双相机显示与mask合并

.gitignore

@@ -3,6 +3,7 @@ build
 release
 debug
 .qtc_clangd
-Makefile*
+Makefile.*
 *.pro.user*
+*.pro.user
 .idea

camera.cpp

@@ -3,9 +3,9 @@
 #include <QTimer>
 
 // 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 GlobalDebug         0       // 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  0       // 是否打印处理时间
+#define DebugDetectionTime  1       // 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() {}
@@ -46,7 +46,7 @@ ONNXRunner runner;
 
 
 std::map<std::string, int> params;
-int dual_cam_offset_y = 89;       // 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
@@ -84,8 +84,9 @@ bool iniCamera()
     MsysAlloc(M_DEFAULT, M_SYSTEM_RADIENTEVCL, M_DEV0, M_DEFAULT, &MilSystem);
 
     //分配相机 digitier
-    MdigAlloc(MilSystem,M_DEV0,MIL_TEXT("C:/Users/Administrator/Desktop/cotton_double/config/1.dcf"),M_DEFAULT,&MilDigitizer0);
-    MdigAlloc(MilSystem,M_DEV1,MIL_TEXT("C:/Users/Administrator/Desktop/cotton_double/config/2.dcf"),M_DEFAULT,&MilDigitizer1);
+    QString config_dir = getConfigDirectory();
+    MdigAlloc(MilSystem,M_DEV0,(config_dir + "/1.dcf").toStdWString(), M_DEFAULT,&MilDigitizer0);
+    MdigAlloc(MilSystem,M_DEV1,(config_dir + "/2.dcf").toStdWString(), M_DEFAULT,&MilDigitizer1);
 
     //给MilImage分配空间
     MbufAllocColor(MilSystem,3,BufSizeX0,BufSizeY0,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage0);
@@ -95,7 +96,7 @@ bool iniCamera()
     MbufAllocColor(MilSystem,3,BufSizeX0,BufSizeY0,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&detection_result0);
     MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&detection_result1);
     MbufAllocColor(MilSystem,3,BufSizeX0,BufSizeY0,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Onnx0);
-    MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Onnx1);;
+    MbufAllocColor(MilSystem,3,BufSizeX1,BufSizeY1,8 + M_UNSIGNED,M_IMAGE + M_GRAB + M_PROC,&MilImage_Onnx1);
 
 
     //给每一个bufferlist分配空间
@@ -158,17 +159,22 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
 
     }
 
-    if(SaveImg_Flag)
+    if (SaveImg_Flag)
     {
-        //拷贝存图图像
-        MbufCopy(ModifiedBufferId0,MilImage0);
-        //Mil保存路径
-        QString MilImgPath = QString("C:/Users/Pc/Desktop/cotton_double2/Img1/%1.bmp").arg(FuncCount0);
-        MIL_STRING MilImagePath = MilImgPath.toStdWString();
-        MbufExport(MilImagePath,M_BMP,MilImage0);
-        qDebug()<<"回调1成功存储照片:"<<FuncCount0<<"张";
+        // 拷贝存图图像
+        MbufCopy(ModifiedBufferId0, MilImage0);
+        cv::Mat img = ImageUtils::mil2Mat(MilImage0);
+
+        // 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
+        g_storageQueue.enqueue(data);
+        qDebug() << "Callback0: Enqueued image for camera 0";
+
         FuncCount0++;
     }
+
 #if(GlobalDebug)
     qDebug()<<"回调1";
 #endif
@@ -186,6 +192,15 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
     //艳丽检测mask
     high_sat_detect(MimFlipDedtination, detection_result0, params);
 
+    //Onnx检测mask
+    // MbufCopy(ModifiedBufferId0,MilImage_Onnx0);
+    // cv::Mat image = ImageUtils::mil2Mat(MilImage_Onnx0);
+    // 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);
+
     // Update the current Img MIl id
     {
         QMutexLocker locker(&gMaskMutex0);
@@ -193,48 +208,16 @@ MIL_INT ProcessingFunction0(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
     }
 
     auto [mask_tmp, newTail] = generateMaskWithTail(detection_result0, tail_0, widthBlocks, heightBlocks, sizeThreshold, rowRange, skipLeftCols, skipRightCols);
-
     tail_0 = newTail;
-    mask_0 = mask_tmp;
 
-    bool isReady;
     vector<vector<uint8_t>> merged_mask;
-    vector<vector<uint8_t>> mask_tail;
 
-    {
-        QMutexLocker locker_self(&imgDetectionReadyMutex);
-        imgDetectionReady0 = true;
-        // QMutexLocker locker_other(&imgDetectionReady1Mutex);
-        isReady = imgDetectionReady0 & imgDetectionReady1;
-        if(isReady)
-        {
-            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);
-        }
-    }
-    // 没有两个都完成就不发送
-    if(!isReady)
-    return 0;
+    merged_mask = ImageUtils::mergeMasks(mask_tmp, mask_tmp); // merge the result of onnx and high sat
 
-    // 发送前的处理
-    // 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);
-    //将mask扩展到合适的大小
-    std::vector<std::vector<uint8_t>> 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
-    // 发送到下位机
-    bool result_Low = get_valve_data(mask_Total);
-    if(!result_Low)
-    {
-        qWarning()<<"下位机发送失败";
-    }
+    mask_0 = merged_mask;
+
+    detection_ready.release();
+    MbufFree(detection_result0);
 
     return 0;
 }
@@ -255,23 +238,26 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
 
     // Update the current Img MIl id
     {
-    QMutexLocker locker(&gDispPicMutex1);
-    gDispCurrentPicId1 = ModifiedBufferId1;
+        QMutexLocker locker(&gDispPicMutex1);
+        gDispCurrentPicId1 = ModifiedBufferId1;
     }
 
-    if(SaveImg_Flag)
+    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";
+        // 拷贝存图图像
+        MbufCopy(ModifiedBufferId1, MilImage1);
+        cv::Mat img = ImageUtils::mil2Mat(MilImage1);
+
+        // 将图像数据推入存储队列
+        ImageData data;
+        data.camera_id = 1;
+        data.image = img.clone(); // 确保图像数据被复制
+        g_storageQueue.enqueue(data);
+        qDebug() << "Callback1: Enqueued image for camera 1";
+
         FuncCount1++;
     }
 
-
 #if (GlobalDebug)
     qDebug()<<"回调2";
 #endif
@@ -286,13 +272,13 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
     MimResize(MilImage_Color1, MimResizedestination, 0.5, 1 , M_DEFAULT);
 
 
-
 #if(GlobalDebug && DebugDetectionTime)
     Timer timer2;
 #endif
     //艳丽检测mask
     high_sat_detect(MimResizedestination, detection_result1, params);
 
+
 #if(GlobalDebug && DebugDetectionTime)
     timer2.printElapsedTime("Algorithm Spent: ");
 #endif
@@ -313,25 +299,12 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
 
     tail_1 = newTail;
     mask_1 = mask_tmp;
-    bool isReady;
+    detection_ready.acquire();
     vector<vector<uint8_t>> merged_mask;
     vector<vector<uint8_t>> mask_tail;
 
-    {
-        QMutexLocker locker_self(&imgDetectionReadyMutex);
-        imgDetectionReady1 = true;
-        // QMutexLocker locker_other(&imgDetectionReady0Mutex);
-
-        isReady = imgDetectionReady0 & imgDetectionReady1;
-        if(isReady)
-        {
-            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);
-        }
-    }
-    // 没有两个都完成就不发送
-    if(!isReady)
-        return 0;
+    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
     // 将每个结果左右扩展，扩展半径默认为1
@@ -345,7 +318,7 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
     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)
@@ -353,11 +326,12 @@ MIL_INT ProcessingFunction1(MIL_INT HookType, MIL_ID HookId, void *HookDataPtr)
         qWarning()<<"下位机发送失败";
     }
 
+
 #if(GlobalDebug && DebugDetectionTime)
     timer_detection_time.printElapsedTime("Time of Processing From Get into Ca"
                                           "..0llBack to Sent to Lower Mac");
 #endif
-
+    MbufFree(detection_result1);
     return 0;
 }
 
