V20251125-2.2.6
修改了CLS切图函数的逻辑，现在会按最初图像的中心点开始切图。 修改算法NG(halconNg)时存图的文件夹名字为algoNG。 修复基恩士相机可能出现丢亮度图的问题。
This commit is contained in:
@@ -124,8 +124,15 @@ void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightPro
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}
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if (_luminanceBuf[dwUser] <= pLuminanceProfileArray || (unsigned short*)_luminanceBuf[dwUser] >= (WORD*)pLuminanceProfileArray + dwProfileDataCount * dwCount * 2)
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memcpy(&_luminanceBuf[dwUser][0], pLuminanceProfileArray, dwProfileDataCount * dwCount * 2);
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else
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "memcpy _luminanceBuf error";
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else {
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try {
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memcpy(&_luminanceBuf[dwUser][0], pLuminanceProfileArray, dwProfileDataCount * dwCount * 2);
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}
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catch (...) {
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << "Get luminanceBuf failed!";
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}
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}
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}
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_imageAvailable[dwUser] = 1; // 图像获取成功 dwUser 和 deviceId 一致
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_lastImageSizeHeight[dwUser] = dwCount; // 扫描的行数， dwCount 和 yImageSize 一致
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@@ -414,9 +421,10 @@ bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
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}
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// Initialize
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if (!InitHighSpeed())
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{
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if (!InitHighSpeed()){
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " InitHighSpeed error！ " ;
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lastError = "初始化高速通讯失败！";
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return false;
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}
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return true;
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}
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@@ -476,6 +484,7 @@ bool Hd_CameraModule_3DKeyence::run()
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try
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{
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_imageAvailable[deviceId] = 0;
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while (imgTakeNum != imgTarget)
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{
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int sleepMs = 10;
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@@ -486,8 +495,8 @@ bool Hd_CameraModule_3DKeyence::run()
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QThread::msleep(10);
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if (cnt++ >= timeoutCnt)
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{
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heightMatS.push_back(cv::Mat(G_yImageSize, G_xImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
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luminanceMatS.push_back(cv::Mat(G_yImageSize, G_xImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
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heightMatS.push_back(cv::Mat(1000, 1000, CV_8UC1, cv::Scalar(0)));
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luminanceMatS.push_back(cv::Mat(1000, 1000, CV_8UC1, cv::Scalar(0)));
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imgTakeNum++;
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qDebug() << "imgGetERROR insert blank img cameraID:" << camera_name;
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continue;
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@@ -0,0 +1,71 @@
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# 获取获取当前目录名
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get_filename_component(CURRENT_FOLDER ${CMAKE_CURRENT_SOURCE_DIR} NAME)
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string(TIMESTAMP RUN_TIME)
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message( " model start : " ${CURRENT_FOLDER}:${RUN_TIME})
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set(DLL_NAMES "keyence3D" "opencv")
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foreach(child ${DLL_NAMES})
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LIST(APPEND ENV_INCLUDE ${${child}_include})
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LIST(APPEND ENV_LIB ${${child}_lib})
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LIST(APPEND ENV_TARGET ${${child}_target_link})
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endforeach()
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message(" ENV_INCLUDE : " ${ENV_INCLUDE} )
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message(" ENV_LIB : " ${ENV_LIB} )
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message(" ENV_TARGET : " ${ENV_TARGET} )
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include_directories(
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${ENV_INCLUDE}
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)
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link_directories (
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${ENV_LIB}
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)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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SET(CMAKE_CXX_STANDARD 11)
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SET(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_AUTOMOC ON)
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SET(CMAKE_AUTOUIC OFF)
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set(CMAKE_AUTORCC ON)
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FILE(GLOB HEAD_FILES "./*.h" )
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FILE(GLOB SRC_FILES "./*.cpp")
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FILE(GLOB UI_FILES "./*.ui")
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#find_package(Qt5 COMPONENTS Core REQUIRED)
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find_package(QT NAMES Qt6 Qt5 COMPONENTS Core REQUIRED)
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find_package(Qt${QT_VERSION_MAJOR} COMPONENTS Core REQUIRED)
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add_library(${CURRENT_FOLDER} SHARED
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${HEAD_FILES}
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${SRC_FILES}
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${UI_FILES}
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)
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set_target_properties(${CURRENT_FOLDER} PROPERTIES LINKER_LANGUAGE C
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RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}
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ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_ARCHIVE_OUTPUT_DIRECTORY}
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)
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target_link_libraries(${CURRENT_FOLDER} PRIVATE
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${ENV_TARGET}
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Qt${QT_VERSION_MAJOR}::Core
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)
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# target_compile_definitions(${CURRENT_FOLDER} PRIVATE HD_AIDEMO_MODULE_LIBRARY)
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string(TIMESTAMP RUN_TIME)
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message( " model end : " ${CURRENT_FOLDER}:${RUN_TIME})
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@@ -0,0 +1,567 @@
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#include "Hd_CameraModule_3DKeyence.h"
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#include <exception>
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#include <qthread.h>
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#include <QTextCodec>
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#include <qqueue.h>
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#include <qmutex.h>
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int G_xImageSize = 0; // Number of X points.
