.x;
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centroidY += roi.y;
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return cv::Point2f(centroidX, centroidY);
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}
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void MainWindow::closeloop()
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{
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// if(ui->lineEdit_4->text().isEmpty()||ui->lineEdit_5->text().isEmpty()||ui->lineEdit_6->text().isEmpty()){
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// qDebug()<<"Error --> B Longtitude/Lantitude/Altitude is empty.";
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// return ;
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// }
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while(loopState){
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double ALon =ui->lineEdit_9->text().toDouble();
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double ALan = ui->lineEdit_10->text().toDouble();
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double AAlt = ui->lineEdit_11->text().toDouble();
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double AHeading = ui->lineEdit->text().toDouble();
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double APitch = ui->lineEdit_2->text().toDouble();
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double ARoll = ui->lineEdit_3->text().toDouble();
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// ALon = 120.30071541667; // A机经度，deg
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// ALan = 30.2623007866115; // A机纬度，deg
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// AAlt = 60.0/1000; // A机高度，km
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double BLon = ui->lineEdit_4->text().toDouble();
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double BLan = ui->lineEdit_5->text().toDouble();
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double BAlt= ui->lineEdit_6->text().toDouble();
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// qDebug()<<"A Longtitude is "<<ALon<<"°, Lantitude is "<<ALan<<"°,Altitude is "<<AAlt<<"m.";
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// qDebug()<<"B Longtitude is "<<BLon<<"°, Lantitude is "<<BLan<<"°,Altitude is "<<BAlt<<"m.";
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// qDebug()<<"A Heading is "<<AHeading<<"°, Pitch is "<<APitch<<"°,Roll is "<<ARoll<<"°.";
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QVector<double> res = calRes(ALon,ALan,AAlt,BLon,BLan,BAlt,AHeading,APitch,ARoll); //返回指向的方位角和俯仰角度数 E-->Z, N-->U,DEGEE
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rs->move(0,2,res.at(0)*67108864/360);
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rs->move(0,3,res.at(1)*67108864/360);
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std::this_thread::sleep_for(std::chrono::milliseconds((int)(50)));
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}
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}
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void MainWindow::on_pushButton_clicked()
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{
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pos->open();
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}
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void MainWindow::revPosData(QVector<QString> posData)
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{
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ui->lineEdit->setText(posData.at(0)); //Heading
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ui->lineEdit_2->setText(posData.at(1)); //Pitch
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ui->lineEdit_3->setText(posData.at(2)); //Roll
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ui->lineEdit_10->setText(posData.at(3)); //Lantitude
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ui->lineEdit_9->setText(posData.at(4)); //Longtitude
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ui->lineEdit_11->setText(QString::number(posData.at(5).toDouble()/1000.0)); //Altitude
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}
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void MainWindow::on_pushButton_3_clicked()
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{
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cam->open();
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}
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void MainWindow::on_pushButton_5_clicked()
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{
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pos->close();
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}
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void MainWindow::on_pushButton_4_clicked()
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{
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cam->close();
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}
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void MainWindow::revPicData(QImage img){
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QPixmap tmppximg = QPixmap::fromImage(img);
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if(!ui->graphicsView->state){
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ui->graphicsView->pximg->setPixmap(tmppximg);
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}else{
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cv::Mat cvImg; //origin pic
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cvImg = cv::Mat(img.height(), img.width(), CV_8UC1,
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(void*)img.constBits(), img.bytesPerLine());
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// 定义ROI区域
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cv::Rect currentRoi;
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if(isFirstFrame) {
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// 第一帧，使用初始ROI
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currentRoi = cv::Rect(topLeft, topRight,
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selectWidth, selectHeight);
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// 保存模板
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if(currentRoi.x >= 0 && currentRoi.y >= 0 &&
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currentRoi.x + currentRoi.width <= cvImg.cols &&
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currentRoi.y + currentRoi.height <= cvImg.rows) {
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roiTemplate = cvImg(currentRoi).clone();
