282 lines
12 KiB
C++
282 lines
12 KiB
C++
#include "DetectPresenter.h"
|
||
#include "rodAndBarDetection_Export.h"
|
||
#include <fstream>
|
||
#include <QPainter>
|
||
#include <QPen>
|
||
#include <QColor>
|
||
|
||
DetectPresenter::DetectPresenter(/* args */)
|
||
{
|
||
LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_rodAndBarDetectionVersion());
|
||
}
|
||
|
||
DetectPresenter::~DetectPresenter()
|
||
{
|
||
}
|
||
|
||
|
||
int DetectPresenter::DetectScrew(
|
||
int cameraIndex,
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
|
||
const VrAlgorithmParams& algorithmParams,
|
||
const VrDebugParam& debugParam,
|
||
LaserDataLoader& dataLoader,
|
||
const double clibMatrix[16],
|
||
DetectionResult& 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);
|
||
}
|
||
|
||
// 螺杆定位算法参数
|
||
double rodDiameter = algorithmParams.screwParam.rodDiameter;
|
||
bool isHorizonScan = algorithmParams.screwParam.isHorizonScan;
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.minEndingGap = algorithmParams.cornerParam.minEndingGap;
|
||
cornerParam.minEndingGap_z = algorithmParams.cornerParam.minEndingGap_z;
|
||
cornerParam.scale = rodDiameter / 4; // 参考测试文件
|
||
cornerParam.cornerTh = algorithmParams.cornerParam.cornerTh;
|
||
cornerParam.jumpCornerTh_1 = algorithmParams.cornerParam.jumpCornerTh_1;
|
||
cornerParam.jumpCornerTh_2 = algorithmParams.cornerParam.jumpCornerTh_2;
|
||
|
||
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;
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = algorithmParams.filterParam.continuityTh;
|
||
filterParam.outlierTh = algorithmParams.filterParam.outlierTh;
|
||
|
||
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]);
|
||
|
||
// 打印螺杆参数
|
||
LOG_INFO("[Algo Thread] Screw: rodDiameter=%.1f, isHorizonScan=%s\n",
|
||
rodDiameter, isHorizonScan ? "true" : "false");
|
||
|
||
// 打印拐角参数
|
||
LOG_INFO("[Algo Thread] Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
|
||
cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
|
||
cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
|
||
|
||
// 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);
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before sx_hexHeadScrewMeasure \n");
|
||
|
||
// 调用螺杆定位算法
|
||
std::vector<SSX_hexHeadScrewInfo> screwInfo;
|
||
sx_hexHeadScrewMeasure(
|
||
xyzData,
|
||
isHorizonScan, // true:激光线平行槽道；false:激光线垂直槽道
|
||
cornerParam,
|
||
filterParam,
|
||
growParam,
|
||
rodDiameter,
|
||
screwInfo,
|
||
&errCode);
|
||
|
||
LOG_DEBUG("after sx_hexHeadScrewMeasure \n");
|
||
|
||
LOG_INFO("sx_hexHeadScrewMeasure: detected %zu screws, err=%d runtime=%.3fms\n",
|
||
screwInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
// 构建检测结果：生成点云图像
|
||
// 1. 获取所有螺杆的中心点用于可视化
|
||
std::vector<std::vector<SVzNL3DPoint>> objOps;
|
||
std::vector<SVzNL3DPoint> screwCenters;
|
||
|
||
for (const auto& screw : screwInfo) {
|
||
SVzNL3DPoint pt;
|
||
pt.x = screw.center.x;
|
||
pt.y = screw.center.y;
|
||
pt.z = screw.center.z;
|
||
screwCenters.push_back(pt);
|
||
}
|
||
if (!screwCenters.empty()) {
|
||
objOps.push_back(screwCenters);
|
||
}
|
||
|
||
// 从点云数据生成投影图像（10cm边界）
|
||
detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, 100.0);
|
||
|
||
// 在图像上绘制螺杆的轴向方向线
|
||
if (!detectionResult.image.isNull() && !screwInfo.empty()) {
|
||
