diff --git a/src/CameraControl.cpp b/src/CameraControl.cpp index c2f44fe..87bddb7 100644 --- a/src/CameraControl.cpp +++ b/src/CameraControl.cpp @@ -1,686 +1,693 @@ -#pragma execution_character_set("utf-8") -#include "CameraControl.h" -#include - -CameraControl::CameraControl() -{ - m_calib1 = ILCalibNPointsPtr(__uuidof(LCalibNPoints)); - m_calib1->FixImageMode = LPVFixImageMode::LPVFixImageUndistortAndUntilt; - m_calib2 = ILCalibNPointsPtr(__uuidof(LCalibNPoints)); - m_calib2->FixImageMode = LPVFixImageMode::LPVFixImageUndistortAndUntilt; - - qRegisterMetaType >("QVector"); - m_pobjThread = new QThread; - moveToThread(m_pobjThread); - connect(m_pobjThread, &QThread::started, this, &CameraControl::onOpen); - connect(m_pobjThread, &QThread::finished, - this, &QObject::deleteLater); - m_pobjThread->start(); -} - -CameraControl::~CameraControl() -{ - if (m_pobjThread) - { - m_pobjThread->quit(); - m_pobjThread->wait(); - m_pobjThread = nullptr; - } - for each (Camera* pCamera in m_vecPCamera) - { - DELETE_POINTER(pCamera); - } - m_vecPCamera.clear(); -} - -Q_SLOT void CameraControl::onOpen() -{ - QString filePath = QCoreApplication::applicationDirPath() + CAMERA_CONFIG; - if (readCameraConfig(filePath)) - { - m_bCamerasInit = initCamera(); - } -} - -bool CameraControl::readCameraConfig(QString filePath) -{ - m_mapIdCameraInfoSide.clear(); - m_mapIdCameraInfoTop.clear(); - exposureRowMap.clear(); - m_mapSerialNumberIdSide.clear(); - m_mapSerialNumberIdTop.clear(); - - QFile file(filePath); - if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) - { - qWarning() << "打开文件失败！"; - return false; - } - QByteArray arr = file.readAll(); - file.close(); - if (arr.isEmpty()) - { - qWarning() << "内容为空"; - return false; - } - QJsonParseError err; - QJsonDocument doc = QJsonDocument::fromJson(arr, &err); - if (doc.isEmpty()) - { - qWarning() <<"[QJsonDocument]: "<< err.errorString(); //打印失败信息 - return false; - } - - QJsonObject jsonObj = doc.object(); - auto getCameraType = [](int type)-> CameraType - { - CameraType cameraType; - switch (type) - { - case 100: - cameraType = CameraType::Virtual; - break; - case 140: - cameraType = CameraType::Hik; - break; - case 190: - cameraType = CameraType::Basler; - break; - case 210: - cameraType = CameraType::LXTof; - break; - default: - break; - } - return cameraType; - }; - - QJsonObject topObj = jsonObj.value("top").toObject(); - int topStartId, topEndId; - if (!topObj.isEmpty()) - { - topStartId = topObj.value("startID").toInt(); - topEndId = topObj.value("endID").toInt(); - } - else - { - qWarning() << "top id error"; - return false; - } - - QJsonObject sideObj = jsonObj.value("side").toObject(); - int sideStartId, sideEndId; - if (!sideObj.isEmpty()) - { - sideStartId = sideObj.value("startID").toInt(); - sideEndId = sideObj.value("endID").toInt(); - } - else - { - qWarning() << "side id error"; - return false; - } - //根据文档读取，没有则采用默认值如下 - //现在1和2巷道都是用的下三层（1-3层）曝光值250000ms/增益20， - //中三层（4-6层）曝光值150000ms/增益20， - //上三层（7-9层）曝光值50000ms/增益20 - - QJsonObject exposureRowObj = jsonObj.value("exposureRowMap").toObject(); - if (!exposureRowObj.isEmpty()) - { - for each (QString key in exposureRowObj.keys()) { - - exposureRowMap[key.toInt()] = exposureRowObj.value(key).toInt(); - } - } - else - { - for (int floor = 1; floor <= 9; floor++) { - int exposure = 2500; - if (floor >= 1 && floor <= 3) - { - exposure = 250000; - } - else if (floor >= 7 && floor <= 9) - { - exposure = 50000; - } - else - { - exposure = 150000; - } - exposureRowMap[floor] = exposure; - } - } - - QJsonObject devicesObj = jsonObj.value("devices").toObject(); - if (!devicesObj.isEmpty()) { - QStringList devicesLabelList = devicesObj.keys(); - for each (QString deviceLabel in devicesLabelList) - { - CameraInfo cameraInfo; - cameraInfo.cameraLabel = deviceLabel; - QStringList strList = deviceLabel.split(' '); - if (strList.length() != 2) - { - qWarning() << "Device label: " << deviceLabel << " syntax error!"; - continue; - } - cameraInfo.modelName = strList.at(0); - cameraInfo.serialNumber = strList.at(1); - QJsonObject deviceObj = devicesObj.value(deviceLabel).toObject(); - if (!deviceObj.isEmpty()) - { - cameraInfo.cameraType = getCameraType(deviceObj.value("type").toInt()); - cameraInfo.exposure = deviceObj.value("exposure").toDouble(); - cameraInfo.imageHeight = deviceObj.value("height").toInt(); - cameraInfo.imageWidth = deviceObj.value("width").toInt(); - cameraInfo.location = deviceObj.value("location").toInt(); - m_cameraStockLocation.insert(cameraInfo.serialNumber, cameraInfo.location); - if (deviceObj.contains("calib_file")) - { - cameraInfo.calibFile = deviceObj.value("calib_file").toString(); - - if (cameraInfo.location == 