292 lines
13 KiB
C++
292 lines
13 KiB
C++
#include "DetectPresenter.h"
|
||
#include "AlgorithmParamConverter.h"
|
||
#include "PoseAxesBuilder.h"
|
||
#include "JiuruiWorkpiecePoseTCPProtocol.h"
|
||
#include "workpieceHolePositioning_Export.h"
|
||
#include <QColor>
|
||
|
||
namespace {
|
||
|
||
QImage BuildWorkpiecePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
|
||
const SSG_pointPose& pointPose,
|
||
bool hasResult)
|
||
{
|
||
PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
|
||
if (!canvas.isValid()) {
|
||
return QImage();
|
||
}
|
||
|
||
if (hasResult) {
|
||
constexpr double kAxisLineLength = 60.0;
|
||
const QColor centerColor(0, 255, 0); // 绿色：中心点
|
||
const QColor colorX(255, 0, 0); // 红色：X轴
|
||
const QColor colorY(0, 255, 0); // 绿色：Y轴
|
||
const QColor colorZ(0, 0, 255); // 蓝色：Z轴（法向）
|
||
|
||
const SVzNL3DPoint& c = pointPose.point;
|
||
const SVzNL3DPoint& xDir = pointPose.pose_x;
|
||
const SVzNL3DPoint& yDir = pointPose.pose_y;
|
||
const SVzNL3DPoint& zDir = pointPose.pose_z;
|
||
|
||
// 绘制工件中心点
|
||
canvas.drawPoint(c.x, c.y, centerColor, 10);
|
||
|
||
// 绘制 X 轴方向线
|
||
canvas.drawLine(c.x, c.y,
|
||
c.x + kAxisLineLength * xDir.x,
|
||
c.y + kAxisLineLength * xDir.y,
|
||
colorX, 2);
|
||
canvas.drawText(static_cast<int>(c.x + kAxisLineLength * xDir.x),
|
||
static_cast<int>(c.y + kAxisLineLength * xDir.y),
|
||
QStringLiteral("X"), colorX, 14, 6, -6);
|
||
|
||
// 绘制 Y 轴方向线
|
||
canvas.drawLine(c.x, c.y,
|
||
c.x + kAxisLineLength * yDir.x,
|
||
c.y + kAxisLineLength * yDir.y,
|
||
colorY, 2);
|
||
canvas.drawText(static_cast<int>(c.x + kAxisLineLength * yDir.x),
|
||
static_cast<int>(c.y + kAxisLineLength * yDir.y),
|
||
QStringLiteral("Y"), colorY, 14, 6, -6);
|
||
|
||
// 绘制 Z 轴方向线
|
||
canvas.drawLine(c.x, c.y,
|
||
c.x + kAxisLineLength * zDir.x,
|
||
c.y + kAxisLineLength * zDir.y,
|
||
colorZ, 2);
|
||
canvas.drawText(static_cast<int>(c.x + kAxisLineLength * zDir.x),
|
||
static_cast<int>(c.y + kAxisLineLength * zDir.y),
|
||
QStringLiteral("Z"), colorZ, 14, 6, -6);
|
||
}
|
||
|
||
return canvas.image().copy();
|
||
}
|
||
|
||
QImage BuildWorkpiecePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
|
||
const std::vector<SSG_pointPose>& pointPoses)
|
||
{
|
||
PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
|
||
if (!canvas.isValid()) {
|
||
return QImage();
|
||
}
|
||
|
||
constexpr double kAxisLineLength = 60.0;
|
||
const QColor centerColor(0, 255, 0);
|
||
const QColor colorX(255, 0, 0);
|
||
const QColor colorY(0, 255, 0);
|
||
const QColor colorZ(0, 0, 255);
|
||
|
||
for (size_t i = 0; i < pointPoses.size(); ++i) {
|
||
const SSG_pointPose& pp = pointPoses[i];
|
||
const SVzNL3DPoint& c = pp.point;
|
||
const SVzNL3DPoint& xDir = pp.pose_x;
|
||
const SVzNL3DPoint& yDir = pp.pose_y;
|
||
const SVzNL3DPoint& zDir = pp.pose_z;
|
||
|
||
canvas.drawPoint(c.x, c.y, centerColor, 10);
|
||
|
||
canvas.drawLine(c.x, c.y,
|
||
c.x + kAxisLineLength * xDir.x,
|
||
c.y + kAxisLineLength * xDir.y,
|
||
colorX, 2);
|
||
canvas.drawLine(c.x, c.y,
|
||
c.x + kAxisLineLength * yDir.x,
|
||
c.y + kAxisLineLength * yDir.y,
|
||
colorY, 2);
|
||
canvas.drawLine(c.x, c.y,
|
||
c.x + kAxisLineLength * zDir.x,
|
||
c.y + kAxisLineLength * zDir.y,
|
||
colorZ, 2);
|
||
|
||
canvas.drawText(static_cast<int>(c.x + kAxisLineLength * xDir.x),
|
||
static_cast<int>(c.y + kAxisLineLength * xDir.y),
|
||
QString("W%1").arg(static_cast<int>(i) + 1), colorX, 14, 6, -6);
|
||
}
|
||
|
||
return canvas.image().copy();
|
||
}
|
||
|
||
