902 lines
32 KiB
C++
902 lines
32 KiB
C++
#include "Hd_CameraModule_3DKeyence3.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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#pragma execution_character_set("utf-8")
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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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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;
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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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struct myPBGLOBAL_callBack
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{
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void (*callBackFun)(QObject*, const std::vector<cv::Mat>&);
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QObject* m_QObject;
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QString cameraIndex;
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};
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QQueue< myPBGLOBAL_callBack> QQueue_myPBGLOBAL_callBack;
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//注册回调 string对应自身的参数协议 （自定义）
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void Hd_CameraModule_3DKeyence3::registerCallBackFun(PBGLOBAL_CALLBACK_FUN callBackFun, QObject* m_QObject, const QString& cameraIndex)
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{
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myPBGLOBAL_callBack m_myPBGLOBAL_callBack;
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m_myPBGLOBAL_callBack.callBackFun = callBackFun;
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m_myPBGLOBAL_callBack.m_QObject = m_QObject;
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m_myPBGLOBAL_callBack.cameraIndex = cameraIndex;
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QQueue_myPBGLOBAL_callBack.enqueue(m_myPBGLOBAL_callBack);
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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_3DKeyence3::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_3DKeyence3::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_3DKeyence3::decodeInitData(QByteArray byte,QVector<QByteArray> &vector_data)
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{
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while (!byte.isEmpty())
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{
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int type = 0;
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QByteArray m_type = byte.mid(0,4);
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memcpy((void*)&type,(void*)m_type.data(), 4);
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byte.remove(0,4);
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int len = 0;
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QByteArray m_len = byte.mid(0,4);
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memcpy((void*)&len,(void*)m_len.data(), 4);
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byte.remove(0,4);
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QByteArray mm_data = byte.mid(0,len);
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vector_data.append(mm_data);
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byte.remove(0,len);
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}
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return true;
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}
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Hd_CameraModule_3DKeyence3* create(int settype)
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << "Hd_CameraModule_All create success!";
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return new Hd_CameraModule_3DKeyence3(settype);
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}
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void destory(Hd_CameraModule_3DKeyence3* 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() << "[INFO] " << "Hd_CameraModule_3DLMI3 destory success!";
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}
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//int myIDS[10000] = { 0 };
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//类创建
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Hd_CameraModule_3DKeyence3::Hd_CameraModule_3DKeyence3(int settype, QObject* parent) : PbGlobalObject(settype, parent)
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{
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m_mutex = new QMutex();
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ifRunning = true;
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//QFuture<void> myF= QtConcurrent::run(this, &Hd_CameraModule_3DLMI3::threadCheckCallBack);
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if (type1 < 15)
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famliy = PGOFAMLIY::CAMERA2D;
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else if (type1 == 15)
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famliy = PGOFAMLIY::CAMERA2_5D;
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else if (type1 < 100)
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famliy = PGOFAMLIY::CAMERA3D;
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//id = myIDS[type1]++;
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qDebug() << "famliy::" << famliy;
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}
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Hd_CameraModule_3DKeyence3::~Hd_CameraModule_3DKeyence3()
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{
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//myIDS[type1]--;
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//ifFirst = true;
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ifRunning = false;
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//m_flag = false;
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Sleep(10);
