472 lines
15 KiB
C++
472 lines
15 KiB
C++
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#include "Hd_CameraModule_3DLMI.h"
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#include <QDebug>
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#include <QQueue>
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#include <QTextCodec>
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QByteArray mv_Status = "connected";//0106 新增相机断联报警
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long long imgIndex = 0;
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std::vector<GoDataMsg>DataSetCollection;
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std::mutex DataSetMutex;
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k32u id = 117599; //3D 序列号
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kAssembly api = kNULL;
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GoSystem system1 = kNULL;
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GoSensor sensor = kNULL;
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GoDataSet dataset = kNULL;
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DataContext* contextPointer = new DataContext();
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LmiStatus m_status = UnInit;
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bool m_lmiheightFlag = false;
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bool m_lmiluminanceFlag = false;
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bool moduleStatus = true;
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//data == "rest_newProductIn"时要结束run；机台报警，取图超时，复位后重新拍的情况。
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bool ifBreak = false;
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//ifRunning减少ifBreak的判断；"rest_newProductIn"时，Logic_camera_thread框架会结束未处理完的相相机取图
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bool ifRunning = false;
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QString byteArrayToUnicode(const QByteArray array) {
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// state用于保存转换状态，它的成员invalidChars，可用来判断是否转换成功
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// 如果转换成功，则值为0，如果值大于0，则说明转换失败
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QTextCodec::ConverterState state;
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// 先尝试使用utf-8的方式把QByteArray转换成QString
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QString text = QTextCodec::codecForName("UTF-8")->toUnicode(array.constData(), array.size(), &state);
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// 如果转换时无效字符数量大于0，说明编码格式不对
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if (state.invalidChars > 0)
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{
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// 再尝试使用GBK的方式进行转换，一般就能转换正确(当然也可能是其它格式，但比较少见了)
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text = QTextCodec::codecForName("GBK")->toUnicode(array);
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}
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return text;
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}
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//QQueue<std::vector<cv::Mat>> queuePic;
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QMutex* m_mutex;
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//static Mat heightMat1, heightMat2;//高度图
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//static Mat luminanceMat1, luminanceMat2;//灰度图
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QQueue< cv::Mat> heightMatS;//高度图
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QQueue<cv::Mat> luminanceMatS;//灰度图
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//是否为标准通信流程：
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//标准通信流程，run函数设置曝光/增益；非标准通信流程（简单通信流程），回调函数设置曝光/增益
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bool ifStandard = false;
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//相机取图超时时间
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int getImageTimeOut = 1000;
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//总取图数
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int getImageNum = 0;
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//曝光值列表
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QQueue<float> expourseTimeList;
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//增益列表
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QQueue<float> gainList;
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static bool m_flag = false;
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//0106 断连提示
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void _stdcall ExceptionCB(unsigned int nMesgType, void* pUser) {
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mv_Status = "disconnect";
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qDebug() << "[Error] " << " LMI camera disconnects!";
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}
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#pragma region LMI
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//回调函数
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// Data callback function
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// This function is called from a separate thread spawned by the GoSDK library.
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// Processing within this function should be minimal.
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kStatus kCall onData(void* ctx, void* sys, void* dataset)
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{
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double time_Start = (double)clock();
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unsigned int i, j;
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//DataContext* context = (DataContext*)ctx;
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GoStamp stamp;
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std::vector<cv::Mat> picVec;
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m_mutex->lock();
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m_flag = true;
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for (i = 0; i < GoDataSet_Count(dataset); ++i)
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{
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GoDataMsg dataObj = GoDataSet_At(dataset, i);
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switch (GoDataMsg_Type(dataObj))
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{
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case GO_DATA_MESSAGE_TYPE_UNIFORM_SURFACE:
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{
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MyTiff temp;
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GoUniformSurfaceMsg surfaceMsg = dataObj;
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double XResolution = NM_TO_MM(GoSurfaceMsg_XResolution(surfaceMsg));
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double YResolution = NM_TO_MM(GoSurfaceMsg_YResolution(surfaceMsg));
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double ZResolution = NM_TO_MM(GoSurfaceMsg_ZResolution(surfaceMsg));
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double XOffset = UM_TO_MM(GoSurfaceMsg_XOffset(surfaceMsg));
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double YOffset = UM_TO_MM(GoSurfaceMsg_YOffset(surfaceMsg));
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double ZOffset = UM_TO_MM(GoSurfaceMsg_ZOffset(surfaceMsg));
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int Width = GoSurfaceMsg_Width(surfaceMsg);
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int Height = GoSurfaceMsg_Length(surfaceMsg);
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if (Width > 100)
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{
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temp.Tiff = new unsigned short[Width * Height * sizeof(unsigned short)];
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temp.w = Width;
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temp.h = Height;
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for (int rowIdx = 0; rowIdx < Height; rowIdx++)
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{
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k16s* data = GoSurfaceMsg_RowAt(surfaceMsg, rowIdx);
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for (int colIdx = 0; colIdx < Width; colIdx++)
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{
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unsigned short val = data[colIdx];
