Merge branch 'master' of https://gitea.zenleaf.top/karllzy/cotton_double
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commit
2894a4d91a
62
camera.cpp
62
camera.cpp
@ -46,7 +46,7 @@ ONNXRunner runner;
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std::map<std::string, int> params;
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int dual_cam_offset_y = 0; // 双相机之间的上下偏移值
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int dual_cam_offset_y = 0; // 双相机之间的上下偏移值
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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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@ -148,11 +148,14 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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Timer call_back_timer0;
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call_back_timer0.restart();
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#endif
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int camera_id = 0;
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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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{
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QMutexLocker locker(&gDispPicMutex0);
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@ -172,8 +175,9 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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// 将图像数据推入存储队列
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ImageData data;
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data.camera_id = 0;
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data.image = img.clone(); // 确保图像数据被复制
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data.image = img.clone(); // 确保图像数据被复制
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g_storageQueue.enqueue(data);
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#if(GlobalDebug && DebugDetectionTime)
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qDebug() << "CallBack1: push image to storage queue";
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#endif
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@ -189,6 +193,7 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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timer_detection_time.printElapsedTime("CallBack1: High sat detection resize");
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timer_detection_time.restart();
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#endif
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// 图片镜像翻转
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MIL_UNIQUE_BUF_ID MimFlipDedtination = MbufClone(MilImage_Color0, 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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@ -203,13 +208,13 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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recognitionData.image = img;
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g_img_Queue[camera_id]->enqueue(recognitionData);
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}
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("CallBack1: High sat detection mirror and push to DL");
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timer_detection_time.restart();
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#endif
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// 艳丽检测mask
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// 修改 high_sat_detect 调用，使用 std::future 限制执行时间
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std::vector<std::vector<uint8_t>> matrox_mask;
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if(g_traditional_enable[camera_id])
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@ -225,21 +230,23 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("CallBack1: High sat detection finish");
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timer_detection_time.restart();
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#endif \
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// 任务在20ms内完成，可以继续使用 detection_result1 \
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// 将 Matrox 的检测结果转换为 二维vector
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#endif
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// 任务在指定时间内完成，可以继续使用 detection_result1 \
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// 将 Matrox 的检测结果转换为 二维vector
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matrox_mask = generateMaskFromMatImage(ImageUtils::mil2Mat(detection_result0), widthBlocks, heightBlocks, sizeThreshold);
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}
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else
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{
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// 任务超时，处理超时情况
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qWarning() << "high_sat_detect 超时，未在20ms内完成。";
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qWarning() << "high_sat_detect 超时, 未在指定时间内完成。";
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// 创建一个大小为 widthBlocks x heightBlocks 的 matrox_mask
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matrox_mask = std::vector<std::vector<uint8_t>>(heightBlocks, std::vector<uint8_t>(widthBlocks, 0));
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}
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}
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else
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{
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matrox_mask = std::vector<std::vector<uint8_t>>(heightBlocks, std::vector<uint8_t>(widthBlocks, 0));
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}
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("CallBack1: High sat detection to mask");
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@ -289,7 +296,6 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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merged_mask = matrox_mask;
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}
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// Update the current Img MIl id
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// 更新持久化存储
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// {
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@ -369,13 +375,13 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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recognitionData.image = img;
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g_img_Queue[1]->enqueue(recognitionData);
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}
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("CallBack2: Without mirror and push to DL");
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timer_detection_time.restart();
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#endif
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// 艳丽检测mask
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// 修改 high_sat_detect 调用，使用 std::future 限制执行时间
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std::vector<std::vector<uint8_t>> matrox_mask;
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if(g_traditional_enable[camera_id])
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@ -394,7 +400,11 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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#endif
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// 任务在20ms内完成，可以继续使用 detection_result1 \
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// 将 Matrox 的检测结果转换为 二维vector
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matrox_mask = generateMaskFromMatImage(ImageUtils::mil2Mat(detection_result1), widthBlocks, heightBlocks, sizeThreshold);
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matrox_mask = generateMaskFromMatImage(ImageUtils::mil2Mat(detection_result1), widthBlocks, heightBlocks, sizeThreshold);
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("CallBack2: High sat detection to mask");
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timer_detection_time.restart();
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#endif
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}
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else
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{
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@ -403,20 +413,15 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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timer_detection_time.restart();
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#endif
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// 任务超时，处理超时情况
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qWarning() << "high_sat_detect 超时，未在20ms内完成。";
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qWarning() << "high_sat_detect 超时,未在20ms内完成。";
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// 创建一个大小为 widthBlocks x heightBlocks 的 matrox_mask
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matrox_mask = std::vector<std::vector<uint8_t>>(heightBlocks, std::vector<uint8_t>(widthBlocks, 0));
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}
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}
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#if(GlobalDebug && DebugDetectionTime)
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timer_detection_time.printElapsedTime("CallBack2: High sat detection to mask");
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timer_detection_time.restart();
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#endif
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else
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{
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matrox_mask = std::vector<std::vector<uint8_t>>(heightBlocks, std::vector<uint8_t>(widthBlocks, 0));
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}
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// 获取深度学习的检测结果并进行合并
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std::vector<std::vector<uint8_t>> merged_mask;
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@ -484,19 +489,20 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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merged_mask = ImageUtils::mergeMasks(mask_0, mask_1, dual_cam_offset_y);
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std::tie(merged_mask, mask_tail) = ImageUtils::extractROI(merged_mask, 0, 0, widthBlocks, heightBlocks);
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// 发送前的处理
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// 结果后处理Post Process
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// 将每个结果左右扩展，扩展半径默认为1
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auto mask_expaned = expandMaskHorizontally(merged_mask, expansionRaidus);
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// 将结果的左右补充上0，让物体大小符合要求
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PadColumns(mask_expaned,padLeft,padRight,0);
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PadColumns(mask_expaned, padLeft, padRight, 0);
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//将mask扩展到合适发送的大小
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std::vector<std::vector<uint8_t>> mask_Total = expandArray(mask_expaned,64);
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// save masks
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#if(GlobalDebug && DebugDetection)
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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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#endif
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// 发送到下位机
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bool result_Low = get_valve_data(mask_Total);
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if(!result_Low)
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@ -505,6 +511,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
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}
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MbufFree(detection_result1);
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#if(GlobalDebug && DebugDetectionTime)
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call_back_timer1.printElapsedTime("CallBack2: Total time spent: ");
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#endif
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@ -1354,7 +1361,4 @@ std::vector<std::vector<uint8_t>> expandMaskHorizontally(
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}
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return expanded_mask;
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}
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//onnx_Mask
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}
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