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lastRoi = currentRoi;
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isFirstFrame = false;
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qDebug() << "初始ROI设置: " << currentRoi.x << currentRoi.y
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<< currentRoi.width << "x" << currentRoi.height;
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centroidInit = calculateCentroid(cvImg, currentRoi);
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qDebug() << "初始ROI质心坐标: (" << centroidInit.x << "," << centroidInit.y << ")";
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}
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} else {
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// 后续帧使用模板匹配
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currentRoi = trackRoiWithCorrelation(cvImg);
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}
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// 在图像上绘制ROI矩形
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if(currentRoi.width > 0 && currentRoi.height > 0) {
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// 为了在灰度图上显示彩色矩形，先转换为BGR
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cv::Mat colorImg;
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cv::cvtColor(cvImg, colorImg, cv::COLOR_GRAY2BGR);
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cv::rectangle(colorImg, currentRoi, cv::Scalar(255, 0, 0), 1);
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centroid = calculateCentroid(cvImg, currentRoi);
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if(centroid.x >= 0 && centroid.y >= 0) {
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// 在质心位置绘制红色圆点
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cv::circle(colorImg, centroid, 5, cv::Scalar(255, 0, 0), -1); // 红色实心圆
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// 绘制十字线
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cv::line(colorImg,
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cv::Point(centroid.x - 10, centroid.y),
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cv::Point(centroid.x + 10, centroid.y),
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cv::Scalar(0, 0, 255), 2); // 水平线
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cv::line(colorImg,
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cv::Point(centroid.x, centroid.y - 10),
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cv::Point(centroid.x, centroid.y + 10),
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cv::Scalar(0, 0, 255), 2); // 垂直线
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// 显示质心坐标
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std::string centroidText = "Centroid: (" +
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std::to_string(centroid.x).substr(0, 5) + ", " +
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std::to_string(centroid.y).substr(0, 5) + ")";
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cv::putText(colorImg, centroidText,
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cv::Point(currentRoi.x, currentRoi.y - 20),
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cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1);
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std::string xTBL = "xTBL: " + std::to_string((centroid.x-centroidInit.x)*0.003953).substr(0, 5)+" degree";
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std::string yTBL = "yTBL: " + std::to_string((centroid.y-centroidInit.y)*0.003953).substr(0, 5)+" degree";
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cv::putText(colorImg, xTBL,
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cv::Point(20, 20),
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cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1);
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cv::putText(colorImg, yTBL,
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cv::Point(20, 40),
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cv::FONT_HERSHEY_SIMPLEX, 0.5, cv::Scalar(0, 0, 255), 1);
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// qDebug() << "ROI质心坐标: (" << centroid.x << "," << centroid.y << ")";
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qDebug()<<"X 脱靶量（像素）"<< centroid.x-centroidInit.x;
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qDebug()<<"Y 脱靶量（像素）"<< centroid.y-centroidInit.y;
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// 更新模板
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updateTemplate(cvImg, currentRoi);
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// 转换回QImage显示
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QImage resultImg = cvMatToQImage(colorImg);
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ui->graphicsView->pximg->setPixmap(QPixmap::fromImage(resultImg));
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} else {
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// 如果没有有效ROI，直接显示原图
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ui->graphicsView->pximg->setPixmap(tmppximg);
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}
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}
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}
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}
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void MainWindow::revRotateData(QVector<double> rData)
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{
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ui->lineEdit_7->setText(QString::number(rData[0],'f',3));
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ui->lineEdit_8->setText(QString::number(rData[1],'f',3));
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}
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void MainWindow::on_pushButton_10_clicked()
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{
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rs->open();
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}
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void MainWindow::on_pushButton_6_pressed()
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{
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tz->start();
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}
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void MainWindow::on_pushButton_6_released()
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{
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tz->stop();
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}
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void MainWindow::zmove(){