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int G_yImageSize = 0; // Number of Y lines.
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//const int MAX_LJXA_XDATANUM = 3200;
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//const unsigned int BUFFER_FULL_COUNT = 30000;
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//
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//int _imageAvailable[MAX_LJXA_DEVICENUM] = { 0 };
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//unsigned short* _luminanceBuf[MAX_LJXA_DEVICENUM] = { 0 };
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//unsigned short* _heightBuf[MAX_LJXA_DEVICENUM] = { 0 };
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//int _lastImageSizeHeight[MAX_LJXA_DEVICENUM];
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int imgTakeNum = 0, imgTarget = 1;
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int imgIndex = 0;
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int getImageTimeOut = 3000;
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QString lastError;
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QMutex* m_mutex = nullptr;
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std::mutex bufferMutex;
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QQueue< cv::Mat> heightMatS;//高度图
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QQueue<cv::Mat> luminanceMatS;//灰度图
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//data == "rest_newProductIn"时要结束run；机台报警，取图超时，复位后重新拍的情况。
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bool ifBreak = false;
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//ifRunning减少ifBreak的判断；"rest_newProductIn"时，Logic_camera_thread框架会结束未处理完的相相机取图
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bool ifRunning = false;
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QString byteArrayToUnicode(const QByteArray array) {
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// state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
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// 如果转换成功，则值为0，如果值大于0，则说明转换失败
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QTextCodec::ConverterState state;
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// 先尝试使用utf-8的方式把QByteArray转换成QString
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QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
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// 如果转换时无效字符数量大于0，说明编码格式不对
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if (state.invalidChars > 0)
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{
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// 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
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text = QTextCodec::codecForName("GBK")->toUnicode(array);
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}
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return text;
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}
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bool JumpFlag = false;
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int yCounts;
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void myCallbackFunc(LJX8IF_PROFILE_HEADER* pProfileHeaderArray, WORD* pHeightProfileArray, WORD* pLuminanceProfileArray, DWORD dwLuminanceEnable, DWORD dwProfileDataCount, DWORD dwCount, DWORD dwNotify, DWORD dwUser)
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{
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try
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " --> Enter callback function";
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwProfileDataCount = " << dwProfileDataCount;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwCount = " << dwCount;
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std::cout << "dwCount->" << dwCount <<" dwProfileDataCount"<< dwProfileDataCount << "dwNotify = " << dwNotify<< std::endl;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwNotify = " << dwNotify;
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//if (dwCount < 1000)return;
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/* if ((dwNotify != 0) || (dwNotify & 0x10000) != 0)
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{
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return;
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}*/
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std::lock_guard<std::mutex> lock(bufferMutex);
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if (dwCount == 0)
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{
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return;
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}
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if (_imageAvailable[dwUser] == 1)
