备份

subModule/Hd_CameraModule_3DKeyence/CMakeLists.txt

@@ -29,7 +29,7 @@ SET(CMAKE_CXX_STANDARD 11)
 SET(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 set(CMAKE_AUTOMOC ON)
-SET(CMAKE_AUTOUIC ON)
+SET(CMAKE_AUTOUIC OFF)
 set(CMAKE_AUTORCC ON)
 
 FILE(GLOB HEAD_FILES "./*.h" )

subModule/Hd_CameraModule_3DKeyence/Hd_CameraModule_3DKeyence.cpp

@@ -528,12 +528,12 @@ bool Hd_CameraModule_3DKeyence::run()
         while (imgTakeNum != imgTarget)
         {
             int timeOutCnt = 0;
-            while (_imageAvailable[deviceId] != 1 && timeOutCnt < 1200)
+            while (_imageAvailable[deviceId] != 1 && timeOutCnt < 120)
             {
                 timeOutCnt++;
                 QThread::msleep(10);
             }
-            if (timeOutCnt >= 1200)
+            if (timeOutCnt >= 120)
             {
                 heightMatS.push_back(cv::Mat(G_yImageSize, G_xImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
                 luminanceMatS.push_back(cv::Mat(G_yImageSize, G_xImageSize, CV_8UC1, cv::Scalar(0, 0, 0)));
@@ -580,13 +580,21 @@ bool Hd_CameraModule_3DKeyence::run()
             qDebug() << __FUNCTION__ << " line:" << __LINE__ << " Free memory Finished: ";
 
             m_mutex->lock();
-            cv::Mat luminanceMat(yImageSize, xImageSize, CV_16UC1, luminanceImage);
+            cv::Mat luminanceMat;
+            if(_lastImageSizeHeight[deviceId] != 0)
+                luminanceMat = cv::Mat(_lastImageSizeHeight[deviceId], xImageSize, CV_16UC1, luminanceImage);
+            else
+                luminanceMat = cv::Mat(yImageSize, xImageSize, CV_16UC1, luminanceImage);
             cv::normalize(luminanceMat, luminanceMat, 0, 255, cv::NORM_MINMAX);
             cv::convertScaleAbs(luminanceMat, luminanceMat);
+
             luminanceMatS.enqueue(luminanceMat);
 
             cv::Mat heightImg;
-            cv::Mat(yImageSize, xImageSize, CV_16UC1, heightImage).copyTo(heightImg);
+            if (_lastImageSizeHeight[deviceId] != 0)
+                cv::Mat(_lastImageSizeHeight[deviceId], xImageSize, CV_16UC1, heightImage).copyTo(heightImg);
+            else
+                cv::Mat(yImageSize, xImageSize, CV_16UC1, heightImage).copyTo(heightImg);
             heightMatS.enqueue(heightImg);
             m_mutex->unlock();
             qDebug() << __FUNCTION__ << " line:" << __LINE__ << " success to acquire 3d image! camera_name: " << camera_name;