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//unsigned short val = ZOffset + ZResolution * data[colIdx];
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temp.Tiff[rowIdx * Width + colIdx] = val;
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}
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}
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cv::Mat heightMat1 = cv::Mat(temp.h, temp.w, CV_16U, temp.Tiff);
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//heightMat1.copyTo(heightMat2);
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heightMatS.push_back(heightMat1.clone());
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m_lmiheightFlag = true;
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delete[]temp.Tiff;
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temp.Tiff = nullptr;
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}
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/*cv::Mat dst;
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SYSTEMTIME t;
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std::vector<int> params{ (int)cv::IMWRITE_TIFF_RESUNIT,2, (int)cv::IMWRITE_TIFF_COMPRESSION,1,(int)cv::IMWRITE_TIFF_XDPI,300,(int)cv::IMWRITE_TIFF_YDPI,300 };
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GetLocalTime(&t);
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std::string filename = std::to_string(t.wHour) + "-" + std::to_string(t.wMinute) + "-" + std::to_string(t.wSecond) + "-" + std::to_string(t.wMilliseconds) + ".tiff";
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cv::imwrite(filename, img, params);*/
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}
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break;
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case GO_DATA_MESSAGE_TYPE_SURFACE_INTENSITY:
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{
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MyBmp temp;
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GoSurfaceIntensityMsg surfaceIntMsg = dataObj;
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double XResolution = NM_TO_MM(GoSurfaceIntensityMsg_XResolution(surfaceIntMsg));
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double YResolution = NM_TO_MM(GoSurfaceIntensityMsg_YResolution(surfaceIntMsg));
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double XOffset = UM_TO_MM(GoSurfaceIntensityMsg_XOffset(surfaceIntMsg));
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double YOffset = UM_TO_MM(GoSurfaceIntensityMsg_YOffset(surfaceIntMsg));
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int Width = GoSurfaceIntensityMsg_Width(surfaceIntMsg);
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int Height = GoSurfaceIntensityMsg_Length(surfaceIntMsg);
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temp.Bmp = new unsigned char[Width * Height * sizeof(unsigned char)];
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temp.w = Width;
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temp.h = Height;
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for (int rowIdx = 0; rowIdx < Height; rowIdx++)
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{
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k8u* data = GoSurfaceIntensityMsg_RowAt(surfaceIntMsg, rowIdx);
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for (int colIdx = 0; colIdx < Width; colIdx++)
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{
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temp.Bmp[rowIdx * Width + colIdx] = data[colIdx];
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}
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}
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cv::Mat luminanceMat1 = cv::Mat(temp.h, temp.w, CV_8UC1, temp.Bmp);
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//luminanceMat1.copyTo(luminanceMat2);
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luminanceMatS.push_back(luminanceMat1.clone());
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m_lmiluminanceFlag = true;
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delete[]temp.Bmp;
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temp.Bmp = nullptr;
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//SYSTEMTIME t;
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//GetLocalTime(&t);
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//std::string filename = std::to_string(t.wHour) + "-" + std::to_string(t.wMinute) + "-" + std::to_string(t.wSecond) + "-" + std::to_string(t.wMilliseconds) + ".bmp";
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//cv::imwrite(filename, img);
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}
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break;
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}
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//DataSetCollection.push_back(dataObj);
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}
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m_mutex->unlock();
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GoDestroy(dataset);
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double time_End = (double)clock();
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qDebug() << "[INFO] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg getImg Time:" << (time_End - time_Start) << "ms"
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<< " --CameraName:" << id << " imgIndex:" << imgIndex++ << "--FrameID : " << stamp.frameIndex;
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return kOK;
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}
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//初始化流程
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bool InitLmi(k32u ID)
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{
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kStatus status;
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if ((status = GoSdk_Construct(&api)) != kOK)
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{
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//printf("Error: GoSdk_Construct:%d\n", status);
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qDebug() << "[Error] " << "Error: GoSdk_Construct:%d\n", status;
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return false;
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}
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if ((status = GoSystem_Construct(&system1, kNULL)) != kOK)
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{
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//printf("Error: GoSystem_Construct:%d\n", status);
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qDebug() << "[Error] " << "Error: GoSystem_Construct:%d\n", status;
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return false;
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}
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if ((status = GoSystem_FindSensorById(system1, ID, &sensor)) != kOK)
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{
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//printf("Error: GoSystem_FindSensor:%d\n", status);
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qDebug() << "[Error] " << "Error: GoSystem_FindSensor:%d\n", status;
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return false;
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}
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/*GoSystem_Disconnect(system1);*/
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// create connection to GoSystem object
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if ((status = GoSensor_Connect(sensor)) != kOK)
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{
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//ExceptionCB(status, NULL);
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qDebug() << "[Error] " << "Error: GoSensor_Connect:%d\n", status;
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return false;
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}
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// enable sensor data channel
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if ((status = GoSystem_EnableData(system1, kTRUE)) != kOK)
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{
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//printf("Error: GoSensor_EnableData:%d\n", status);
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qDebug() << "[Error] "<< "Error: GoSensor_EnableData:%d\n", status;