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{
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return;
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}
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// _heightBuf 代表的含义:程序里的高度缓存区，pHeightProfileArray 回调函数里的数据
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// 此处崩溃的可能性：xImageSize 配置文件中设置的值和3D相机调试软件设置的值不一致，会崩溃。
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if (JumpFlag)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "JumpFlag";
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return;
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}
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if (_heightBuf[dwUser] == NULL)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_heightBuf[dwUser] == NULL";
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_heightBuf[dwUser] = (unsigned short*)malloc(G_yImageSize * MAX_LJXA_XDATANUM * 2);
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//return;
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}
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if (pHeightProfileArray == NULL)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pHeightProfileArray== NULL";
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return;
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_heightBuf[dwUser]: " << _heightBuf[dwUser];
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pHeightProfileArray: " << pHeightProfileArray;
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//判断内存是否重叠
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if (_heightBuf[dwUser] <= pHeightProfileArray || (unsigned short*)_heightBuf[dwUser] >= (WORD*)pHeightProfileArray + dwProfileDataCount * dwCount * 2)
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{
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memcpy(&_heightBuf[dwUser][0], pHeightProfileArray, dwProfileDataCount * dwCount * 2);
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}
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else
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "first memcpy _heightBuf error";
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if (_heightBuf[dwUser] != NULL)
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{
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free(_heightBuf[dwUser]);
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_heightBuf[dwUser] = NULL;
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " memcpy _heightBuf again ";
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_heightBuf[dwUser] = (unsigned short*)malloc(yCounts * MAX_LJXA_XDATANUM * 2);
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memcpy(&_heightBuf[dwUser][0], pHeightProfileArray, dwProfileDataCount * dwCount * 2);
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Second memcpy _heightBuf success ";
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_luminanceBuf[dwUser]: " << _luminanceBuf[dwUser];
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "pLuminanceProfileArray: " << pLuminanceProfileArray;
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if (dwLuminanceEnable == 1)
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{
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if (_luminanceBuf[dwUser] == NULL)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "_luminanceBuf[dwUser]== NULL";
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//return;
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_luminanceBuf[dwUser] = (unsigned short*)malloc(G_yImageSize * MAX_LJXA_XDATANUM * 2);
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}
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if (_luminanceBuf[dwUser] <= pLuminanceProfileArray || (unsigned short*)_luminanceBuf[dwUser] >= (WORD*)pLuminanceProfileArray + dwProfileDataCount * dwCount * 2)
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memcpy(&_luminanceBuf[dwUser][0], pLuminanceProfileArray, dwProfileDataCount * dwCount * 2);
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else
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "memcpy _luminanceBuf error";
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}
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_imageAvailable[dwUser] = 1; // 图像获取成功 dwUser 和 deviceId 一致
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_lastImageSizeHeight[dwUser] = dwCount; // 扫描的行数， dwCount 和 yImageSize 一致
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}
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catch (std::exception e)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " --> execute callback function error";
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}
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}
