关闭传统检测算法版本

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<std::vector<uint8_t>> 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<std::vector<uint8_t>> 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<vector<uint8_t>> 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);