116 lines
3.0 KiB
C++
116 lines
3.0 KiB
C++
#ifndef CAMERA_H
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#define CAMERA_H
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#include <QObject>
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#include <Mil.h>
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#include <QImage>
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#include <QQueue>
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#include <QDebug>
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#include <QString>
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#include <map>
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#include <string>
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#include <chrono>
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#include <iostream>
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#include <vector>
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#include <fstream>
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#include"onnxrunner.h"
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#include <sstream>
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#include <opencv2/opencv.hpp>
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#include <QTcpSocket>
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#include <QTcpServer>
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std::vector<std::vector<uint8_t>> generateMaskFromImage(const MIL_ID& inputImage, int widthBlocks, int heightBlocks, int thresholds);
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std::vector<std::vector<uint8_t>> generateMaskFromImage2(const cv::Mat& image, int widthBlocks, int heightBlocks, int thresholds);
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void PadColumns(std::vector<std::vector<uint8_t>>& data, int pad_left, int pad_right, uint8_t fill_value );
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std::vector<std::vector<uint8_t>> expandArray(const std::vector<std::vector<uint8_t>>& array, int newCols) ;
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void VectorToImg(const std::vector<std::vector<uint8_t>>& array, const std::string& image_path);
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cv::Mat mil2mat(MIL_ID mil_img);
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void convert_to_uint8(const MIL_ID& input_img, MIL_ID& output_img);
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std::vector<std::vector<uint8_t>> generateMask(
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const MIL_ID& inputImg,
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int outputWidth,
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int outputHeight,
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int sizeThreshold,
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int skipLeftCols,
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int skipRightCols
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) ;
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using namespace std;
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using namespace cv;
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class camera
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{
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public:
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camera();
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};
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bool iniLowMac();
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bool iniCamera();
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bool iniColor();
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bool iniOnnx();
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void Start_camera();
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bool DestoryCamera();
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bool DestoryLowMac();
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extern int SaveImg_Flag;
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MIL_INT MFTYPE ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void* HookDataPtr);
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MIL_INT MFTYPE ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void* HookDataPtr);
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//图像处理
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std::vector<int> psLabToOpenCVLab(const std::vector<int>& lab_ps);
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std::vector<int> opencvLabToPsLab(const std::vector<int>& lab_cv);
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std::unordered_map<std::string, int> loadConfig(const std::string& filename);
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void lab_process(const MIL_ID& inputImage, MIL_ID& outputImageLab, const std::map<std::string, int>& params);
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void hsv_process(const MIL_ID& inputImage, MIL_ID& outputImageHSV, const std::map<std::string, int>& params);
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void lab_process_raw(const MIL_ID& inputImage, MIL_ID& outputImageLab, const std::map<std::string, int>& params,const std::vector<std::string>& color_vector);
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void high_sat_detect(const MIL_ID& inputImage, MIL_ID& outputImage, const std::map<std::string, int>& params);
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extern std::map<std::string, int> params;
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void read_params_from_file(const std::string& filename, std::map<std::string, int>& params) ;
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pair<vector<vector<uint8_t>>, vector<vector<uint8_t>>> generateMaskWithTail(
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const MIL_ID& inputImg,
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const vector<vector<uint8_t>>& tail,
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int outputWidth,
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int outputHeight,
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int sizeThreshold,
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int rowRange,
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int skipLeftCols,
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int skipRightCols
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);
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//下位机通讯
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extern QTcpServer* server_to_lowermachine;
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extern QTcpSocket* lower_machine;
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extern bool volatile is_running;
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bool get_valve_data(std::vector<std::vector<uint8_t>> mask );
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#endif // CAMERA_H
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