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int Hd_CameraModule_3DKeyence::LJXA_ACQ_OpenDevice(int lDeviceId, LJX8IF_ETHERNET_CONFIG* EthernetConfig, int HighSpeedPortNo)
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{
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int errCode = LJX8IF_EthernetOpen(lDeviceId, EthernetConfig);
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_ethernetConfig[lDeviceId] = *EthernetConfig;
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_highSpeedPortNo[lDeviceId] = HighSpeedPortNo;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Open device ! errCode:" << errCode;
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return errCode;
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}
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void Hd_CameraModule_3DKeyence::LJXA_ACQ_CloseDevice(int lDeviceId)
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{
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LJX8IF_FinalizeHighSpeedDataCommunication(lDeviceId);
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LJX8IF_CommunicationClose(lDeviceId);
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Close device!";
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}
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bool Hd_CameraModule_3DKeyence::decodeInitData(QByteArray byteArray,QVector<QByteArray> &vector_data)
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{
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while (!byteArray.isEmpty())
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{
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int type = 0;
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QByteArray m_type = byteArray.mid(0,4);
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memcpy((void*)&type,(void*)m_type.data(), 4);
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byteArray.remove(0,4);
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int len = 0;
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QByteArray m_len = byteArray.mid(0,4);
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memcpy((void*)&len,(void*)m_len.data(), 4);
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byteArray.remove(0,4);
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QByteArray mm_data = byteArray.mid(0,len);
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vector_data.append(mm_data);
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byteArray.remove(0,len);
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}
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return true;
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}
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Hd_CameraModule_3DKeyence* create()
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{
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qDebug() << __FUNCTION__ << "line:" << __LINE__ << " Hd_CameraModule_3DKeyence create success!" ;
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return new Hd_CameraModule_3DKeyence;
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}
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void destory(Hd_CameraModule_3DKeyence * ptr)
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{
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if (ptr)
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{
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delete ptr;
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ptr = nullptr;
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}
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Hd_CameraModule_3DKeyence destory success!";
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}
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Hd_CameraModule_3DKeyence::Hd_CameraModule_3DKeyence()
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{
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m_mutex = new QMutex;
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}
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Hd_CameraModule_3DKeyence::~Hd_CameraModule_3DKeyence()
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{
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if (isopen)
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{
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isopen = false;
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// Stop HighSpeed
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errCode = LJX8IF_StopHighSpeedDataCommunication(deviceId);
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Stop HighSpeed errCode:" << errCode;
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LJXA_ACQ_CloseDevice(deviceId);
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qDebug() << __FUNCTION__ << "line:" << __LINE__ << " CloseDevice success!";
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if (heightImage)
