377 lines
16 KiB
C++
377 lines
16 KiB
C++
#include "DetectPresenter.h"
|
||
#include "workpieceHolePositioning_Export.h"
|
||
#include <fstream>
|
||
#include <QPainter>
|
||
#include <QPen>
|
||
#include <QColor>
|
||
#include "CoordinateTransform.h"
|
||
#include "VrConvert.h"
|
||
|
||
DetectPresenter::DetectPresenter(/* args */)
|
||
{
|
||
LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_workpieceHolePositioningVersion());
|
||
}
|
||
|
||
DetectPresenter::~DetectPresenter()
|
||
{
|
||
}
|
||
|
||
|
||
int DetectPresenter::DetectWorkpieceHole(
|
||
int cameraIndex,
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
|
||
const VrAlgorithmParams& algorithmParams,
|
||
const VrDebugParam& debugParam,
|
||
LaserDataLoader& dataLoader,
|
||
const double clibMatrix[16],
|
||
int eulerOrder,
|
||
WorkpieceHoleDetectionResult& detectionResult)
|
||
{
|
||
if (laserLines.empty()) {
|
||
LOG_WARNING("No laser lines data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 获取当前相机的校准参数
|
||
VrCameraPlaneCalibParam cameraCalibParamValue;
|
||
const VrCameraPlaneCalibParam* cameraCalibParam = nullptr;
|
||
if (algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraCalibParamValue)) {
|
||
cameraCalibParam = &cameraCalibParamValue;
|
||
}
|
||
|
||
// 保存debug数据
|
||
std::string timeStamp = CVrDateUtils::GetNowTime();
|
||
if(debugParam.enableDebug && debugParam.savePointCloud){
|
||
LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
|
||
|
||
// 获取当前时间戳，格式为YYYYMMDDHHMMSS
|
||
std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
|
||
|
||
// 直接使用统一格式保存数据
|
||
dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
|
||
}
|
||
|
||
int nRet = SUCCESS;
|
||
|
||
// 转换为算法需要的XYZ格式
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 工件孔参数
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = algorithmParams.workpieceHoleParam.workpieceType;
|
||
workpiecePara.holeDiameter = algorithmParams.workpieceHoleParam.holeDiameter;
|
||
workpiecePara.holeDist_L = algorithmParams.workpieceHoleParam.holeDist_L;
|
||
workpiecePara.holeDist_W = algorithmParams.workpieceHoleParam.holeDist_W;
|
||
|
||
// 线段分割参数
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = algorithmParams.lineSegParam.distScale;
|
||
lineSegPara.segGapTh_y = algorithmParams.lineSegParam.segGapTh_y;
|
||
lineSegPara.segGapTh_z = algorithmParams.lineSegParam.segGapTh_z;
|
||
|
||
// 滤波参数
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = algorithmParams.filterParam.continuityTh;
|
||
filterParam.outlierTh = algorithmParams.filterParam.outlierTh;
|
||
|
||
// 树生长参数
|
||
SSG_treeGrowParam growParam;
|
||
growParam.yDeviation_max = algorithmParams.growParam.yDeviation_max;
|
||
growParam.zDeviation_max = algorithmParams.growParam.zDeviation_max;
|
||
growParam.maxLineSkipNum = algorithmParams.growParam.maxLineSkipNum;
|
||
growParam.maxSkipDistance = algorithmParams.growParam.maxSkipDistance;
|
||
growParam.minLTypeTreeLen = algorithmParams.growParam.minLTypeTreeLen;
|
||
growParam.minVTypeTreeLen = algorithmParams.growParam.minVTypeTreeLen;
|
||
|
||
if(debugParam.enableDebug && debugParam.printDetailLog)
|
||
{
|
||
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",
|
||
clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
|
||
clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
|
||
clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
|
||
clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
|
||
|
||
// 打印工件孔参数
|
||
LOG_INFO("[Algo Thread] WorkpieceHole: type=%d, holeDiameter=%.1f, holeDist_L=%.1f, holeDist_W=%.1f\n",
|
||
workpiecePara.workpieceType, workpiecePara.holeDiameter, workpiecePara.holeDist_L, workpiecePara.holeDist_W);
