1.3d相机左右调用问题修改

2.增加盘点区域设置
3.增加返回点位信息
4.增加曝光设置

src/CameraControl.cpp

@@ -46,6 +46,7 @@ bool CameraControl::readCameraConfig(QString filePath)
 {
 	m_mapIdCameraInfoSide.clear();
 	m_mapIdCameraInfoTop.clear();
+	exposureRowMap.clear();
 	m_mapSerialNumberIdSide.clear();
 	m_mapSerialNumberIdTop.clear();
 
@@ -119,6 +120,38 @@ bool CameraControl::readCameraConfig(QString filePath)
 		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()) {
@@ -178,6 +211,7 @@ bool CameraControl::readCameraConfig(QString filePath)
 			}
 		}
 	}
+
 	return true;
 }
 
@@ -261,6 +295,7 @@ bool CameraControl::loadCamera(const QList<CameraInfo>& cameraInfoList)
 		else if (cameraType == CameraType::LXTof)
 		{
 			Camera* pLXCamera = new LXCamera();
+			
 			if (pLXCamera->initCamera(serialNumber))
 			{
 				m_vecPCamera.push_back(pLXCamera);
@@ -369,6 +404,7 @@ bool CameraControl::setSoftwareTrigger(const QStringList& serialNumberList)
 bool CameraControl::openCamera(const QString& serialNumber)
 {
 	QMap<QString, int>::iterator iter = m_mapSNIndex.find(serialNumber);
+	qInfo() << "openCamera sid: " << serialNumber << "  index:" << iter.value();
 	if (iter == m_mapSNIndex.end())
 	{
 		qWarning() << "Do not find " << serialNumber;
@@ -425,7 +461,10 @@ bool CameraControl::setSoftwareTrigger(const QString& serialNumber)
 	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)
 {
@@ -565,22 +604,8 @@ void CameraControl::capture(const QStringList& serialNumberList, int location, i
 		//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 = 0;
-		if (floor!=0)
-		{
-			if (floor >= 1 && floor <= 3)
-			{
-				exposure = 250000;
-			}
-			else if (floor >= 7 && floor <= 9)
-			{
-				exposure = 50000;
-			}
-			else
-			{
-				exposure = 150000;
-			}
-		}
+		int exposure = exposureRowMap[floor];
+		
 		setExposure(serialNumber, exposure);
 
 		if (!capture(serialNumber, imgInfo.image, imgInfo.image3D, floor))

src/CameraControl.h

@@ -65,6 +65,7 @@ public:
 	bool stopCamera(const QString& serialNumber);
 	bool setSoftwareTrigger(const QString& serialNumber);
 	bool setExposure(const QString& serialNumber,int exposure);
+	int getDeviceId(const QString& serialNumber);
 
 
 	Q_SLOT void onCapture(int cameraLocation,int location, int floor);
@@ -78,7 +79,8 @@ private:
 	bool capture(const QString& serialNumber, cv::Mat& img, cv::Mat& img3D,int exposure);
 	void flipImg(const cv::Mat& imgSrc, cv::Mat& imgDst, int rotationAngle);
 
-	QMap<int, CameraInfo> m_mapIdCameraInfoTop; 
+	QMap<int, CameraInfo> m_mapIdCameraInfoTop;
+	QMap<int, int> exposureRowMap;
 	QMap<int, CameraInfo> m_mapIdCameraInfoSide;
 	QMap<QString, int> m_mapSerialNumberIdTop;
 	QMap<QString, int> m_mapSerialNumberIdSide; // QString:Ïà»úSNÂ룬int:Ïà»úID

src/CategoryMatcher.cpp

@@ -147,14 +147,20 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt
 
 				ILMatchResultsPtr matchResults, matchResultsF;
 
+				ILRotRectRegionPtr rectRoi(__uuidof(LRotRectRegion));
 				if (level == 1)  // ´óÄ£°å
 				{
 					ILImageArithmPtr imgArithm(__uuidof(LImageArithm));
 					imgArithm->Resize(ilImgPtr, 0.5, 0.5, LPVInterNearest, img);
+					rectRoi->SetPlacement(800, 500, 500, 1250, 600);
 				}
+				else {
 