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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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/*if(m_thread)
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{
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m_thread->exit();
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m_thread->wait(1);
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delete m_thread;
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m_thread = nullptr;
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}*/
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qDebug() << __FUNCTION__ << "line:" << __LINE__ << " delete success!";
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}
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//模块名称
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QString moduleName;
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//setParameter之后再调用，返回当前参数
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//相机：获取默认参数；
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//通信：获取初始化示例参数
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QMap<QString, QString> Hd_CameraModule_3DKeyence3::parameters()
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{
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if (ifFirst == true)
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{
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ifFirst = false;
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moduleName = "Hd_CameraModule_3DKeyence3#" + QString::number(id);
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QJsonObject ExampleObj = load_camera_Example();
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QJsonObject cameraObj;
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QJsonArray ExampleArray = ExampleObj.value("相机模块列表").toArray();
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for (int i = 0; i < ExampleArray.size(); i++)
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{
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QString name = ExampleArray[i].toObject().value("模块名称").toString();
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if (moduleName.split("#")[0] == name)
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cameraObj = ExampleArray[i].toObject();
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} //参数设置的数据
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QMap<QString, QString> myParasValueMap;
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myParasValueMap.insert("相机key", "输入SN");
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//默认参数显示到界面
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QJsonArray ParameterArray = cameraObj.value("相机参数").toArray();
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for (int T = 0; T < ParameterArray.size(); T++)
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{
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QJsonObject ParameterObj = ParameterArray[T].toObject();
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QString ParameterKey = ParameterObj.value("参数名").toString();
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QString ParameterValue;
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QJsonArray ParameterValueArray = ParameterObj.value("相机参数值").toArray();
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for (int P = 0; P < ParameterValueArray.size(); P++)
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{
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if (P > 0)ParameterValue.append(",");
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ParameterValue.append(ParameterValueArray[P].toString());
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}
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myParasValueMap.insert(ParameterKey, ParameterValue);
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}
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return myParasValueMap;
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}
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else return ParasValueMap;
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}
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QJsonObject Hd_CameraModule_3DKeyence3::load_camera_Example()
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{
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QDir dir = QApplication::applicationDirPath();
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QString currPath = dir.path();
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currPath = "../runtime/Bin_DEVICE";
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QString json_cfg_file_path = currPath + "/camera_Example.json";
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QJsonObject json_object;
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try
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{
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QJsonParseError jsonError;
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if (json_cfg_file_path.isEmpty())
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " JsonPath is null!";
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return json_object;
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}
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QFile JsonFile;
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JsonFile.setFileName(json_cfg_file_path);
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//if (!JsonFile.isReadable())
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//{
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// qCritical() << __FUNCTION__ << " line:" << __LINE__ << " camera_Example.json not isReadable!";
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// //return json_object;
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//}
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JsonFile.open(QIODevice::ReadOnly);
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QByteArray m_Byte = JsonFile.readAll();