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return false;
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}
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// set data handler to receive data asynchronously
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if ((status = GoSystem_SetDataHandler(system1, onData, contextPointer)) != kOK)
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{
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//printf("Error: GoSystem_SetDataHandler:%d\n", status);
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qDebug() << "[Error] " << "Error: GoSystem_SetDataHandler:%d\n", status;
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return false;
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}
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if ((status = GoSystem_SetDataCapacity(system1, kSIZE_MAX)) != kOK)
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{
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qDebug() << "[Error] " << "Error: GoSystem_SetDataCapacity:%d\n", status;
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}
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return true;
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}
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bool StartLmi()
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{
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kStatus status;
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if ((status = GoSystem_Start(system1)) != kOK)
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{
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//printf("Error: GoSystem_Stop:%d\n", status);
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qDebug() << "[Error] " << "Failed to start LMI ";
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return false;
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}
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return true;
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}
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bool StopLmi()
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{
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kStatus status;
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if ((status = GoSystem_Stop(system1)) != kOK)
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{
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qDebug() << "[Error] " << "Failed to stop LMI ";
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return false;
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}
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return true;
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}
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void CloseLmi()
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{
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// destroy handles
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GoDestroy(system1);
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GoDestroy(api);
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}
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#pragma endregion
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Hd_CameraModule_3DLMI::Hd_CameraModule_3DLMI()
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{
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m_mutex = new QMutex();
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}
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Hd_CameraModule_3DLMI::~Hd_CameraModule_3DLMI()
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{
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ExceptionCB(-1, NULL);
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}
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//从类中读数据到实例对象
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bool Hd_CameraModule_3DLMI::readData(std::vector<cv::Mat>& vecPic, QByteArray &data )
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{
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/*if (data == "connect")
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{
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data = mv_Status;
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return true;
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}*/
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m_mutex->lock();
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if (luminanceMatS.empty() || heightMatS.empty())
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{
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qDebug() << " [Error] " << " srcImage is null";
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m_mutex->unlock();
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return false;
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}
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cv::Mat mheightMat2 = cv::Mat();
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heightMatS.dequeue().copyTo(mheightMat2);
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cv::Mat mluminanceMat2 = cv::Mat();
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luminanceMatS.dequeue().copyTo(mluminanceMat2);
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vecPic.push_back(mheightMat2.clone());
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vecPic.push_back(mluminanceMat2.clone());
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m_mutex->unlock();
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qCritical() << " [info] " << __FUNCTION__ << " line:" << __LINE__ << " checkImg readData id:" << id<<" imgIndex" << imgIndex;
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/*vector<cv::Mat> dstvec;
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dstvec.push_back(heightMat2.clone());
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dstvec.push_back(luminanceMat2.clone());
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m_mutex->unlock();
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vecPic.assign(dstvec.begin(), dstvec.end());*/
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return true;
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}
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//实例对象把数据写入到类
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bool Hd_CameraModule_3DLMI::writeData(std::vector<cv::Mat> &, QByteArray &qbyte)
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{
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/*string reciveid = qbyte.toStdString();
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id = atoi(reciveid.c_str());*/
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//2024.02.18更新，相机对应的读SN信号时，表示新产品进入，设置初始值
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if (qbyte == "rest_newProductIn")
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{
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//根据实际项目，设置初始值：曝光、增益，ROI区域等
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/*{
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if (expourseTimeList.size() > 0)
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SetExposureTime(expourseTimeList[0]);
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if (gainList.size() > 0)
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SetGain(gainList[0]);
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}*/
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if (luminanceMatS.size() > 0 || heightMatS.size() > 0)
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{
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m_mutex->lock();
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luminanceMatS.clear();
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heightMatS.clear();
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m_mutex->unlock();
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std::cout << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << id << std::endl;
|
||
|
|
qWarning() << __FUNCTION__ << " line: " << __LINE__ << "rest_newProductIn , queuePic.size() > 0 ,signal maybe too fast " << id;
|
||
|
|
}
|
||
|
|
if (ifRunning == true)
|
||
|
|
{
|
||
|
|
ifBreak = true;
|
||
|
|
Sleep(10);
|
||
|
|
}
|
||
|
|
imgIndex = 0;
|
||
|
|
getImageNum = 0;
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
//else
|
||
|
|
//{
|
||
|
|
// m_flag = false;
|
||
|
|
// expourseTimeList.clear();
|
||
|
|
// gainList.clear();
|
||
|
|
//}
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
//传入initParas函数，格式为：相机key+参数名1#参数值1#参数值2+参数名2#参数值1...
