386 lines
16 KiB
C++
386 lines
16 KiB
C++
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#include "DetectPresenter.h"
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#include "workpieceHolePositioning_Export.h"
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#include <fstream>
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#include <QPainter>
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#include <QPen>
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#include <QColor>
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DetectPresenter::DetectPresenter(/* args */)
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{
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LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_workpieceHolePositioningVersion());
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}
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DetectPresenter::~DetectPresenter()
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{
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}
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int DetectPresenter::DetectWorkpieceHole(
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int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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WorkpieceHoleDetectionResult& detectionResult)
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{
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if (laserLines.empty()) {
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LOG_WARNING("No laser lines data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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// 获取当前相机的校准参数
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VrCameraPlaneCalibParam cameraCalibParamValue;
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const VrCameraPlaneCalibParam* cameraCalibParam = nullptr;
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if (algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraCalibParamValue)) {
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cameraCalibParam = &cameraCalibParamValue;
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}
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// 保存debug数据
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std::string timeStamp = CVrDateUtils::GetNowTime();
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if(debugParam.enableDebug && debugParam.savePointCloud){
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LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
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// 获取当前时间戳，格式为YYYYMMDDHHMMSS
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std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
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// 直接使用统一格式保存数据
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dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
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}
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int nRet = SUCCESS;
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// 转换为算法需要的XYZ格式
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std::vector<std::vector<SVzNL3DPosition>> xyzData;
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int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
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if (convertResult != SUCCESS || xyzData.empty()) {
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LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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// 工件孔参数
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WD_workpieceHoleParam workpiecePara;
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workpiecePara.workpieceType = algorithmParams.workpieceHoleParam.workpieceType;
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workpiecePara.holeDiameter = algorithmParams.workpieceHoleParam.holeDiameter;
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workpiecePara.holeDist_L = algorithmParams.workpieceHoleParam.holeDist_L;
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workpiecePara.holeDist_W = algorithmParams.workpieceHoleParam.holeDist_W;
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// 线段分割参数
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SSG_lineSegParam lineSegPara;
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lineSegPara.distScale = algorithmParams.lineSegParam.distScale;
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lineSegPara.segGapTh_y = algorithmParams.lineSegParam.segGapTh_y;
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lineSegPara.segGapTh_z = algorithmParams.lineSegParam.segGapTh_z;
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// 滤波参数
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SSG_outlierFilterParam filterParam;
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filterParam.continuityTh = algorithmParams.filterParam.continuityTh;
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filterParam.outlierTh = algorithmParams.filterParam.outlierTh;
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// 树生长参数
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SSG_treeGrowParam growParam;
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growParam.yDeviation_max = algorithmParams.growParam.yDeviation_max;
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growParam.zDeviation_max = algorithmParams.growParam.zDeviation_max;
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growParam.maxLineSkipNum = algorithmParams.growParam.maxLineSkipNum;
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growParam.maxSkipDistance = algorithmParams.growParam.maxSkipDistance;
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growParam.minLTypeTreeLen = algorithmParams.growParam.minLTypeTreeLen;
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growParam.minVTypeTreeLen = algorithmParams.growParam.minVTypeTreeLen;
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if(debugParam.enableDebug && debugParam.printDetailLog)
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{