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rs->move(0,2,1000);
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}
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void MainWindow::zmove_()
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{
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rs->move(0,2,-1000);
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}
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void MainWindow::umove()
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{
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rs->move(0,3,1000);
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}
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void MainWindow::umove_()
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{
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rs->move(0,3,-1000);
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}
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void MainWindow::on_pushButton_7_pressed()
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{
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if(rs->state){
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tz_->start();
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}
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}
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void MainWindow::on_pushButton_7_released()
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{
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if(rs->state){
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tz_->stop();
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}
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}
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void MainWindow::on_pushButton_8_pressed()
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{
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if(rs->state){
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tu->start();
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}
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}
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void MainWindow::on_pushButton_8_released()
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{
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if(rs->state){
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tu->stop();
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}
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}
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void MainWindow::on_pushButton_9_pressed()
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{
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if(rs->state){
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tu_->start();
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||
}
|
||
}
|
||
|
||
|
||
void MainWindow::on_pushButton_9_released()
|
||
{
|
||
if(rs->state){
|
||
tu_->stop();
|
||
}
|
||
}
|
||
|
||
|
||
void MainWindow::on_pushButton_11_clicked()
|
||
{
|
||
rs->close();
|
||
}
|
||
|
||
void MainWindow::onRoiSelected(const QRectF &roi)
|
||
{
|
||
|
||
qDebug() << "ROI Selected - Position:" << roi.topLeft()
|
||
<< "Size:" << roi.size();
|
||
topLeft = roi.topLeft().x();
|
||
topRight = roi.topRight().y();
|
||
selectWidth=roi.width();
|
||
selectHeight=roi.height();
|
||
isFirstFrame=true;
|
||
ui->graphicsView->state=true;
|
||
|
||
}
|
||
|
||
|
||
void MainWindow::on_pushButton_2_clicked()
|
||
{
|
||
double ALon =ui->lineEdit_9->text().toDouble();
|
||
double ALan = ui->lineEdit_10->text().toDouble();
|
||
double AAlt =ui->lineEdit_11->text().toDouble();
|
||
|
||
double AHeading = ui->lineEdit->text().toDouble();
|
||
double APitch = ui->lineEdit_2->text().toDouble();
|
||
double ARoll = ui->lineEdit_3->text().toDouble();
|
||
|
||
// if(ui->lineEdit_4->text().isEmpty()||ui->lineEdit_5->text().isEmpty()||ui->lineEdit_6->text().isEmpty()){
|
||
// QMessageBox::critical(this,"Error","B Longtitude/Lantitude/Altitude is empty.");
|
||
// return ;
|
||
// }
|
||
double BLon = ui->lineEdit_4->text().toDouble();
|
||
double BLan = ui->lineEdit_5->text().toDouble();
|
||
double BAlt= ui->lineEdit_6->text().toDouble();
|
||
|
||
|
||
|
||
// gcal->setPositionA(ALon,ALan,AAlt);
|
||
// gcal->setPositionB(BLon,BLan,BAlt);
|
||
// gcal->setRealTimeAttitude(AHeading,APitch,ARoll);
|
||
|
||
|
||
|
||
|
||
// // // A机位置
|
||
// ALon = 120.30071541667; // A机经度，deg
|
||
// ALan = 30.2623007866115; // A机纬度，deg
|
||
// AAlt = 60.0/1000; // A机高度，km
|
||
|
||
// // // B机位置
|
||
// BLon = 120.300913900136; // B机经度，deg
|
||
// BLan = 30.2622503984337; // B机纬度，deg
|
||
// BAlt = 60.0/1000 ;
|
||
|
||
|
||
// // // 根据POS设备实时姿态角解算B机在A机载体坐标系中的位置
|
||
// AHeading = 65.516;
|
||
// APitch = -0.112;
|
||
// ARoll = 1.648;
|
||
|
||
qDebug()<<"A Longtitude is "<<ALon<<"°, Lantitude is "<<ALan<<"°,Altitude is "<<AAlt<<"km.";
|
||
qDebug()<<"B Longtitude is "<<BLon<<"°, Lantitude is "<<BLan<<"°,Altitude is "<<BAlt<<"km.";
|
||
qDebug()<<"A Heading is "<<AHeading<<"°, Pitch is "<<APitch<<"°,Roll is "<<ARoll<<"°.";
|
||
|
||
|
||
QVector<double> res = calRes(ALon,ALan,AAlt,BLon,BLan,BAlt,AHeading,APitch,ARoll); //返回指向的方位角和俯仰角度数 E-->Z, N-->U,DEGEE
|
||
|
||
rs->move(0,2,res.at(0)*67108864/360);
|
||
rs->move(0,3,res.at(1)*67108864/360);
|
||
|
||
qDebug() <<"Single Close Loop track done";
|
||
|
||
}
|
||
|
||
|
||
void MainWindow::on_pushButton_12_clicked()
|
||
{
|
||
rs->stop();
|
||
loopState= false;
|
||
// task->join();
|
||
qDebug() <<"Open Loop track";
|
||
|
||
}
|
||
|
||
|
||
void MainWindow::on_pushButton_13_clicked()
|
||
{
|
||
double zDegree;
|
||
if(ui->lineEdit_12->text().isEmpty()){
|
||
zDegree = 0.0;
|
||
}else{
|
||
if(ui->lineEdit_12->text().toDouble()<0 ||ui->lineEdit_12->text().toDouble()>360 ){
|
||
QMessageBox::critical(this,"Error","Z Degree < 0 or Z Degree > 360");
|
||
return;
|
||
}
|
||
zDegree = ui->lineEdit_12->text().toDouble();
|
||
}
|
||
|
||
double uDegree;
|
||
if(ui->lineEdit_13->text().isEmpty()){
|
||
uDegree = 0.0;
|
||
}else{
|
||
if(ui->lineEdit_13->text().toDouble()<0 ||ui->lineEdit_13->text().toDouble()>360 ){
|
||
QMessageBox::critical(this,"Error","U Degree < 0 or U Degree > 360");
|
||
return ;
|
||
}
|
||
uDegree = ui->lineEdit_13->text().toDouble();
|
||
}
|
||
|
||
|
||
|
||
rs->move(1,2,zDegree*67108864/360);
|
||
rs->move(1,3,uDegree*67108864/360);
|
||
|
||
}
|
||
|
||
|
||
void MainWindow::on_pushButton_14_clicked()
|
||
{
|
||
|
||
loopState =true ;
|
||
qDebug() <<"Start RT Close Loop track";
|
||
// task = std::thread(&MainWindow::closeloop,this);
|
||
task = new std::thread(&MainWindow::closeloop,this);
|
||
}
|
||
|