From 9bfe3ad6836320173b59dd5976849ae8c47bbdf8 Mon Sep 17 00:00:00 2001 From: karllzy Date: Wed, 25 Dec 2024 16:38:23 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B3=A8=E9=87=8A=E4=BC=98=E5=8C=96=E5=92=8C?= =?UTF-8?q?=E5=B0=9D=E8=AF=95=E6=B7=BB=E5=8A=A0=E7=A6=81=E6=AD=A2=E7=89=88?= =?UTF-8?q?=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- camera.cpp | 62 +++++++++++++++++++++++++++++------------------------- 1 file changed, 33 insertions(+), 29 deletions(-) diff --git a/camera.cpp b/camera.cpp index b2c38d3..cb71bfb 100644 --- a/camera.cpp +++ b/camera.cpp @@ -46,7 +46,7 @@ ONNXRunner runner; std::map params; -int dual_cam_offset_y = 0; // 双相机之间的上下偏移值 +int dual_cam_offset_y = 0; // 双相机之间的上下偏移值 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 @@ -148,11 +148,14 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) Timer call_back_timer0; call_back_timer0.restart(); #endif + int camera_id = 0; + #if(GlobalDebug && DebugDetectionTime) Timer timer_detection_time; timer_detection_time.restart(); #endif + MdigGetHookInfo(HookId, M_MODIFIED_BUFFER + M_BUFFER_ID, &ModifiedBufferId0); { QMutexLocker locker(&gDispPicMutex0); @@ -172,8 +175,9 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) // 将图像数据推入存储队列 ImageData data; data.camera_id = 0; - data.image = img.clone(); // 确保图像数据被复制 + data.image = img.clone(); // 确保图像数据被复制 g_storageQueue.enqueue(data); + #if(GlobalDebug && DebugDetectionTime) qDebug() << "CallBack1: push image to storage queue"; #endif @@ -189,6 +193,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) timer_detection_time.printElapsedTime("CallBack1: High sat detection resize"); timer_detection_time.restart(); #endif + // 图片镜像翻转 MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MilImage_Color0, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_DEFAULT, M_UNIQUE_ID); MbufClear(MimFlipDedtination, M_COLOR_BLACK); @@ -203,13 +208,13 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) recognitionData.image = img; g_img_Queue[camera_id]->enqueue(recognitionData); } + #if(GlobalDebug && DebugDetectionTime) timer_detection_time.printElapsedTime("CallBack1: High sat detection mirror and push to DL"); timer_detection_time.restart(); #endif // 艳丽检测mask - // 修改 high_sat_detect 调用，使用 std::future 限制执行时间 std::vector> matrox_mask; if(g_traditional_enable[camera_id]) @@ -225,21 +230,23 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) #if(GlobalDebug && DebugDetectionTime) timer_detection_time.printElapsedTime("CallBack1: High sat detection finish"); timer_detection_time.restart(); -#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 +#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); } else { // 任务超时，处理超时情况 - qWarning() << "high_sat_detect 超时，未在20ms内完成。"; + qWarning() << "high_sat_detect 超时, 未在指定时间内完成。"; // 创建一个大小为 widthBlocks x heightBlocks 的 matrox_mask matrox_mask = std::vector>(heightBlocks, std::vector(widthBlocks, 0)); } } - - + else + { + matrox_mask = std::vector>(heightBlocks, std::vector(widthBlocks, 0)); + } #if(GlobalDebug && DebugDetectionTime) timer_detection_time.printElapsedTime("CallBack1: High sat detection to mask"); @@ -289,7 +296,6 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) merged_mask = matrox_mask; } - // Update the current Img MIl id // 更新持久化存储 // { @@ -369,13 +375,13 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) recognitionData.image = img; g_img_Queue[1]->enqueue(recognitionData); } + #if(GlobalDebug && DebugDetectionTime) timer_detection_time.printElapsedTime("CallBack2: Without mirror and push to DL"); timer_detection_time.restart(); #endif // 艳丽检测mask - // 修改 high_sat_detect 调用，使用 std::future 限制执行时间 std::vector> matrox_mask; if(g_traditional_enable[camera_id]) @@ -394,7 +400,11 @@ 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(ImageUtils::mil2Mat(detection_result1), widthBlocks, heightBlocks, sizeThreshold); + #if(GlobalDebug && DebugDetectionTime) + timer_detection_time.printElapsedTime("CallBack2: High sat detection to mask"); + timer_detection_time.restart(); + #endif } else { @@ -403,20 +413,15 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) timer_detection_time.restart(); #endif // 任务超时，处理超时情况 - qWarning() << "high_sat_detect 超时，未在20ms内完成。"; + qWarning() << "high_sat_detect 超时,未在20ms内完成。"; // 创建一个大小为 widthBlocks x heightBlocks 的 matrox_mask matrox_mask = std::vector>(heightBlocks, std::vector(widthBlocks, 0)); } } - - - - - -#if(GlobalDebug && DebugDetectionTime) - timer_detection_time.printElapsedTime("CallBack2: High sat detection to mask"); - timer_detection_time.restart(); -#endif + else + { + matrox_mask = std::vector>(heightBlocks, std::vector(widthBlocks, 0)); + } // 获取深度学习的检测结果并进行合并 std::vector> merged_mask; @@ -484,19 +489,20 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) merged_mask = ImageUtils::mergeMasks(mask_0, mask_1, dual_cam_offset_y); std::tie(merged_mask, mask_tail) = ImageUtils::extractROI(merged_mask, 0, 0, widthBlocks, heightBlocks); - // 发送前的处理 + // 结果后处理Post Process // 将每个结果左右扩展，扩展半径默认为1 auto mask_expaned = expandMaskHorizontally(merged_mask, expansionRaidus); // 将结果的左右补充上0，让物体大小符合要求 - PadColumns(mask_expaned,padLeft,padRight,0); + PadColumns(mask_expaned, padLeft, padRight, 0); //将mask扩展到合适发送的大小 std::vector> mask_Total = expandArray(mask_expaned,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 \ +#endif // 发送到下位机 bool result_Low = get_valve_data(mask_Total); if(!result_Low) @@ -505,6 +511,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) } MbufFree(detection_result1); + #if(GlobalDebug && DebugDetectionTime) call_back_timer1.printElapsedTime("CallBack2: Total time spent: "); #endif @@ -1354,7 +1361,4 @@ std::vector> expandMaskHorizontally( } return expanded_mask; -} - - -//onnx_Mask +} \ No newline at end of file