@@ -383,8 +357,6 @@ bool DestoryCamera()
     MbufFree(MilImage_Color1);
     MbufFree(MilImage_Onnx0);
     MbufFree(MilImage_Onnx1);
-    MbufFree(detection_result0);
-    MbufFree(detection_result1);
     MdigFree(MilDigitizer0);
     MdigFree(MilDigitizer1);
     MsysFree(MilSystem);
@@ -663,7 +635,7 @@ std::vector<std::vector<uint8_t>> generateMaskFromImage(const MIL_ID& inputImage
     //     std::cerr << "无法加载图像，请检查路径是否正确: " << imagePath << std::endl;
     //     exit(EXIT_FAILURE);
     // }
-    cv::Mat image=mil2mat(inputImage);
+    cv::Mat image=ImageUtils::mil2Mat(inputImage);
     // 确保图像是二值化的
     cv::threshold(image, image, 128, 255, cv::THRESH_BINARY);
 
@@ -743,104 +715,24 @@ std::vector<std::vector<uint8_t>> generateMaskFromImage2(const cv::Mat& image, i
                 mask[i][j] = true;
             }
 
-
-
         }
     }
 
     return mask;
 }
 
-void convert_to_uint8(const MIL_ID& input_img, MIL_ID& output_img) {
-    MIL_INT size_x = MbufInquire(input_img, M_SIZE_X, M_NULL);
-    MIL_INT size_y = MbufInquire(input_img, M_SIZE_Y, M_NULL);
-    MIL_INT channel_num = MbufInquire(input_img,  M_SIZE_BAND, M_NULL);
-
-    MbufAlloc2d(MilSystem, size_x, size_y, 8 + M_UNSIGNED, M_IMAGE + M_PROC + M_DISP, &output_img);
-    if(channel_num == 1) {
-        MimArith(output_img, input_img, output_img, M_ADD);
-        MimArith(output_img, 255.0, output_img, M_MULT_CONST);
-    } else if(channel_num == 3) {
-        MimConvert(input_img, output_img, M_RGB_TO_L);
-        MimArith(output_img, M_NULL, output_img, M_NOT);
-    } else {
-        cout << "Unsupported channel number!" << endl;
-    }
-}
-
-Mat mil2mat(const MIL_ID mil_img) {
-    // 获取 MIL 图像的宽度、高度和通道数
-    MIL_INT width, height, channels, bitDepth;
-
-    MbufInquire(mil_img, M_SIZE_X, &width);
-    MbufInquire(mil_img, M_SIZE_Y, &height);
-    MbufInquire(mil_img, M_SIZE_BAND, &channels);
-    MbufInquire(mil_img, M_SIZE_BIT, &bitDepth);
-
-    if (channels == 1) {
-        // 单通道图像，直接读取整个缓冲区
-        Mat grayImage(height, width, CV_8UC1);
-        if (bitDepth == 1) {
-            MIL_ID temp_img;
-            convert_to_uint8(mil_img, temp_img);
-            MbufGet(temp_img, grayImage.data);
-            MbufFree(temp_img);
-        } else {
-            MbufGet(mil_img, grayImage.data);
-        }
-        return grayImage;
-    }
-    if (channels == 3) {
-        // 多通道图像，分通道读取
-        MIL_ID redChannel, greenChannel, blueChannel;
-        MbufAlloc2d(MilSystem, width, height, 8 + M_UNSIGNED, M_IMAGE + M_PROC, &redChannel);
-        MbufAlloc2d(MilSystem, width, height, 8 + M_UNSIGNED, M_IMAGE + M_PROC, &greenChannel);
-        MbufAlloc2d(MilSystem, width, height, 8 + M_UNSIGNED, M_IMAGE + M_PROC, &blueChannel);
-
-        // 将 MIL 图像的各个通道复制到单通道缓冲区
-        MbufCopyColor(mil_img, redChannel, M_RED);
-        MbufCopyColor(mil_img, greenChannel, M_GREEN);
-        MbufCopyColor(mil_img, blueChannel, M_BLUE);
-
-        // 分别读取每个通道的数据
-        Mat redMat(height, width, CV_8UC1);
-        Mat greenMat(height, width, CV_8UC1);
-        Mat blueMat(height, width, CV_8UC1);
-        MbufGet(redChannel, redMat.data);
-        MbufGet(greenChannel, greenMat.data);
-        MbufGet(blueChannel, blueMat.data);
-        // 释放通道缓冲区
-        MbufFree(redChannel);
-        MbufFree(greenChannel);
-        MbufFree(blueChannel);
-
-        // 合并通道
-        std::vector<Mat> bgrChannels = {blueMat, greenMat, redMat};
-        Mat colorImage;
-        cv::merge(bgrChannels, colorImage);
-
-        return colorImage;
-    }
-    // 不支持的通道数
-    std::cerr << "[Error] Unsupported number of channels: " << channels << std::endl;
-    return Mat();
-}
-
 
 bool iniColor()
 {
-    read_params_from_file("C:/Users/Administrator/Desktop/cotton_double/config/color_range_config.txt", params);
+    read_params_from_file((getConfigDirectory()+"/color_range_config.txt").toStdString(), params);
     return 1;
-
 }
 
 
 bool iniOnnx()
 {
 
-    std::string modelPath = "C:/Users/admin/Desktop/config/dimo_11.14.onnx";
-    // std::string imagePath = "C:/Users/admin/Desktop/config/463_12.5_M2.bmp";
-    // cv::Mat image = cv::imread(imagePath);
+    std::string modelPath = (getConfigDirectory() + "/dimo_369_640.onnx").toStdString();
 
     runner.load(modelPath);
 
@@ -1004,6 +896,10 @@ bool DestoryLowMac()
 
 bool get_valve_data(std::vector<std::vector<uint8_t>> mask)
 {
+    if (mask[0].size() % 8 != 0) {
+        std::cerr << "Error: mask 的第 0 行的列数应该为 8 的倍数。" << std::endl;
+        return false;
+    }
     uint8_t* mask_buf = new uint8_t[4096 + 8];  // 创建缓冲区，大小为3072 + 8
     mask_buf[0] = 0xAA;                         // 起始标志
     mask_buf[1] = 0x10;                         // 高位数据长度 (352 字节 -> 0x0160)
@@ -1015,18 +911,14 @@ bool get_valve_data(std::vector<std::vector<uint8_t>> mask)
     int idx = 5;  // 从 mask_buf[5] 开始存储数据
     for (int i = 0; i < 512; i++)  // 遍历512行
     {
-        uint8_t byte = 0;
-        int bit_count = 0;
-        for (int j = 0; j < 64; j++)  // 遍历64列
-        {                                 
-            byte = (byte << 1) | (uint8_t)mask[i][j];  // 将每个二进制位加入到字节中
-            bit_count++;
-            if (bit_count == 8 || j == 63)  // 每8个二进制位打包成一个字节
+        for (int j = 0; j < int(64 / 8); j++)  // 遍历64列
+        {
+            uint8_t byte = 0;
+            for (int bit_idx = 0; bit_idx < 8; bit_idx++)
             {
-                mask_buf[idx++] = byte;
-                byte = 0;  // 重置byte，开始下一个字节
-                bit_count = 0;
+                byte |= (mask[i][ j * 8 + bit_idx] & 0x01) << bit_idx;  // 每个字节内，低字节优先
             }
+            mask_buf[idx++] = byte;
         }
     }
 
@@ -1066,11 +958,10 @@ bool get_valve_data(std::vector<std::vector<uint8_t>> mask)
 
     delete[] mask_buf;  // 释放内存
 
-    return 1;
+    return true;
 }
 
 
-
 void Start_camera()
 {
     MdigProcess(MilDigitizer0, MilGrabBufferList0, 20, M_START, M_DEFAULT,ProcessingFunction0, M_NULL);
@@ -1119,32 +1010,6 @@ std::vector<std::vector<uint8_t> > expandArray(const std::vector<std::vector<uin
     return array_total;
 }
 