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LOG_INFO("[Algo Thread] clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f]\n",
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clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
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clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
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clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
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clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
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// 打印工件孔参数
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LOG_INFO("[Algo Thread] WorkpieceHole: type=%d, holeDiameter=%.1f, holeDist_L=%.1f, holeDist_W=%.1f\n",
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workpiecePara.workpieceType, workpiecePara.holeDiameter, workpiecePara.holeDist_L, workpiecePara.holeDist_W);
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// 打印线段分割参数
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LOG_INFO("[Algo Thread] LineSeg: distScale=%.1f, segGapTh_y=%.1f, segGapTh_z=%.1f\n",
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lineSegPara.distScale, lineSegPara.segGapTh_y, lineSegPara.segGapTh_z);
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// 打印树生长参数
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LOG_INFO("[Algo Thread] Tree Grow: yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f, minLTypeTreeLen=%.1f, minVTypeTreeLen=%.1f\n",
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growParam.yDeviation_max, growParam.zDeviation_max, growParam.maxLineSkipNum,
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growParam.maxSkipDistance, growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
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// 打印滤波参数
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LOG_INFO("[Algo Thread] Filter: continuityTh=%.1f, outlierTh=%.1f\n", filterParam.continuityTh, filterParam.outlierTh);
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}
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// 准备平面校准参数
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SSG_planeCalibPara groundCalibPara;
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if(cameraCalibParam){
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memcpy(groundCalibPara.planeCalib, cameraCalibParam->planeCalib, sizeof(double) * 9);
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memcpy(groundCalibPara.invRMatrix, cameraCalibParam->invRMatrix, sizeof(double) * 9);
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groundCalibPara.planeHeight = cameraCalibParam->planeHeight;
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} else {
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// 使用默认单位矩阵
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double identity[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
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memcpy(groundCalibPara.planeCalib, identity, sizeof(double) * 9);
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memcpy(groundCalibPara.invRMatrix, identity, sizeof(double) * 9);
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groundCalibPara.planeHeight = -1.0;
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}
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if(debugParam.enableDebug && debugParam.printDetailLog)
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{
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LOG_INFO("Plane height: %.3f\n", groundCalibPara.planeHeight);
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LOG_INFO(" Plane calibration matrix: [%f, %f, %f; %f, %f, %f; %f, %f, %f]\n",
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groundCalibPara.planeCalib[0], groundCalibPara.planeCalib[1], groundCalibPara.planeCalib[2],
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groundCalibPara.planeCalib[3], groundCalibPara.planeCalib[4], groundCalibPara.planeCalib[5],
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groundCalibPara.planeCalib[6], groundCalibPara.planeCalib[7], groundCalibPara.planeCalib[8]);
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LOG_INFO(" Plane invRMatrix matrix: [%f, %f, %f; %f, %f, %f; %f, %f, %f]\n",
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groundCalibPara.invRMatrix[0], groundCalibPara.invRMatrix[1], groundCalibPara.invRMatrix[2],
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groundCalibPara.invRMatrix[3], groundCalibPara.invRMatrix[4], groundCalibPara.invRMatrix[5],
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groundCalibPara.invRMatrix[6], groundCalibPara.invRMatrix[7], groundCalibPara.invRMatrix[8]);
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}
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// 数据预处理：调平和去除地面（使用当前相机的调平参数）
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if(cameraCalibParam){
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LOG_DEBUG("Processing data with plane calibration\n");
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double groundH = -1;
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for(size_t i = 0; i < xyzData.size(); i++){
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wd_lineDataR(xyzData[i], cameraCalibParam->planeCalib, groundH);
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}
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}
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int errCode = 0;
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CVrTimeUtils oTimeUtils;
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LOG_DEBUG("before wd_workpieceHolePositioning \n");
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// 调用工件孔定位算法
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std::vector<WD_workpieceInfo> workpiecePositioning;
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wd_workpieceHolePositioning(
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xyzData,
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workpiecePara,
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lineSegPara,
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filterParam,