|
||
|
||
// 打印线段分割参数
|
||
LOG_INFO("[Algo Thread] LineSeg: distScale=%.1f, segGapTh_y=%.1f, segGapTh_z=%.1f\n",
|
||
lineSegPara.distScale, lineSegPara.segGapTh_y, lineSegPara.segGapTh_z);
|
||
|
||
// 打印树生长参数
|
||
LOG_INFO("[Algo Thread] Tree Grow: yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f, minLTypeTreeLen=%.1f, minVTypeTreeLen=%.1f\n",
|
||
growParam.yDeviation_max, growParam.zDeviation_max, growParam.maxLineSkipNum,
|
||
growParam.maxSkipDistance, growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
|
||
|
||
// 打印滤波参数
|
||
LOG_INFO("[Algo Thread] Filter: continuityTh=%.1f, outlierTh=%.1f\n", filterParam.continuityTh, filterParam.outlierTh);
|
||
}
|
||
|
||
// 准备平面校准参数
|
||
SSG_planeCalibPara groundCalibPara;
|
||
if(cameraCalibParam){
|
||
memcpy(groundCalibPara.planeCalib, cameraCalibParam->planeCalib, sizeof(double) * 9);
|
||
memcpy(groundCalibPara.invRMatrix, cameraCalibParam->invRMatrix, sizeof(double) * 9);
|
||
groundCalibPara.planeHeight = cameraCalibParam->planeHeight;
|
||
} else {
|
||
// 使用默认单位矩阵
|
||
double identity[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
|
||
memcpy(groundCalibPara.planeCalib, identity, sizeof(double) * 9);
|
||
memcpy(groundCalibPara.invRMatrix, identity, sizeof(double) * 9);
|
||
groundCalibPara.planeHeight = -1.0;
|
||
}
|
||
|
||
if(debugParam.enableDebug && debugParam.printDetailLog)
|
||
{
|
||
LOG_INFO("Plane height: %.3f\n", groundCalibPara.planeHeight);
|
||
LOG_INFO(" Plane calibration matrix: [%f, %f, %f; %f, %f, %f; %f, %f, %f]\n",
|
||
groundCalibPara.planeCalib[0], groundCalibPara.planeCalib[1], groundCalibPara.planeCalib[2],
|
||
groundCalibPara.planeCalib[3], groundCalibPara.planeCalib[4], groundCalibPara.planeCalib[5],
|
||
groundCalibPara.planeCalib[6], groundCalibPara.planeCalib[7], groundCalibPara.planeCalib[8]);
|
||
|
||
LOG_INFO(" Plane invRMatrix matrix: [%f, %f, %f; %f, %f, %f; %f, %f, %f]\n",
|
||
groundCalibPara.invRMatrix[0], groundCalibPara.invRMatrix[1], groundCalibPara.invRMatrix[2],
|
||
groundCalibPara.invRMatrix[3], groundCalibPara.invRMatrix[4], groundCalibPara.invRMatrix[5],
|
||
groundCalibPara.invRMatrix[6], groundCalibPara.invRMatrix[7], groundCalibPara.invRMatrix[8]);
|
||
}
|
||
|
||
// 数据预处理：调平和去除地面（使用当前相机的调平参数）
|
||
if(cameraCalibParam){
|
||
LOG_DEBUG("Processing data with plane calibration\n");
|
||
double groundH = -1;
|
||
for(size_t i = 0; i < xyzData.size(); i++){
|
||
wd_lineDataR(xyzData[i], cameraCalibParam->planeCalib, groundH);
|
||
}
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before wd_workpieceHolePositioning \n");
|
||
|
||
// 调用工件孔定位算法
|
||
std::vector<WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning(
|
||
xyzData,
|
||
workpiecePara,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&errCode
|
||
);
|
||
|
||
LOG_DEBUG("after wd_workpieceHolePositioning \n");
|
||
|
||
LOG_INFO("wd_workpieceHolePositioning: found %zu workpieces, err=%d runtime=%.3fms\n", workpiecePositioning.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
// 直接使用4x4齐次变换矩阵，避免欧拉角转换误差
|
||
CTHomogeneousMatrix calibHMatrix;
|
||
memcpy(calibHMatrix.data, clibMatrix, sizeof(double) * 16);
|
||
|
||
// 构建用于可视化的点数组
|
||
std::vector<std::vector<SVzNL3DPoint>> objOps;
|
||
|
||
// 处理每个工件的检测结果
|
||
for (size_t i = 0; i < workpiecePositioning.size(); i++) {
|
||
const WD_workpieceInfo& workpiece = workpiecePositioning[i];
|
||
|
||
// 保存工件类型（仅保存第一个工件的类型）
|
||
if (i == 0) {
|
||
detectionResult.workpieceType = workpiece.workpieceType;
|
||
}
|
||
|
||
// 六轴转换：位置+姿态（转换到机械臂坐标系）
|
||
SVzNL3DPoint centerEye = workpiece.center;
|
||
|
||
// 从方向向量构建旋转矩阵
|
||
// 算法输出的 x_dir, y_dir, z_dir 是工件坐标系的三个轴在相机坐标系下的方向
