387 lines
16 KiB
C++
387 lines
16 KiB
C++
#include "DetectPresenter.h"
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#include "BQ_workpieceCornerExtraction_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_BQWorkpieceCornerVersion());
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}
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DetectPresenter::~DetectPresenter()
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{
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}
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int DetectPresenter::DetectWorkpiece(
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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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DetectionResult& 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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// 工件角点提取参数
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SSX_BQworkpiecePara bqWorkpieceParam;
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bqWorkpieceParam.lineLen = algorithmParams.workpieceParam.lineLen;
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SSG_cornerParam cornerParam;
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cornerParam.minEndingGap = algorithmParams.cornerParam.minEndingGap;
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cornerParam.minEndingGap_z = algorithmParams.cornerParam.minEndingGap_z;
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cornerParam.scale = algorithmParams.cornerParam.scale;
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cornerParam.cornerTh = algorithmParams.cornerParam.cornerTh;
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cornerParam.jumpCornerTh_1 = algorithmParams.cornerParam.jumpCornerTh_1;
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cornerParam.jumpCornerTh_2 = algorithmParams.cornerParam.jumpCornerTh_2;
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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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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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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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// 打印拐角参数
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LOG_INFO("[Algo Thread] Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
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cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
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cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
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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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// 打印工件角点提取参数
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LOG_INFO("[Algo Thread] BQ Workpiece: lineLen=%.1f\n", bqWorkpieceParam.lineLen);
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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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sx_BQ_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 sx_BQ_getWorkpieceCorners \n");
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// 调用工件角点提取算法
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std::vector<SSX_debugInfo> debugContours;
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SSX_BQworkpieceResult bqResult = sx_BQ_getWorkpieceCorners(
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xyzData,
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cornerParam,
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filterParam,
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growParam,
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groundCalibPara,
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bqWorkpieceParam,
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#if _OUTPUT_DEBUG_DATA
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debugContours,
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#endif
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&errCode
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);
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LOG_DEBUG("after sx_BQ_getWorkpieceCorners \n");
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LOG_INFO("sx_BQ_getWorkpieceCorners: workpieceType=%d err=%d runtime=%.3fms\n", bqResult.workpieceType, errCode, oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(errCode);
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// 保存工件类型到检测结果
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detectionResult.workpieceType = bqResult.workpieceType;
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// 保存长度信息到检测结果
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detectionResult.len_A1 = bqResult.len135_A1;
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detectionResult.len_A2 = bqResult.len225_A2;
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detectionResult.len_B1 = bqResult.len45_B1;
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detectionResult.len_B2 = bqResult.len315_B2;
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// 构建用于可视化的角点数组
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// 按照逆时针顺序排列：左侧(从下到上) -> 顶部(从左到右) -> 右侧(从上到下) -> 底部(从右到左)
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std::vector<std::vector<SVzNL3DPoint>> objOps;
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std::vector<SVzNL3DPoint> allCorners;
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// 1. 添加左侧角点（从下到上，逆时针）
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for (int i = 0; i < 3; i++) {
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SVzNL3DPoint pt;
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pt.x = bqResult.corner_1[i].x;
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pt.y = bqResult.corner_1[i].y;
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pt.z = bqResult.corner_1[i].z;
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allCorners.push_back(pt);
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}
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// 2. 添加顶部角点（从左到右，逆时针）
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for (int i = 0; i < 3; i++) {
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SVzNL3DPoint pt;
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pt.x = bqResult.corner_2[i].x;
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pt.y = bqResult.corner_2[i].y;
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pt.z = bqResult.corner_2[i].z;
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allCorners.push_back(pt);
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}
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// 3. 添加右侧角点（从上到下，逆时针）
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for (int i = 0; i < 3; i++) {
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SVzNL3DPoint pt;
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pt.x = bqResult.corner_3[i].x;
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pt.y = bqResult.corner_3[i].y;
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pt.z = bqResult.corner_3[i].z;
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allCorners.push_back(pt);
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}
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// 4. 添加底部角点（从右到左，逆时针）
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for (int i = 0; i < 3; i++) {
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SVzNL3DPoint pt;
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pt.x = bqResult.corner_4[i].x;
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pt.y = bqResult.corner_4[i].y;
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pt.z = bqResult.corner_4[i].z;
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allCorners.push_back(pt);
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}
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// 5. 添加中心点（用于绘制）
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allCorners.push_back(bqResult.center);
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objOps.push_back(allCorners);
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// 从点云数据生成投影图像（10cm边界）
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detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, 100.0);
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// 在图像上绘制连接线：从每组的中间点到中心点
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if (!detectionResult.image.isNull() && allCorners.size() >= 4) {
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QPainter painter(&detectionResult.image);
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painter.setRenderHint(QPainter::Antialiasing);
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// 计算点云范围（与PointCloudImageUtils相同的方式）
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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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// 扩展边界（与GeneratePointCloudRetPointImage相同）
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double margin = 100.0; // 10cm = 100mm
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xMin -= margin;
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xMax += margin;
