优化备份
This commit is contained in:
RCi
@@ -0,0 +1,693 @@
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#include "Hd_CameraModule_3DKeyence.h"
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#include <exception>
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#include <QTextCodec>
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#include <qqueue.h>
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#include <qmutex.h>
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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 imgIndex = 0;
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QMutex* m_mutex=nullptr;
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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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std::mutex mtx;
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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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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "dwNotify = " << dwNotify;
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if ((dwNotify != 0) || (dwNotify & 0x10000) != 0) return;
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if (dwCount == 0) return;
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if (_imageAvailable[dwUser] == 1) return;
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std::lock_guard<std::mutex> lock(mtx);
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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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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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}
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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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m_mutex->lock();
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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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m_mutex->unlock();
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return false;
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}
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cv::Mat mheightMat2 = cv::Mat();
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heightMatS.dequeue().copyTo(mheightMat2);
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cv::Mat mluminanceMat2;
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luminanceMatS.dequeue().copyTo(mluminanceMat2);
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mats.push_back(mheightMat2.clone());
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mats.push_back(mluminanceMat2.clone());
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m_mutex->unlock();
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/*for (int i = 0; i < vector_mat.size(); i++)
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{
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cv::Mat img = cv::Mat();
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vector_mat[i].copyTo(img);
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mats.push_back(img);
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}*/
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//mats = vector_mat;
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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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//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
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if (data == "rest_newProductIn")
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{
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//根据实际项目，设置初始值：曝光、增益，ROI区域等
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/*{
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if (expourseTimeList.size() > 0)
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SetExposureTime(expourseTimeList[0]);
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if (gainList.size() > 0)
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SetGain(gainList[0]);
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}
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getImageNum = 0;*/
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if (luminanceMatS.size() > 0 || heightMatS.size() > 0)
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{
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m_mutex->lock();
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luminanceMatS.clear();
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heightMatS.clear();
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m_mutex->unlock();
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std::cout << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name.toStdString() << std::endl;
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qWarning() << __FUNCTION__ << " line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << camera_name;
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}
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if (ifRunning == true)
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{
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ifBreak = true;
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Sleep(10);
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}
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imgIndex = 0;
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//getImageNum = 0;
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return true;
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}
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return true;
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}
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//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...
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bool Hd_CameraModule_3DKeyence::initParas(QByteArray& initData)
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{
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QByteArrayList valueList = initData.split('+');
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camera_name = valueList[0];
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//deviceId = valueList[0].toInt(); //相机头序号
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if (valueList.size() > 1)
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for (int i = 1; i < valueList.size(); i++)
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{
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/*if (valueList[i].contains("是否为标准通信流程"))