|
||
|
|
bool Hd_CameraModule_3DLMI::initParas(QByteArray& initData)
|
||
|
|
{
|
||
|
|
QByteArrayList valueList = initData.split('+');
|
||
|
|
|
||
|
|
if (valueList.size() > 1)
|
||
|
|
for (int i = 1; i < valueList.size(); i++)
|
||
|
|
{
|
||
|
|
QString valuei = byteArrayToUnicode(valueList[i]);
|
||
|
|
if (valuei.contains("是否为标准通信流程"))
|
||
|
|
{
|
||
|
|
if (valuei.contains("true"))
|
||
|
|
ifStandard = true;
|
||
|
|
}
|
||
|
|
if (valuei.contains("取图超时"))
|
||
|
|
{
|
||
|
|
QStringList gainL = valuei.split('#');
|
||
|
|
if (gainL.size() > 1)
|
||
|
|
getImageTimeOut = gainL[1].toInt();
|
||
|
|
if (getImageTimeOut < 50)
|
||
|
|
getImageTimeOut = 1000;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
string reciveid = valueList[0].toStdString();
|
||
|
|
|
||
|
|
id = atoi(reciveid.c_str()); //id 相机序列号
|
||
|
|
|
||
|
|
bool flag = InitLmi(id); //3D初始化
|
||
|
|
m_status = flag ? OK : UnInit;
|
||
|
|
if (!flag)
|
||
|
|
{
|
||
|
|
qDebug() << "[Error] " << "Failed to Init LMI,id:"<< id;
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
flag = StartLmi();
|
||
|
|
m_status == flag ? Grab : OK;
|
||
|
|
|
||
|
|
if (!flag)
|
||
|
|
{
|
||
|
|
qDebug() << "[Error] " << " Failed to start LMI";
|
||
|
|
return false;
|
||
|
|
}
|
||
|
|
|
||
|
|
qDebug() << "[INFO] " << " success to start LMI,id:" << id;
|
||
|
|
|
||
|
|
return true;
|
||
|
|
}
|
||
|
|
|
||
|
|
bool Hd_CameraModule_3DLMI::run()
|
||
|
|
{
|
||
|
|
ifRunning = true;
|
||
|
|
ifBreak = false;
|
||
|
|
bool result = false;
|
||
|
|
//qDebug() << "[info]" << __FUNCTION__ << " line:" << __LINE__ << " run start" << id;
|
||
|
|
try
|
||
|
|
{
|
||
|
|
m_flag = false;
|
||
|
|
int mytime = 0;
|
||
|
|
while (true)
|
||
|
|
{
|
||
|
|
if (moduleStatus == false || mytime++ > getImageTimeOut || ifBreak == true)
|
||
|
|
{
|
||
|
|
result = false;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
m_mutex->lock();
|
||
|
|
if (luminanceMatS.size() > 0 && heightMatS.size() > 0)
|
||
|
|
{
|
||
|
|
result = true;
|
||
|
|
m_mutex->unlock();
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
m_mutex->unlock();
|
||
|
|
Sleep(1);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
catch (QString ev)
|
||
|
|
{
|
||
|
|
qDebug() << "[Error] " << " ev:" << ev ;
|
||
|
|
}
|
||
|
|
//qDebug() << "[info]"<< __FUNCTION__ << " line:" << __LINE__ << " run end" ;
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
//相机连接状态：正常连接或断开
|
||
|
|
bool Hd_CameraModule_3DLMI::checkStatus()
|
||
|
|
{
|
||
|
|
return moduleStatus;
|
||
|
|
}
|
||
|
|
|
||
|
|
Hd_CameraModule_3DLMI *create()
|
||
|
|
{
|
||
|
|
qDebug() << "[INFO] " << "Hd_CameraModule_HIK create success!" ;
|
||
|
|
return new Hd_CameraModule_3DLMI;
|
||
|
|
}
|
||
|
|
|
||
|
|
void destory(Hd_CameraModule_3DLMI *ptr)
|
||
|
|
{
|
||
|
|
if (ptr)
|
||
|
|
{
|
||
|
|
delete ptr;
|
||
|
|
ptr = nullptr;
|
||
|
|
}
|
||
|
|
qDebug() << "[INFO] " << "Hd_CameraModule_HIK destory success!";
|
||
|
|
}
|