-void VectorToImg(const std::vector<std::vector<uint8_t> > &array, const std::string &image_path)
-{
-    int height = array.size();
-    int width = array[0].size();
-
-    // 创建一个Mat对象来表示图像，CV_8UC1表示单通道8位无符号整数类型（用于黑白图像）
-    Mat image(height, width, CV_8UC1);
-
-    // 遍历二维向量，设置图像像素值
-    for (int y = 0; y < height; y++)
-    {
-        for (int x = 0; x < width; x++)
-        {
-            if (array[y][x] == 1)
-            {
-                image.at<uchar>(y, x) = 255;  // 白色像素，对应灰度值255
-            } else
-            {
-                image.at<uchar>(y, x) = 0;    // 黑色像素，对应灰度值0
-            }
-        }
-    }
-
-    // 将图像保存为文件，传入的image_path指定保存路径和文件名
-    imwrite(image_path, image);
-}
 
 vector<vector<uint8_t>> generateMask(
     const MIL_ID& inputImg,
@@ -1154,7 +1019,7 @@ vector<vector<uint8_t>> generateMask(
     int skipLeftCols,
     int skipRightCols
     ) {
-    cv::Mat image = mil2mat(inputImg);
+    cv::Mat image = ImageUtils::mil2Mat(inputImg);
 
     // Ensure the image is binary
     cv::threshold(image, image, 128, 255, cv::THRESH_BINARY);

camera.h

@@ -20,7 +20,6 @@
 
 #include <QTcpSocket>
 #include <QTcpServer>
-
 #include "globals.h"
 #include "img_utils.h"
 

cotton_double2.pro

@@ -14,6 +14,7 @@ SOURCES += \
     img_utils.cpp \
     main.cpp \
     onnxrunner.cpp \
+    storageworker.cpp \
     widget.cpp
 
 HEADERS += \
@@ -21,6 +22,7 @@ HEADERS += \
     globals.h \
     img_utils.h \
     onnxrunner.h \
+    storageworker.h \
     widget.h
 
 FORMS += \

cotton_double2.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 15.0.0, 2024-12-21T22:26:46. -->
+<!-- Written by QtCreator 15.0.0, 2024-12-23T16:03:42. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

globals.cpp

@@ -14,7 +14,30 @@ QMutex gMaskMutex1;
 MIL_ID gMask1 = 0;
 
 // 双相机结果同步
-QMutex imgDetectionReadyMutex;
-QMutex imgDetectionReady1Mutex;
-bool imgDetectionReady0 = false;
-bool imgDetectionReady1 = false;
+QSemaphore detection_ready(0);
+
+
+QString getSaveDirectory() {
+    QDir appDir(QCoreApplication::applicationDirPath());
+    QString saveDir = appDir.filePath("images");
+
+    if (!appDir.exists(saveDir)) {
+        appDir.mkdir("images"); // 创建目录，如果不存在
+    }
+
+    return saveDir;
+}
+
+
+QString getConfigDirectory() {
+    QDir appDir(QCoreApplication::applicationDirPath());
+    QString saveDir = appDir.filePath("config");
+
+    if (!appDir.exists(saveDir)) {
+        appDir.mkdir("config"); // 创建目录，如果不存在
+    }
+
+    return saveDir;
+}
+
+ThreadSafeQueue<ImageData> g_storageQueue;

globals.h

@@ -5,6 +5,9 @@
 #include <MIL.h>
 #include <QMutex>
 #include <opencv2/opencv.hpp>
+#include <QSemaphore>
+#include <QDir>
+#include <QCoreApplication>
 
 // 图片显示0
 extern QMutex gDispPicMutex0;
@@ -20,9 +23,60 @@ extern MIL_ID gMask0;
 extern QMutex gMaskMutex1;
 extern MIL_ID gMask1;
 
-extern QMutex imgDetectionReadyMutex;
-extern QMutex imgDetectionReady1Mutex;
-extern bool imgDetectionReady0;
-extern bool imgDetectionReady1;
+extern QSemaphore detection_ready;
 
+QString getSaveDirectory();
+QString getConfigDirectory();
+
+// 定义一个结构体来存储图像数据及其来源相机ID
+struct ImageData
+{
+    int camera_id;
+    cv::Mat image;
+};
+
+template <typename T>
+class ThreadSafeQueue{
+public:
+    // 添加元素到队列
+    void enqueue(const T& item)
+    {
+        std::unique_lock<std::mutex> lock(mutex_);
+        queue_.push(item);
+        cond_var_.notify_one();
+    }
+
+    // 从队列中移除并获取元素
+    bool dequeue(T& item)
+    {
+        std::unique_lock<std::mutex> lock(mutex_);
+        while (queue_.empty() && !stop_)
+        {
+            cond_var_.wait(lock);
+        }
+        if (queue_.empty())
+            return false;
+        item = std::move(queue_.front());
+        queue_.pop();
+        return true;
+    }
+
+    // 停止队列，唤醒所有等待的线程
+    void stop()
+    {
+        std::unique_lock<std::mutex> lock(mutex_);
+        stop_ = true;
+        cond_var_.notify_all();
+    }
+
+private:
+    std::queue<T> queue_;
+    std::mutex mutex_;
+    std::condition_variable cond_var_;
+    bool stop_ = false;
+};
+
+
+// 定义全局存储队列
+extern ThreadSafeQueue<ImageData> g_storageQueue;
 #endif // GLOBALS_H

img_utils.cpp

@@ -15,19 +15,22 @@ QPixmap ImageUtils::mat2QPixmap(const cv::Mat& mat)
         // 灰度图像
         img = QImage(mat.data, mat.cols, mat.rows, static_cast<int>(mat.step), QImage::Format_Grayscale8).copy();
     }
-    else if(mat.channels() == 3){
+    else if(mat.channels() == 3)
+    {
         // 彩色图像 (OpenCV 默认是 BGR，需要转换为 RGB)
         cv::Mat rgb;
         cv::cvtColor(mat, rgb, cv::COLOR_BGR2RGB);
         img = QImage(rgb.data, rgb.cols, rgb.rows, static_cast<int>(rgb.step), QImage::Format_RGB888).copy();
     }
-    else if(mat.channels() == 4){
+    else if(mat.channels() == 4)
+    {
         // 如果需要处理带有透明通道的图像 (BGRA 转 RGBA)
         cv::Mat rgba;
         cv::cvtColor(mat, rgba, cv::COLOR_BGRA2RGBA);
         img = QImage(rgba.data, rgba.cols, rgba.rows, static_cast<int>(rgba.step), QImage::Format_RGBA8888).copy();
     }
-    else{
+    else
+    {
         // 不支持的图像格式
         std::cout << "Unsupported Mat format with channels:" << mat.channels();
         return QPixmap();
@@ -253,28 +256,29 @@ std::pair<std::vector<std::vector<uint8_t> >, std::vector<std::vector<uint8_t> >
     return { roi_mask, remaining_mask };
 }
 
-// cv::Mat overlayResultOnInput(const cv::Mat& cv_input, const cv::Mat& total_result, double alpha = 0.5, int colormap = cv::COLORMAP_JET) {
+void VectorToImg(const std::vector<std::vector<uint8_t> > &array, const std::string &image_path)
+{
+    int height = array.size();
+    int width = array[0].size();
 
-// }
+    // 创建一个Mat对象来表示图像，CV_8UC1表示单通道8位无符号整数类型（用于黑白图像）
+    cv::Mat image(height, width, CV_8UC1);
 
+    // 遍历二维向量，设置图像像素值
+    for (int y = 0; y < height; y++)
+    {
+        for (int x = 0; x < width; x++)
+        {
+            if (array[y][x] == 1)
+            {
+                image.at<uchar>(y, x) = 255;  // 白色像素，对应灰度值255
+            } else
+            {
+                image.at<uchar>(y, x) = 0;    // 黑色像素，对应灰度值0
+            }
+        }
+    }
 