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growParam,
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groundCalibPara,
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workpiecePositioning,
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&errCode
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);
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LOG_DEBUG("after wd_workpieceHolePositioning \n");
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LOG_INFO("wd_workpieceHolePositioning: found %zu workpieces, err=%d runtime=%.3fms\n",
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workpiecePositioning.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(errCode);
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// 构建用于可视化的点数组
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std::vector<std::vector<SVzNL3DPoint>> objOps;
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// 处理每个工件的检测结果
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for (size_t i = 0; i < workpiecePositioning.size(); i++) {
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const WD_workpieceInfo& workpiece = workpiecePositioning[i];
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// 保存工件类型（仅保存第一个工件的类型）
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if (i == 0) {
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detectionResult.workpieceType = workpiece.workpieceType;
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}
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// 保存中心点（转换到机械臂坐标系）
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SVzNL3DPoint centerEye = workpiece.center;
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SVzNL3DPoint centerRobot;
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CVrConvert::EyeToRobot(centerEye, centerRobot, clibMatrix);
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// 将每个工件的center添加到positions列表
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HolePosition centerPos;
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centerPos.x = centerRobot.x;
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centerPos.y = centerRobot.y;
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centerPos.z = centerRobot.z;
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detectionResult.positions.push_back(centerPos);
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// 保存最后一个工件的center到detectionResult.center（用于兼容）
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if (i == workpiecePositioning.size() - 1) {
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detectionResult.center = centerPos;
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}
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// 保存Y方向向量（仅保存最后一个工件的）
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if (i == workpiecePositioning.size() - 1) {
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SVzNL3DPoint yDirEye = workpiece.y_dir;
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SVzNL3DPoint yDirRobot;
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CVrConvert::EyeToRobot(yDirEye, yDirRobot, clibMatrix);
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detectionResult.y_dir.x = yDirRobot.x;
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detectionResult.y_dir.y = yDirRobot.y;
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detectionResult.y_dir.z = yDirRobot.z;
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}
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// 保存Z方向向量（仅保存最后一个工件的）
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if (i == workpiecePositioning.size() - 1) {
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SVzNL3DPoint zDirEye = workpiece.z_dir;
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SVzNL3DPoint zDirRobot;
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CVrConvert::EyeToRobot(zDirEye, zDirRobot, clibMatrix);
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detectionResult.z_dir.x = zDirRobot.x;
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detectionResult.z_dir.y = zDirRobot.y;
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detectionResult.z_dir.z = zDirRobot.z;
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}
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// 保存孔位置列表
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std::vector<SVzNL3DPoint> holePoints;
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for (size_t j = 0; j < workpiece.holes.size(); j++) {
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SVzNL3DPoint holeEye = workpiece.holes[j];
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SVzNL3DPoint holeRobot;
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CVrConvert::EyeToRobot(holeEye, holeRobot, clibMatrix);
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HolePosition holePos;
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holePos.x = holeRobot.x;
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holePos.y = holeRobot.y;
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holePos.z = holeRobot.z;
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detectionResult.holes.push_back(holePos);
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// 添加到可视化点列表
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holePoints.push_back(holeEye);
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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Hole %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", j, holeEye.x, holeEye.y, holeEye.z);
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LOG_INFO("[Algo Thread] Hole %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f\n", j, holePos.x, holePos.y, holePos.z);
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}
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}
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// 保存孔方向列表
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for (size_t j = 0; j < workpiece.holesDir.size(); j++) {
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SVzNL3DPoint holeDirEye = workpiece.holesDir[j];
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SVzNL3DPoint holeDirRobot;