-				LPVErrorCode err = m_ilmatch->Match((level == 1 ? img : ilImgPtr), nullptr, &matchResults);
-				LPVErrorCode errF = m_ilmatchF->Match((level == 1 ? img : ilImgPtr), nullptr, &matchResultsF);
+					rectRoi->SetPlacement(1600, 1000, 2500, 1200, 0);
+				}
+				qInfo() << "setrectRoi end";
+				LPVErrorCode err = m_ilmatch->Match((level == 1 ? img : ilImgPtr), rectRoi, &matchResults);
+				LPVErrorCode errF = m_ilmatchF->Match((level == 1 ? img : ilImgPtr), rectRoi, &matchResultsF);
 				if (err < LPVErrorCode::LPVNoError || errF < LPVErrorCode::LPVNoError) {
 					str = QString("[%1]:Match Failed;templateImgPath = %2").arg(id).arg(templateImgPath);
 					qDebug() << str;
@@ -314,6 +320,11 @@ void CategoryMatcher::drawImage(ILImagePtr image, QMap<int, ILMatchResultPtr> re
 		}
 
 	}
+	ILRotRectRegionPtr m_rect(__uuidof(LRotRectRegion));
+	m_rect->SetPlacement(1600, 1000, 2500, 1200, 0);
+	m_textSys->SetPenWidth(m_rect, 3);
+	m_textSys->SetPenColor(m_rect, m_textSys->GetColorRef(0, 255, 0));
+	m_display->AddObject(m_rect, 0);
 	if (bRlt)
 	{
 		m_textSys->SetFontColor(m_text, m_textSys->GetColorRef(0, 255, 0));

src/LXCamera.cpp

@@ -11,7 +11,7 @@
 
 
 static char wait_key = '0';
-static DcHandle handle = 0;
+QMap<QString, DcHandle> handleMap ;
 #define checkTC(state) {LX_STATE val=state;                            \
     if(val != LX_SUCCESS){                                             \
         if(val == LX_E_RECONNECTING){                                  \
@@ -42,6 +42,7 @@ bool LXCamera::initCamera(const QString& serialNumber)
 		return false;
 	}
 	m_handle = serialNumber.toStdString();
+	
 	qInfo() << "Find tof device number = " << device_num;
 	return true;
 }
@@ -55,7 +56,10 @@ void LXCamera::destroyCamera()
 bool LXCamera::openCamera()
 {
 	LxDeviceInfo device_info;
-	LX_STATE lx_state = DcOpenDevice(LX_OPEN_MODE::OPEN_BY_SN, m_handle.c_str(), &handle, &device_info);
+	DcHandle* handlePtr = new DcHandle();
+	LX_STATE lx_state = DcOpenDevice(LX_OPEN_MODE::OPEN_BY_SN, m_handle.c_str(), handlePtr, &device_info);
+	handle = *handlePtr;
+	qInfo() << "openCamera3D handle:" << handle << "cameraSN:" << m_handle.c_str();
 	if (LX_SUCCESS != lx_state) {
 		QString str = QString("open device failed, open_param: %1, err = %2").arg(m_handle.c_str()).arg(lx_state);
 		qDebug() << str;
@@ -123,6 +127,8 @@ bool LXCamera::setGain(double gain)
 
 bool LXCamera::takeAPic(cv::Mat& imgMat, cv::Mat&imgMat3D)
 {
+
+	qInfo() << "getPicCamera3D handle:" << handle << "cameraSN:" << m_handle.c_str();
 	//¸üÐÂÊý¾Ý
 	auto ret = DcSetCmd(handle, LX_CMD_GET_NEW_FRAME);
 	if (LX_SUCCESS != ret)

src/LXCamera.h

@@ -1,5 +1,9 @@
 #pragma once
 
+#include "lxCamera/lx_camera_api.h"
+
+#pragma comment(lib,"LxCameraApi.lib")
+
 #include "camera.h"
 #include "commonDefine.h"
 