-// 合并两个二值掩码，通过按位或操作，并考虑垂直偏移 offset_y
-// std::vector<std::vector<uint8_t>> mergeMasks(
-//     const std::vector<std::vector<uint8_t>>& mask1,
-//     const std::vector<std::vector<uint8_t>>& mask2,
-//     int offset_y = 0
-// ) {
-
-// }
-
-// 提取 ROI 并返回剩余部分
-// std::pair<std::vector<std::vector<uint8_t>>, std::vector<std::vector<uint8_t>>>
-// extractROI(
-//     const std::vector<std::vector<uint8_t>>& merged_mask,
-//     int roi_x,
-//     int roi_y,
-//     int roi_width,
-//     int roi_height
-// ) {
-
-// }
+    // 将图像保存为文件，传入的image_path指定保存路径和文件名
+    imwrite(image_path, image);
+}

img_utils.h

@@ -40,6 +40,8 @@ public:
         int roi_width,
         int roi_height
     );
-};
 
+    static void VectorToImg(const std::vector<std::vector<uint8_t> > &array, const std::string &image_path);
+
+};
 #endif // IMG_UTILS_H

release/config/2.dcf

@@ -17,12 +17,14 @@
 /
 /
 /
+/
+/
 [CAMERA_NAME]
 no name
 [CONFIG_FILE]
 50CF
 ODYSSEY
-Mon Dec  9 16:10:06 2024
+Mon Dec 23 11:31:47 2024
 [INFO_FILE_REV]
 0010.0019.0000
 RADIENT/eVCL/DUAL
@@ -64,7 +66,7 @@ VDC_IN_CH1
 VDC_IN_CH2                                                                                                 0x0
 VDC_IN_CH3                                                                                                 0x0
 VDC_IN_CH_C                                                                                                0x0
-VDC_DIGITIZER                                                                                              0x0
+VDC_DIGITIZER                                                                                              0x1
 VDC_PSG_MODE_1_CHECK                                                                                       0x1
 VDC_PSG_MODE_2_CHECKS                                                                                      0x0
 VDC_PSG_MODE_3_CHECKS                                                                                      0x0
@@ -111,16 +113,16 @@ VDT_STD_CL
 VDT_STD_DIGITAL                                                                                            0x0
 VDT_NOVERT                                                                                                 0x1
 VDT_HSYNC                                                                                                  0x0
-VDT_HBPORCH                                                                                                0x0
+VDT_HBPORCH                                                                                                0x10
 VDT_HFPORCH                                                                                                0x0
 VDT_HACTIVE                                                                                                0x1000
-VDT_HTOTAL                                                                                                 0x1000
-VDT_HSYNC_FREQ                                                                                             0x4c4b
+VDT_HTOTAL                                                                                                 0x1010
+VDT_HSYNC_FREQ                                                                                             0x4bff
 VDT_VSYNC                                                                                                  0x0
 VDT_VBPORCH                                                                                                0x0
 VDT_VFPORCH                                                                                                0x0
-VDT_VACTIVE                                                                                                0x400
-VDT_VTOTAL                                                                                                 0x400
+VDT_VACTIVE                                                                                                0x200
+VDT_VTOTAL                                                                                                 0x200
 VDT_VSYNC_FREQ                                                                                             0x0
 VDT_CL_IMAGE_SIZE_X                                                                                        0x0
 VDT_CL_IMAGE_SIZE_Y                                                                                        0x0
@@ -1558,11 +1560,11 @@ DEF_INFO_XSIZE_DIVISOR
 DEF_INFO_YSIZE_DIVISOR                                                                                     0x1
 DEF_ADD_HACTIVE_MULTIPLEX                                                                                  0x0
 DEF_ADD_VACTIVE_MULTIPLEX                                                                                  0x0
-DEF_HTOTAL_ENTRY                                                                                           0x1000
+DEF_HTOTAL_ENTRY                                                                                           0x1010
 DEF_HACTIVE_ENTRY                                                                                          0x1000
-DEF_VTOTAL_ENTRY                                                                                           0x400
-DEF_VACTIVE_ENTRY                                                                                          0x400
-DEF_CL_NEW_HCROPPING                                                                                       0x0
+DEF_VTOTAL_ENTRY                                                                                           0x200
+DEF_VACTIVE_ENTRY                                                                                          0x200
+DEF_CL_NEW_HCROPPING                                                                                       0x10
 DEF_CL_NEW_VCROPPING                                                                                       0x0
 DEF_NTSC                                                                                                   0x0
 DEF_PAL                                                                                                    0x0
@@ -1576,20 +1578,20 @@ DEF_VINTRL_ODD_EVEN
 DEF_VSVAL_EQUA_ZERO                                                                                        0x1
 DEF_VEVAL_EQUA_VTOTAL                                                                                      0x1
 DEF_DIGITIZER_MASTER                                                                                       0x0
-DEF_CASE_HVBLANK_ZERO                                                                                      0x1
-DEF_ADD_3MAX_TOTAL_HVBLANK_ZERO                                                                            0x3
+DEF_CASE_HVBLANK_ZERO                                                                                      0x0
+DEF_ADD_3MAX_TOTAL_HVBLANK_ZERO                                                                            0x0
 DEF_ADD_HTOTAL_EQUA_HEVAL                                                                                  0x0
 DEF_HOR_COUNT_MAX_BITWISE                                                                                  0xffff
 DEF_VERT_COUNT_MAX_BITWISE                                                                                 0xffff
-DEF_DIG_HTOTAL                                                                                             0x1002
-DEF_DIG_VTOTAL                                                                                             0x3ff
+DEF_DIG_HTOTAL                                                                                             0x100f
+DEF_DIG_VTOTAL                                                                                             0x1ff
 DEF_TEST_MODE_HFP_MIN                                                                                      0x0
 DEF_TEST_MODE_HSY_HBP_MIN_CL                                                                               0x0
 DEF_TEST_MODE_VFP_MIN                                                                                      0x0
 DEF_TEST_MODE_VBP_MIN                                                                                      0x0
 DEF_TEST_MODE_VS_VBP_MIN_ANA_DIG_CL                                                                        0x0
-DEF_HSVAL_EQUA_ZERO                                                                                        0x1
-DEF_HEVAL_EQUA_HTOTAL                                                                                      0x0
+DEF_HSVAL_EQUA_ZERO                                                                                        0x0
+DEF_HEVAL_EQUA_HTOTAL                                                                                      0x1
 DEF_HTOTAL_OVERFLOW                                                                                        0x0
 DEF_HACTIVE_OVERFLOW                                                                                       0x0
 DEF_VTOTAL_OVERFLOW                                                                                        0x0
@@ -1612,8 +1614,8 @@ DEF_TIMER0_PIPE_DELAY1
 DEF_TIMER1_PIPE_DELAY1                                                                                     0x0
 DEF_TMR0_CLKTMR1_CNT                                                                                       0x0
 DEF_TMR1_CLKTMR0_CNT                                                                                       0x0
-DEF_TIMER01_CLK_HS_FREQ                                                                                    0x4c41
-DEF_TIMER01_CLK_HS_PERIOD                                                                                  0xc81b
+DEF_TIMER01_CLK_HS_FREQ                                                                                    0x4c03
+DEF_TIMER01_CLK_HS_PERIOD                                                                                  0xc8be
 DEF_TIMER0_CLK_HS_PERIOD_DLY1_CNT                                                                          0x0
 DEF_TIMER0_CLK_HS_PERIOD_DLY2_CNT                                                                          0x0
 DEF_TIMER0_CLK_HS_PERIOD_T1_CNT                                                                            0x0
@@ -1729,7 +1731,7 @@ DEF_DIG1_BYTESORDER
 INFO_CUSTOM                                                                                                0x0
 INFO_REGISTER_REV                                                                                          0x1
 INFO_XSIZE                                                                                                 0x1000
-INFO_YSIZE                                                                                                 0x400
+INFO_YSIZE                                                                                                 0x200
 INFO_TYPE                                                                                                  0x1
 INFO_BAYER                                                                                                 0x0
 INFO_BURSTSIZE                                                                                             0x0
@@ -1922,18 +1924,18 @@ INFO_MASK_T2CTLH
 INFO_MASK_T3CTLL                                                                                           0x0
 INFO_MASK_T3CTLH                                                                                           0x0
 DIG_HCNT                                                                                                   0x1
-DIG_HTOTAL                                                                                                 0x1002
+DIG_HTOTAL                                                                                                 0x100f
 DIG_HSCNT                                                                                                  0x0
 DIG_HECNT                                                                                                  0x1
 DIG_HSSYNC                                                                                                 0x0
 DIG_HESYNC                                                                                                 0x0
-DIG_HSVAL                                                                                                  0x0
-DIG_HEVAL                                                                                                  0xfff
+DIG_HSVAL                                                                                                  0x10
+DIG_HEVAL                                                                                                  0x100f
 DIG_HSCLM                                                                                                  0x0
 DIG_HECLM                                                                                                  0x0
 DIG_HCTL                                                                                                   0x1e0
 DIG_VCNT                                                                                                   0x1
-DIG_VTOTAL                                                                                                 0x3ff
+DIG_VTOTAL                                                                                                 0x1ff
 DIG_VSCNT                                                                                                  0x0
 DIG_VECNT                                                                                                  0x0
 DIG_VSSYNC                                                                                                 0x0
@@ -2348,5 +2350,5 @@ DIG_IOCTL1H
 DIG_IOCTL0_L                                                                                             not_modified
 DIG_ENCTL                                                                                                not_modified
 [EOF]
-00007FF687B3AAA8                                                0x400b8
-00007FF687B3AA90                                                 0x48b1c582
+00007FF72205AAA8                                                0x400c2
+00007FF72205AA90                                                 0x48b9cbd0