void SaveDebugImageIfNeeded(int cameraIndex,
|
||
const VrDebugParam& debugParam,
|
||
const QImage& image,
|
||
const QString& prefix)
|
||
{
|
||
if (!debugParam.enableDebug || !debugParam.saveDebugImage || image.isNull()) {
|
||
return;
|
||
}
|
||
|
||
const std::string timeStamp = CVrDateUtils::GetNowTime();
|
||
const std::string fileName = debugParam.debugOutputPath + "/" +
|
||
prefix.toStdString() + "_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
|
||
LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
|
||
image.save(QString::fromStdString(fileName));
|
||
}
|
||
|
||
} // namespace
|
||
|
||
DetectPresenter::DetectPresenter(/* args */)
|
||
{
|
||
LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_workpieceHolePositioningVersion());
|
||
}
|
||
|
||
DetectPresenter::~DetectPresenter()
|
||
{
|
||
}
|
||
|
||
QString DetectPresenter::GetAlgoVersion()
|
||
{
|
||
return QString(wd_workpieceHolePositioningVersion());
|
||
}
|
||
|
||
int DetectPresenter::DetectWorkpiece(
|
||
int cameraIndex,
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
|
||
const VrAlgorithmParams& algorithmParams,
|
||
const SSG_planeCalibPara& groundCalibParam,
|
||
const VrDebugParam& debugParam,
|
||
LaserDataLoader& dataLoader,
|
||
const double clibMatrix[16],
|
||
const RobotPose6D& robotPose,
|
||
const HandEyeExtrinsic& extrinsic,
|
||
int poseOutputOrder,
|
||
DetectionResult& detectionResult)
|
||
{
|
||
if (laserLines.empty()) {
|
||
LOG_WARNING("No laser lines data available for workpiece detection\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert workpiece data to XYZ format or no XYZ data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 工件定位算法参数
|
||
const JiuruiWorkpieceAlgorithmParams algoParams = AlgorithmParamConverter::ToJiuruiWorkpieceAlgorithmParams(algorithmParams);
|
||
const SSG_cornerParam& cornerParam = algoParams.cornerParam;
|
||
const WD_JiuruiWorkpieceParam& workpieceParam = algoParams.workpieceParam;
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece 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]);
|
||
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece 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);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece Param: len=%.1f, width=%.1f, thickness=%.1f, planeHeight=%.3f\n",
|
||
workpieceParam.len, workpieceParam.width, workpieceParam.thickness, groundCalibParam.planeHeight);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f, outRotX=%.3f, outRotY=%.3f, outRotZ=%.3f\n",
|
||
extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ,
|
||
extrinsic.outRotX, extrinsic.outRotY, extrinsic.outRotZ);
|
||
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece GroundCalib planeCalib:\n"
|
||
"\t[%.6f, %.6f, %.6f]\n"
|
||
"\t[%.6f, %.6f, %.6f]\n"
|
||
"\t[%.6f, %.6f, %.6f]\n",
|
||
groundCalibParam.planeCalib[0], groundCalibParam.planeCalib[1], groundCalibParam.planeCalib[2],
|
||
groundCalibParam.planeCalib[3], groundCalibParam.planeCalib[4], groundCalibParam.planeCalib[5],
|
||
groundCalibParam.planeCalib[6], groundCalibParam.planeCalib[7], groundCalibParam.planeCalib[8]);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece GroundCalib planeHeight=%.6f\n", groundCalibParam.planeHeight);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece GroundCalib invRMatrix:\n"
|
||
"\t[%.6f, %.6f, %.6f]\n"
|
||
"\t[%.6f, %.6f, %.6f]\n"
|
||
"\t[%.6f, %.6f, %.6f]\n",
|
||
groundCalibParam.invRMatrix[0], groundCalibParam.invRMatrix[1], groundCalibParam.invRMatrix[2],
|
||
