增加系统资源监控并输出为表格，相机补黑图修改为下次触发时补黑图。

BaseModules/Hd_3DCameraLMI_module_PointCloud/Hd_3DCameraLMI_module.cpp

@@ -2,6 +2,7 @@
 #include <QDebug>
 QQueue<std::vector<cv::Mat>> queuePic;
 QMutex* m_mutex;
+bool triggerIng = false;
 bool recivingImage = false,frameStart = false;
 int lastFrameId = -1 ;
 long long frameStampCountStart = 0, frameStampCountEnd = 0;
@@ -300,12 +301,19 @@ Hd_3DCameraLMI_module::Hd_3DCameraLMI_module()
 {
     m_mutex = new QMutex();
 }
-
 Hd_3DCameraLMI_module::~Hd_3DCameraLMI_module()
 {
     ExceptionCB(-1, NULL);
 }
-
+void Hd_3DCameraLMI_module::genBlackImg(std::vector<cv::Mat>& vecPic)
+{
+    cv::Mat blank_image1(1000, 1000, CV_8UC1, cv::Scalar(0, 0, 0));
+    cv::Mat blank_image2(1000, 1000, CV_8UC1, cv::Scalar(0, 0, 0));
+    vector<cv::Mat> dstvec;
+    dstvec.push_back(blank_image1);
+    dstvec.push_back(blank_image2);
+    vecPic.assign(dstvec.begin(), dstvec.end());
+}
 bool Hd_3DCameraLMI_module::sendData(std::vector<cv::Mat>& vecPic, QByteArray &data )
 {
     
@@ -320,12 +328,7 @@ bool Hd_3DCameraLMI_module::sendData(std::vector<cv::Mat>& vecPic, QByteArray &d
     if (queuePic.empty())
     {
         //qDebug() << " [Error] " << " srcImage is null";
-        cv::Mat blank_image1(100, 100, CV_8UC1, cv::Scalar(0, 0, 0));
-        cv::Mat blank_image2(100, 100, CV_8UC1, cv::Scalar(0, 0, 0));
-        vector<cv::Mat> dstvec;
-        dstvec.push_back(blank_image1);
-        dstvec.push_back(blank_image2);
-        vecPic.assign(dstvec.begin(), dstvec.end());
+        genBlackImg(vecPic);
         m_mutex->unlock();
         return false;
     } 
@@ -348,7 +351,6 @@ bool Hd_3DCameraLMI_module::reciveData(std::vector<cv::Mat> &, QByteArray &qbyte
 
 bool Hd_3DCameraLMI_module::initParas(QByteArray &)
 {
-    //return true;
     bool flag = InitLmi(id); //3D初始化
     m_status = flag ? OK : UnInit;
     if (!flag)
@@ -378,20 +380,58 @@ bool Hd_3DCameraLMI_module::run()
     //qDebug() << "[info]" << __FUNCTION__ << " line:" <<  __LINE__ << " run start" << id;
     try
     {
-        int timeOut = 0;
-        queuePic.clear();
-        while (timeOut < 500)
+        //方法1 超时机制
+        // queuePic.clear();
+        //int timeOut = 0;
+        //while (timeOut < 500)//ms
+        //{
+        //    m_mutex->lock();
+        //    if (queuePic.size() > 0)
+        //    {
+        //        result = true;
+        //        m_mutex->unlock();
+        //        return true;
+        //    }
+        //    m_mutex->unlock();
+        //    timeOut ++;
+        //    QThread::msleep(1);//修改了睡眠1ms
+        //}
+
+        //方法2 在下一次触发时强制给上一次触发补黑图
+        m_mutex->lock();
+        if (triggerIng == true)//仍然在处理上一次触发
+        {
+            std::vector<cv::Mat>imgs;
+            genBlackImg(imgs);
+            queuePic.enqueue(imgs);
+            m_mutex->unlock();
+            int cnt = 0;
+            while (queuePic.size() > 0 || cnt < 100)
+            {
+                QThread::msleep(1);
+                cnt++;
+                if (cnt > 10)
+                    qDebug() << "insert black img 2 long";
+            }
+        }
+        else
+        {
+            triggerIng = true;
+            m_mutex->unlock();
+        }
+        //强制给上一次触发补黑图 结束
+        while (true)
         {
             m_mutex->lock();
             if (queuePic.size() > 0)
             {
-                result = true;
+                result = true;  
+                triggerIng = false;
                 m_mutex->unlock();
                 return true;
             }
             m_mutex->unlock();
-            timeOut += 10;
-            QThread::msleep(10);
+            QThread::msleep(1);
         }
     }
     catch (QString ev)