增加两侧吹气，修改了延时时间参数
This commit is contained in:
parent
d36012cc9c
commit
dd2eb4df74
278
camera.cpp
278
camera.cpp
@ -5,8 +5,8 @@
|
||||
// Debug Options
|
||||
#define GlobalDebug 1 // 全局是否允许打印Debug信息（打印会拖慢处理时间）
|
||||
#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
|
||||
#define DebugDetectionTime 1 // 是否打印处理时间
|
||||
#define DebugLowerMacCOM 1 // 是否打印和下位机通讯的相关信息
|
||||
#define DebugDetectionTime 0 // 是否打印处理时间
|
||||
#define DebugLowerMacCOM 0 // 是否打印和下位机通讯的相关信息
|
||||
|
||||
camera::camera() {}
|
||||
|
||||
@ -49,6 +49,7 @@ std::map<std::string, int> params;
|
||||
int widthBlocks = 20; // 输出的喷阀通道数
|
||||
int heightBlocks = 512; // 输出的Mask高度
|
||||
int sizeThreshold = 20; // 转化为喷阀的每块要求像素个数
|
||||
int expansionRaidus = 1; // 获取mask后进行左右位置的扩展
|
||||
int padLeft = 1; // 左侧在结果Mask上补0
|
||||
int padRight = 1; // 右侧在结果Mask上补0
|
||||
int rowRange = 1; // 结果维持行数（至少为1）
|
||||
@ -66,6 +67,9 @@ extern int file_delay;
|
||||
extern int file_encoder;
|
||||
extern int file_valve;
|
||||
|
||||
Timer CallBackTimer0;
|
||||
Timer CallBackTimer1;
|
||||
|
||||
// ONNXRunner runner;
|
||||
bool iniCamera()
|
||||
{
|
||||
@ -133,6 +137,10 @@ bool iniCamera()
|
||||
|
||||
MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
|
||||
{
|
||||
// CallBackTimer0.printElapsedTime("Call Back 0 reach");
|
||||
// CallBackTimer0.restart();
|
||||
|
||||
|
||||
#if(GlobalDebug && DebugDetectionTime)
|
||||
Timer timer_detection_time;
|
||||
timer_detection_time.restart();
|
||||
@ -154,23 +162,123 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
|
||||
qDebug()<<"回调1";
|
||||
#endif
|
||||
//拷贝艳丽色检测图像
|
||||
MbufCopy(ModifiedBufferId0,MilImage_Color0);
|
||||
// MbufCopy(ModifiedBufferId0,MilImage_Color0);
|
||||
// // //拷贝onnx检测图像
|
||||
// // MbufCopy(ModifiedBufferId1,MilImage_Onnx1);
|
||||
|
||||
// MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 512, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
|
||||
// MbufClear(MimResizedestination, M_COLOR_BLACK);
|
||||
// MimResize(MilImage_Color0, MimResizedestination, 0.5, 1 , M_DEFAULT);
|
||||
|
||||
// MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
|
||||
// MbufClear(MimFlipDedtination, M_COLOR_BLACK);
|
||||
// MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
|
||||
|
||||
// #if(GlobalDebug && DebugDetectionTime)
|
||||
// Timer timer2;
|
||||
// #endif
|
||||
// //艳丽检测mask
|
||||
// high_sat_detect(MimFlipDedtination, detection_result0, params);
|
||||
|
||||
// #if(GlobalDebug && DebugDetectionTime)
|
||||
// timer2.printElapsedTime("Algorithm Spent: ");
|
||||
// #endif
|
||||
|
||||
// #if(GlobalDebug && DebugDetection)
|
||||
// MbufSave(SAVE_PATH_flip,MimFlipDedtination);
|
||||
// // MbufSave(SAVE_PATH_resize,MimResizedestination);
|
||||
// MbufSave(SAVE_PATH_raw,MilImage_Color0);
|
||||
// MbufSave(SAVE_PATH_result,detection_result0);
|
||||
// #endif
|
||||
|
||||
// //Onnx检测mask
|
||||
// // cv::Mat image = mil2mat(MilImage_Onnx1);
|
||||
// // cv::Mat Img_Onnx;
|
||||
// // std::vector<Detection> result = runner.predict(image);
|
||||
// // Img_Onnx = runner.postProcess(result, image);
|
||||
|
||||
// // std::vector<std::vector<uint8_t>> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold);
|
||||
// // timer1.printElapsedTime("onnx sat finished");
|
||||
|
||||
// auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
|
||||
|
||||
// tail_1 = newTail;
|
||||
|
||||
// PadColumns(mask_1,padLeft,padRight,0);
|
||||
// std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_1,64);
|
||||
|
||||
// // save masks
|
||||