@@ -27,4 +31,6 @@ public:
 private:
 	CameraType m_type = CameraType::LXTof;
 	std::string m_handle;
+
+	DcHandle handle = 0;
 };

src/SmokeBoxIdentification.cpp

@@ -460,6 +460,7 @@ void SmokeBoxIdentification::calculate(int stocketID)
 		bool bIsMatch = false;
 		for each (const ImageInfo& imgInfo in vecImageInfo)
 		{
+			QString pclPath = dataSaveFolder;
 			if (imgInfo.bIs2D && !bIsMatch)
 			{
 				QString str = QString("[%1]:Camera %2 Match Start ...").arg(stocket.id).arg(imgInfo.cameraSn);
@@ -467,6 +468,7 @@ void SmokeBoxIdentification::calculate(int stocketID)
 
 				if (!imgInfo.imageFixed->Void())
 				{
+					//进行计算品规
 					if (m_pCategoryMatcher->smokeMatch(typeNum, imgInfo.imageFixed, stocket.id.toInt()))
 					{
 						str = QString("[%1]:Camera %2 Match successful!").arg(stocket.id).arg(imgInfo.cameraSn);
@@ -501,6 +503,8 @@ void SmokeBoxIdentification::calculate(int stocketID)
 			}
 			else
 			{
+
+				
 				if (bIsMatch)
 				{
 					QString str = QString("[%1]:3DCamera %2 Start Calculate...").arg(stocket.id).arg(imgInfo.cameraSn);
@@ -508,12 +512,10 @@ void SmokeBoxIdentification::calculate(int stocketID)
 
 					FileInfo fileInfo = imgInfo.saveImgInfo;
 					//根据相机编号，对应找到3D基准文件去计算层高
-					QString pclPath = dataSaveFolder;
 					pclPath.append(QString("*.pcd").arg(fileInfo.strId));
 
 					QDir dir(pclPath);
 					QFileInfoList fileList = dir.entryInfoList(QStringList() << "*.pcd", QDir::Files | QDir::NoDotAndDotDot);
-					m_stocketList[stocketID].pcdSrc = pclPath;
 					if (fileList.length() > 0)
 					{
 						pclPath = fileList[0].absolutePath();
@@ -524,6 +526,7 @@ void SmokeBoxIdentification::calculate(int stocketID)
 
 						int lastPos = pclPath.lastIndexOf('.');
 						QString depthImagePath = pclPath.left(lastPos);
+
 						depthImagePath.append(".PNG");
 						m_stocketList[stocketID].imagesPathList.append(depthImagePath.right(depthImagePath.length() - 1));
 					}
@@ -544,19 +547,23 @@ void SmokeBoxIdentification::calculate(int stocketID)
 					m_pHeightCalculate->LoadBasicFile(QString{});
 
 					//数量计算
-					m_stocketList[stocketID].smokeQuantityRlt = QString::number(m_pHeightCalculate->SmokeHeight());
+					m_stocketList[stocketID].smokeQuantityRlt = m_stocketList[stocketID].smokeQuantity;
 
 					//QFile::copy("C:\\Users\\LENOVO\\Downloads\\30t.pcd",pclPath);
 					QFile::rename(".\\Cache\\1.pcd", pclPath);
 
-
 				}
 				else
 				{
+					CameraControl* cameraCon = CameraControl::instance();
+					m_stocketList[stocketID].pcdSrc = pclPath.replace(".", "").append("\\").append(QString::number((cameraCon->getDeviceId(imgInfo.cameraSn)))).append(".pcd");
+					qDebug() << "pcdSrc:" << m_stocketList[stocketID].pcdSrc;
 					QString str = QString("[%1]:Pre 2D Camera don't Match. Now Camera %2.").arg(stocket.id).arg(imgInfo.cameraSn);
 					qDebug() << str;
 				}
 			}
+
+
 		}
 
 

src/common/log.cpp

@@ -5,7 +5,7 @@ QString LogInfo::m_currtDate = QString();
 QString LogInfo::m_folderPath = QString();
 QFile* LogInfo::m_fileLog = NULL;
 
-char* LogInfo::msgHead[] = {
+ const char* LogInfo::msgHead[] = {
 	    "Debug   ",
 		"Warning ",
 		"Critical",

src/common/log.h

@@ -20,7 +20,7 @@ private:
 	static QString m_currtDate;
 	static QString m_folderPath;
 	static QFile* m_fileLog;
-	static char* msgHead[];
+	static const char* msgHead[];
 };
 
 #endif // LOG_H