|
||
CTRotationMatrix rotMatrix;
|
||
// 第一列：X轴方向
|
||
rotMatrix.at(0, 0) = workpiece.x_dir.x;
|
||
rotMatrix.at(1, 0) = workpiece.x_dir.y;
|
||
rotMatrix.at(2, 0) = workpiece.x_dir.z;
|
||
// 第二列：Y轴方向
|
||
rotMatrix.at(0, 1) = workpiece.y_dir.x;
|
||
rotMatrix.at(1, 1) = workpiece.y_dir.y;
|
||
rotMatrix.at(2, 1) = workpiece.y_dir.z;
|
||
// 第三列：Z轴方向
|
||
rotMatrix.at(0, 2) = workpiece.z_dir.x;
|
||
rotMatrix.at(1, 2) = workpiece.z_dir.y;
|
||
rotMatrix.at(2, 2) = workpiece.z_dir.z;
|
||
|
||
// 将旋转矩阵转换为欧拉角（使用配置的旋转顺序）
|
||
CTEulerAngles eulerAngles = CCoordinateTransform::rotationMatrixToEuler(rotMatrix, static_cast<CTEulerOrder>(eulerOrder));
|
||
|
||
// 构建相机坐标系下的完整位姿
|
||
CTCameraPose cameraPose;
|
||
cameraPose.x = centerEye.x;
|
||
cameraPose.y = centerEye.y;
|
||
cameraPose.z = centerEye.z;
|
||
cameraPose.rx = eulerAngles.roll;
|
||
cameraPose.ry = eulerAngles.pitch;
|
||
cameraPose.rz = eulerAngles.yaw;
|
||
|
||
// 进行六轴Eye-to-Hand转换（位置+姿态）
|
||
// 使用配置的旋转顺序
|
||
CTRobotPose robotPose;
|
||
CCoordinateTransform::sixAxisEyeToHandCalcGraspPose(cameraPose, calibHMatrix, static_cast<CTEulerOrder>(eulerOrder), robotPose);
|
||
|
||
// 将机器人坐标系下的位姿添加到positions列表
|
||
HolePosition centerRobotPos;
|
||
centerRobotPos.x = robotPose.x;
|
||
centerRobotPos.y = robotPose.y;
|
||
centerRobotPos.z = robotPose.z;
|
||
centerRobotPos.roll = CCoordinateTransform::radToDeg(robotPose.rx);
|
||
centerRobotPos.pitch = CCoordinateTransform::radToDeg(robotPose.ry);
|
||
centerRobotPos.yaw = CCoordinateTransform::radToDeg(robotPose.rz);
|
||
|
||
detectionResult.positions.push_back(centerRobotPos);
|
||
|
||
// 添加中心点到可视化列表
|
||
std::vector<SVzNL3DPoint> holePoints;
|
||
for(size_t j = 0; j < workpiece.holes.size(); j++){
|
||
SVzNL3DPoint holeEye = workpiece.holes[j];
|
||
holePoints.push_back(holeEye);
|
||
}
|
||
holePoints.push_back(centerEye);
|
||
objOps.push_back(holePoints);
|
||
|
||
if(debugParam.enableDebug && debugParam.printDetailLog){
|
||
LOG_INFO("[Algo Thread] Direction vectors: X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
|
||
workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z,
|
||
workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z,
|
||
workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);
|
||
LOG_INFO("[Algo Thread] Center Eye Coords: X=%.2f, Y=%.2f, Z=%.2f, R=%.4f, P=%.4f, Y=%.4f\n",
|
||
cameraPose.x, cameraPose.y, cameraPose.z,
|
||
CCoordinateTransform::radToDeg(cameraPose.rx), CCoordinateTransform::radToDeg(cameraPose.ry), CCoordinateTransform::radToDeg(cameraPose.rz));
|
||
LOG_INFO("[Algo Thread] Center Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, R=%.4f, P=%.4f, Y=%.4f\n",
|
||
robotPose.x, robotPose.y, robotPose.z,
|
||
CCoordinateTransform::radToDeg(robotPose.rx), CCoordinateTransform::radToDeg(robotPose.ry), CCoordinateTransform::radToDeg(robotPose.rz));
|
||
}
|
||
}
|
||
|
||
// 从点云数据生成投影图像（单色灰色点云 + 红色孔位标记）
|
||
{
|
||
// 固定图像尺寸
|
||
int imgRows = 992;
|
||
int imgCols = 1056;
|
||
int x_skip = 50;
|
||
int y_skip = 50;
|
||
|
||
// 计算点云范围
|
||
double xMin = 1e10, xMax = -1e10, yMin = 1e10, yMax = -1e10;
|
||
for (const auto& line : xyzData) {
|
||
for (const auto& pt : line) {
|
||
if (pt.pt3D.z < 1e-4) continue;
|
||
xMin = std::min(xMin, (double)pt.pt3D.x);
|
||
xMax = std::max(xMax, (double)pt.pt3D.x);
|
||
yMin = std::min(yMin, (double)pt.pt3D.y);
|
||
yMax = std::max(yMax, (double)pt.pt3D.y);
|
||
}
|
||
}
|
||
|
||
// 不扩展边界，直接使用点云范围
|
||
|
||
// 计算投影比例
|
||
double y_rows = (double)(imgRows - y_skip * 2);
|
||
double x_cols = (double)(imgCols - x_skip * 2);
|
||
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;
|
||
}
|