groundCalibParam.invRMatrix[3], groundCalibParam.invRMatrix[4], groundCalibParam.invRMatrix[5],
|
||
groundCalibParam.invRMatrix[6], groundCalibParam.invRMatrix[7], groundCalibParam.invRMatrix[8]);
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before Jiurui_getWorkpiecePose\n");
|
||
|
||
// 调用北京工件定位算法
|
||
std::vector<SSG_pointPose> workpiecePositions;
|
||
Jiurui_getWorkpiecePose(xyzData, cornerParam, groundCalibParam, workpieceParam, workpiecePositions, &errCode);
|
||
|
||
LOG_DEBUG("after Jiurui_getWorkpiecePose\n");
|
||
LOG_INFO("Jiurui_getWorkpiecePose: err=%d count=%zu runtime=%.3fms\n",
|
||
errCode, workpiecePositions.size(), oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
detectionResult.success = true;
|
||
detectionResult.errorCode = 0;
|
||
detectionResult.message = QStringLiteral("工件检测成功");
|
||
|
||
for (size_t i = 0; i < workpiecePositions.size(); ++i) {
|
||
const SSG_pointPose& pointPose = workpiecePositions[i];
|
||
double outX = 0.0;
|
||
double outY = 0.0;
|
||
double outZ = 0.0;
|
||
double outRoll = 0.0;
|
||
double outPitch = 0.0;
|
||
double outYaw = 0.0;
|
||
|
||
// 使用 PointPoseToEuler 从完整三轴姿态提取机器人位姿
|
||
// （算法已返回完整的 pose_x / pose_y / pose_z 三轴坐标系，无需从法向量构造）
|
||
if (!PoseAxesBuilder::PointPoseToEuler(
|
||
pointPose,
|
||
clibMatrix,
|
||
extrinsic,
|
||
robotPose,
|
||
outX, outY, outZ,
|
||
outRoll, outPitch, outYaw,
|
||
poseOutputOrder)) {
|
||
LOG_WARNING("[Algo Thread] JiuruiWorkpiece pose transform failed at index=%zu\n", i);
|
||
detectionResult.success = false;
|
||
detectionResult.errorCode = ERR_CODE(DEV_DATA_INVALID);
|
||
detectionResult.message = QStringLiteral("工件姿态计算失败");
|
||
return detectionResult.errorCode;
|
||
}
|
||
|
||
JiuruiWorkpiecePosition pos;
|
||
pos.x = outX;
|
||
pos.y = outY;
|
||
pos.z = outZ;
|
||
pos.roll = outRoll;
|
||
pos.pitch = outPitch;
|
||
pos.yaw = outYaw;
|
||
detectionResult.positions.push_back(pos);
|
||
|
||
// 填充工件原始信息（包含完整三轴姿态，用于调试显示）
|
||
JiuruiWorkpieceInfo info;
|
||
info.centerX = pointPose.point.x;
|
||
info.centerY = pointPose.point.y;
|
||
info.centerZ = pointPose.point.z;
|
||
info.poseXx = pointPose.pose_x.x;
|
||
info.poseXy = pointPose.pose_x.y;
|
||
info.poseXz = pointPose.pose_x.z;
|
||
info.poseYx = pointPose.pose_y.x;
|
||
info.poseYy = pointPose.pose_y.y;
|
||
info.poseYz = pointPose.pose_y.z;
|
||
info.poseZx = pointPose.pose_z.x;
|
||
info.poseZy = pointPose.pose_z.y;
|
||
info.poseZz = pointPose.pose_z.z;
|
||
detectionResult.workpieceInfoList.push_back(info);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece[%zu] Eye Center: X=%.2f, Y=%.2f, Z=%.2f\n",
|
||
i, pointPose.point.x, pointPose.point.y, pointPose.point.z);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece[%zu] Eye PoseX: (%.3f, %.3f, %.3f)\n",
|
||
i, pointPose.pose_x.x, pointPose.pose_x.y, pointPose.pose_x.z);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece[%zu] Eye PoseY: (%.3f, %.3f, %.3f)\n",
|
||
i, pointPose.pose_y.x, pointPose.pose_y.y, pointPose.pose_y.z);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece[%zu] Eye PoseZ: (%.3f, %.3f, %.3f)\n",
|
||
i, pointPose.pose_z.x, pointPose.pose_z.y, pointPose.pose_z.z);
|
||
LOG_INFO("[Algo Thread] JiuruiWorkpiece[%zu] Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f/%.2f/%.2f\n",
|
||
i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
|
||
}
|
||
}
|
||
|
||
detectionResult.image = BuildWorkpiecePointCloudImage(xyzData, workpiecePositions);
|
||
|
||
SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("JiuruiWorkpiece_Image"));
|
||
return SUCCESS;
|
||
}
|