53 lines
2.8 KiB
Markdown
53 lines
2.8 KiB
Markdown
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graph TB
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subgraph "真实算法检测流程"
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Start[开始检测任务] --> GetCache[获取缓存的点云数据<br/>m_detectionDataCache]
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GetCache --> CheckEmpty{是否有缓存数据?}
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CheckEmpty -->|否| ReturnError[返回错误:<br/>无缓存的检测数据]
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CheckEmpty -->|是| Convert[数据格式转换<br/>SVzLaserLineData → SVzNL3DLaserLine]
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Convert --> SetParam[设置算法参数<br/>SG_bagPositionParam]
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SetParam --> SetBagParam[编织袋参数<br/>L=650, W=450, H=160]
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SetBagParam --> SetFilterParam[滤波参数<br/>continuityTh=20.0, outlierTh=5]
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SetFilterParam --> SetFeatureParam[特征参数<br/>角点/斜率参数]
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SetFeatureParam --> SetGrowParam[增长参数<br/>maxLineSkipNum=5等]
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SetGrowParam --> SetCalibParam[设置校准参数<br/>SSG_planeCalibPara]
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SetCalibParam --> PreProcess[数据预处理<br/>sg_lineDataR调平和去地面]
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PreProcess --> CallAlgo[调用算法检测<br/>sg_getBagPosition]
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CallAlgo --> ConvertResult[转换检测结果<br/>SSG_peakRgnInfo → DetectionResult]
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ConvertResult --> FreeMemory[释放内存<br/>laser3DPoints]
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FreeMemory --> CheckResult{检测到目标?}
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CheckResult -->|是| UpdateUI[更新UI显示结果<br/>OnDetectionResult]
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CheckResult -->|否| NoTarget[显示未发现目标]
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UpdateUI --> UpdateRobot[更新机械臂坐标<br/>第一个目标位置]
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NoTarget --> Complete[完成检测任务]
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UpdateRobot --> Complete
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Complete --> Ready[恢复就绪状态]
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end
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subgraph "数据转换详情"
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SourceData[SVzLaserLineData<br/>相机回调数据] --> TargetData[SVzNL3DLaserLine<br/>算法输入格式]
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SourceData --> CopyTime[复制时间戳<br/>nTimeStamp]
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SourceData --> CopyCount[复制点数<br/>nPointCount]
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SourceData --> CopyPoints[复制3D点坐标<br/>x, y, z]
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end
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subgraph "算法参数配置"
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BagSize[袋子尺寸<br/>650×450×160mm]
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FilterParams[滤波参数<br/>噪声阈值]
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FeatureParams[特征参数<br/>角点/斜率检测]
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GrowParams[增长参数<br/>连接阈值]
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end
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classDef processClass fill:#e3f2fd,stroke:#1976d2,stroke-width:2px
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classDef dataClass fill:#f3e5f5,stroke:#7b1fa2,stroke-width:2px
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classDef algoClass fill:#e8f5e8,stroke:#388e3c,stroke-width:2px
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classDef resultClass fill:#fff3e0,stroke:#f57c00,stroke-width:2px
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class Start,GetCache,Convert,SetParam,PreProcess,CallAlgo,ConvertResult,FreeMemory,Complete,Ready processClass
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class SourceData,TargetData,CopyTime,CopyCount,CopyPoints dataClass
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class BagSize,FilterParams,FeatureParams,GrowParams algoClass
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class UpdateUI,UpdateRobot,NoTarget resultClass
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