QPainter painter(&detectionResult.image);
|
||
painter.setRenderHint(QPainter::Antialiasing);
|
||
|
||
// 计算点云范围（与PointCloudImageUtils相同的方式）
|
||
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);
|
||
}
|
||
}
|
||
|
||
// 扩展边界（与GeneratePointCloudRetPointImage相同）
|
||
double margin = 100.0; // 10cm = 100mm
|
||
xMin -= margin;
|
||
xMax += margin;
|
||
yMin -= margin;
|
||
yMax += margin;
|
||
|
||
// 使用与GeneratePointCloudRetPointImage相同的参数
|
||
int imgRows = detectionResult.image.height();
|
||
int imgCols = detectionResult.image.width();
|
||
int x_skip = 50;
|
||
int y_skip = 50;
|
||
|
||
// 计算投影比例（与PointCloudImageUtils相同的方式）
|
||
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;
|
||
|
||
// 使用统一的比例尺
|
||
if (x_scale < y_scale)
|
||
x_scale = y_scale;
|
||
else
|
||
y_scale = x_scale;
|
||
|
||
// 转换3D坐标到图像坐标的lambda函数
|
||
auto toImageCoord = [&](const SVzNL3DPoint& pt) -> QPointF {
|
||
int px = (int)((pt.x - xMin) / x_scale + x_skip);
|
||
int py = (int)((pt.y - yMin) / y_scale + y_skip);
|
||
return QPointF(px, py);
|
||
};
|
||
|
||
// 绘制法向量线
|
||
QPen pen(QColor(255, 0, 0), 2);
|
||
painter.setPen(pen);
|
||
|
||
double len = 60; // 法向量线长度
|
||
for (const auto& screw : screwInfo) {
|
||
SVzNL3DPoint pt0 = { screw.center.x - len * screw.axialDir.x,
|
||
screw.center.y - len * screw.axialDir.y,
|
||
screw.center.z - len * screw.axialDir.z };
|
||
SVzNL3DPoint pt1 = { screw.center.x + len * screw.axialDir.x,
|
||
screw.center.y + len * screw.axialDir.y,
|
||
screw.center.z + len * screw.axialDir.z };
|
||
|
||
QPointF imgPt0 = toImageCoord(pt0);
|
||
QPointF imgPt1 = toImageCoord(pt1);
|
||
painter.drawLine(imgPt0, imgPt1);
|
||
}
|
||
}
|
||
|
||
// 转换检测结果为UI显示格式（使用机械臂坐标系数据）
|
||
for (size_t i = 0; i < screwInfo.size(); i++) {
|
||
const auto& screw = screwInfo[i];
|
||
|
||
// 进行坐标转换：从算法坐标系转换到机械臂坐标系
|
||
SVzNL3DPoint targetObj;
|
||
targetObj.x = screw.center.x;
|
||
targetObj.y = screw.center.y;
|
||
targetObj.z = screw.center.z;
|
||
|
||
SVzNL3DPoint robotObj;
|
||
CVrConvert::EyeToRobot(targetObj, robotObj, clibMatrix);
|
||
|
||
// 创建位置数据（使用转换后的机械臂坐标）
|
||
ScrewPosition pos;
|
||
pos.x = robotObj.x; // 机械臂坐标X
|
||
pos.y = robotObj.y; // 机械臂坐标Y
|
||
pos.z = robotObj.z; // 机械臂坐标Z
|
||
pos.roll = screw.rotateAngle; // 使用螺杆旋转角度作为roll
|
||
pos.pitch = 0.0;
|
||
pos.yaw = 0.0;
|
||
|
||
detectionResult.positions.push_back(pos);
|
||
|
||
// 保存螺杆信息
|
||
ScrewInfo info;
|
||
info.centerX = robotObj.x;
|
||
info.centerY = robotObj.y;
|
||
info.centerZ = robotObj.z;
|
||
info.axialDirX = screw.axialDir.x;
|
||
info.axialDirY = screw.axialDir.y;
|
||
info.axialDirZ = screw.axialDir.z;
|
||
info.rotateAngle = screw.rotateAngle;
|
||
detectionResult.screwInfoList.push_back(info);
|
||
|
||
if(debugParam.enableDebug && debugParam.printDetailLog){
|
||
LOG_INFO("[Algo Thread] Screw %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n",
|
||
i, screw.center.x, screw.center.y, screw.center.z);
|
||
LOG_INFO("[Algo Thread] Screw %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, Angle=%.2f\n",
|
||
i, pos.x, pos.y, pos.z, pos.roll);
|
||
LOG_INFO("[Algo Thread] Screw %zu Axial Dir: X=%.3f, Y=%.3f, Z=%.3f\n",
|
||
i, screw.axialDir.x, screw.axialDir.y, screw.axialDir.z);
|
||
}
|
||
}
|
||
|
||
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;
|
||
}
|