修改了debug的打印方式，修复了resize导致的mask问题。
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177
camera.cpp
177
camera.cpp
@ -3,9 +3,10 @@
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#include <QTimer>
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// Debug Options
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#define GlobalDebug 1
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#define DebugDetection 1
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#define DebugLowerMacCOM 0
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#define GlobalDebug 1 // 全局是否允许打印Debug信息（打印会拖慢处理时间）
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#define DebugDetection 0 // 注意开启这个编译选项会导致图片存储, 处理时间会很慢
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#define DebugDetectionTime 1 // 是否打印处理时间
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#define DebugLowerMacCOM 1 // 是否打印和下位机通讯的相关信息
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camera::camera() {}
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@ -13,7 +14,6 @@ QTcpServer* server_to_lowermachine = nullptr;
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QTcpSocket* lower_machine = nullptr;
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bool volatile is_running = false;
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//编号0 RGB相机 编号1 BV相机
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static MIL_ID MilApplication;
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static MIL_ID MilSystem;
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@ -46,15 +46,15 @@ ONNXRunner runner;
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std::map<std::string, int> params;
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int widthBlocks = 20;
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int heightBlocks = 512;
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int sizeThreshold = 20;
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int padLeft = 1;
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int padRight = 1;
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int rowRange = 0;
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int ignoreSide=2;
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int skipLeftCols=10;
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int skipRightCols=10;
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int widthBlocks = 20; // 输出的喷阀通道数
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int heightBlocks = 512; // 输出的Mask高度
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int sizeThreshold = 20; // 转化为喷阀的每块要求像素个数
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int padLeft = 1; // 左侧在结果Mask上补0
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int padRight = 1; // 右侧在结果Mask上补0
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int rowRange = 1; // 结果维持行数（至少为1）
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int ignoreSide = 0; // 左右两侧的忽略的喷阀通道数量
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int skipLeftCols = 0; // 生成mask时跳过左侧的像素数量
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int skipRightCols = 0; // 生成mask时跳过右侧的像素数量
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static std::vector<std::vector<uint8_t>> tail_0(0);
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static std::vector<std::vector<uint8_t>> tail_1(0);
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@ -117,16 +117,15 @@ bool iniCamera()
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break;
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}
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}
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#if(GlobalDebug)
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qDebug()<<"ready";
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#endif
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return 1;
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}
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#if(GlobalDebug && DebugDetection)
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#define SAVE_PATH_resize MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//resize.png")
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// #define SAVE_PATH_resize MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//resize.png")
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#define SAVE_PATH_flip MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//flip.png")
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#define SAVE_PATH_raw MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//raw.png")
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#define SAVE_PATH_result MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//result.png")
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@ -134,6 +133,10 @@ bool iniCamera()
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MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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{
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#if(GlobalDebug && DebugDetectionTime)
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Timer timer_detection_time;
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timer_detection_time.restart();
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#endif
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MdigGetHookInfo(HookId, M_MODIFIED_BUFFER + M_BUFFER_ID, &ModifiedBufferId0);
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if(SaveImg_Flag)
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@ -147,35 +150,35 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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qDebug()<<"回调1成功存储照片:"<<FuncCount0<<"张";
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FuncCount0++;
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}
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#if(GlobalDebug)
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qDebug()<<"回调1";
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#endif
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//拷贝艳丽色检测图像
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MbufCopy(ModifiedBufferId0,MilImage_Color0);
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// //拷贝onnx检测图像
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// MbufCopy(ModifiedBufferId1,MilImage_Onnx1);
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// timer1.printElapsedTime("copy finished");
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// timer1.restart();
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MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 256, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
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MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 512, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
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MbufClear(MimResizedestination, M_COLOR_BLACK);
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MimResize(MilImage_Color0, MimResizedestination, 0.5, 0.5, M_DEFAULT);
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MimResize(MilImage_Color0, MimResizedestination, 0.5, 1 , M_DEFAULT);
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MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
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MbufClear(MimFlipDedtination, M_COLOR_BLACK);
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MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
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#if(GlobalDebug && DebugDetectionTime)
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Timer timer2;
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#endif
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//艳丽检测mask
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high_sat_detect(MimFlipDedtination, detection_result0, params);
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#if(GlobalDebug && DebugDetectionTime)
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timer2.printElapsedTime("Algorithm Spent: ");
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#endif
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#if(GlobalDebug && DebugDetection)
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MbufSave(SAVE_PATH_flip,MimFlipDedtination);
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MbufSave(SAVE_PATH_resize,MimResizedestination);
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// MbufSave(SAVE_PATH_resize,MimResizedestination);
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MbufSave(SAVE_PATH_raw,MilImage_Color0);
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MbufSave(SAVE_PATH_result,detection_result0);
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#endif
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@ -189,50 +192,29 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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// std::vector<std::vector<uint8_t>> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold);
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// timer1.printElapsedTime("onnx sat finished");
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// timer1.restart();
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auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
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tail_1 = newTail;
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// timer1.printElapsedTime("tail finished");
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// timer1.restart();
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// std::vector<std::vector<uint8_t>> mask_Color1 = generateMaskFromImage(detection_result1, widthBlocks, heightBlocks, thresholds);
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PadColumns(mask_1,padLeft,padRight,0);
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std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_1,64);
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// timer1.printElapsedTime("expand finished");
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// for(int m = 0 ; m < 512 ; m ++)
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// {
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// for(int n = 0; n < 22 ; n++)
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// {
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// if(mask_Total[m][n] == 1)
