while循环，出现QSocketNotifier: Can only be used with threads started with QThread

[星辰韦]

写了个图像处理+写串口的qmake工程，编译没有错误，但是一运行到while(true)，就会出现'QSocketNotifier: Can only be used with threads started with QThread'，，，而且写串口不成功，外置设备收不到指令。
求教大神

把程序都贴在下面了，感觉是main函数的问题，因为2个类已经在别的程序中验证过了应该没问题
vp开头的函数是个第三方库

/*****main.cpp*****/
#include <iostream>
#include "UEyeOpenCV.hpp"
#include "opencv2/opencv.hpp"
#include <servocontroller.h>

#include <visp/vpPlot.h>
#include <visp/vpDot2.h>
#include <visp/vpDisplay.h>
#include <visp/vpImageIo.h>
#include <visp/vpImageTools.h>
#include <visp/vpDisplayOpenCV.h>

int main(){
    /*导入opencv相机校正参数*/
    cv::FileStorage fs("out_camera_data.xml", cv::FileStorage::READ);
    cv::Mat cameraMatrix, distCoeffs;
    fs["Camera_Matrix"] >> cameraMatrix;
    fs["Distortion_Coefficients"] >> distCoeffs;
    std::cout  << "camera matrix: " << cameraMatrix << std::endl
         << "distortion coeffs: " << distCoeffs << std::endl;
    cv::Mat image;

    /*打开相机*/
    UeyeOpencvCam cam = UeyeOpencvCam(752,480);

    /*定义显示窗口*/
    vpImage<unsigned char> I(480, 752);     // Create a gray level image
    cv::Mat grayFrame;
    vpDisplayOpenCV d;
    d.init(I, 0, 0, "Visual servoing on dot");

    /*定义追踪点*/
    vpDot2 blob;
    blob.setGraphics(true);
    blob.setGraphicsThickness(2);
    vpImagePoint germ;
    bool init_done = false;

    /*设置com口*/
    unsigned short target=1500;  
    ServoController com;
    com.ServoController::createSerialPort();
    com.setTarget(target*4);

    while(true) {
        cv::Mat frame= cam.getFrame();  //取每帧的图像
        cv::cvtColor(frame,grayFrame, CV_BGR2GRAY);  //转灰度图
        cv::undistort(grayFrame,image,cameraMatrix,distCoeffs);  //图像校正
        cv::Mat image2;
        cv::flip(image,image2,-1);  //图像倒置
        vpImageConvert::convert(image2, I);  //转成ViSP库的图像
        vpDisplay::display(I);  //ViSP库的图像显示

        // 等待鼠标点击目标点
        if (! init_done) {
            vpDisplay::displayText(I, vpImagePoint(10,10), "Click in the blob to initialize the tracker", vpColor::red);
            if (vpDisplay::getClick(I, germ, false)) {
                blob.initTracking(I, germ);
                init_done = true;
            }
        }
        else {
            blob.track(I);  //点追踪
            vpImagePoint mcog;  //点中心坐标
            mcog=blob.getCog();
            int x=mcog.get_i();
            if (x<240){
                target=target+1;
                com.setTarget(target*4);
                cv::waitKey(10);
            }
            else{
                target=target-1;
                com.setTarget(target*4);
                cv::waitKey(10);
            }
        }
        vpDisplay::flush(I);
    }
}

//servocontroller.h
/*****servocontroller.h*****/
#ifndef SERVOCONTROLLER_H
#define SERVOCONTROLLER_H

#include <string>
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <termios.h>
#include <QDebug>
#include <QString>

class ServoController
{
public:
    virtual ~ServoController();
    void createSerialPort();
    void setTarget( unsigned short target );

private:
    static const unsigned short mMinChannelValue = 4000;
    static const unsigned short mMaxChannelValue = 8000;
    unsigned short target;
    unsigned char channelNumber;
    QSerialPort* myCom;
    QByteArray command;
};

#endif // SERVOCONTROLLER_H

/*****servocontroller.cpp*****/
#include "servocontroller.h"
#include <QtSerialPort/QSerialPort>
#include <QtSerialPort/QSerialPortInfo>
#include <iostream>

void ServoController::createSerialPort()
{
    myCom= new QSerialPort();
    myCom->setPortName("/dev/ttyACM0");
    myCom->open(QIODevice::WriteOnly);
    myCom->setBaudRate(9600);
    myCom->setDataBits(QSerialPort::Data8);
    myCom->setParity(QSerialPort::NoParity);
    myCom->setStopBits(QSerialPort::OneStop);
    myCom->setFlowControl(QSerialPort::NoFlowControl);
}