// #if(GlobalDebug && DebugDetection)
|
||||
// VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp");
|
||||
// VectorToImg(mask_1,"C:/Users/Pc/Desktop/img/mask_ignored" + std::to_string(FuncCount1) + ".bmp");
|
||||
// VectorToImg(mask_Total,"C:/Users/Pc/Desktop/img/mask_expended" + std::to_string(FuncCount1) + ".bmp");
|
||||
// #endif
|
||||
// bool result_Low = get_valve_data(mask_Total);
|
||||
// if(!result_Low)
|
||||
// {
|
||||
// qWarning()<<"下位机发送失败";
|
||||
// }
|
||||
|
||||
|
||||
// #if(GlobalDebug && DebugDetectionTime)
|
||||
// timer_detection_time.printElapsedTime("Time of Processing From Get into CallBack to Sent to Lower Mac");
|
||||
// #endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Timer timer2;
|
||||
|
||||
|
||||
|
||||
MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
|
||||
{
|
||||
// CallBackTimer1.printElapsedTime("Call Back 1 reached");
|
||||
// CallBackTimer1.restart();
|
||||
|
||||
#if(GlobalDebug && DebugDetectionTime)
|
||||
Timer timer_detection_time;
|
||||
timer_detection_time.restart();
|
||||
#endif
|
||||
|
||||
// FuncCount1++;
|
||||
MdigGetHookInfo(HookId, M_MODIFIED_BUFFER + M_BUFFER_ID, &ModifiedBufferId1);
|
||||
|
||||
if(SaveImg_Flag)
|
||||
{
|
||||
//拷贝存图数据
|
||||
MbufCopy(ModifiedBufferId1,MilImage1);
|
||||
//Mil保存路径
|
||||
QString MilImgPath = QString("C:/Users/Pc/Desktop/cotton_double2/Img2/%1.bmp").arg(FuncCount1);
|
||||
MIL_STRING MilImagePath = MilImgPath.toStdWString();
|
||||
MbufExport(MilImagePath,M_BMP,MilImage1);
|
||||
qDebug()<<"回调2成功存储照片:"<<FuncCount1<<"张";
|
||||
FuncCount1++;
|
||||
}
|
||||
|
||||
|
||||
#if (GlobalDebug)
|
||||
qDebug()<<"回调2";
|
||||
#endif
|
||||
|
||||
//拷贝艳丽色检测图像
|
||||
MbufCopy(ModifiedBufferId1,MilImage_Color1);
|
||||
// //拷贝onnx检测图像
|
||||
// MbufCopy(ModifiedBufferId1,MilImage_Onnx1);
|
||||
|
||||
MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 512, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
|
||||
MbufClear(MimResizedestination, M_COLOR_BLACK);
|
||||
MimResize(MilImage_Color0, MimResizedestination, 0.5, 1 , M_DEFAULT);
|
||||
MimResize(MilImage_Color1, MimResizedestination, 0.5, 1 , M_DEFAULT);
|
||||
|
||||
MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
|
||||
MbufClear(MimFlipDedtination, M_COLOR_BLACK);
|
||||
MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
|
||||
// MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MimResizedestination, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID);
|
||||
// MbufClear(MimFlipDedtination, M_COLOR_BLACK);
|
||||
// MimFlip(MimResizedestination, MimFlipDedtination, M_FLIP_HORIZONTAL, M_DEFAULT);
|
||||
|
||||
#if(GlobalDebug && DebugDetectionTime)
|
||||
Timer timer2;
|
||||
#endif
|
||||
//艳丽检测mask
|
||||
high_sat_detect(MimFlipDedtination, detection_result0, params);
|
||||
high_sat_detect(MimResizedestination, detection_result1, params);
|
||||
|
||||
#if(GlobalDebug && DebugDetectionTime)
|
||||
timer2.printElapsedTime("Algorithm Spent: ");
|
||||
@ -192,12 +300,13 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
|
||||
// std::vector<std::vector<uint8_t>> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold);
|
||||
// timer1.printElapsedTime("onnx sat finished");
|
||||
|
||||
auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
|
||||
auto [mask_1, newTail] = generateMaskWithTail(detection_result1, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
|
||||
|
||||
tail_1 = newTail;
|
||||
auto mask_expaned = expandMaskHorizontally(mask_1, expansionRaidus);
|
||||
|
||||
PadColumns(mask_1,padLeft,padRight,0);
