diff --git a/camera.cpp b/camera.cpp index 1c3dcaa..48889b3 100644 --- a/camera.cpp +++ b/camera.cpp @@ -3,9 +3,10 @@ #include // Debug Options -#define GlobalDebug 1 -#define DebugDetection 1 -#define DebugLowerMacCOM 0 +#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 camera::camera() {} @@ -13,7 +14,6 @@ QTcpServer* server_to_lowermachine = nullptr; QTcpSocket* lower_machine = nullptr; bool volatile is_running = false; -//编号0 RGB相机 编号1 BV相机 static MIL_ID MilApplication; static MIL_ID MilSystem; @@ -46,15 +46,15 @@ ONNXRunner runner; std::map params; -int widthBlocks = 20; -int heightBlocks = 512; -int sizeThreshold = 20; -int padLeft = 1; -int padRight = 1; -int rowRange = 0; -int ignoreSide=2; -int skipLeftCols=10; -int skipRightCols=10; +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 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） +int ignoreSide = 0; // 左右两侧的忽略的喷阀通道数量 +int skipLeftCols = 0; // 生成mask时跳过左侧的像素数量 +int skipRightCols = 0; // 生成mask时跳过右侧的像素数量 static std::vector> tail_0(0); static std::vector> tail_1(0); @@ -117,16 +117,15 @@ bool iniCamera() break; } } - - - +#if(GlobalDebug) qDebug()<<"ready"; +#endif return 1; } #if(GlobalDebug && DebugDetection) -#define SAVE_PATH_resize MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//resize.png") +// #define SAVE_PATH_resize MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//resize.png") #define SAVE_PATH_flip MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//flip.png") #define SAVE_PATH_raw MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//raw.png") #define SAVE_PATH_result MIL_TEXT ("C:\\Users\\Pc\\Desktop\\cotton_double2//result.png") @@ -134,6 +133,10 @@ bool iniCamera() MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) { +#if(GlobalDebug && DebugDetectionTime) + Timer timer_detection_time; + timer_detection_time.restart(); +#endif MdigGetHookInfo(HookId, M_MODIFIED_BUFFER + M_BUFFER_ID, &ModifiedBufferId0); if(SaveImg_Flag) @@ -147,35 +150,35 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr) qDebug()<<"回调1成功存储照片:"<> mask_Onnx1 = generateMaskFromImage2(Img_Onnx, widthBlocks, heightBlocks, sizeThreshold); // timer1.printElapsedTime("onnx sat finished"); - // timer1.restart(); - auto [mask_1, newTail] = generateMaskWithTail(detection_result0, tail_1, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols); tail_1 = newTail; - // timer1.printElapsedTime("tail finished"); - - // timer1.restart(); - - // std::vector> mask_Color1 = generateMaskFromImage(detection_result1, widthBlocks, heightBlocks, thresholds); - PadColumns(mask_1,padLeft,padRight,0); std::vector> 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_Total[m][n] == 1) - // { - // for(int k = 0; k < 50; k++) - // { - // mask_Total[m + k][n] = 1; - // } - // } - // } - // } - // save masks - vector> mask = generateMask(detection_result0, widthBlocks, heightBlocks, sizeThreshold,skipLeftCols, skipRightCols); +// save masks #if(GlobalDebug && DebugDetection) - VectorToImg(mask,"C:/Users/Pc/Desktop/img/mask" + std::to_string(FuncCount1) + ".bmp"); + 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) { - qDebug()<<"下位机发送失败"; + 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; } @@ -242,9 +224,6 @@ 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) @@ -848,73 +827,38 @@ bool iniLowMac() { /*--- server socket to faban ---*/ server_to_lowermachine = new QTcpServer(); - qDebug()<<"1"; +#if(GlobalDebug && DebugLowerMacCOM) + qDebug()<<"1/4. Build Tcp Server"; +#endif server_to_lowermachine->listen(QHostAddress::Any, 13452); - qDebug()<<"2"; +#if(GlobalDebug && DebugLowerMacCOM) + qDebug()<<"2/4. Bind to Port 13452"; +#endif bool is_timeout; server_to_lowermachine->waitForNewConnection(5000,&is_timeout); - qDebug()<<"3"; +#if(GlobalDebug && DebugLowerMacCOM) + qDebug()<<"3/4. Try to Establish connect"; +#endif if(is_timeout) { return 0; } - qDebug()<<"4"; +#if(GlobalDebug && DebugLowerMacCOM) + qDebug()<<"4/4. Connection Established no timeout"; +#endif lower_machine = server_to_lowermachine->nextPendingConnection(); - qDebug()<<"连接成功"; +#if(GlobalDebug && DebugLowerMacCOM) + qDebug()<<"Lower Machine Connection Suecced"; +#endif if (lower_machine == nullptr || !lower_machine->isWritable()) { cout << "Error: Lower machine is not available or writable." << endl; return 0 ; } - // // 创建 TCP 服务器对象 - // server_to_lowermachine = new QTcpServer(); - - // // 启动监听 - // if (!server_to_lowermachine->listen(QHostAddress::Any, 13452)) { - // qDebug() << "Error: Server failed to start."; - // return false; - // } - // qDebug() << "Server is listening on port 13452."; - - // // 等待新连接 - // if (!server_to_lowermachine->waitForNewConnection(5000)) { - // qDebug() << "Timeout or no connection."; - // return false; - // } - - // // 获取连接 - // lower_machine = server_to_lowermachine->nextPendingConnection(); - // if (lower_machine) { - // qDebug() << "New client connected."; - - // // 连接数据接收信号 - // QObject::connect(lower_machine, &QTcpSocket::readyRead, []() { - // QByteArray data = lower_machine->readAll(); - // qDebug() << "Received data:" << data; - - // // 向下位机发送响应 - // QByteArray response = "Acknowledged."; - // lower_machine->write(response); - // }); - - // // 连接断开信号 - // QObject::connect(lower_machine, &QTcpSocket::disconnected, []() { - // qDebug() << "Client disconnected."; - // lower_machine->deleteLater(); - // }); - - // return true; - // } else { - // qDebug() << "Error: No client connected."; - // return false; - // } - - - // 硬编码参数值 int file_delay = 1530; // 延迟时间（毫秒） int file_encoder = 12000; // 编码器值 @@ -925,11 +869,6 @@ bool iniLowMac() int divide_valve = (file_valve != 0) ? 100000000 / file_valve : 0; // 防止除以零的情况 - - - - - // 将参数转换为长度为8的字符串，前面补0 QString delay_time = QString("%1").arg(file_delay, 8, 10, QChar('0')); QString divide_parameter = QString("%1").arg(divide_camera, 8, 10, QChar('0')); @@ -1232,7 +1171,13 @@ pair>, vector>> applyRowRangeDelay( const vector>& mask, const vector>& tail, int rowRange - ) { + ) +{ + if(rowRange <= 0) + { + rowRange = 1; + qDebug() << "Maintain Row Range Error, forced to 1!!!!!!!!"; + } int outputHeight = (int)mask.size(); int outputWidth = (int)mask[0].size();