release/config/color_range_config.txt

@@ -0,0 +1,52 @@
+# Green color parameters
+green_L_min = 18
+green_L_max = 58
+green_a_min = -35
+green_a_max = -11
+green_b_min = -7
+green_b_max = 24
+
+# Blue color parameters
+blue_L_min = 20
+blue_L_max = 43
+blue_a_min = -13
+blue_a_max = 22
+blue_b_min = -48
+blue_b_max = -3
+
+# Orange color parameters
+orange_L_min = 62
+orange_L_max = 77
+orange_a_min = 7
+orange_a_max = 15
+orange_b_min = 30
+orange_b_max = 48
+
+# Black color parameters
+black_L_min = 1
+black_L_max = 11
+black_a_min = -5
+black_a_max = 2
+black_b_min = -3
+black_b_max = 6
+
+# Red color parameters
+red_L_min = 20
+red_L_max = 44
+red_a_min = 10
+red_a_max = 30
+red_b_min = -99
+red_b_max = 32
+
+# Purple color parameters
+purple_L_min = 35
+purple_L_max = 72
+purple_a_min = 12
+purple_a_max = 22
+purple_b_min = -48
+purple_b_max = 1
+
+# Other parameters
+lab_denoising = 1
+saturation_threshold = 150
+saturation_denoising = 1

ui_widget.h

@@ -11,11 +11,17 @@
 
 #include <QtCore/QVariant>
 #include <QtWidgets/QApplication>
+#include <QtWidgets/QCheckBox>
+#include <QtWidgets/QFrame>
+#include <QtWidgets/QGridLayout>
 #include <QtWidgets/QGroupBox>
+#include <QtWidgets/QHBoxLayout>
 #include <QtWidgets/QLabel>
 #include <QtWidgets/QPushButton>
+#include <QtWidgets/QSpacerItem>
 #include <QtWidgets/QSpinBox>
 #include <QtWidgets/QTabWidget>
+#include <QtWidgets/QVBoxLayout>
 #include <QtWidgets/QWidget>
 