|
||||
std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_1,64);
|
||||
PadColumns(mask_expaned,padLeft,padRight,0);
|
||||
std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_expaned,64);
|
||||
|
||||
// save masks
|
||||
#if(GlobalDebug && DebugDetection)
|
||||
@ -213,120 +322,9 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
|
||||
|
||||
|
||||
#if(GlobalDebug && DebugDetectionTime)
|
||||
timer_detection_time.printElapsedTime("Time of Processing From Get into CallBack to Sent to Lower Mac");
|
||||
timer_detection_time.printElapsedTime("Time of Processing From Get into Ca"
|
||||
"..0llBack to Sent to Lower Mac");
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Timer timer2;
|
||||
|
||||
MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
|
||||
{
|
||||
FuncCount1++;
|
||||
MdigGetHookInfo(HookId, M_MODIFIED_BUFFER + M_BUFFER_ID, &ModifiedBufferId1);
|
||||
|
||||
if(SaveImg_Flag)
|
||||
{
|
||||
//拷贝存图数据
|
||||
MbufCopy(ModifiedBufferId1,MilImage1);
|
||||
//Mil保存路径
|
||||
QString MilImgPath = QString("C:/Users/Pc/Desktop/cotton_double2/Img2/%1.bmp").arg(FuncCount1);
|
||||
MIL_STRING MilImagePath = MilImgPath.toStdWString();
|
||||
MbufExport(MilImagePath,M_BMP,MilImage1);
|
||||
qDebug()<<"回调2成功存储照片:"<<FuncCount1<<"张";
|
||||
FuncCount1++;
|
||||
}
|
||||
|
||||
|
||||
#if (GlobalDebug)
|
||||
qDebug()<<"回调2";
|
||||
#endif
|
||||
// Timer timer1;
|
||||
|
||||
// timer1.restart();
|
||||
|
||||
|
||||
|
||||
//拷贝艳丽色检测图像
|
||||
MbufCopy(ModifiedBufferId1,MilImage_Color1);
|
||||
// //拷贝onnx检测图像
|
||||
// MbufCopy(ModifiedBufferId1,MilImage_Onnx1);
|
||||
|
||||
// timer1.printElapsedTime("copy finished");
|
||||
|
||||
// timer1.restart();
|
||||
|
||||
// MIL_UNIQUE_BUF_ID MimResizedestination = MbufAllocColor(MilSystem, 3, 2048, 512, 8+M_UNSIGNED, M_IMAGE+M_PROC+M_DISP, M_UNIQUE_ID);
|
||||
|
||||
// MbufClear(MimResizedestination, M_COLOR_BLACK);
|
||||
// MimResize(MilImage_Color1, MimResizedestination, 0.5, 0.5, M_DEFAULT);
|
||||
|
||||
|
||||
// //艳丽检测mask
|
||||
// high_sat_detect(MimResizedestination, detection_result1, params);
|
||||
// // MbufSave(SAVE_PATH,detection_result1);
|
||||
|
||||
|
||||
// //Onnx检测mask
|
||||
// // cv::Mat image = mil2mat(MilImage_Onnx1);
|
||||
// // cv::Mat Img_Onnx;
|
||||
// // std::vector<Detection> result = runner.predict(image);
|
||||
// // Img_Onnx = runner.postProcess(result, image);
|
||||
|
||||
// // std::vector<std::vector<uint8_t>> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold);
|
||||
// // timer1.printElapsedTime("onnx sat finished");
|
||||
|
||||
// // timer1.restart();
|
||||
|
||||
// auto [mask_1, newTail] = generateMaskWithTail(detection_result1, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange);
|
||||
|
||||
// tail_1 = newTail;
|
||||
|
||||
// // timer1.printElapsedTime("tail finished");
|
||||
|
||||
// // timer1.restart();
|
||||
|
||||
// // std::vector<std::vector<uint8_t>> mask_Color1 = generateMaskFromImage(detection_result1, widthBlocks, heightBlocks, thresholds);
|
||||
|
||||
// std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_1,64);
|
||||
|
||||
// // timer1.printElapsedTime("expand finished");
|
||||
|
||||
|
||||
// // for(int m = 0 ; m < 512 ; m ++)
|
||||
// // {
|
||||
// // for(int n = 0; n < 22 ; n++)
|
||||
// // {
|
||||
// // if(mask_Color1[m][n] == 1)
|
||||
// // {
|
||||
// // for(int k = 0; k < 50; k++)
|
||||
// // {
|
||||
// // mask_Total[m + k][n] = 1;
|
||||
// // }
|
||||
// // }
|
||||
// // }
|
||||
// // }
|
||||
|
||||