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{
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free(heightImage);
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}
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if (luminanceImage)
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{
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free(luminanceImage);
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}
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}
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// Free memory
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if (_heightBuf[deviceId] != NULL)
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{
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free(_heightBuf[deviceId]);
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}
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if (_luminanceBuf[deviceId] != NULL)
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{
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free(_luminanceBuf[deviceId]);
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}
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if (startReq_ptr)
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{
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delete startReq_ptr;
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startReq_ptr = nullptr;
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}
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if (profileInfo_ptr)
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{
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delete profileInfo_ptr;
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profileInfo_ptr = nullptr;
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}
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if (setParam_Ptr)
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{
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delete setParam_Ptr;
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setParam_Ptr = nullptr;
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}
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if (getParam_Ptr)
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{
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delete getParam_Ptr;
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getParam_Ptr = nullptr;
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}
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if (m_mutex)
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{
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delete m_mutex;
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m_mutex = nullptr;
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}
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qDebug() << __FUNCTION__ << "line:" << __LINE__ << " delete success!";
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}
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bool Hd_CameraModule_3DKeyence::readData(std::vector<cv::Mat> &mats,QByteArray &data)
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{
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Q_UNUSED(data);
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QMutexLocker locker(m_mutex);
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if (luminanceMatS.empty() || heightMatS.empty())
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{
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qDebug() << " [Error] " << " srcImage is null";
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return false;
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}
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for (int i = 0; i < imgTarget; i++) {
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if (heightMatS.size() >= 1 && luminanceMatS.size() >= 1) {
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mats.push_back(luminanceMatS.dequeue());
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mats.push_back(heightMatS.dequeue());
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}
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else {
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mats.push_back(cv::Mat(G_xImageSize, G_yImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
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mats.push_back(cv::Mat(G_xImageSize, G_yImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
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}
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}
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imgTakeNum = 0;
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qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData,deviceId" << deviceId << " imgIndex" << imgIndex;