 QT_BEGIN_NAMESPACE
@@ -23,24 +29,46 @@ QT_BEGIN_NAMESPACE
 class Ui_Widget
 {
 public:
+    QHBoxLayout *horizontalLayout;
     QTabWidget *tabWidget;
     QWidget *tab;
-    QPushButton *pushButton;
-    QPushButton *pushButton_2;
+    QVBoxLayout *verticalLayout;
+    QGroupBox *groupBox_5;
+    QGridLayout *gridLayout;
     QPushButton *btn_goto_sort;
     QPushButton *btn_0to3;
+    QPushButton *pushButtonStart;
+    QPushButton *pushButton_2;
     QGroupBox *groupBox;
+    QHBoxLayout *horizontalLayout_2;
     QLabel *label;
     QLabel *lab_lowermachine_isconnect;
     QPushButton *btn_reconnect;
     QWidget *tab_2;
+    QHBoxLayout *horizontalLayout_3;
+    QGroupBox *groupBox_7;
+    QVBoxLayout *verticalLayout_3;
     QLabel *lab_info;
     QPushButton *btn_start;
+    QPushButton *btn_take_photos;
     QPushButton *btn_stop;
-    QLabel *camera_0_img;
-    QLabel *camera_1_img;
+    QSpacerItem *verticalSpacer;
+    QFrame *frame_6;
+    QVBoxLayout *verticalLayout_2;
+    QFrame *frame;
+    QHBoxLayout *horizontalLayout_4;
     QLabel *label_2;
-    QLabel *label_3;
+    QSpacerItem *horizontalSpacer;
+    QCheckBox *img_1_mirror;
+    QCheckBox *img_1_overlay;
+    QLabel *camera_1_img;
+    QFrame *frame_2;
+    QHBoxLayout *horizontalLayout_5;
+    QLabel *label_4;
+    QSpacerItem *horizontalSpacer_2;
+    QCheckBox *img_0_mirror;
+    QCheckBox *img_0_overlay;
+    QLabel *camera_0_img;
     QWidget *tab_3;
     QLabel *label_title_3;
     QGroupBox *groupBox_4;
@@ -67,33 +95,55 @@ public:
     {
         if (Widget->objectName().isEmpty())
             Widget->setObjectName("Widget");
-        Widget->resize(800, 600);
+        Widget->resize(1920, 1080);
+        horizontalLayout = new QHBoxLayout(Widget);
+        horizontalLayout->setObjectName("horizontalLayout");
         tabWidget = new QTabWidget(Widget);
         tabWidget->setObjectName("tabWidget");
-        tabWidget->setGeometry(QRect(0, 0, 801, 601));
+        tabWidget->setEnabled(true);
         tab = new QWidget();
         tab->setObjectName("tab");
-        pushButton = new QPushButton(tab);
-        pushButton->setObjectName("pushButton");
-        pushButton->setGeometry(QRect(100, 130, 201, 61));
-        pushButton_2 = new QPushButton(tab);
-        pushButton_2->setObjectName("pushButton_2");
-        pushButton_2->setGeometry(QRect(400, 120, 181, 71));
-        btn_goto_sort = new QPushButton(tab);
+        verticalLayout = new QVBoxLayout(tab);
+        verticalLayout->setObjectName("verticalLayout");
+        groupBox_5 = new QGroupBox(tab);
+        groupBox_5->setObjectName("groupBox_5");
+        gridLayout = new QGridLayout(groupBox_5);
+        gridLayout->setObjectName("gridLayout");
+        btn_goto_sort = new QPushButton(groupBox_5);
         btn_goto_sort->setObjectName("btn_goto_sort");
-        btn_goto_sort->setGeometry(QRect(120, 290, 121, 61));
-        btn_0to3 = new QPushButton(tab);
+
+        gridLayout->addWidget(btn_goto_sort, 2, 0, 1, 1);
+
+        btn_0to3 = new QPushButton(groupBox_5);
         btn_0to3->setObjectName("btn_0to3");
-        btn_0to3->setGeometry(QRect(410, 290, 141, 61));
+
+        gridLayout->addWidget(btn_0to3, 2, 1, 1, 1);
+
+        pushButtonStart = new QPushButton(groupBox_5);
+        pushButtonStart->setObjectName("pushButtonStart");
+
+        gridLayout->addWidget(pushButtonStart, 1, 0, 1, 1);
+
+        pushButton_2 = new QPushButton(groupBox_5);
+        pushButton_2->setObjectName("pushButton_2");
+
+        gridLayout->addWidget(pushButton_2, 1, 1, 1, 1);
+
+
+        verticalLayout->addWidget(groupBox_5);
+
         groupBox = new QGroupBox(tab);
         groupBox->setObjectName("groupBox");
-        groupBox->setGeometry(QRect(160, 390, 401, 131));
+        horizontalLayout_2 = new QHBoxLayout(groupBox);
+        horizontalLayout_2->setObjectName("horizontalLayout_2");
+        horizontalLayout_2->setSizeConstraint(QLayout::SizeConstraint::SetDefaultConstraint);
         label = new QLabel(groupBox);
         label->setObjectName("label");
-        label->setGeometry(QRect(40, 70, 41, 16));
+
+        horizontalLayout_2->addWidget(label);
+
         lab_lowermachine_isconnect = new QLabel(groupBox);
         lab_lowermachine_isconnect->setObjectName("lab_lowermachine_isconnect");
-        lab_lowermachine_isconnect->setGeometry(QRect(90, 60, 31, 31));
         QPalette palette;
         QBrush brush(QColor(237, 212, 0, 255));
         brush.setStyle(Qt::SolidPattern);
@@ -112,41 +162,163 @@ public:
         palette.setBrush(QPalette::Disabled, QPalette::Window, brush);
         palette.setBrush(QPalette::Disabled, QPalette::AlternateBase, brush1);
         lab_lowermachine_isconnect->setPalette(palette);
-        btn_reconnect = new QPushButton(tab);
+
+        horizontalLayout_2->addWidget(lab_lowermachine_isconnect);
+
+        btn_reconnect = new QPushButton(groupBox);
         btn_reconnect->setObjectName("btn_reconnect");
-        btn_reconnect->setGeometry(QRect(590, 440, 101, 41));
+
+        horizontalLayout_2->addWidget(btn_reconnect);
+
+
+        verticalLayout->addWidget(groupBox);
+
+        verticalLayout->setStretch(0, 5);
+        verticalLayout->setStretch(1, 1);
         tabWidget->addTab(tab, QString());
         tab_2 = new QWidget();
         tab_2->setObjectName("tab_2");
-        lab_info = new QLabel(tab_2);
+        horizontalLayout_3 = new QHBoxLayout(tab_2);
+        horizontalLayout_3->setObjectName("horizontalLayout_3");
+        groupBox_7 = new QGroupBox(tab_2);
+        groupBox_7->setObjectName("groupBox_7");
+        verticalLayout_3 = new QVBoxLayout(groupBox_7);
+        verticalLayout_3->setSpacing(20);
+        verticalLayout_3->setObjectName("verticalLayout_3");
+        verticalLayout_3->setContentsMargins(9, 9, 9, -1);
+        lab_info = new QLabel(groupBox_7);
         lab_info->setObjectName("lab_info");
-        lab_info->setGeometry(QRect(20, 50, 151, 81));
+        lab_info->setEnabled(true);
         QFont font;
         font.setPointSize(28);
         lab_info->setFont(font);
-        btn_start = new QPushButton(tab_2);
+
+        verticalLayout_3->addWidget(lab_info);
+
+        btn_start = new QPushButton(groupBox_7);
         btn_start->setObjectName("btn_start");
-        btn_start->setGeometry(QRect(20, 130, 101, 41));
-        btn_stop = new QPushButton(tab_2);
+        btn_start->setMinimumSize(QSize(70, 200));
+
+        verticalLayout_3->addWidget(btn_start);
+
+        btn_take_photos = new QPushButton(groupBox_7);
+        btn_take_photos->setObjectName("btn_take_photos");
+        btn_take_photos->setMinimumSize(QSize(70, 200));
+
+        verticalLayout_3->addWidget(btn_take_photos);
+
+        btn_stop = new QPushButton(groupBox_7);
         btn_stop->setObjectName("btn_stop");
-        btn_stop->setGeometry(QRect(20, 190, 101, 41));
-        camera_0_img = new QLabel(tab_2);
-        camera_0_img->setObjectName("camera_0_img");
-        camera_0_img->setGeometry(QRect(160, 40, 591, 191));
-        camera_0_img->setStyleSheet(QString::fromUtf8("background-color: rgb(129, 129, 129);\n"
-"border: 4px solid black;"));
-        camera_1_img = new QLabel(tab_2);
+        btn_stop->setMinimumSize(QSize(70, 200));
+
+        verticalLayout_3->addWidget(btn_stop);
+
+        verticalSpacer = new QSpacerItem(20, 40, QSizePolicy::Policy::Minimum, QSizePolicy::Policy::Expanding);
+
+        verticalLayout_3->addItem(verticalSpacer);
+
+
+        horizontalLayout_3->addWidget(groupBox_7);
+
+        frame_6 = new QFrame(tab_2);
+        frame_6->setObjectName("frame_6");
+        verticalLayout_2 = new QVBoxLayout(frame_6);
+        verticalLayout_2->setObjectName("verticalLayout_2");
+        frame = new QFrame(frame_6);
+        frame->setObjectName("frame");
+        frame->setFrameShape(QFrame::Shape::StyledPanel);
+        frame->setFrameShadow(QFrame::Shadow::Raised);
+        horizontalLayout_4 = new QHBoxLayout(frame);
+        horizontalLayout_4->setObjectName("horizontalLayout_4");
+        label_2 = new QLabel(frame);
+        label_2->setObjectName("label_2");
+        label_2->setStyleSheet(QString::fromUtf8("font: 18pt \"Microsoft YaHei UI\";"));
+
+        horizontalLayout_4->addWidget(label_2);
+
+        horizontalSpacer = new QSpacerItem(864, 20, QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Minimum);
+
+        horizontalLayout_4->addItem(horizontalSpacer);
+
+        img_1_mirror = new QCheckBox(frame);
+        img_1_mirror->setObjectName("img_1_mirror");
+        img_1_mirror->setStyleSheet(QString::fromUtf8("font: 12pt \"Microsoft YaHei UI\";"));
+
+        horizontalLayout_4->addWidget(img_1_mirror);
+
+        img_1_overlay = new QCheckBox(frame);
+        img_1_overlay->setObjectName("img_1_overlay");
+        img_1_overlay->setEnabled(false);
+        img_1_overlay->setStyleSheet(QString::fromUtf8("font: 12pt \"Microsoft YaHei UI\";"));
+
+        horizontalLayout_4->addWidget(img_1_overlay);
+
+
+        verticalLayout_2->addWidget(frame);
+
+        camera_1_img = new QLabel(frame_6);
         camera_1_img->setObjectName("camera_1_img");
-        camera_1_img->setGeometry(QRect(160, 290, 591, 191));
+        QSizePolicy sizePolicy(QSizePolicy::Policy::Ignored, QSizePolicy::Policy::Ignored);
+        sizePolicy.setHorizontalStretch(0);
+        sizePolicy.setVerticalStretch(0);
+        sizePolicy.setHeightForWidth(camera_1_img->sizePolicy().hasHeightForWidth());
+        camera_1_img->setSizePolicy(sizePolicy);
         camera_1_img->setStyleSheet(QString::fromUtf8("background-color: rgb(129, 129, 129);\n"
 "border: 4px solid black;"));
         camera_1_img->setLineWidth(1);
-        label_2 = new QLabel(tab_2);
-        label_2->setObjectName("label_2");
-        label_2->setGeometry(QRect(160, 270, 141, 16));
-        label_3 = new QLabel(tab_2);
-        label_3->setObjectName("label_3");
-        label_3->setGeometry(QRect(160, 20, 141, 16));
+
+        verticalLayout_2->addWidget(camera_1_img);
+
+        frame_2 = new QFrame(frame_6);
+        frame_2->setObjectName("frame_2");
+        frame_2->setFrameShape(QFrame::Shape::StyledPanel);
+        frame_2->setFrameShadow(QFrame::Shadow::Raised);
+        horizontalLayout_5 = new QHBoxLayout(frame_2);
+        horizontalLayout_5->setObjectName("horizontalLayout_5");
+        label_4 = new QLabel(frame_2);
+        label_4->setObjectName("label_4");
+        label_4->setStyleSheet(QString::fromUtf8("font: 18pt \"Microsoft YaHei UI\";"));
+
+        horizontalLayout_5->addWidget(label_4);
+
+        horizontalSpacer_2 = new QSpacerItem(840, 20, QSizePolicy::Policy::Expanding, QSizePolicy::Policy::Minimum);
+
+        horizontalLayout_5->addItem(horizontalSpacer_2);
+
+        img_0_mirror = new QCheckBox(frame_2);
+        img_0_mirror->setObjectName("img_0_mirror");
+        img_0_mirror->setStyleSheet(QString::fromUtf8("font: 12pt \"Microsoft YaHei UI\";"));
+        img_0_mirror->setChecked(true);
+
+        horizontalLayout_5->addWidget(img_0_mirror);
+
+        img_0_overlay = new QCheckBox(frame_2);
+        img_0_overlay->setObjectName("img_0_overlay");
+        img_0_overlay->setEnabled(false);
+        img_0_overlay->setStyleSheet(QString::fromUtf8("font: 12pt \"Microsoft YaHei UI\";"));
+
+        horizontalLayout_5->addWidget(img_0_overlay);
+
+
+        verticalLayout_2->addWidget(frame_2);
+
+        camera_0_img = new QLabel(frame_6);
+        camera_0_img->setObjectName("camera_0_img");
+        sizePolicy.setHeightForWidth(camera_0_img->sizePolicy().hasHeightForWidth());
+        camera_0_img->setSizePolicy(sizePolicy);
+        camera_0_img->setStyleSheet(QString::fromUtf8("background-color: rgb(129, 129, 129);\n"
+"border: 4px solid black;"));
+        camera_0_img->setLineWidth(1);
+
+        verticalLayout_2->addWidget(camera_0_img);
+
+        verticalLayout_2->setStretch(1, 5);
+        verticalLayout_2->setStretch(3, 5);
+
+        horizontalLayout_3->addWidget(frame_6);
+
+        horizontalLayout_3->setStretch(0, 4);
+        horizontalLayout_3->setStretch(1, 10);
         tabWidget->addTab(tab_2, QString());
         tab_3 = new QWidget();
         tab_3->setObjectName("tab_3");
@@ -215,6 +387,9 @@ public:
         btn_stop_test->setGeometry(QRect(210, 40, 75, 23));
         tabWidget->addTab(tab_4, QString());
 