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{
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if (valueList[i].contains("true"))
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ifStandard = true;
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}
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if (valueList[i].contains("取图超时"))
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{
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QByteArrayList valueL = valueList[i].split('#');
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if (valueL.size() > 1)
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getImageTimeOut = valueL[1].toInt();
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if (getImageTimeOut < 50)
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getImageTimeOut = 1000;
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}*/
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QString valuei = byteArrayToUnicode(valueList[i]);
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if (valuei.contains("ip"))
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{
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//ip#192.168.0.1
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QStringList valueL = valuei.split("#");
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if (valueL.size() == 2)
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{
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QStringList valueL1 = valueL[1].split(".");
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if (valueL1.size() == 4)
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{
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EthernetConfig.abyIpAddress[0] = valueL1.at(0).toInt();
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EthernetConfig.abyIpAddress[1] = valueL1.at(1).toInt();
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EthernetConfig.abyIpAddress[2] = valueL1.at(2).toInt();
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EthernetConfig.abyIpAddress[3] = valueL1.at(3).toInt();
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}
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}
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}
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if (valuei.contains("deviceId"))
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{
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QStringList valueL = valuei.split('#');
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if (valueL.size() == 2)
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{
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deviceId = valueL[1].toInt();
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}
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}
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if (valuei.contains("port"))
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{
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//port#24691
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QStringList valueL = valuei.split('#');
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if (valueL.size() == 2)
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{
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EthernetConfig.wPortNo = valueL[1].toInt();
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}
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}
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if (valuei.contains("xImageSize"))
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{
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//xImageSize#1600
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QStringList valueL = valuei.split('#');
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if (valueL.size() == 2)
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{
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xImageSize = valueL[1].toInt();
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}
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}
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if (valuei.contains("yImageSize"))
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{
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//yImageSize#2000
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QStringList valueL = valuei.split('#');
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if (valueL.size() == 2)
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{
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yImageSize = valueL[1].toInt();
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}
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}
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if (valuei.contains("y_pitch_um"))
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{
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//y_pitch_um#40
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QStringList valueL = valuei.split('#');
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if (valueL.size() == 2)
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{
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y_pitch_um = valueL[1].toDouble();
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}
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}
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if (valuei.contains("timeout"))
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{
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//timeout_ms#2900
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QStringList valueL = valuei.split('#');
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if (valueL.size() == 2)
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{
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timeout_ms = valueL[1].toInt();
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}
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}
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}
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yCounts = yImageSize;
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " camera_name:" << camera_name << " paras init is success!";
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// 初始化申请空间 20230214
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startReq_ptr = new LJX8IF_HIGH_SPEED_PRE_START_REQ;
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profileInfo_ptr = new LJX8IF_PROFILE_INFO;
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startReq_ptr->bySendPosition = 2;