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// {
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// for(int k = 0; k < 50; k++)
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// {
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// mask_Total[m + k][n] = 1;
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// }
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// }
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// }
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// }
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// save masks
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vector<vector<uint8_t>> mask = generateMask(detection_result0, widthBlocks, heightBlocks, sizeThreshold,skipLeftCols, skipRightCols);
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// save masks
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#if(GlobalDebug && DebugDetection)
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VectorToImg(mask,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
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VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
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VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp");
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VectorToImg(mask_Total,"C:/Users/Pc/Desktop/img/mask_expended" + std::to_string(FuncCount1) + ".bmp");
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#endif
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bool result_Low = get_valve_data(mask_Total);
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if(!result_Low)
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{
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qDebug()<<"下位机发送失败";
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qWarning()<<"下位机发送失败";
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}
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("Time of Processing From Get into CallBack to Sent to Lower Mac");
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#endif
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return 0;
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}
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@ -242,9 +224,6 @@ Timer timer2;
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MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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{
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FuncCount1++;
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MdigGetHookInfo(HookId, M_MODIFIED_BUFFER + M_BUFFER_ID, &ModifiedBufferId1);
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if(SaveImg_Flag)
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@ -848,73 +827,38 @@ bool iniLowMac()
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{
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/*--- server socket to faban ---*/
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server_to_lowermachine = new QTcpServer();
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qDebug()<<"1";
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#if(GlobalDebug && DebugLowerMacCOM)
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qDebug()<<"1/4. Build Tcp Server";
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#endif
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server_to_lowermachine->listen(QHostAddress::Any, 13452);
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qDebug()<<"2";
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#if(GlobalDebug && DebugLowerMacCOM)
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qDebug()<<"2/4. Bind to Port 13452";
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#endif
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bool is_timeout;
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server_to_lowermachine->waitForNewConnection(5000,&is_timeout);
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qDebug()<<"3";
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#if(GlobalDebug && DebugLowerMacCOM)
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qDebug()<<"3/4. Try to Establish connect";
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#endif
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if(is_timeout)
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{
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return 0;
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}
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qDebug()<<"4";
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#if(GlobalDebug && DebugLowerMacCOM)
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qDebug()<<"4/4. Connection Established no timeout";
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#endif
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lower_machine = server_to_lowermachine->nextPendingConnection();
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qDebug()<<"连接成功";
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#if(GlobalDebug && DebugLowerMacCOM)
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qDebug()<<"Lower Machine Connection Suecced";
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#endif
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if (lower_machine == nullptr || !lower_machine->isWritable()) {
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cout << "Error: Lower machine is not available or writable." << endl;
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return 0 ;
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}
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// // 创建 TCP 服务器对象
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// server_to_lowermachine = new QTcpServer();
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// // 启动监听
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// if (!server_to_lowermachine->listen(QHostAddress::Any, 13452)) {
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// qDebug() << "Error: Server failed to start.";
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// return false;
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// }
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// qDebug() << "Server is listening on port 13452.";
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// // 等待新连接
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// if (!server_to_lowermachine->waitForNewConnection(5000)) {
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// qDebug() << "Timeout or no connection.";
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// return false;
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// }
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// // 获取连接
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// lower_machine = server_to_lowermachine->nextPendingConnection();
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// if (lower_machine) {
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// qDebug() << "New client connected.";
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// // 连接数据接收信号
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// QObject::connect(lower_machine, &QTcpSocket::readyRead, []() {
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// QByteArray data = lower_machine->readAll();
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// qDebug() << "Received data:" << data;
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// // 向下位机发送响应
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// QByteArray response = "Acknowledged.";
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// lower_machine->write(response);
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// });
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// // 连接断开信号
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// QObject::connect(lower_machine, &QTcpSocket::disconnected, []() {
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// qDebug() << "Client disconnected.";
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// lower_machine->deleteLater();
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// });
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// return true;
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// } else {
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// qDebug() << "Error: No client connected.";
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// return false;
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// }
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// 硬编码参数值
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int file_delay = 1530; // 延迟时间（毫秒）
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int file_encoder = 12000; // 编码器值
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@ -925,11 +869,6 @@ bool iniLowMac()
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int divide_valve = (file_valve != 0) ? 100000000 / file_valve : 0; // 防止除以零的情况
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// 将参数转换为长度为8的字符串，前面补0
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QString delay_time = QString("%1").arg(file_delay, 8, 10, QChar('0'));
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QString divide_parameter = QString("%1").arg(divide_camera, 8, 10, QChar('0'));
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@ -1232,7 +1171,13 @@ pair<vector<vector<uint8_t>>, vector<vector<uint8_t>>> applyRowRangeDelay(
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const vector<vector<uint8_t>>& mask,
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const vector<vector<uint8_t>>& tail,
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int rowRange
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) {
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)
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{
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if(rowRange <= 0)
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{
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rowRange = 1;
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qDebug() << "Maintain Row Range Error, forced to 1!!!!!!!!";
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}
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int outputHeight = (int)mask.size();
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int outputWidth = (int)mask[0].size();
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