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return true;
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}
|
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bool Hd_CameraModule_3DKeyence::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
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||||
{
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if (data == "clearCahce") {
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QMutexLocker locker(m_mutex);
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heightMatS.clear();
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luminanceMatS.clear();
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}
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//2024.02.18更新，相机对应的读SN信号时，表示新产品进入，设置初始值
|
||||
//if (data == "rest_newProductIn")
|
||||
//{
|
||||
// //根据实际项目，设置初始值：曝光、增益，ROI区域等
|
||||
// /*{
|
||||
// if (expourseTimeList.size() > 0)
|
||||
// SetExposureTime(expourseTimeList[0]);
|
||||
// if (gainList.size() > 0)
|
||||
// SetGain(gainList[0]);
|
||||
// }
|
||||
// getImageNum = 0;*/
|
||||
// if (luminanceMatS.size() > 0 || heightMatS.size() > 0)
|
||||
// {
|
||||
// m_mutex->lock();
|
||||
// luminanceMatS.clear();
|
||||
// heightMatS.clear();
|
||||
// m_mutex->unlock();
|
||||
// std::cout << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name.toStdString() << std::endl;
|
||||
// qWarning() << __FUNCTION__ << " line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name;
|
||||
// }
|
||||
// if (ifRunning == true)
|
||||
// {
|
||||
// ifBreak = true;
|
||||
// Sleep(10);
|
||||
// }
|
||||
// imgIndex = 0;
|
||||
// //getImageNum = 0;
|
||||
// return true;
|
||||
//}
|
||||
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
|
||||
bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
|
||||
{
|
||||
QByteArrayList valueList = initData.split('#');
|
||||
if (valueList.size() < 6) {
|
||||
qDebug() << "[Error] " << " Hd_CameraModule_HIK initParas fail--params error!参数数量不满足";
|
||||
lastError = "参数数量不满足";
|
||||
return false;
|
||||
}
|
||||
EthernetConfig.wPortNo = 24691;
|
||||
|
||||
camera_name = valueList[0];
|
||||
auto valueL1 = valueList[0].split('.');
|
||||
if (valueL1.size() == 4)
|
||||
{
|
||||
EthernetConfig.abyIpAddress[0] = valueL1.at(0).toInt();
|
||||
EthernetConfig.abyIpAddress[1] = valueL1.at(1).toInt();
|
||||
EthernetConfig.abyIpAddress[2] = valueL1.at(2).toInt();
|
||||
EthernetConfig.abyIpAddress[3] = valueL1.at(3).toInt();
|
||||
}
|
||||
|
||||
deviceId = valueList[1].toInt();
|
||||
|
||||
xImageSize = valueList[2].toInt();
|
||||
G_xImageSize = valueList[2].toInt();
|
||||
|
||||
yImageSize = valueList[3].toInt();
|
||||
G_yImageSize = valueList[3].toInt();
|
||||
|
||||
imgTarget = valueList[4].toInt();
|
||||
|
||||
getImageTimeOut = valueList[5].toInt();
|
||||
yCounts = yImageSize;
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " camera_name:" << camera_name << " paras init is success!";
|
||||
|
||||
// 初始化申请空间 20230214
|
||||
startReq_ptr = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
|
||||
profileInfo_ptr = new LJX8IF_PROFILE_INFO;
|
||||
startReq_ptr->bySendPosition = 2;
|
||||
|
||||
setParam_Ptr = new LJXA_ACQ_SETPARAM;
|
||||
getParam_Ptr = new LJXA_ACQ_GETPARAM;
|
||||
|
||||
setParam_Ptr->y_linenum = yImageSize;
|
||||
setParam_Ptr->y_pitch_um = y_pitch_um;
|
||||
setParam_Ptr->timeout_ms = timeout_ms;
|
||||
setParam_Ptr->use_external_batchStart = use_external_batchStart;
|
||||
|
||||
// Allocate user memory
|
||||
heightImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
|
||||
luminanceImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
|
||||
|
||||
errCode = LJXA_ACQ_OpenDevice(deviceId, &EthernetConfig, HighSpeedPortNo);
|
||||
if ( errCode != LJX8IF_RC_OK )
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Failed to open device ";
|
||||
//Free user memory
|
||||
if ( heightImage )
|
||||
{
|
||||
free(heightImage);
|
||||
}
|
||||
|
||||
if ( luminanceImage )
|
||||
{
|
||||
free(luminanceImage);
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
isopen = true;
|
||||
|
||||
// Allocate memory
|
||||
_heightBuf[deviceId] = (unsigned short*)malloc(yImageSize * MAX_LJXA_XDATANUM * 2);
|
||||
if (_heightBuf[deviceId] == NULL)
|
||||
{
|
||||
return LJX8IF_RC_ERR_NOMEMORY;
|
||||
}
|
||||
|
||||
_luminanceBuf[deviceId] = (unsigned short*)malloc(yImageSize * MAX_LJXA_XDATANUM * 2);
|
||||
if (_luminanceBuf[deviceId] == NULL)
|
||||
{
|
||||
return LJX8IF_RC_ERR_NOMEMORY;
|
||||
}
|
||||
|
||||
// Initialize
|
||||
if (!InitHighSpeed())
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " InitHighSpeed error！ " ;
|
||||
}
|
||||
return true;
|
||||
}
|
||||
bool Hd_CameraModule_3DKeyence::InitHighSpeed()
|
||||
{
|
||||
try
|
||||
{
|
||||
if ( startReq_ptr == nullptr )
|
||||
{
|