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setParam_Ptr = new LJXA_ACQ_SETPARAM;
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getParam_Ptr = new LJXA_ACQ_GETPARAM;
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setParam_Ptr->y_linenum = yImageSize;
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setParam_Ptr->y_pitch_um = y_pitch_um;
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setParam_Ptr->timeout_ms = timeout_ms;
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setParam_Ptr->use_external_batchStart = use_external_batchStart;
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// Allocate user memory
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heightImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
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luminanceImage = (unsigned short*)malloc(sizeof(unsigned short) * xImageSize * yImageSize);
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errCode = LJXA_ACQ_OpenDevice(deviceId, &EthernetConfig, HighSpeedPortNo);
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if ( errCode != LJX8IF_RC_OK )
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Failed to open device ";
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//Free user memory
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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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{
|
||||
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
|
||||
{
|
||||
if (_imageAvailable[deviceId] == 0)
|
||||
{
|
||||
JumpFlag = false;
|
||||
errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId); // 正式开始高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " errCode: " << errCode;
|
||||
if (errCode != 0x80A1 && errCode != 0x0000)
|
||||
{
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Restart HighSpeedDataCommunication";
|
||||
errCode = LJX8IF_StopHighSpeedDataCommunication(deviceId);
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Stop HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_FinalizeHighSpeedDataCommunication(deviceId);
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Fini HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_InitializeHighSpeedDataCommunicationSimpleArray(deviceId, &_ethernetConfig[deviceId], _highSpeedPortNo[deviceId], &myCallbackFunc, yImageSize, deviceId); // 初始化高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Init HSC 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__ << " PreStart HSC errCode:" << errCode;
|
||||
errCode = LJX8IF_StartHighSpeedDataCommunication(deviceId); // 正式开始高速通讯
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Start HSC errCode: " << errCode;
|
||||
}
|
||||
|
||||
// Allocate memory
|
||||
if (_heightBuf[deviceId])
|
||||
{
|
||||
free(_heightBuf[deviceId]);
|
||||
_heightBuf[deviceId] = NULL;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId])
|
||||
{
|
||||
free(_luminanceBuf[deviceId]);
|
||||
_luminanceBuf[deviceId] = NULL;
|
||||
}
|
||||
int yDataNum = setParam_Ptr->y_linenum;
|
||||
_heightBuf[deviceId] = (unsigned short*)malloc(yDataNum * MAX_LJXA_XDATANUM * 2);
|
||||
_luminanceBuf[deviceId] = (unsigned short*)malloc(yDataNum * MAX_LJXA_XDATANUM * 2);
|
||||
|
||||
if (_heightBuf[deviceId] == NULL)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId] == NULL)
|
||||
{
|
||||
return false;
|
||||
}
|
||||
|
||||
int errCode;
|
||||
|
||||
//StartMeasure(Batch Start)
|
||||
if (use_external_batchStart > 0)
|
||||
{
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
errCode = LJX8IF_StartMeasure(deviceId); // 启动软件触发,等同于软件中点击开始批处理操作
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " Measure Start(Batch Start) ! errCode:" << errCode;
|
||||
}
|
||||
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " acquring image...! ";
|
||||
DWORD start = timeGetTime();
|
||||
while (true)
|
||||
{
|
||||
DWORD ts = timeGetTime() - start;
|
||||
if ((DWORD)timeout_ms < ts || ifBreak == true)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " timeout_ms " << ts;
|
||||
JumpFlag = true;
|
||||
break;
|
||||
}
|
||||
if (_imageAvailable[deviceId])
|
||||
{
|
||||
qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " deviceId::" << deviceId << " checkImg getImg time" << ts << " imgIndex" << imgIndex++;
|
||||
break;
|
||||
}
|
||||
Sleep(1);
|
||||
}
|
||||
Sleep(1);
|
||||
|
||||
}
|
||||
|
||||
if (_imageAvailable[deviceId] != 1)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << "_imageAvailable[deviceId] != 1";
|
||||
//Free memory
|
||||
if (_heightBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_heightBuf[deviceId]);
|
||||
_heightBuf[deviceId] = NULL;
|
||||
}
|
||||
|
||||
if (_luminanceBuf[deviceId] != NULL)
|
||||
{
|
||||
free(_luminanceBuf[deviceId]);
|
||||
_luminanceBuf[deviceId] = NULL;
|
||||
}
|
||||
// KeyModify 20230301 清理控制器里的缓存数据，此处是考虑超时情况下，对数据的清理操作。
|
||||
errCode = LJX8IF_ClearMemory(deviceId);
|
||||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " errCode:" << errCode;
|
||||
//Start HighSpeed
|
||||
_imageAvailable[deviceId] = 0;
|
||||
_lastImageSizeHeight[deviceId] = 0;
|
||||
return false;
|
||||
}
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << "test";
|
||||
_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();
|
||||
//std::vector<unsigned short> points(yImageSize* xImageSize,0);
|
||||
//memcpy(points.data(), luminanceImage, yImageSize* xImageSize);
|
||||
//std::vector<unsigned short> pointsTmp;
|
||||
//for (int i = 0; i < points.size() / 2; i++)//X处理
|
||||
// pointsTmp.push_back(points[i*2]);
|
||||
//points.clear();
|
||||
//for (int i = 0; i < yImageSize / 2; i++)//Y处理
|
||||
// for (int i2 = 0; i2 < xImageSize; i2++)//Y处理
|
||||
// points.push_back(pointsTmp[i * 2 * xImageSize + i2]);
|
||||
//for (auto& data : points)data /=4;
|
||||
//cv::Mat Lmat(yImageSize / 2, xImageSize / 2, CV_8UC1, points.data());
|
||||
cv::Mat luminanceMat(yImageSize, xImageSize, CV_16UC1, luminanceImage);
|
||||
cv::normalize(luminanceMat, luminanceMat, 0, 255, cv::NORM_MINMAX);
|
||||
cv::convertScaleAbs(luminanceMat, luminanceMat);
|
||||
luminanceMatS.enqueue(luminanceMat);
|
||||
|
||||
heightMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16UC1, heightImage));
|
||||
m_mutex->unlock();
|
||||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;
|
||||
//Start HighSpeed
|
||||
_imageAvailable[deviceId] = 0;
|
||||
_lastImageSizeHeight[deviceId] = 0;
|
||||
return true;
|
||||
}
|
||||
catch (QString ev)
|
||||
{
|
||||
qCritical() << __FUNCTION__ << " line: " << __LINE__ << " ev: " << ev;
|
||||
return false;
|
||||
}
|
||||
}
|
||||
Reference in New Issue
Block a user