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if (m_Byte.isEmpty())
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{
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qDebug() << __FUNCTION__ << " line:" << __LINE__ << json_cfg_file_path + " Content is empty";
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JsonFile.close();
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return json_object;
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}
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QJsonDocument jsonDocument(QJsonDocument::fromJson(m_Byte, &jsonError));
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if (!jsonDocument.isNull() && jsonError.error == QJsonParseError::NoError)
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{
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if (jsonDocument.isObject())
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{
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json_object = jsonDocument.object();
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JsonFile.close();
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return json_object;
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}
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}
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else
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << json_cfg_file_path + " is error!";
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}
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JsonFile.close();
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}
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catch (QString ev)
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{
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qCritical() << __FUNCTION__ << " line:" << __LINE__ << " ev:" << ev;
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}
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return json_object;
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}
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//初始化参数；通信/相机的初始化参数
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bool Hd_CameraModule_3DKeyence3::setParameter(const QMap<QString, QString>& ParameterMap)
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{
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ParasValueMap = ParameterMap;
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//if (m_module.moduleName.isEmpty())
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//m_module.moduleName = getmoduleName();// = ParasValueMap.value()
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//if(id=)
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moduleName = "Hd_CameraModule_3DKeyence3#" + QString::number(id);
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return true;
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}
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//初始化(加载模块待内存)
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bool Hd_CameraModule_3DKeyence3::init()
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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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QString initByte = ParasValueMap.value("相机key");
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foreach(QString key, ParasValueMap.keys())
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{
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if (key == "相机key")
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continue;
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initByte += "+" + key + "#";
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QString ParameterValue = ParasValueMap.value(key);
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initByte += ParameterValue.replace(",", "#");
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}
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if (initParas(initByte.toLocal8Bit()))
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{
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qDebug() << __FUNCTION__ << " line: " << __LINE__ << " key: " << ParasValueMap.value("相机key") << " initParas success! ";
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/*Base* myPtr = m_module.module_ptr;
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connect(myPtr, &Base::trigged, [=](bool ifConnect) {
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qDebug() << __FUNCTION__ << " line: " << __LINE__ << " key: " << ParasValueMap.value("相机key") << " m_module.module_ptr, &Base::trigged! ifConnect" << ifConnect;
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emit trigged(ifConnect);
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});*/
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}
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else
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{
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qCritical() << __FUNCTION__ << " line: " << __LINE__ << " moduleName: " << ParasValueMap.value("相机key") << " initParas failed! ";
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return false;
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}
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//}
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//else
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//{
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// delete m_lib;
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// m_lib = nullptr;
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// return false;
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//}
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return true;
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}
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//设置数据
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//相机：第一张图的参数，QStringList：00 曝光值 增益值；
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//相机：第N张图的参数，QStringList：非00 曝光值 增益值；