||||
startReq_ptr = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
|
||||
startReq_ptr->bySendPosition = 2;
|
||||
qWarning() << __FUNCTION__ << " line: " << __LINE__ << " startReq_ptr is null! ";
|
||||
}
|
||||
if ( profileInfo_ptr == nullptr )
|
||||
{
|
||||
profileInfo_ptr = new LJX8IF_PROFILE_INFO;
|
||||
qWarning() << __FUNCTION__ << " line: " << __LINE__ << " profileInfo_ptr is null! ";
|
||||
}
|
||||
errCode = LJX8IF_InitializeHighSpeedDataCommunicationSimpleArray(deviceId, &_ethernetConfig[deviceId], _highSpeedPortNo[deviceId], &myCallbackFunc, yImageSize, deviceId); // 初始化高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode:" << errCode;
|
||||
errCode = LJX8IF_PreStartHighSpeedDataCommunication(deviceId, startReq_ptr, profileInfo_ptr); // 预开始启动高速通信，作用 做预连接
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode:" << errCode;
|
||||
|
||||
// zUnit
|
||||
errCode = LJX8IF_GetZUnitSimpleArray(deviceId, &zUnit);
|
||||
if (errCode != 0 || zUnit == 0)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " Failed to acquire zunit! ";
|
||||
return false;
|
||||
}
|
||||
errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId); // 正式开始高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode: " << errCode;
|
||||
|
||||
//Start HighSpeed
|
||||
_imageAvailable[deviceId] = 0;
|
||||
_lastImageSizeHeight[deviceId] = 0;
|
||||
}
|
||||
catch (const QString ev)
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " ev: " << ev;
|
||||
return false;
|
||||
}
|
||||
return true;
|
||||
|
||||
}
|
||||
|
||||
bool Hd_CameraModule_3DKeyence::run()
|
||||
{
|
||||
|
||||
ifRunning = true;
|
||||
ifBreak = false;
|
||||
if ( !isopen )
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " device is not opened! ";
|
||||
return false;
|
||||
}
|
||||
|
||||
try
|
||||
{
|
||||
while (imgTakeNum != imgTarget)
|
||||
{
|
||||
int sleepMs = 10;
|
||||
int cnt = 0;
|
||||
int timeoutCnt = getImageTimeOut / sleepMs;
|
||||
while (_imageAvailable[deviceId] != 1 )
|
||||
{
|
||||
QThread::msleep(10);
|
||||
if (cnt++ >= timeoutCnt)
|
||||
{
|
||||
heightMatS.push_back(cv::Mat(G_yImageSize, G_xImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
|
||||
luminanceMatS.push_back(cv::Mat(G_yImageSize, G_xImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
|
||||
imgTakeNum++;
|
||||
qDebug() << "imgGetERROR insert blank img cameraID:" << camera_name;
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
std::lock_guard<std::mutex> lock(bufferMutex);
|
||||
_getParam[deviceId].luminance_enabled = profileInfo_ptr->byLuminanceOutput;
|
||||
_getParam[deviceId].x_pointnum = profileInfo_ptr->wProfileDataCount;
|
||||
_getParam[deviceId].y_linenum_acquired = _lastImageSizeHeight[deviceId];
|
||||
_getParam[deviceId].x_pitch_um = profileInfo_ptr->lXPitch / 100.0f;
|
||||
_getParam[deviceId].y_pitch_um = y_pitch_um;
|
||||
_getParam[deviceId].z_pitch_um = zUnit / 100.0f;
|
||||
|
||||
*getParam_Ptr = _getParam[deviceId];
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " getPara Finished: ";
|
||||
int xDataNum = _getParam[deviceId].x_pointnum;
|
||||
|
||||
unsigned short* dwHeightBuf = (unsigned short*)&_heightBuf[deviceId][0];
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " dwHeightBuf Init Finished: ";
|
||||
memcpy(heightImage, dwHeightBuf, xDataNum * yImageSize * 2);
|
||||
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Height Img memcpy Finished: ";
|
||||
std::vector<unsigned short>poits(xDataNum * yImageSize * 2, 0);
|
||||
if (_getParam[deviceId].luminance_enabled > 0)
|
||||
{
|
||||
unsigned short* dwLuminanceBuf = (unsigned short*)&_luminanceBuf[deviceId][0];
|
||||
memcpy(luminanceImage, dwLuminanceBuf, xDataNum * yImageSize * 2);
|
||||
}
|
||||
// Free memory
|
||||
if (_heightBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_heightBuf[deviceId]);
|
||||
_heightBuf[deviceId] = NULL;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_luminanceBuf[deviceId]);
|
||||
_luminanceBuf[deviceId] = NULL;
|
||||
}
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Free memory Finished: ";
|
||||
|
||||
m_mutex->lock();
|
||||
cv::Mat luminanceMat;
|
||||
if(_lastImageSizeHeight[deviceId] != 0)
|
||||
luminanceMat = cv::Mat(_lastImageSizeHeight[deviceId], xImageSize, CV_16UC1, luminanceImage);
|
||||
else
|
||||
luminanceMat = cv::Mat(yImageSize, xImageSize, CV_16UC1, luminanceImage);
|
||||
cv::normalize(luminanceMat, luminanceMat, 0, 255, cv::NORM_MINMAX);
|
||||
cv::convertScaleAbs(luminanceMat, luminanceMat);
|
||||
|
||||
luminanceMatS.enqueue(luminanceMat);
|
||||
|
||||
cv::Mat heightImg;
|
||||
if (_lastImageSizeHeight[deviceId] != 0)
|
||||
cv::Mat(_lastImageSizeHeight[deviceId], xImageSize, CV_16UC1, heightImage).copyTo(heightImg);
|
||||
else
|
||||
cv::Mat(yImageSize, xImageSize, CV_16UC1, heightImage).copyTo(heightImg);
|
||||
