深度相机获取实时图像总结

问题详情：之前一直把曝光调整到50000，画面一直很流畅，知道领导要求将曝光改成500000时整个程序卡死了

问题解决：

首先怀疑是帧率太低的原因，控制变量后发现不是帧率的问题，看着代码很迷茫，领导就看了我完整的代码，找到了bug，让人恍然大悟。

大家先看看错误代码：calibHMI是我的主类，PICThread是我的线程类

线程创建和触发代码：当发出信号returnResult,就执行displayResult。

    thread=new PICThread();connect(thread, SIGNAL(returnResult(int)), this, SLOT(displayResult(int)));//信号槽

/*信号回调*/
void calibHMI::displayResult(int result)
{Camera.GetGrayImage(gray);if(!gray.empty()){gray.copyTo(grayCopy);cv::resize(grayCopy, grayCopy, cv::Size(gray.cols / 6, gray.rows / 6));qImage = QImage((const unsigned char*)(grayCopy.data),grayCopy.cols, grayCopy.rows,grayCopy.cols * grayCopy.elemSize(),QImage::Format_Grayscale8);// 如果需要，从QImage创建QPixmapQPixmap pixmap = QPixmap::fromImage(qImage);// 或者，直接在QLabel中设置QImage（注意灰度图像不需要rgbSwapped()）ui->label_6->setPixmap(QPixmap::fromImage(qImage));}}
void calibHMI::closeEvent(QCloseEvent *event){qDebug("关闭主界面");thread->m_stopRequested = true;}
//线程类
PICThread::PICThread(){}
/*线程循环*/
void PICThread::run()
{int result=0;m_stopRequested = false; // 初始化停止标志为 falsewhile (!m_stopRequested){msleep(500);//延时0.5s 600-1000比较合适emit returnResult(result);  //发送信号}
}
/*线程停止*/
void PICThread::stop()
{m_stopRequested = true;
}void calibHMI::on_pushButton_2_clicked()
{int Expose=ui->lineEdit->text().toInt();int rate =ui->lineEdit_2->text().toInt();Camera.ConfigEyeExpose(hDevice,keVzNLExposeMode_Fix,Expose);if(Camera.SetFrameRate(hDevice,rate)==0){std::cout<<"帧率设置成功！"<<std::endl;}
}void calibHMI::on_pushButton_6_clicked()
{    static SVzNLROIRect sLeftROI = { 0, 1536, 0, 2048 };static SVzNLROIRect sRightROI = { 0, 1536, 0, 2048 };Camera.ConfigDetectROI(hDevice, &sLeftROI, &sRightROI);thread->start();
}void calibHMI::on_pushButton_7_clicked()
{thread->stop();
}