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//完成后发送信号trigged(bool);
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bool Hd_CameraModule_3DKeyence3::setData(const std::vector<cv::Mat>& mats, const QStringList& data)
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{
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//foreach(QString kidData,data)
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//if (kidData.contains("SetExposureTime"))
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{
|
||
std::vector<cv::Mat> ImgS;
|
||
QByteArray bData;
|
||
for (int i = 0; i < data.size(); i++)
|
||
//if(i>0)
|
||
// bData +=","+ data[i].toLocal8Bit();
|
||
//else
|
||
bData += data[i].toLocal8Bit();
|
||
qDebug() << "Hd_CameraModule_3DKeyence3::setData::" << bData;
|
||
writeData(ImgS, bData);
|
||
//if (m_module.module_ptr)
|
||
// m_module.module_ptr->writeData(ImgS, bData);
|
||
//return true;
|
||
}
|
||
foreach(QString kidData, data)
|
||
if (kidData.contains("SetExposureTime") || kidData.contains("rest_newProductIn"))
|
||
return true;
|
||
bool runResult = run(); //m_module.module_ptr->run();
|
||
//emit trigged(runResult);
|
||
return runResult;
|
||
}
|
||
//获取数据
|
||
bool Hd_CameraModule_3DKeyence3::data(std::vector<cv::Mat>& ImgS, QStringList& QStringListdata)
|
||
{
|
||
//std::vector<cv::Mat> ImgS;
|
||
QByteArray data;
|
||
//m_module.module_ptr->readData(ImgS, data);
|
||
readData(ImgS, data);
|
||
if (!data.isEmpty())QStringListdata.append(byteArrayToUnicode(data));
|
||
return true;
|
||
}
|
||
|
||
bool Hd_CameraModule_3DKeyence3::readData(std::vector<cv::Mat> &mats,QByteArray &data)
|
||
{
|
||
Q_UNUSED(data);
|
||
|
||
m_mutex->lock();
|
||
if (luminanceMatS.empty() || heightMatS.empty())
|
||
{
|
||
qDebug() << " [Error] " << " srcImage is null";
|
||
m_mutex->unlock();
|
||
return false;
|
||
}
|
||
cv::Mat mheightMat2 = cv::Mat();
|
||
heightMatS.dequeue().copyTo(mheightMat2);
|
||
cv::Mat mluminanceMat2 = cv::Mat();
|
||
luminanceMatS.dequeue().copyTo(mluminanceMat2);
|
||
mats.push_back(mheightMat2.clone());
|
||
mats.push_back(mluminanceMat2.clone());
|
||
|
||
m_mutex->unlock();
|
||
/*for (int i = 0; i < vector_mat.size(); i++)
|
||
{
|
||
cv::Mat img = cv::Mat();
|
||
vector_mat[i].copyTo(img);
|
||
mats.push_back(img);
|
||
}*/
|
||
//mats = vector_mat;
|
||
qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData,deviceId" << deviceId << " imgIndex" << imgIndex;
|
||
return true;
|
||
}
|
||
|
||
bool Hd_CameraModule_3DKeyence3::writeData(std::vector<cv::Mat> &mat,QByteArray &data)
|
||
{
|
||
//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_3DKeyence3::initParas(QByteArray& initData)
|
||
{
|
||
QByteArrayList valueList = initData.split('+');
|
||
camera_name = valueList[0];
|
||
deviceId = valueList[0].toInt(); //相机头序号
|
||
if (valueList.size() > 1)
|
||
for (int i = 1; i < valueList.size(); i++)
|
||
{
|
||
/*if (valueList[i].contains("是否为标准通信流程"))
|
||
{
|
||
if (valueList[i].contains("true"))
|
||
ifStandard = true;
|
||
}
|
||
if (valueList[i].contains("取图超时"))
|
||
{
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() > 1)
|
||
getImageTimeOut = valueL[1].toInt();
|
||
if (getImageTimeOut < 50)
|
||
getImageTimeOut = 1000;
|
||
}*/
|
||
if (valueList[i].contains("ip"))
|
||
{
|
||
//ip#192.168.0.1
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() == 2)
|
||
{
|
||
QByteArrayList valueL1 = valueL[1].split('.');
|
||
if (valueL1.size() == 4)
|
||
{
|
||
EthernetConfig.abyIpAddress[0] = valueL.at(0).toInt();
|
||
EthernetConfig.abyIpAddress[1] = valueL.at(1).toInt();
|
||
EthernetConfig.abyIpAddress[2] = valueL.at(2).toInt();
|
||
EthernetConfig.abyIpAddress[3] = valueL.at(3).toInt();
|
||
}
|
||
}
|
||
}
|
||
if (valueList[i].contains("port"))
|
||
{
|
||
//port#24691
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() == 2)
|
||
{
|
||
EthernetConfig.wPortNo = valueL[1].toInt();
|
||
}
|
||
}
|
||
if (valueList[i].contains("xImageSize"))
|
||
{
|
||
//xImageSize#1600
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() == 2)
|
||
{
|
||
xImageSize = valueL[1].toInt();
|
||
}
|
||
}
|
||
if (valueList[i].contains("yImageSize"))
|
||
{
|
||
//yImageSize#2000
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() == 2)
|
||
{
|
||
yImageSize = valueL[1].toInt();
|
||
}
|
||
}
|
||
if (valueList[i].contains("y_pitch_um"))
|
||
{
|
||
//y_pitch_um#40
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() == 2)
|
||
{
|
||
y_pitch_um = valueL[1].toInt();
|
||
}
|
||
}
|
||
if (valueList[i].contains("取图超时"))
|
||
{
|
||
//timeout_ms#2900
|
||
QByteArrayList valueL = valueList[i].split('#');
|
||
if (valueL.size() == 2)
|
||
{
|
||
timeout_ms = valueL[1].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_3DKeyence3::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;
|
||
}
|
||
catch (const QString ev)
|
||
{
|
||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " ev: " << ev;
|
||
return false;
|
||
}
|
||
return true;
|
||
|
||
}
|
||
bool Hd_CameraModule_3DKeyence3::run()
|
||
{
|
||
ifRunning = true;
|
||
ifBreak = false;
|
||
if ( !isopen )
|
||
{
|
||
qCritical() << __FUNCTION__ << " line:" << __LINE__ << " device is not opened! ";
|
||
return false;
|
||
}
|
||
|
||
try
|
||
{
|
||
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;
|
||
//Start HighSpeed
|
||
_imageAvailable[deviceId] = 0;
|
||
_lastImageSizeHeight[deviceId] = 0;
|
||
|
||
//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;
|
||
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: ";
|
||
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();
|
||
//vector_mat.clear();
|
||
luminanceMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, luminanceImage));
|
||
heightMatS.enqueue(cv::Mat(yImageSize, xImageSize, CV_16U, heightImage));
|
||
m_mutex->unlock();
|
||
qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;
|
||
return true;
|
||
}
|
||
catch (QString ev)
|
||
{
|
||
qCritical() << __FUNCTION__ << " line: " << __LINE__ << " ev: " << ev;
|
||
return false;
|
||
}
|
||
}
|