From ca3faa5f855d681ee0e13414d104d4c9cff207fe Mon Sep 17 00:00:00 2001 From: karllzy Date: Wed, 25 Dec 2024 20:12:07 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=B3=E9=97=AD=E4=BC=A0=E7=BB=9F=E6=A3=80?= =?UTF-8?q?=E6=B5=8B=E7=AE=97=E6=B3=95=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- camera.cpp | 33 ++++++++++++++------------------- 1 file changed, 14 insertions(+), 19 deletions(-) diff --git a/camera.cpp b/camera.cpp index cb71bfb..de8d35b 100644 --- a/camera.cpp +++ b/camera.cpp @@ -20,8 +20,6 @@ MIL_ID MilSystem; static MIL_ID MilDigitizer0; static MIL_ID MilImage0; static MIL_ID MilImage_Color0; -static MIL_ID detection_result0; -static MIL_ID MilImage_Onnx0; static MIL_ID ModifiedBufferId0; static MIL_ID MilGrabBufferList0[20] = {0}; static MIL_INT BufSizeX0 = 2048; @@ -32,8 +30,6 @@ static int FuncCount0 = 1; static MIL_ID MilDigitizer1; static MIL_ID MilImage1; static MIL_ID MilImage_Color1; -static MIL_ID detection_result1; -static MIL_ID MilImage_Onnx1; static MIL_ID ModifiedBufferId1; static MIL_ID MilGrabBufferList1[20] = {0}; static MIL_INT BufSizeX1 = 2048; @@ -93,10 +89,6 @@ bool iniCamera() MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage1); MbufAllocColor(MilSystem,3,BufSizeX0,BufSizeY0,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Color0); MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Color1); - MbufAllocColor(MilSystem,3,BufSizeX0,BufSizeY0,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&detection_result0); - MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&detection_result1); - MbufAllocColor(MilSystem,3,BufSizeX0,BufSizeY0,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Onnx0); - MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Onnx1); //给每一个bufferlist分配空间 @@ -215,13 +207,16 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) #endif // 艳丽检测mask + Mat matrox_mat; std::vector> matrox_mask; - if(g_traditional_enable[camera_id]) { // 使用 std::async 将 high_sat_detect 封装为异步任务 auto future = std::async(std::launch::async, [&]() { - high_sat_detect(MilImage_Color0, detection_result0, params); + MIL_ID detection_result_id; + high_sat_detect(MilImage_Color0, detection_result_id, params); + matrox_mat = ImageUtils::mil2Mat(detection_result_id); + MbufFree(detection_result_id); }); // 等待最多20毫秒 @@ -233,7 +228,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) #endif // 任务在指定时间内完成，可以继续使用 detection_result1 \ // 将 Matrox 的检测结果转换为 二维vector - matrox_mask = generateMaskFromMatImage(ImageUtils::mil2Mat(detection_result0), widthBlocks, heightBlocks, sizeThreshold); + matrox_mask = generateMaskFromMatImage(matrox_mat, widthBlocks, heightBlocks, sizeThreshold); } else { @@ -309,7 +304,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) #endif mask_0 = merged_mask; detection_ready.release(); - MbufFree(detection_result0); + #if(GlobalDebug && DebugDetectionTime) call_back_timer0.printElapsedTime("CallBack1: Total time spent: "); #endif @@ -382,13 +377,16 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) #endif // 艳丽检测mask + Mat matrox_mat; std::vector> matrox_mask; - if(g_traditional_enable[camera_id]) { // 使用 std::async 将 high_sat_detect 封装为异步任务 auto future = std::async(std::launch::async, [&]() { - high_sat_detect(MilImage_Color1, detection_result1, params); + MIL_ID detection_result_id; + high_sat_detect(MilImage_Color0, detection_result_id, params); + matrox_mat = ImageUtils::mil2Mat(detection_result_id); + MbufFree(detection_result_id); }); // 等待最多20毫秒 @@ -400,7 +398,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) #endif // 任务在20ms内完成，可以继续使用 detection_result1 \ // 将 Matrox 的检测结果转换为 二维vector - matrox_mask = generateMaskFromMatImage(ImageUtils::mil2Mat(detection_result1), widthBlocks, heightBlocks, sizeThreshold); + matrox_mask = generateMaskFromMatImage(matrox_mat, widthBlocks, heightBlocks, sizeThreshold); #if(GlobalDebug && DebugDetectionTime) timer_detection_time.printElapsedTime("CallBack2: High sat detection to mask"); timer_detection_time.restart(); @@ -482,7 +480,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) MbufSave(SAVE_PATH_raw,MilImage_Color0); MbufSave(SAVE_PATH_result,detection_result0); #endif - + // 等待另一个算法线程执行结束 detection_ready.acquire(); vector> mask_tail; @@ -510,7 +508,6 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) qWarning()<<"下位机发送失败"; } - MbufFree(detection_result1); #if(GlobalDebug && DebugDetectionTime) call_back_timer1.printElapsedTime("CallBack2: Total time spent: "); @@ -538,8 +535,6 @@ bool DestoryCamera() MbufFree(MilImage1); MbufFree(MilImage_Color0); MbufFree(MilImage_Color1); - MbufFree(MilImage_Onnx0); - MbufFree(MilImage_Onnx1); MdigFree(MilDigitizer0); MdigFree(MilDigitizer1); MsysFree(MilSystem);