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yMin -= margin;
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yMax += margin;
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// 使用与GeneratePointCloudRetPointImage相同的参数
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int imgRows = detectionResult.image.height();
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int imgCols = detectionResult.image.width();
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int x_skip = 50;
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int y_skip = 50;
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// 计算投影比例（与PointCloudImageUtils相同的方式）
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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;
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double y_scale = (yMax - yMin) / y_rows;
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// 使用统一的比例尺
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if (x_scale < y_scale)
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x_scale = y_scale;
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else
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y_scale = x_scale;
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// 转换3D坐标到图像坐标的lambda函数
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auto toImageCoord = [&](const SVzNL3DPoint& pt) -> QPointF {
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int px = (int)((pt.x - xMin) / x_scale + x_skip);
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int py = (int)((pt.y - yMin) / y_scale + y_skip);
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return QPointF(px, py);
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};
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// 绘制连接线
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QPen pen(QColor(255, 0, 0), 2);
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painter.setPen(pen);
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// 中心点是最后一个点
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int centerIdx = allCorners.size() - 1;
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QPointF centerPt = toImageCoord(allCorners[centerIdx]);
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// 计算组数（除去中心点后，每3个点为一组）
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int numPoints = allCorners.size() - 1;
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int numGroups = numPoints / 3;
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// 连接每组的中间点（索引为 i*3+1）到中心点，但跳过全0的组
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for (int i = 0; i < numGroups; i++) {
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int startIdx = i * 3;
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int midIdx = i * 3 + 1;
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int endIdx = i * 3 + 2;
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// 检查这一组的三个点是否都是0
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bool allZero = true;
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for (int j = startIdx; j <= endIdx && j < numPoints; j++) {
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const auto& pt = allCorners[j];
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if (fabs(pt.x) > 0.0001 || fabs(pt.y) > 0.0001 || fabs(pt.z) > 0.0001) {
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allZero = false;
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break;
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}
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}
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// 如果这一组不是全0，绘制连线
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if (!allZero && midIdx < numPoints) {
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QPointF pt = toImageCoord(allCorners[midIdx]);
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painter.drawLine(pt, centerPt);
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}
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}
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}
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// 转换检测结果为UI显示格式（使用机械臂坐标系数据）
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for (size_t i = 0; i < objOps.size(); i++) {
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for(size_t j = 0; j < objOps[i].size(); j++){
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const SVzNL3DPoint& obj = objOps[i][j];
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// 进行坐标转换：从算法坐标系转换到机械臂坐标系
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SVzNL3DPoint targetObj;
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targetObj.x = obj.x;
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targetObj.y = obj.y;
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targetObj.z = obj.z;
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SVzNL3DPoint robotObj;
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CVrConvert::EyeToRobot(targetObj, robotObj, clibMatrix);
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// 创建位置数据（使用转换后的机械臂坐标）
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WorkpiecePosition pos;
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pos.x = robotObj.x; // 机械臂坐标X
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pos.y = robotObj.y; // 机械臂坐标Y
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pos.z = robotObj.z; // 机械臂坐标Z
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pos.roll = 0.0; // 搭接焊缝检测不提供姿态角
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pos.pitch = 0.0; // 搭接焊缝检测不提供姿态角
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pos.yaw = 0.0; // 搭接焊缝检测不提供姿态角
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detectionResult.positions.push_back(pos);
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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Object %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", j, obj.x, obj.y, obj.z);
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LOG_INFO("[Algo Thread] Object %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n",
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j, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
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}
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}
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}
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// 转换中心点坐标到机械臂坐标系
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SVzNL3DPoint centerEye;
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centerEye.x = bqResult.center.x;
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centerEye.y = bqResult.center.y;
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centerEye.z = bqResult.center.z;
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SVzNL3DPoint centerRobot;
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CVrConvert::EyeToRobot(centerEye, centerRobot, clibMatrix);
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// 保存中心点到检测结果
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detectionResult.center.x = centerRobot.x;
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detectionResult.center.y = centerRobot.y;
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detectionResult.center.z = centerRobot.z;
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detectionResult.center.roll = 0.0;
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detectionResult.center.pitch = 0.0;
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detectionResult.center.yaw = 0.0;
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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", centerRobot.x, centerRobot.y, centerRobot.z);
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LOG_INFO("[Algo Thread] Lengths: A1=%.2f, A2=%.2f, B1=%.2f, B2=%.2f\n",
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detectionResult.len_A1, detectionResult.len_A2, detectionResult.len_B1, detectionResult.len_B2);
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}
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if(debugParam.enableDebug && debugParam.saveDebugImage){
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// 获取当前时间戳，格式为YYYYMMDDHHMMSS
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std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
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LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
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// 保存检测结果图片
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if (!detectionResult.image.isNull()) {
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QString qFileName = QString::fromStdString(fileName);
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detectionResult.image.save(qFileName);
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} else {
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LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
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}
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}
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return nRet;
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}
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