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CVrConvert::EyeToRobot(holeDirEye, holeDirRobot, clibMatrix);
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HolePosition holeDirPos;
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holeDirPos.x = holeDirRobot.x;
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holeDirPos.y = holeDirRobot.y;
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holeDirPos.z = holeDirRobot.z;
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detectionResult.holesDir.push_back(holeDirPos);
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}
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// 添加中心点到可视化列表
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holePoints.push_back(centerEye);
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objOps.push_back(holePoints);
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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Center Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", centerEye.x, centerEye.y, centerEye.z);
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LOG_INFO("[Algo Thread] Center Robot Coords: X=%.2f, Y=%.2f, Z=%.2f\n",
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centerPos.x, centerPos.y, centerPos.z);
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}
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}
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// 从点云数据生成投影图像（单色灰色点云 + 红色孔位标记）
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{
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// 固定图像尺寸
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int imgRows = 992;
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int imgCols = 1056;
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int x_skip = 50;
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int y_skip = 50;
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// 计算点云范围
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double xMin = 1e10, xMax = -1e10, yMin = 1e10, yMax = -1e10;
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for (const auto& line : xyzData) {
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for (const auto& pt : line) {
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if (pt.pt3D.z < 1e-4) continue;
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xMin = std::min(xMin, (double)pt.pt3D.x);
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xMax = std::max(xMax, (double)pt.pt3D.x);
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yMin = std::min(yMin, (double)pt.pt3D.y);
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yMax = std::max(yMax, (double)pt.pt3D.y);
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}
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}
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// 不扩展边界，直接使用点云范围
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// 计算投影比例
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double y_rows = (double)(imgRows - y_skip * 2);
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double x_cols = (double)(imgCols - x_skip * 2);
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double x_scale = (xMax - xMin) / x_cols;
|
|||
|
|
double y_scale = (yMax - yMin) / y_rows;
|
|||
|
|
if (x_scale < y_scale)
|
|||
|
|
x_scale = y_scale;
|
|||
|
|
else
|
|||
|
|
y_scale = x_scale;
|
|||
|
|
|
|||
|
|
// 创建图像
|
|||
|
|
QImage image(imgCols, imgRows, QImage::Format_RGB888);
|
|||
|
|
image.fill(Qt::black);
|
|||
|
|
QPainter painter(&image);
|
|||
|
|
painter.setRenderHint(QPainter::Antialiasing);
|
|||
|
|
|
|||
|
|
// 绘制点云数据 - 使用单色灰色
|
|||
|
|
QColor grayColor(150, 150, 150);
|
|||
|
|
for (const auto& scanLine : xyzData) {
|
|||
|
|
for (const auto& point : scanLine) {
|
|||
|
|
if (point.pt3D.z < 1e-4) continue;
|
|||
|
|
|
|||
|
|
int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip);
|
|||
|
|
int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip);
|
|||
|
|
|
|||
|
|
if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
|
|||
|
|
painter.setPen(QPen(grayColor, 1));
|
|||
|
|
painter.drawPoint(px, py);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 绘制孔位标记 - 使用红色
|
|||
|
|
if (!objOps.empty()) {
|
|||
|
|
QColor holeColor(255, 0, 0); // 红色
|
|||
|
|
painter.setPen(QPen(holeColor, 1));
|
|||
|
|
painter.setBrush(QBrush(holeColor));
|
|||
|
|
|
|||
|
|
for (size_t i = 0; i < objOps.size(); i++) {
|
|||
|
|
const auto& holeGroup = objOps[i];
|
|||
|
|
size_t groupSize = holeGroup.size();
|
|||
|
|
|
|||
|
|
for (size_t j = 0; j < groupSize; j++) {
|
|||
|
|
const SVzNL3DPoint& hole = holeGroup[j];
|
|||
|
|
|
|||
|
|
// 跳过全0的点
|
|||
|
|
if (fabs(hole.x) < 0.0001 && fabs(hole.y) < 0.0001 && fabs(hole.z) < 0.0001) {
|
|||
|
|
continue;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
int px = (int)((hole.x - xMin) / x_scale + x_skip);
|
|||
|
|
int py = (int)((hole.y - yMin) / y_scale + y_skip);
|
|||
|
|
|
|||
|
|
if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
|
|||
|
|
// 绘制圆点标记
|
|||
|
|
int circleSize = 2;
|
|||
|
|
painter.drawEllipse(px - circleSize/2, py - circleSize/2, circleSize, circleSize);
|
|||
|
|
|
|||
|
|
// 只有中心点（最后一个点）才绘制编号
|
|||
|
|
if (j == groupSize - 1) {
|
|||
|
|
painter.setPen(QPen(Qt::white, 1));
|
|||
|
|
QFont font("Arial", 14, QFont::Bold);
|
|||
|
|
painter.setFont(font);
|
|||
|
|
painter.drawText(px + 8, py + 6, QString("%1").arg(i + 1));
|
|||
|
|
|
|||
|
|
// 恢复画笔
|
|||
|
|
painter.setPen(QPen(holeColor, 1));
|
|||
|
|
painter.setBrush(QBrush(holeColor));
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
detectionResult.image = image;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
if(debugParam.enableDebug && debugParam.saveDebugImage){
|
|||
|
|
// 获取当前时间戳，格式为YYYYMMDDHHMMSS
|
|||
|
|
std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
|
|||
|
|
LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
|
|||
|
|
|
|||
|
|
// 保存检测结果图片
|
|||
|
|
if (!detectionResult.image.isNull()) {
|
|||
|
|
QString qFileName = QString::fromStdString(fileName);
|
|||
|
|
detectionResult.image.save(qFileName);
|
|||
|
|
} else {
|
|||
|
|
LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return nRet;
|
|||
|
|
}
|