if (!isCaptureStop_.load(std::memory_order_acquire)) {
return true;
}
if (imgCreateThread_.joinable()) {
imgCreateThread_.join();
}
if (frameDataCreateThread_.joinable()) {
frameDataCreateThread_.join();
}
isCaptureStop_.store(false, std::memory_order_release);
imgCreateThread_ = std::thread([&] {
const device::CameraFactory::CameraManufactor manufator =
stringProperties_["2D Camera Manufactor"] == "Huaray"
? device::CameraFactory::Huaray
: device::CameraFactory::Halcon;
auto pLeftCamera = cameraFactory_.getCamera(
stringProperties_["Left Camera Name"], manufator);
device::Camera *pColorCamera = nullptr;
if (stringProperties_["Color Camera Name"] != "") {
pColorCamera = cameraFactory_.getCamera(
stringProperties_["Color Camera Name"], manufator);
}
const int imgSizeWaitFor = numbericalProperties_["Total Fringes"];
while (!isCaptureStop_.load(std::memory_order_acquire)) {
if (pLeftCamera->getImgs().size() >= imgSizeWaitFor &&
(pColorCamera ? pColorCamera->getImgs().size() >= imgSizeWaitFor
: true)) {
std::vector<std::vector<cv::Mat>> imgs(pColorCamera ? 2 : 1);
int index = 0;
while (index != imgSizeWaitFor) {
imgs[0].emplace_back(pLeftCamera->popImg());
if (pColorCamera) {
imgs[1].emplace_back(pColorCamera->popImg());
}
++index;
//add by Jia
std::cout << "imgCreateThread : pLeftCamera->getImgs().size() = " << pLeftCamera->getImgs().size() << std::endl;
}
std::cout << "imgCreateThread : Before : imgsCreated_.size() = " << imgsCreated_.size() << std::endl;
if (imgsCreated_.size() > 2) {
continue;
}
imgsCreated_.push(imgs);
std::cout << "imgCreateThread : After : imgsCreated_.size() = " << imgsCreated_.size() << std::endl;
}
}
});
frameDataCreateThread_ = std::thread([&] {
while (!isCaptureStop_.load(std::memory_order_acquire)) {
if (imgsCreated_.empty()) {
std::this_thread::sleep_for(std::chrono::milliseconds(5));
continue;
}
std::cout << "frameDataCreateThread : Before : imgsCreated_.size() = " << imgsCreated_.size() << std::endl;
std::vector<std::vector<cv::Mat>> imgs;
imgsCreated_.move_pop(imgs);
std::cout << "frameDataCreateThread : After : imgsCreated_.size() = " << imgsCreated_.size() << std::endl;
std::cout << "frameDataCreateThread : After : imgs.size() = " << imgs.size() << std::endl;
if (stringProperties_["Color Camera Name"] != "") {
for (int i = 0; i < imgs.size(); ++i) {
cv::cvtColor(imgs[i], imgs[i], cv::COLOR_BayerBG2BGR);
}
}
FrameData curFrameData;
decode(imgs, curFrameData);
//frameDataQueue.push(curFrameData);
}
});
projectorFactory_.getProjector(stringProperties_["DLP Evm"])->project(true);
return true;
关于实时扫描重建的一些问题请教
博主您好！在测试完单目及双目的标定及单次重建流程后，我们选择尝试高速的实时重建（单目结构光方式），但都失败了。在这个过程中有以下疑问，想要向您请教：
我们的环境为：
问题一：没有本地编译CUDA生成的exe程序是否支持实时重建呢？
我们使用您发布的程序将光机的投图周期刻意降低，但是实时重建时程序闪退。
问题二：随后，我们使用编译CUDA的exe程序尝试实时重建也失败了。在第一帧点云展示后，程序闪退。
我们对持续扫描函数进行了一些修改增加了log的输出，发现第一帧扫描完成，进行第二组图片的回调、取图的时候，程序退出。我们判断是buffer溢出导致进程卡死退出的，不知道是不是正确的推测呢？如果不是该处存在的问题，还请您帮忙进行分析推断问题所在，感谢！
`bool MonocularCamera::continuesCapture(SafeQueue &frameDataQueue) {
}`
期待您的回复，感谢!!!!!