// // VectorToImg(mask_Total,"C:/Users/admin/Desktop/maskImg/mask" + std::to_string(FuncCount1) + ".bmp");
|
||||
|
||||
// bool result_Low = get_valve_data(mask_Total);
|
||||
// if(!result_Low)
|
||||
// {
|
||||
// qDebug()<<"下位机发送失败";
|
||||
// }
|
||||
|
||||
|
||||
// if(FuncCount1 == 2)
|
||||
// {
|
||||
// timer2.restart();
|
||||
// }
|
||||
|
||||
// if(FuncCount1 == 3)
|
||||
// {
|
||||
// timer2.printElapsedTime("send interval");
|
||||
// }
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -859,10 +857,7 @@ bool iniLowMac()
|
||||
return 0 ;
|
||||
}
|
||||
|
||||
// 硬编码参数值
|
||||
int file_delay = 1530; // 延迟时间（毫秒）
|
||||
int file_encoder = 12000; // 编码器值
|
||||
int file_valve = 200; // 阀门通道
|
||||
|
||||
|
||||
// 计算 Y = 100000000 / X
|
||||
int divide_camera = (file_encoder != 0) ? 100000000 / file_encoder : 0; // 防止除以零的情况
|
||||
@ -1260,7 +1255,34 @@ void PadColumns(std::vector<std::vector<uint8_t>>& data, int pad_left, int pad_r
|
||||
}
|
||||
|
||||
|
||||
std::vector<std::vector<uint8_t>> expandMaskHorizontally(
|
||||
const std::vector<std::vector<uint8_t>>& mask,
|
||||
int expansionRadius)
|
||||
{
|
||||
std::vector<std::vector<uint8_t>> expanded_mask = mask;
|
||||
int rows = (int)mask.size();
|
||||
if (rows == 0) return expanded_mask;
|
||||
int cols = (int)mask[0].size();
|
||||
|
||||
for (int y = 0; y < rows; y++)
|
||||
{
|
||||
for (int x = 0; x < cols; x++)
|
||||
{
|
||||
if (mask[y][x] == 1)
|
||||
{
|
||||
for (int i = 1; i <= expansionRadius; i++)
|
||||
{
|
||||
if (x - i >= 0)
|
||||
expanded_mask[y][x - i] = 1;
|
||||
if (x + i < cols)
|
||||
expanded_mask[y][x + i] = 1;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return expanded_mask;
|
||||
}
|
||||
|
||||
|
||||
//onnx_Mask
|
||||
|
||||
6
camera.h
6
camera.h
@ -32,7 +32,7 @@ std::vector<std::vector<uint8_t>> expandArray(const std::vector<std::vector<uint
|
||||
|
||||
void VectorToImg(const std::vector<std::vector<uint8_t>>& array, const std::string& image_path);
|
||||
|
||||
cv::Mat mil2mat(MIL_ID mil_img);
|
||||
cv::Mat mil2mat(const MIL_ID mil_img);
|
||||
|
||||
void convert_to_uint8(const MIL_ID& input_img, MIL_ID& output_img);
|
||||
std::vector<std::vector<uint8_t>> generateMask(
|
||||
@ -104,6 +104,10 @@ pair<vector<vector<uint8_t>>, vector<vector<uint8_t>>> generateMaskWithTail(
|
||||
int skipRightCols
|
||||
);
|
||||
|
||||
std::vector<std::vector<uint8_t>> expandMaskHorizontally(
|
||||
const std::vector<std::vector<uint8_t>>& mask,
|
||||
int expansionRadius);
|
||||
|
||||
|
||||
//下位机通讯
|
||||
extern QTcpServer* server_to_lowermachine;
|
||||
|
||||
2356
config/1.dcf
Normal file
2356
config/1.dcf
Normal file
File diff suppressed because it is too large
Load Diff
2352
config/2.dcf
Normal file
2352
config/2.dcf
Normal file
File diff suppressed because it is too large
Load Diff
@ -1,6 +1,6 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<!DOCTYPE QtCreatorProject>
|
||||
<!-- Written by QtCreator 15.0.0, 2024-12-14T12:49:17. -->
|
||||
<!-- Written by QtCreator 15.0.0, 2024-12-17T00:13:56. -->
|
||||
<qtcreator>
|
||||
<data>
|
||||
<variable>EnvironmentId</variable>
|
||||
|
||||
@ -16,10 +16,10 @@
|
||||
|
||||
using namespace std;
|
||||
|
||||
int file_delay;
|
||||
int file_encoder;
|
||||
int file_valve;
|
||||
|
||||
// 硬编码参数值
|
||||
int file_delay = 1270; // 延迟时间（毫秒）
|
||||
int file_encoder = 12000; // 编码器值
|
||||
int file_valve = 200; // 阀门通道
|
||||
Widget::Widget(QWidget *parent)
|
||||
: QWidget(parent)
|
||||
, ui(new Ui::Widget)
|
||||
|
||||
Loading…
Reference in New Issue
Block a user