1) - { - m_calib1->Load(cameraInfo.calibFile.toStdString().c_str()); - } - else - { - m_calib2->Load(cameraInfo.calibFile.toStdString().c_str()); - } - } - - cameraInfo.saveImgSuffix = deviceObj.value("save_img_suffix").toString(); - int id = deviceObj.value("id").toInt(); - if (deviceObj.contains("rotation_angle")) - { - cameraInfo.rotationAngle = deviceObj.value("rotation_angle").toInt(); - } - if (id >= topStartId && id <= topEndId) - { - m_mapIdCameraInfoTop[id] = cameraInfo; - m_mapSerialNumberIdTop[cameraInfo.serialNumber] = id; - } - else if (id >= sideStartId && id <= sideEndId) - { - m_mapIdCameraInfoSide[id] = cameraInfo; - m_mapSerialNumberIdSide[cameraInfo.serialNumber] = id; - } - - } - } - } - - return true; -} - -bool CameraControl::initCamera() -{ - QList cameraInfoList = m_mapIdCameraInfoSide.values(); - cameraInfoList.append(m_mapIdCameraInfoTop.values()); - if (!loadCamera(cameraInfoList)) - { - qWarning() << "Load camera failed"; - return false; - } - else - { - QStringList serialNumberList = m_mapSNIndex.keys(); - for each (const QString& serialNumber in serialNumberList) - { - if (!openCamera(serialNumber)) - { - qWarning() << "Open camera: " << serialNumber << " failed"; - continue; - } - else - { - qDebug() << "Open camera: " << serialNumber << " successed"; - if (!startCamera(serialNumber)) - { - qWarning() << "Start camera: " << serialNumber << " failed"; - continue; - } - else - { - qDebug() << "Start camera: " << serialNumber << " successed"; - if (!setSoftwareTrigger(serialNumber)) - { - qWarning() << "Set camera: " << serialNumber << " software trigger failed"; - } - else - { - qDebug() << "Set camera: " << serialNumber << " software trigger successed"; - } - } - } - } - } - return true; -} - -bool CameraControl::loadCamera(const QList& cameraInfoList) -{ - bool flag = false; - for each (Camera* pCamera in m_vecPCamera) - { - DELETE_POINTER(pCamera); - } - m_vecPCamera.clear(); - m_mapSNIndex.clear(); - - for each(CameraInfo cameraInfo in cameraInfoList) - { - qDebug() << "serialNumber[" << cameraInfo.serialNumber << "]:" << cameraInfo.cameraType; - - QString serialNumber = cameraInfo.serialNumber; - CameraType cameraType = cameraInfo.cameraType; - if (cameraType == CameraType::Hik) - { - Camera* pHikCamera = new HikCamera(); - if (pHikCamera->initCamera(serialNumber)) - { - m_vecPCamera.push_back(pHikCamera); - m_mapSNIndex[serialNumber] = m_vecPCamera.size() - 1; - flag = true; - } - else - { - qWarning() << "SerialNumber: " << serialNumber << " init failed"; - DELETE_POINTER(pHikCamera); - //flag = false; - } - } - else if (cameraType == CameraType::LXTof) - { - Camera* pLXCamera = new LXCamera(); - - if (pLXCamera->initCamera(serialNumber)) - { - m_vecPCamera.push_back(pLXCamera); - m_mapSNIndex[serialNumber] = m_vecPCamera.size() - 1; - flag = true; - } - else - { - qWarning() << "SerialNumber: " << serialNumber << " init failed"; - DELETE_POINTER(pLXCamera); - //flag = false; - } - } - } - qDebug() << "m_vecPCamera size: " << m_vecPCamera.size(); - return flag; -} -bool CameraControl::openCamera(const QStringList& serialNumberList) -{ - bool flag = true; - for each (QString serialNumber in serialNumberList) - { - if (!openCamera(serialNumber)) - { - qWarning() << "Open " << serialNumber << "failed!"; - flag = false; - } - else - { - qDebug() << "Open " << serialNumber << " successed"; - } - } - return flag; -} -bool CameraControl::closeCamera(const QStringList& serialNumberList) -{ - bool flag = true; - for each (QString serialNumber in serialNumberList) - { - if (!closeCamera(serialNumber)) - { - qWarning() << "Close " << serialNumber << "failed!"; - flag = false; - } - else - { - qDebug() << "Close " << serialNumber << " successed"; - } - } - return flag; -} -bool CameraControl::startCamera(const QStringList& serialNumberList) -{ - bool flag = true; - for each (QString serialNumber in serialNumberList) - { - if (!startCamera(serialNumber)) - { - qWarning() << "Start " << serialNumber << "failed!"; - flag = false; - } - else - { - qDebug() << "Start " << serialNumber << " successed"; - } - } - return flag; -} - -bool CameraControl::stopCamera(const QStringList& serialNumberList) -{ - bool flag = true; - for each (QString serialNumber in serialNumberList) - { - if (!stopCamera(serialNumber)) - { - qWarning() << "Stop " << serialNumber << "failed!"; - flag = false; - } - else - { - qDebug() << "Stop " << serialNumber << " successed"; - } - } - return flag; -} - -bool CameraControl::setSoftwareTrigger(const QStringList& serialNumberList) -{ - bool flag = true; - for each (QString serialNumber in serialNumberList) - { - if (!setSoftwareTrigger(serialNumber)) - { - qWarning() << "Set " << serialNumber << " software trigger failed!"; - flag = false; - } - else - { - qDebug() << "Set " << serialNumber << " software trigger successed"; - } - } - return flag; -} - -bool CameraControl::openCamera(const QString& serialNumber) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - qInfo() << "openCamera sid: " << serialNumber << " index:" << iter.value(); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - return m_vecPCamera[index]->openCamera(); -} - -bool CameraControl::closeCamera(const QString& serialNumber) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - return m_vecPCamera[index]->closeCamera(); -} - -bool CameraControl::startCamera(const QString& serialNumber) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - return m_vecPCamera[index]->startCamera(); -} - -bool CameraControl::stopCamera(const QString& serialNumber) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - return m_vecPCamera[index]->stopCamera(); -} - -bool CameraControl::setSoftwareTrigger(const QString& serialNumber) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - return m_vecPCamera[index]->setTriggerSource(SOFTWARE); -} -int CameraControl::getDeviceId(const QString& serialNumber) { - - return m_mapSerialNumberIdSide.value(serialNumber); -} - -bool CameraControl::setExposure(const QString& serialNumber, int exposure) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - return m_vecPCamera[index]->setExposure(exposure); -} - -bool CameraControl::capture(const QString& serialNumber, cv::Mat& img, cv::Mat& img3D, int exposure) -{ - QMap::iterator iter = m_mapSNIndex.find(serialNumber); - if (iter == m_mapSNIndex.end()) - { - qWarning() << "Do not find " << serialNumber; - return false; - } - int index = iter.value(); - m_vecPCamera[index]->setExposure(exposure); - m_vecPCamera[index]->takeAPic(img, img3D); - if (img.empty()) - { - qWarning() << serialNumber << " capture empty"; - } - return true; -} - -bool CameraControl::getSaveImgNameInfo(QString serialNumber, FileInfo& fileInfo) -{ - QString imgSaveBaseName; - auto iter = m_mapSerialNumberIdSide.find(serialNumber); - if (iter == m_mapSerialNumberIdSide.end()) - { - iter = m_mapSerialNumberIdTop.find(serialNumber); - if (iter != m_mapSerialNumberIdTop.end()) - { - int id = iter.value(); - QString suffix = m_mapIdCameraInfoTop.value(id).saveImgSuffix; - fileInfo.suffix = suffix; - fileInfo.strId = QString::number(id); - fileInfo.name = fileInfo.strId + suffix; - } - else - { - qWarning() << "Can not find " << serialNumber; - return false; - } - } - else - { - int id = iter.value(); - QString suffix = m_mapIdCameraInfoSide.value(id).saveImgSuffix; - fileInfo.suffix = suffix; - fileInfo.strId = QString::number(id); - fileInfo.name = fileInfo.strId + suffix; - } - return true; -} - -Q_SLOT void CameraControl::onCapture(int cameraLocation,int location, int floor) -{ - QStringList serialNumList; - switch (cameraLocation) - { - case eCameraLocation::emTop: - m_eCameraLocation = emTop; -#if IMAGEDRAWING == LPV - for (auto iter = m_mapSerialNumberIdTop.begin(); iter != m_mapSerialNumberIdTop.end(); iter++) - { - if (m_cameraStockLocation[iter.key()] == location) - { - serialNumList << iter.key(); - } - } -#elif IMAGEDRAWING == OPENCV - serialNumList = m_mapSerialNumberIdTop.keys(); -#endif - break; - case eCameraLocation::emSide: - m_eCameraLocation = emSide; -#if IMAGEDRAWING == LPV - for (auto iter = m_mapSerialNumberIdSide.begin(); iter != m_mapSerialNumberIdSide.end(); iter++) - { - if (m_cameraStockLocation[iter.key()] == location) - { - serialNumList << iter.key(); - } - } -#elif IMAGEDRAWING == OPENCV - serialNumList = m_mapSerialNumberIdSide.keys(); -#endif // IMAGEDRAWING == LPV - - break; - default: - break; - } - - if (serialNumList.length() != 0) - { - qInfo() << "Captured SerialNumList = " << serialNumList; - capture(serialNumList, location, floor); - } -} - -void CameraControl::capture(const QStringList& serialNumberList, int location, int floor) -{ - int len = serialNumberList.length(); - //qDebug() << "start capture, length: " << len; - QVector vecImageInfo; - for (int i = 0; i < len; ++i) - { - QString serialNumber = serialNumberList.at(i); - if (!m_mapSNIndex.contains(serialNumber)) - { - qWarning() << "m_vecPCamera does not have camera: " << serialNumber; - continue; - } - ImageInfo imgInfo; - FileInfo saveImgInfo; - saveImgInfo.location = location; - getSaveImgNameInfo(serialNumber, saveImgInfo); - imgInfo.saveImgInfo = saveImgInfo; - int id = saveImgInfo.strId.toInt(); - int rotationAngle = 0; - if (m_mapIdCameraInfoTop.contains(id)) - { - rotationAngle = m_mapIdCameraInfoTop.value(id).rotationAngle; - } - else if (m_mapIdCameraInfoSide.contains(id)) - { - rotationAngle = m_mapIdCameraInfoSide.value(id).rotationAngle; - } - - //现在1和2巷道都是用的下三层（1-3层）曝光值250000ms/增益20， - //中三层（4-6层）曝光值150000ms/增益20， - //上三层（7-9层）曝光值50000ms/增益20 - int exposure = exposureRowMap[floor]; - - setExposure(serialNumber, exposure); - - if (!capture(serialNumber, imgInfo.image, imgInfo.image3D, floor)) - { - vecImageInfo.push_back(imgInfo); - continue; - } - flipImg(imgInfo.image, imgInfo.image, rotationAngle); - imgInfo.cameraSn = serialNumber; - - // 2D相机操作 - if (imgInfo.imageOrigin == nullptr) - { - imgInfo.imageOrigin = ILImagePtr(__uuidof(LImage)); - imgInfo.imageFixed = ILImagePtr(__uuidof(LImage)); - } - imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); - - //if (serialNumber == "00787720450") //{ // imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/310102.bmp"); //} //else if (serialNumber == "00J49540865") //{ // imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/320111.bmp"); //} - //else - //{ - // imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); - //} - - - if (imgInfo.image3D.empty()) //表面用的是2D相机 - { - imgInfo.bIs2D = true; - if (location == 1 && m_calib1->IsCalibrated()) - { - m_calib1->FixImage(imgInfo.imageOrigin, imgInfo.imageFixed); - } - else if (location == 2 && m_calib2->IsCalibrated()) - { - m_calib2->FixImage(imgInfo.imageOrigin, imgInfo.imageFixed); - } - } - else - { - imgInfo.bIs2D = false; - } - - vecImageInfo.push_back(imgInfo); - } - - emit sgCapturedImage(vecImageInfo, m_eCameraLocation); -} - -void CameraControl::flipImg(const cv::Mat& imgSrc, cv::Mat& imgDst, int rotationAngle) -{ - if (imgSrc.empty()) - { - qWarning() << "imgSrc is empty"; - return; - } - switch (rotationAngle) - { - case 90: - cv::transpose(imgSrc, imgDst); - cv::flip(imgDst, imgDst, 1); - qDebug() << " 旋转90度"; - break; - case 180: - cv::flip(imgSrc, imgDst, -1); - qDebug() << " 旋转180度"; - break; - case 270: - cv::transpose(imgSrc, imgDst); - cv::flip(imgDst, imgDst, 0); - qDebug() << " 旋转270度"; - break; - default: - imgDst = imgSrc; - qDebug() << " 不旋转"; - break; - } -} +#pragma execution_character_set("utf-8") +#include "CameraControl.h" +#include + +CameraControl::CameraControl() +{ + m_calib1 = ILCalibNPointsPtr(__uuidof(LCalibNPoints)); + m_calib1->FixImageMode = LPVFixImageMode::LPVFixImageUndistortAndUntilt; + m_calib2 = ILCalibNPointsPtr(__uuidof(LCalibNPoints)); + m_calib2->FixImageMode = LPVFixImageMode::LPVFixImageUndistortAndUntilt; + + qRegisterMetaType >("QVector"); + m_pobjThread = new QThread; + moveToThread(m_pobjThread); + connect(m_pobjThread, &QThread::started, this, &CameraControl::onOpen); + connect(m_pobjThread, &QThread::finished, + this, &QObject::deleteLater); + m_pobjThread->start(); +} + +CameraControl::~CameraControl() +{ + if (m_pobjThread) + { + m_pobjThread->quit(); + m_pobjThread->wait(); + m_pobjThread = nullptr; + } + for each (Camera* pCamera in m_vecPCamera) + { + DELETE_POINTER(pCamera); + } + m_vecPCamera.clear(); +} + +Q_SLOT void CameraControl::onOpen() +{ + QString filePath = QCoreApplication::applicationDirPath() + CAMERA_CONFIG; + if (readCameraConfig(filePath)) + { + m_bCamerasInit = initCamera(); + } +} + +bool CameraControl::readCameraConfig(QString filePath) +{ + m_mapIdCameraInfoSide.clear(); + m_mapIdCameraInfoTop.clear(); + exposureRowMap.clear(); + m_mapSerialNumberIdSide.clear(); + m_mapSerialNumberIdTop.clear(); + + QFile file(filePath); + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) + { + qWarning() << "打开文件失败！"; + return false; + } + QByteArray arr = file.readAll(); + file.close(); + if (arr.isEmpty()) + { + qWarning() << "内容为空"; + return false; + } + QJsonParseError err; + QJsonDocument doc = QJsonDocument::fromJson(arr, &err); + if (doc.isEmpty()) + { + qWarning() <<"[QJsonDocument]: "<< err.errorString(); //打印失败信息 + return false; + } + + QJsonObject jsonObj = doc.object(); + auto getCameraType = [](int type)-> CameraType + { + CameraType cameraType; + switch (type) + { + case 100: + cameraType = CameraType::Virtual; + break; + case 140: + cameraType = CameraType::Hik; + break; + case 190: + cameraType = CameraType::Basler; + break; + case 210: + cameraType = CameraType::LXTof; + break; + default: + break; + } + return cameraType; + }; + + QJsonObject topObj = jsonObj.value("top").toObject(); + int topStartId, topEndId; + if (!topObj.isEmpty()) + { + topStartId = topObj.value("startID").toInt(); + topEndId = topObj.value("endID").toInt(); + } + else + { + qWarning() << "top id error"; + return false; + } + + QJsonObject sideObj = jsonObj.value("side").toObject(); + int sideStartId, sideEndId; + if (!sideObj.isEmpty()) + { + sideStartId = sideObj.value("startID").toInt(); + sideEndId = sideObj.value("endID").toInt(); + } + else + { + qWarning() << "side id error"; + return false; + } + //根据文档读取，没有则采用默认值如下 + //现在1和2巷道都是用的下三层（1-3层）曝光值250000ms/增益20， + //中三层（4-6层）曝光值150000ms/增益20， + //上三层（7-9层）曝光值50000ms/增益20 + + QJsonObject exposureRowObj = jsonObj.value("exposureRowMap").toObject(); + if (!exposureRowObj.isEmpty()) + { + for each (QString key in exposureRowObj.keys()) { + + exposureRowMap[key.toInt()] = exposureRowObj.value(key).toInt(); + } + } + else + { + for (int floor = 1; floor <= 9; floor++) { + int exposure = 2500; + if (floor >= 1 && floor <= 3) + { + exposure = 250000; + } + else if (floor >= 7 && floor <= 9) + { + exposure = 50000; + } + else + { + exposure = 150000; + } + exposureRowMap[floor] = exposure; + } + } + + QJsonObject devicesObj = jsonObj.value("devices").toObject(); + if (!devicesObj.isEmpty()) { + QStringList devicesLabelList = devicesObj.keys(); + for each (QString deviceLabel in devicesLabelList) + { + CameraInfo cameraInfo; + cameraInfo.cameraLabel = deviceLabel; + QStringList strList = deviceLabel.split(' '); + if (strList.length() != 2) + { + qWarning() << "Device label: " << deviceLabel << " syntax error!"; + continue; + } + cameraInfo.modelName = strList.at(0); + cameraInfo.serialNumber = strList.at(1); + QJsonObject deviceObj = devicesObj.value(deviceLabel).toObject(); + if (!deviceObj.isEmpty()) + { + cameraInfo.cameraType = getCameraType(deviceObj.value("type").toInt()); + cameraInfo.exposure = deviceObj.value("exposure").toDouble(); + cameraInfo.imageHeight = deviceObj.value("height").toInt(); + cameraInfo.imageWidth = deviceObj.value("width").toInt(); + cameraInfo.location = deviceObj.value("location").toInt(); + m_cameraStockLocation.insert(cameraInfo.serialNumber, cameraInfo.location); + if (deviceObj.contains("calib_file")) + { + cameraInfo.calibFile = deviceObj.value("calib_file").toString(); + + if (cameraInfo.location == 1) + { + m_calib1->Load(cameraInfo.calibFile.toStdString().c_str()); + } + else + { + m_calib2->Load(cameraInfo.calibFile.toStdString().c_str()); + } + } + + cameraInfo.saveImgSuffix = deviceObj.value("save_img_suffix").toString(); + int id = deviceObj.value("id").toInt(); + if (deviceObj.contains("rotation_angle")) + { + cameraInfo.rotationAngle = deviceObj.value("rotation_angle").toInt(); + } + if (id >= topStartId && id <= topEndId) + { + m_mapIdCameraInfoTop[id] = cameraInfo; + m_mapSerialNumberIdTop[cameraInfo.serialNumber] = id; + } + else if (id >= sideStartId && id <= sideEndId) + { + m_mapIdCameraInfoSide[id] = cameraInfo; + m_mapSerialNumberIdSide[cameraInfo.serialNumber] = id; + } + + } + } + } + + return true; +} + +bool CameraControl::initCamera() +{ + QList cameraInfoList = m_mapIdCameraInfoSide.values(); + cameraInfoList.append(m_mapIdCameraInfoTop.values()); + if (!loadCamera(cameraInfoList)) + { + qWarning() << "Load camera failed"; + return false; + } + else + { + QStringList serialNumberList = m_mapSNIndex.keys(); + for each (const QString& serialNumber in serialNumberList) + { + if (!openCamera(serialNumber)) + { + qWarning() << "Open camera: " << serialNumber << " failed"; + continue; + } + else + { + qDebug() << "Open camera: " << serialNumber << " successed"; + if (!startCamera(serialNumber)) + { + qWarning() << "Start camera: " << serialNumber << " failed"; + continue; + } + else + { + qDebug() << "Start camera: " << serialNumber << " successed"; + if (!setSoftwareTrigger(serialNumber)) + { + qWarning() << "Set camera: " << serialNumber << " software trigger failed"; + } + else + { + qDebug() << "Set camera: " << serialNumber << " software trigger successed"; + } + } + } + } + } + return true; +} + +bool CameraControl::loadCamera(const QList& cameraInfoList) +{ + bool flag = false; + for each (Camera* pCamera in m_vecPCamera) + { + DELETE_POINTER(pCamera); + } + m_vecPCamera.clear(); + m_mapSNIndex.clear(); + + for each(CameraInfo cameraInfo in cameraInfoList) + { + qDebug() << "serialNumber[" << cameraInfo.serialNumber << "]:" << cameraInfo.cameraType; + + QString serialNumber = cameraInfo.serialNumber; + CameraType cameraType = cameraInfo.cameraType; + if (cameraType == CameraType::Hik) + { + Camera* pHikCamera = new HikCamera(); + if (pHikCamera->initCamera(serialNumber)) + { + m_vecPCamera.push_back(pHikCamera); + m_mapSNIndex[serialNumber] = m_vecPCamera.size() - 1; + flag = true; + } + else + { + qWarning() << "SerialNumber: " << serialNumber << " init failed"; + DELETE_POINTER(pHikCamera); + //flag = false; + } + } + else if (cameraType == CameraType::LXTof) + { + Camera* pLXCamera = new LXCamera(); + + if (pLXCamera->initCamera(serialNumber)) + { + m_vecPCamera.push_back(pLXCamera); + m_mapSNIndex[serialNumber] = m_vecPCamera.size() - 1; + flag = true; + } + else + { + qWarning() << "SerialNumber: " << serialNumber << " init failed"; + DELETE_POINTER(pLXCamera); + //flag = false; + } + } + } + qDebug() << "m_vecPCamera size: " << m_vecPCamera.size(); + return flag; +} +bool CameraControl::openCamera(const QStringList& serialNumberList) +{ + bool flag = true; + for each (QString serialNumber in serialNumberList) + { + if (!openCamera(serialNumber)) + { + qWarning() << "Open " << serialNumber << "failed!"; + flag = false; + } + else + { + qDebug() << "Open " << serialNumber << " successed"; + } + } + return flag; +} +bool CameraControl::closeCamera(const QStringList& serialNumberList) +{ + bool flag = true; + for each (QString serialNumber in serialNumberList) + { + if (!closeCamera(serialNumber)) + { + qWarning() << "Close " << serialNumber << "failed!"; + flag = false; + } + else + { + qDebug() << "Close " << serialNumber << " successed"; + } + } + return flag; +} +bool CameraControl::startCamera(const QStringList& serialNumberList) +{ + bool flag = true; + for each (QString serialNumber in serialNumberList) + { + if (!startCamera(serialNumber)) + { + qWarning() << "Start " << serialNumber << "failed!"; + flag = false; + } + else + { + qDebug() << "Start " << serialNumber << " successed"; + } + } + return flag; +} + +bool CameraControl::stopCamera(const QStringList& serialNumberList) +{ + bool flag = true; + for each (QString serialNumber in serialNumberList) + { + if (!stopCamera(serialNumber)) + { + qWarning() << "Stop " << serialNumber << "failed!"; + flag = false; + } + else + { + qDebug() << "Stop " << serialNumber << " successed"; + } + } + return flag; +} + +bool CameraControl::setSoftwareTrigger(const QStringList& serialNumberList) +{ + bool flag = true; + for each (QString serialNumber in serialNumberList) + { + if (!setSoftwareTrigger(serialNumber)) + { + qWarning() << "Set " << serialNumber << " software trigger failed!"; + flag = false; + } + else + { + qDebug() << "Set " << serialNumber << " software trigger successed"; + } + } + return flag; +} + +bool CameraControl::openCamera(const QString& serialNumber) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + qInfo() << "openCamera sid: " << serialNumber << " index:" << iter.value(); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + return m_vecPCamera[index]->openCamera(); +} + +bool CameraControl::closeCamera(const QString& serialNumber) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + return m_vecPCamera[index]->closeCamera(); +} + +bool CameraControl::startCamera(const QString& serialNumber) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + return m_vecPCamera[index]->startCamera(); +} + +bool CameraControl::stopCamera(const QString& serialNumber) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + return m_vecPCamera[index]->stopCamera(); +} + +bool CameraControl::setSoftwareTrigger(const QString& serialNumber) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + return m_vecPCamera[index]->setTriggerSource(SOFTWARE); +} +int CameraControl::getDeviceId(const QString& serialNumber) { + + return m_mapSerialNumberIdSide.value(serialNumber); +} + +bool CameraControl::setExposure(const QString& serialNumber, int exposure) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + return m_vecPCamera[index]->setExposure(exposure); +} + +bool CameraControl::capture(const QString& serialNumber, cv::Mat& img, cv::Mat& img3D, int exposure) +{ + QMap::iterator iter = m_mapSNIndex.find(serialNumber); + if (iter == m_mapSNIndex.end()) + { + qWarning() << "Do not find " << serialNumber; + return false; + } + int index = iter.value(); + m_vecPCamera[index]->setExposure(exposure); + m_vecPCamera[index]->takeAPic(img, img3D); + if (img.empty()) + { + qWarning() << serialNumber << " capture empty"; + } + return true; +} + +bool CameraControl::getSaveImgNameInfo(QString serialNumber, FileInfo& fileInfo) +{ + QString imgSaveBaseName; + auto iter = m_mapSerialNumberIdSide.find(serialNumber); + if (iter == m_mapSerialNumberIdSide.end()) + { + iter = m_mapSerialNumberIdTop.find(serialNumber); + if (iter != m_mapSerialNumberIdTop.end()) + { + int id = iter.value(); + QString suffix = m_mapIdCameraInfoTop.value(id).saveImgSuffix; + fileInfo.suffix = suffix; + fileInfo.strId = QString::number(id); + fileInfo.name = fileInfo.strId + suffix; + } + else + { + qWarning() << "Can not find " << serialNumber; + return false; + } + } + else + { + int id = iter.value(); + QString suffix = m_mapIdCameraInfoSide.value(id).saveImgSuffix; + fileInfo.suffix = suffix; + fileInfo.strId = QString::number(id); + fileInfo.name = fileInfo.strId + suffix; + } + return true; +} + +Q_SLOT void CameraControl::onCapture(int cameraLocation,int location, int floor) +{ + QStringList serialNumList; + switch (cameraLocation) + { + case eCameraLocation::emTop: + m_eCameraLocation = emTop; +#if IMAGEDRAWING == LPV + for (auto iter = m_mapSerialNumberIdTop.begin(); iter != m_mapSerialNumberIdTop.end(); iter++) + { + if (m_cameraStockLocation[iter.key()] == location) + { + serialNumList << iter.key(); + } + } +#elif IMAGEDRAWING == OPENCV + serialNumList = m_mapSerialNumberIdTop.keys(); +#endif + break; + case eCameraLocation::emSide: + m_eCameraLocation = emSide; +#if IMAGEDRAWING == LPV + for (auto iter = m_mapSerialNumberIdSide.begin(); iter != m_mapSerialNumberIdSide.end(); iter++) + { + if (m_cameraStockLocation[iter.key()] == location) + { + serialNumList << iter.key(); + } + } +#elif IMAGEDRAWING == OPENCV + serialNumList = m_mapSerialNumberIdSide.keys(); +#endif // IMAGEDRAWING == LPV + + break; + default: + break; + } + + if (serialNumList.length() != 0) + { + qInfo() << "Captured SerialNumList = " << serialNumList; + capture(serialNumList, location, floor); + } +} + +void CameraControl::capture(const QStringList& serialNumberList, int location, int floor) +{ + int len = serialNumberList.length(); + //qDebug() << "start capture, length: " << len; + QVector vecImageInfo; + for (int i = 0; i < len; ++i) + { + QString serialNumber = serialNumberList.at(i); + if (!m_mapSNIndex.contains(serialNumber)) + { + qWarning() << "m_vecPCamera does not have camera: " << serialNumber; + continue; + } + ImageInfo imgInfo; + FileInfo saveImgInfo; + saveImgInfo.location = location; + getSaveImgNameInfo(serialNumber, saveImgInfo); + imgInfo.saveImgInfo = saveImgInfo; + int id = saveImgInfo.strId.toInt(); + int rotationAngle = 0; + if (m_mapIdCameraInfoTop.contains(id)) + { + rotationAngle = m_mapIdCameraInfoTop.value(id).rotationAngle; + } + else if (m_mapIdCameraInfoSide.contains(id)) + { + rotationAngle = m_mapIdCameraInfoSide.value(id).rotationAngle; + } + + //现在1和2巷道都是用的下三层（1-3层）曝光值250000ms/增益20， + //中三层（4-6层）曝光值150000ms/增益20， + //上三层（7-9层）曝光值50000ms/增益20 + int exposure = exposureRowMap[floor]; + + setExposure(serialNumber, exposure); + + if (!capture(serialNumber, imgInfo.image, imgInfo.image3D, floor)) + { + vecImageInfo.push_back(imgInfo); + continue; + } + flipImg(imgInfo.image, imgInfo.image, rotationAngle); + imgInfo.cameraSn = serialNumber; + + // 2D相机操作 + if (imgInfo.imageOrigin == nullptr) + { + imgInfo.imageOrigin = ILImagePtr(__uuidof(LImage)); + imgInfo.imageFixed = ILImagePtr(__uuidof(LImage)); + } + imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); + + //if (serialNumber == "00787720450") + //{ + // imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/310102.bmp"); + //} + //else if (serialNumber == "00J49540865") + //{ + // imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/320111.bmp"); + //} + //else + //{ + // imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); + //} + + + if (imgInfo.image3D.empty()) //表面用的是2D相机 + { + imgInfo.bIs2D = true; + if (location == 1 && m_calib1->IsCalibrated()) + { + m_calib1->FixImage(imgInfo.imageOrigin, imgInfo.imageFixed); + } + else if (location == 2 && m_calib2->IsCalibrated()) + { + m_calib2->FixImage(imgInfo.imageOrigin, imgInfo.imageFixed); + } + } + else + { + imgInfo.bIs2D = false; + } + + vecImageInfo.push_back(imgInfo); + } + + emit sgCapturedImage(vecImageInfo, m_eCameraLocation); +} + +void CameraControl::flipImg(const cv::Mat& imgSrc, cv::Mat& imgDst, int rotationAngle) +{ + if (imgSrc.empty()) + { + qWarning() << "imgSrc is empty"; + return; + } + switch (rotationAngle) + { + case 90: + cv::transpose(imgSrc, imgDst); + cv::flip(imgDst, imgDst, 1); + qDebug() << " 旋转90度"; + break; + case 180: + cv::flip(imgSrc, imgDst, -1); + qDebug() << " 旋转180度"; + break; + case 270: + cv::transpose(imgSrc, imgDst); + cv::flip(imgDst, imgDst, 0); + qDebug() << " 旋转270度"; + break; + default: + imgDst = imgSrc; + qDebug() << " 不旋转"; + break; + } +} diff --git a/src/CategoryMatcher.cpp b/src/CategoryMatcher.cpp index 36fdf0e..c04a9cf 100644 --- a/src/CategoryMatcher.cpp +++ b/src/CategoryMatcher.cpp @@ -91,6 +91,21 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, ILImagePtr image, int id return bRlt; } +bool CategoryMatcher::smokeMatchTask(const QString& typeNo,int del) { + + ILImagePtr image(__uuidof(LImage)); + + std::string str; + str.append("./task/"); + str.append(std::to_string(del)); + str.append(".PNG"); + image->Load(str.c_str()); + + QMap resultsPair; + bool bRlt = smokeMatch(typeNo, image, resultsPair, 0); + return bRlt; +} + bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPtr, QMap& resultsMap, int id) { @@ -166,7 +181,6 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt qDebug() << str; continue; // match failed } - int objCount = matchResults->Count() + matchResultsF->Count(); if (objCount > 0) { @@ -175,6 +189,9 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt int indexMaxScore = 0; QVector matchSrore; + str = QString("[%1]:Match success;templateImgPath = %2").arg(id).arg(templateImgPath); + qDebug() << str; + // 模板方向的匹配结果——旋转180度匹配结果，组成一个完整的匹配结果值 for (int i = 0; i < matchResults->Count(); i++) { @@ -189,6 +206,9 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt auto maxPos = std::max_element(matchSrore.begin(), matchSrore.end()); valueMaxScore = *maxPos; indexMaxScore = maxPos - matchSrore.begin(); + + str = QString("[%1]:Level: %1 match failed!").arg(id).arg(level); + qDebug() << str; vecMatchSrore.push_back(valueMaxScore); if (indexMaxScore < matchResults->Count()) @@ -199,6 +219,11 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt { vecMatchRlts.push_back(matchResultsF->Item(indexMaxScore - matchResults->Count())); } + } { + + str = QString("[%1]:Match failed;templateImgPath = %2").arg(id).arg(templateImgPath); + qDebug() << str; + } } @@ -227,56 +252,56 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt } return true; } - +// 此函数用于从给定的文件夹中获取模板图像文件信息，并将信息填充到TemplateObject结构体中 +// 如果文件夹不存在或没有找到任何匹配的图像文件，函数返回false +// 否则，返回true bool CategoryMatcher::getTemplateImgFileInfo(const QString& folderPath, TemplateObject& templateObject) { + // 清空输入的TemplateObject templateObject.clear(); + + // 创建QDir对象，检查文件夹是否存在 QDir fileDir(folderPath); if (!fileDir.exists()) { + // 输出警告并返回false，因为文件夹不存在 qWarning() << folderPath << " is not exist"; return false; } - for each(QFileInfo imgFileInfo in fileDir.entryInfoList(QDir::Filter::Files | QDir::NoDotAndDotDot)) + + // 遍历文件夹中的所有文件，过滤掉"."和".."以及非图像文件 + foreach(QFileInfo imgFileInfo, fileDir.entryInfoList(QDir::Files | QDir::NoDotAndDotDot)) { QString fileName = imgFileInfo.fileName(); - + // 检查文件名是否以特定图像扩展名结尾 if (fileName.endsWith(".png") || fileName.endsWith(".PNG") || fileName.endsWith(".BMP") || fileName.endsWith(".bmp") || fileName.endsWith(".jpeg") || fileName.endsWith(".JPEG") || fileName.endsWith(".jpg") || fileName.endsWith(".JPG")) { + // 分割文件名，获取基名部分 QStringList strList = imgFileInfo.baseName().split("-"); - QString templateImgPath = imgFileInfo.filePath(); //相对路径，避免路径存在中文时读取失败 + // 获取级别信息（从基名的最后一个部分的首字符转换为整数） int level = strList.last().mid(0, 1).toInt(); - templateObject[level].insert(templateImgPath, 70); - - - - ////之前的模板格式，例如：templateImg/51520312/template_0101_65 - //if (strList.first() == "template" && strList.length() == 3) - //{ - // int scoreThresh = strList.last().toInt(); - // QString templateImgPath = imgFileInfo.filePath(); //相对路径，避免路径存在中文时读取失败 - // std::pair imgScorePair(templateImgPath, scoreThresh); - // QString serialNum = strList[1]; - // if (serialNum.length() == 4) - // { - // int level = serialNum.mid(0, 2).toInt(); - // templateObject[level].insert(templateImgPath, scoreThresh); - // } - //} + + // 将文件路径（相对路径）和其对应的级别添加到TemplateObject中 + templateObject[level].insert(imgFileInfo.filePath(), 70); } } + + // 如果TemplateObject仍然为空，说明没有找到匹配的图像文件，返回false if (templateObject.isEmpty()) { return false; } + + // 找到了至少一个匹配的图像文件，返回true return true; } + void CategoryMatcher::drawImage(ILImagePtr image, QMap resultsMap) { if (image->Void()) @@ -296,6 +321,8 @@ void CategoryMatcher::drawImage(ILImagePtr image, QMap re ILMatchResultPtr matchRlt = iter.value(); if (matchRlt == nullptr) { + bRlt = false; + rltStr.append(QString("\n Level %1 score: %2").arg(iter.key()).arg("null")); continue; } diff --git a/src/CategoryMatcher.h b/src/CategoryMatcher.h index b99a39f..50c7cb1 100644 --- a/src/CategoryMatcher.h +++ b/src/CategoryMatcher.h @@ -47,6 +47,7 @@ public: CategoryMatcher(QObject *parent = nullptr); ~CategoryMatcher(); bool smokeMatch(const QString& typeNo, ILImagePtr image, int id); + bool smokeMatchTask(const QString& typeNo, int image); void saveResultsImage(const QString& filePath); diff --git a/src/LXCamera.cpp b/src/LXCamera.cpp index e724c01..f736bb4 100644 --- a/src/LXCamera.cpp +++ b/src/LXCamera.cpp @@ -62,7 +62,7 @@ bool LXCamera::openCamera() if (LX_SUCCESS == lx_state) { break; } - qDebug() << "TofCamera Open Failed重启次数="<smokeMatchTask(strList.at(1), strList.at(2).toInt()); + + + + + + + QString resultInfoMsg; + + resultInfoMsg.append(TAST_CALCULATE).append(SPLIT_RULE).append(i?"1":"0").append(END_SYMBOL); + + sgSendMsg(resultInfoMsg); + } } } break; diff --git a/src/common/commonDefine.h b/src/common/commonDefine.h index 2b4dd11..deece3a 100644 --- a/src/common/commonDefine.h +++ b/src/common/commonDefine.h @@ -56,6 +56,7 @@ #define END_SYMBOL ">" #define START_CAPTURE "GPS" // 到位取图开始 #define END_CAPTURE "GPE" // 到位取图结束 +#define TAST_CALCULATE "TAST" // 开始品规和数量计算 #define START_CALCULATE "RTS" // 开始品规和数量计算 #define RETURN_CALCULATE "RTE" // 品规计算结果返回 diff --git a/tpvs17/SmokeBoxIdentification/MyService.cpp b/tpvs17/SmokeBoxIdentification/MyService.cpp new file mode 100644 index 0000000..e69de29