+        horizontalLayout->addWidget(tabWidget);
+
+
         retranslateUi(Widget);
 
         tabWidget->setCurrentIndex(1);
@@ -226,22 +401,29 @@ public:
     void retranslateUi(QWidget *Widget)
     {
         Widget->setWindowTitle(QCoreApplication::translate("Widget", "Widget", nullptr));
-        pushButton->setText(QCoreApplication::translate("Widget", "\345\274\200\345\247\213", nullptr));
-        pushButton_2->setText(QCoreApplication::translate("Widget", "\344\277\235\345\255\230\345\233\276\347\211\207", nullptr));
+        groupBox_5->setTitle(QCoreApplication::translate("Widget", "GroupBox", nullptr));
         btn_goto_sort->setText(QCoreApplication::translate("Widget", "\345\201\234\346\255\242", nullptr));
         btn_0to3->setText(QCoreApplication::translate("Widget", "\345\226\267\351\230\200\346\265\213\350\257\225", nullptr));
+        pushButtonStart->setText(QCoreApplication::translate("Widget", "\345\274\200\345\247\213", nullptr));
+        pushButton_2->setText(QCoreApplication::translate("Widget", "\344\277\235\345\255\230\345\233\276\347\211\207", nullptr));
         groupBox->setTitle(QCoreApplication::translate("Widget", "\350\277\236\346\216\245\347\212\266\346\200\201\357\274\232", nullptr));
         label->setText(QCoreApplication::translate("Widget", "\344\270\213\344\275\215\346\234\272", nullptr));
         lab_lowermachine_isconnect->setText(QString());
         btn_reconnect->setText(QCoreApplication::translate("Widget", "\351\207\215\346\226\260\350\277\236\346\216\245", nullptr));
         tabWidget->setTabText(tabWidget->indexOf(tab), QCoreApplication::translate("Widget", "Tab 1", nullptr));
-        lab_info->setText(QCoreApplication::translate("Widget", "\345\207\206\345\244\207\344\270\255", nullptr));
+        groupBox_7->setTitle(QCoreApplication::translate("Widget", "\346\216\247\345\210\266\345\217\212\347\212\266\346\200\201", nullptr));
+        lab_info->setText(QCoreApplication::translate("Widget", "\347\212\266\346\200\201", nullptr));
         btn_start->setText(QCoreApplication::translate("Widget", "\345\274\200\345\247\213\345\210\206\351\200\211", nullptr));
+        btn_take_photos->setText(QCoreApplication::translate("Widget", "\346\212\223\345\217\226\345\233\276\347\211\207", nullptr));
         btn_stop->setText(QCoreApplication::translate("Widget", "\345\201\234\346\255\242\345\210\206\351\200\211", nullptr));
-        camera_0_img->setText(QString());
-        camera_1_img->setText(QString());
         label_2->setText(QCoreApplication::translate("Widget", "\347\233\270\346\234\2721\357\274\210\351\253\230\344\276\247/\346\260\224\347\275\220\344\276\247\357\274\211", nullptr));
-        label_3->setText(QCoreApplication::translate("Widget", "\347\233\270\346\234\2720\357\274\210\344\275\216\344\276\247/\345\207\272\351\243\216\345\217\243\344\276\247\357\274\211", nullptr));
+        img_1_mirror->setText(QCoreApplication::translate("Widget", "\345\233\276\347\211\207\351\225\234\345\203\217", nullptr));
+        img_1_overlay->setText(QCoreApplication::translate("Widget", "\350\257\206\345\210\253\347\273\223\346\236\234", nullptr));
+        camera_1_img->setText(QString());
+        label_4->setText(QCoreApplication::translate("Widget", "\347\233\270\346\234\2720\357\274\210\344\275\216\344\276\247/\345\207\272\351\243\216\345\217\243\344\276\247\357\274\211", nullptr));
+        img_0_mirror->setText(QCoreApplication::translate("Widget", "\345\233\276\347\211\207\351\225\234\345\203\217", nullptr));
+        img_0_overlay->setText(QCoreApplication::translate("Widget", "\350\257\206\345\210\253\347\273\223\346\236\234", nullptr));
+        camera_0_img->setText(QString());
         tabWidget->setTabText(tabWidget->indexOf(tab_2), QCoreApplication::translate("Widget", "Tab 2", nullptr));
         label_title_3->setText(QCoreApplication::translate("Widget", "\345\217\202\346\225\260\350\256\276\347\275\256\347\225\214\351\235\242", nullptr));
         groupBox_4->setTitle(QCoreApplication::translate("Widget", "\344\270\213\344\275\215\346\234\272\345\217\202\346\225\260", nullptr));

widget.cpp

@@ -14,25 +14,39 @@
 #include <QDateTime>
 #include <img_utils.h>
 
-
 using namespace std;
 
+
 // 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)
 {
+    this->isCamRunning = false;
+
     ui->setupUi(this);
-    ui->camera_0_img->setScaledContents(true);
-
+    ui->camera_0_img->setScaledContents(false);
+    ui->camera_1_img->setScaledContents(false);
 
+    iniOnnx();
     iniColor();
     iniLowMac();
     iniCamera();
 
+    // 初始化存储工作者和线程
+    storageWorker = new StorageWorker();
+    storageWorker->moveToThread(&storageThread);
+
+    connect(&storageThread, &QThread::started, storageWorker, &StorageWorker::process);
+    connect(this, &Widget::destroyed, &storageThread, &QThread::quit);
+    connect(&storageThread, &QThread::finished, storageWorker, &QObject::deleteLater);
+
+    storageThread.start();
+
     // 启动显示定时器，每秒检查一次
     QTimer* timer = new QTimer(this);
     connect(timer, &QTimer::timeout, this, &Widget::refreshImage);
@@ -41,89 +55,124 @@ Widget::Widget(QWidget *parent)
 
 Widget::~Widget()
 {
-    // DestoryCamera();
+    // 停止存储线程
+    g_storageQueue.stop();
+    storageThread.quit();
+    storageThread.wait();
+
+    // 现有清理代码...
+    DestoryCamera();
+    DestoryLowMac();
+
+    delete ui;
 