heightMatS.enqueue(heightImg);
|
||||
m_mutex->unlock();
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;
|
||||
//Start HighSpeed
|
||||
_imageAvailable[deviceId] = 0;
|
||||
_lastImageSizeHeight[deviceId] = 0;
|
||||
imgTakeNum++;
|
||||
}
|
||||
qDebug() << camera_name <<"Finish";
|
||||
return true;
|
||||
}
|
||||
catch (QString ev)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line: " << __LINE__ << " ev: " << ev;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
@@ -0,0 +1,108 @@
|
||||
#ifndef Hd_CameraModule_3DKeyence_H
|
||||
#define Hd_CameraModule_3DKeyence_H
|
||||
|
||||
#include <QtCore/qglobal.h>
|
||||
#include <QByteArray>
|
||||
#include <QDebug>
|
||||
#include<iostream>
|
||||
#include <Windows.h>
|
||||
|
||||
#include "LJX8_IF.h"
|
||||
#include "LJX8_ErrorCode.h"
|
||||
|
||||
#include <subModuleBase.h>
|
||||
|
||||
#pragma comment(lib, "winmm.lib")
|
||||
#pragma execution_character_set("utf-8")
|
||||
|
||||
typedef struct {
|
||||
int y_linenum;
|
||||
float y_pitch_um;
|
||||
int timeout_ms;
|
||||
int use_external_batchStart;
|
||||
} LJXA_ACQ_SETPARAM;
|
||||
|
||||
typedef struct {
|
||||
int luminance_enabled;
|
||||
int x_pointnum;
|
||||
int y_linenum_acquired;
|
||||
float x_pitch_um;
|
||||
float y_pitch_um;
|
||||
float z_pitch_um;
|
||||
} LJXA_ACQ_GETPARAM;
|
||||
|
||||
|
||||
const int MAX_LJXA_DEVICENUM = 6;
|
||||
const int MAX_LJXA_XDATANUM = 3200;
|
||||
const unsigned int BUFFER_FULL_COUNT = 30000;
|
||||
|
||||
static int _imageAvailable[MAX_LJXA_DEVICENUM] = { 0 };
|
||||
static unsigned short* _luminanceBuf[MAX_LJXA_DEVICENUM] = { 0 };
|
||||
static unsigned short* _heightBuf[MAX_LJXA_DEVICENUM] = { 0 };
|
||||
static int _lastImageSizeHeight[MAX_LJXA_DEVICENUM];
|
||||
|
||||
class Hd_CameraModule_3DKeyence :public dsModuleBase
|
||||
{
|
||||
public:
|
||||
Hd_CameraModule_3DKeyence();
|
||||
virtual ~Hd_CameraModule_3DKeyence();
|
||||
//从类中读数据到实例对象
|
||||
bool readData(std::vector<cv::Mat>& mats, QByteArray& data);
|
||||
//实例对象把数据写入到类
|
||||
bool writeData(std::vector<cv::Mat>& mat, QByteArray& data);
|
||||
bool initParas(QByteArray& initData);
|
||||
bool run();
|
||||
|
||||
int LJXA_ACQ_OpenDevice(int lDeviceId, LJX8IF_ETHERNET_CONFIG* EthernetConfig, int HighSpeedPortNo);
|
||||
//int LJXA_ACQ_StartAsync(int lDeviceId, LJXA_ACQ_SETPARAM* setParam);
|
||||
//int LJXA_ACQ_AcquireAsync(int lDeviceId, unsigned short* heightImage, unsigned short* luminanceImage, LJXA_ACQ_SETPARAM* setParam, LJXA_ACQ_GETPARAM* getParam);
|
||||
void LJXA_ACQ_CloseDevice(int lDeviceId);
|
||||
|
||||
bool decodeInitData(QByteArray byteArray, QVector<QByteArray>& vector_data);
|
||||
bool InitHighSpeed();
|
||||
private:
|
||||
//int LJXA_ACQ_Acquire(int lDeviceId, unsigned short* heightImage, unsigned short* luminanceImage, LJXA_ACQ_SETPARAM* setParam, LJXA_ACQ_GETPARAM* getParam);
|
||||
LJX8IF_HIGH_SPEED_PRE_START_REQ* startReq_ptr = nullptr;
|
||||
LJX8IF_PROFILE_INFO* profileInfo_ptr = nullptr;
|
||||
|
||||
// Static variable
|
||||
LJX8IF_ETHERNET_CONFIG _ethernetConfig[MAX_LJXA_DEVICENUM];
|
||||
int _highSpeedPortNo[MAX_LJXA_DEVICENUM];
|
||||
|
||||
LJXA_ACQ_GETPARAM _getParam[MAX_LJXA_DEVICENUM];
|
||||
|
||||
int deviceId = 0; // Set "0" if you use only 1 head.
|
||||
int xImageSize = 0; // Number of X points.
|
||||
int yImageSize = 0; // Number of Y lines.
|
||||
float y_pitch_um = 0; // Data pitch of Y data. (e.g. your encoder setting)
|
||||
int timeout_ms = 0; // Timeout value for the acquiring image (in milisecond).
|
||||
int use_external_batchStart = 1; // Set "1" if you controll the batch start timing externally. (e.g. terminal input) 0内部触发，1外部触发
|
||||
std::string outputFilePath1 = "sample_height.csv";
|
||||
std::string outputFilePath2 = "sample_height.tif";
|
||||
std::string outputFilePath3 = "sample_luminance.tif";
|
||||
|
||||
//std::vector< cv::Mat> vector_mat;
|
||||
unsigned short zUnit = 0;
|
||||
|
||||
unsigned short* heightImage = nullptr; // Height image
|
||||
unsigned short* luminanceImage = nullptr; // Luminance image
|
||||
|
||||
LJXA_ACQ_SETPARAM* setParam_Ptr = nullptr;
|
||||
LJXA_ACQ_GETPARAM* getParam_Ptr = nullptr;
|
||||
int HighSpeedPortNo = 24692; // Port number for high-speed communication
|
||||
bool isopen = false;
|
||||
int errCode;
|
||||
|
||||
LJX8IF_ETHERNET_CONFIG EthernetConfig;
|
||||
|
||||
QString camera_name; // 相机名称
|
||||
int recontimeout_ms = 3000;
|
||||
};
|
||||
|
||||
extern "C"
|
||||
{
|
||||
Q_DECL_EXPORT Hd_CameraModule_3DKeyence* create();
|
||||
Q_DECL_EXPORT void destory(Hd_CameraModule_3DKeyence* ptr);
|
||||
}
|
||||
|
||||
#endif // HD_MVCAMERA_MODULE_H
|
||||
@@ -0,0 +1,3 @@
|
||||
基恩士3D相机
|
||||
初始化格式 IP#DEVICE-ID（手动按照初始化的顺序从0开始递增）#图像宽(X)#图像高(Y)#取图次数#超时时间
|
||||
192.168.31.1#0#3200#850#1#1000
|
||||
Reference in New Issue
Block a user