ServoController::~ServoController()
{
    myCom->close();
}

void ServoController::setTarget(unsigned short target )
{
    if (target<mMinChannelValue ){
        target=mMinChannelValue;
    }
    if(target>mMaxChannelValue){
        target=mMaxChannelValue;
    }

    command.resize(4);
    command[0]=0x84;
    command[1]=0x01;
    command[2]=(char)(target & 0x7F);
    command[3]=(char)((target >> 7) & 0x7F);
    myCom-> QSerialPort::write(command);
}

/*****UEyeOpenCV.hpp*****/
#ifndef UEYEOPENCV_HPP
#define UEYEOPENCV_HPP

//#pragma once
#include <ueye.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

class UeyeOpencvCam {
public:
        UeyeOpencvCam(int wdth, int heigh);
        cv::Mat getFrame();

private:
        HIDS hCam;
        cv::Mat mattie;
        int width;
        int height;
};

#endif // UEYEOPENCV_HPP

/*****ueyeopencv.cpp*****/
#include <UEyeOpenCV.hpp>
#include <iostream>
#include <ueye.h>

UeyeOpencvCam::UeyeOpencvCam(int wdth, int heigh) {
        width = wdth;
        height = heigh;
        mattie = cv::Mat(height, width, CV_8UC3);
        hCam = 1;
        char* ppcImgMem;
        int pid;
        INT nAOISupported = 0;
        is_InitCamera(&hCam, NULL);
        is_SetColorMode(hCam, IS_CM_BGR8_PACKED);
        INT nGamma = 180;
        is_Gamma(hCam, IS_GAMMA_CMD_SET, (void*) &nGamma, sizeof(nGamma));
        is_ImageFormat(hCam, IMGFRMT_CMD_GET_ARBITRARY_AOI_SUPPORTED, (void*) &nAOISupported, sizeof(nAOISupported));
        is_AllocImageMem(hCam, width, height, 24, &ppcImgMem, &pid);
        is_SetImageMem(hCam, ppcImgMem, pid);
        is_CaptureVideo(hCam, IS_WAIT);
}

cv::Mat UeyeOpencvCam::getFrame() {
    VOID* pMem;
    int retInt = is_GetImageMem(hCam, &pMem);
    if (retInt != IS_SUCCESS) {
        if (retInt == IS_INVALID_CAMERA_HANDLE){
            std::cout<<"error CAMERA_HANDLE"<<std::endl;
        }
        else{
                std::cout<<"error is_GetImageMem"<<std::endl;
        }
    }
    else{
            memcpy(mattie.ptr(), pMem, width * height * 3);
    }
    return mattie;
}

[星辰韦]

别沉了啊，求大神帮忙 把.pro文件补上

HEADERS += \
    UEyeOpenCV.hpp \
    servocontroller.h

SOURCES += \
    main.cpp \
    ueyeopencv.cpp \
    servocontroller.cpp

# important for QSerialport
QT       += serialport

# OpenCV库
INCLUDEPATH += /usr/local/include \
                /usr/local/include/opencv \
                /usr/local/include/opencv2
LIBS += /usr/local/lib/libopencv_core.so    \
        /usr/local/lib/libopencv_highgui.so    \
        /usr/local/lib/libopencv_imgproc.so

# UEye摄像头库
win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../../../usr/lib/release/ -lueye_api
else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../../../usr/lib/debug/ -lueye_api
else:unix: LIBS += -L$$PWD/../../../../usr/lib/ -lueye_api
INCLUDEPATH += $$PWD/../../../../usr/include
DEPENDPATH += $$PWD/../../../../usr/include

# ViSP库
win32:CONFIG(release, debug|release): LIBS += -L$$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu/release/ -lvisp
else:win32:CONFIG(debug, debug|release): LIBS += -L$$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu/debug/ -lvisp
else:unix: LIBS += -L$$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu/ -lvisp
INCLUDEPATH += $$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu
DEPENDPATH += $$PWD/../../ViSP-build-release/lib/x86_64-linux-gnu