 }
 
 void Widget::refreshImage()
 {
-    refreshSingleImage(0);
-    refreshSingleImage(1);
+    // refresh Image 1 and image 0
+    refreshSingleImage(0, this->ui->img_0_overlay->isChecked(), this->ui->img_0_mirror->isChecked());
+    refreshSingleImage(1, this->ui->img_1_overlay->isChecked(), this->ui->img_1_mirror->isChecked());
+    // refresh buttons
+    this->ui->btn_start->setEnabled(!this->isCamRunning);
+    this->ui->btn_stop->setEnabled(this->isCamRunning);
+    this->ui->btn_take_photos->setEnabled(this->isCamRunning);
+    // refresh info
+    QString info;
+    if(this->isCamRunning)
+    {
+        if(SaveImg_Flag==1)
+        {
+            info = "存图中!!";
+        }
+        else
+        {
+            info = "运行";
+        };
+    }else {
+        info = "停止";
+    };
+    this->ui->lab_info->setText(info);
 }
 
-void Widget::refreshSingleImage(int camera_id, bool overlay_result)
+void Widget::refreshSingleImage(int camera_id, bool overlay_result, bool mirror)
 {
-    // 更新当前的图片0
-    MIL_ID current_id = 0;
-    if (camera_id == 0)
-    {   // 获取当前图片
+    // 验证摄像头ID的有效性
+    if (camera_id < 0 || camera_id >= 2) { // 假设只有两个摄像头
+        qWarning() << "Invalid Camera ID:" << camera_id;
+        return;
+    }
+
+    // 定义每个摄像头对应的变量数组
+    QMutex* dispPicMutexes[2] = { &gDispPicMutex0, &gDispPicMutex1 };
+    MIL_ID dispCurrentPicIds[2] = { gDispCurrentPicId0, gDispCurrentPicId1 };
+    QMutex* maskMutexes[2] = { &gMaskMutex0, &gMaskMutex1 };
+    MIL_ID maskIds[2] = { gMask0, gMask1 };
+    QLabel* cameraLabels[2] = { ui->camera_0_img, ui->camera_1_img };
+
+    // 获取当前摄像头的数据
+    QMutex* currentDispMutex = dispPicMutexes[camera_id];
+    MIL_ID current_id;
+
+    {
+        QMutexLocker locker(currentDispMutex);
+        current_id = dispCurrentPicIds[camera_id];
+    }
+
+    if (current_id == 0)
+        return;
+
+    // 将MIL图像转换为OpenCV Mat
+    cv::Mat img = ImageUtils::mil2Mat(current_id);
+    if (img.empty()) {
+        qWarning() << "Failed to convert MIL image to Mat for Camera ID:" << camera_id;
+        return;
+    }
+
+    // 如果需要叠加结果，处理掩码
+    if (overlay_result)
+    {
+        QMutex* currentMaskMutex = maskMutexes[camera_id];
+        MIL_ID mask_id;
+
         {
-            QMutexLocker locker(&gDispPicMutex0);
-            current_id = gDispCurrentPicId0;
+            QMutexLocker locker(currentMaskMutex);
+            mask_id = maskIds[camera_id];
         }
-        if (current_id == 0)
-            return;
-        cv::Mat img = ImageUtils::mil2Mat(current_id);
-        //进行结果的转化叠加
-        if (overlay_result)
-        {
-            MIL_ID mask_id = 0;
-            {
-                QMutexLocker locker(&gMaskMutex0);
-                mask_id = gMask0;
-            }
+
+        if (mask_id != 0) {
             cv::Mat mask = ImageUtils::mil2Mat(mask_id);
-            img = ImageUtils::overlayResultOnInput(img,mask,0.5);
-        }
-        //刷新显示
-        QPixmap pixmap0 = ImageUtils::mat2QPixmap(img);
-        if (!pixmap0.isNull())
-        {
-            ui->camera_0_img->setPixmap(pixmap0);
-        }
-    }
-    // 更新当前的图片1
-    else if (camera_id == 1)
-    {
-        {
-            QMutexLocker locker(&gDispPicMutex1);
-            current_id = gDispCurrentPicId1;
-
-            if (current_id == 0)
-                return;
-            cv::Mat img = ImageUtils::mil2Mat(current_id);
-            //进行结果的转化叠加
-            if (overlay_result)
-            {
-                MIL_ID mask_id = 0;
-                {
-                    QMutexLocker locker(&gMaskMutex1);
-                    mask_id = gMask1;
-                }
-                cv::Mat mask = ImageUtils::mil2Mat(mask_id);
-                img = ImageUtils::overlayResultOnInput(img,mask,0.5);
+            if (!mask.empty()) {
+                img = ImageUtils::overlayResultOnInput(img, mask, 0.5);
             }
-            //刷新显示
-            QPixmap pixmap1 = ImageUtils::mat2QPixmap(img);
-            if (!pixmap1.isNull())
-            {
-                ui->camera_1_img->setPixmap(pixmap1);
-
+            else {
+                qWarning() << "Failed to convert MIL mask to Mat for Camera ID:" << camera_id;
             }
         }
     }
-    else
+
+    // 如果需要镜像处理
+    if (mirror)
     {
-        qWarning() << "The given Camera ID is wrong!";
+        cv::flip(img, img, 1); // 水平翻转
     }
+
+    // 将OpenCV Mat转换为QPixmap
+    QPixmap pixmap = ImageUtils::mat2QPixmap(img);
+    if (pixmap.isNull()) {
+        qWarning() << "Failed to convert Mat to QPixmap for Camera ID:" << camera_id;
+        return;
+    }
+
+    // 高质量缩放图像
+    QSize labelSize = cameraLabels[camera_id]->size();
+    QPixmap scaledPixmap = pixmap.scaled(labelSize);
+
+    // 更新UI标签
+    cameraLabels[camera_id]->setPixmap(scaledPixmap);
 }
 
 
-void Widget::on_pushButton_clicked()
-{
-    Start_camera();
-}
-
 void Widget::on_pushButton_2_clicked()
 {
     SaveImg_Flag = 1;
@@ -147,3 +196,41 @@ void Widget::on_btn_goto_sort_clicked()
     DestoryLowMac();
 }
 
+
+void Widget::on_btn_stop_clicked()
+{
+    this->isCamRunning = false;
+    // 恢复显示的图片
+    {
+        QMutexLocker locker(&gDispPicMutex0);
+        gDispCurrentPicId0 = 0;
+    }
+    ui->camera_0_img->clear();
+    {
+        QMutexLocker locker(&gDispPicMutex1);
+        gDispCurrentPicId1 = 0;
+    }
+    ui->camera_1_img->clear();
+    DestoryCamera();
+    DestoryLowMac();
+}
+
+
+void Widget::on_btn_start_clicked()
+{
+    this->isCamRunning = true;
+    Start_camera();
+}
+
+
+void Widget::on_btn_take_photos_pressed()
+{
+    SaveImg_Flag = true;
+}
+
+
+void Widget::on_btn_take_photos_released()
+{
+    SaveImg_Flag = false;
+}
+

widget.h

@@ -1,11 +1,12 @@
 #ifndef WIDGET_H
 #define WIDGET_H
-
+#include <QThread>
 #include <QWidget>
 #include <camera.h>
 #include <QTcpServer>
 #include <QPushButton>
 #include "globals.h"
+#include "storageworker.h"
 
 QT_BEGIN_NAMESPACE
 namespace Ui {
@@ -26,17 +27,27 @@ public slots:
 
 private slots:
 
-    void refreshSingleImage(int camera_id, bool overlay_result = true);
-
-    void on_pushButton_clicked();
+    void refreshSingleImage(int camera_id, bool overlay_result = true, bool mirror = false);
 
     void on_pushButton_2_clicked();
 
     void on_btn_goto_sort_clicked();
 
+    void on_btn_stop_clicked();
+
+    void on_btn_start_clicked();
+
+    void on_btn_take_photos_pressed();
+
+    void on_btn_take_photos_released();
+
 private:
     Ui::Widget *ui;
 
+    bool isCamRunning;
+
+    QThread storageThread; // 存储线程
+    StorageWorker* storageWorker; // 存储工作者
 
 };
 #endif // WIDGET_H