105 lines
2.8 KiB
C++
105 lines
2.8 KiB
C++
#ifndef IYDISCHOLEPOSESTATUS_H
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#define IYDISCHOLEPOSESTATUS_H
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#include <string>
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#include <functional>
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#include <vector>
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#include <QImage>
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#include <QMetaType>
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#include "IVisionApplicationStatus.h"
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// WorkStatus, WorkStatusToString 已在 IVisionApplicationStatus.h 中定义
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// 砂轮盘孔信息结构体
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struct DiscHoleInfo {
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// 孔中心点
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double centerX = 0.0;
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double centerY = 0.0;
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double centerZ = 0.0;
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// 孔的法向量方向
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double normDirX = 0.0;
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double normDirY = 0.0;
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double normDirZ = 0.0;
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DiscHoleInfo() = default;
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DiscHoleInfo(double cx, double cy, double cz,
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double nx, double ny, double nz)
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: centerX(cx), centerY(cy), centerZ(cz)
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, normDirX(nx), normDirY(ny), normDirZ(nz) {}
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DiscHoleInfo(const DiscHoleInfo&) = default;
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DiscHoleInfo& operator=(const DiscHoleInfo&) = default;
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};
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// 砂轮盘架子信息结构体
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struct DiscRackInfo {
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// 架子中心点
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double centerX = 0.0;
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double centerY = 0.0;
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double centerZ = 0.0;
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// 姿态欧拉角（度）
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double roll = 0.0;
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double pitch = 0.0;
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double yaw = 0.0;
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DiscRackInfo() = default;
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DiscRackInfo(double cx, double cy, double cz,
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double r, double p, double yw)
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: centerX(cx), centerY(cy), centerZ(cz)
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, roll(r), pitch(p), yaw(yw) {}
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DiscRackInfo(const DiscRackInfo&) = default;
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DiscRackInfo& operator=(const DiscRackInfo&) = default;
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};
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// 位置结构体（继承自 PositionData 模板）
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struct DiscHolePosition : public PositionData<double> {
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DiscHolePosition() : PositionData<double>() {}
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DiscHolePosition(double _x, double _y, double _z,
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double _roll, double _pitch, double _yaw)
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: PositionData<double>(_x, _y, _z, _roll, _pitch, _yaw) {}
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DiscHolePosition(const DiscHolePosition&) = default;
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DiscHolePosition& operator=(const DiscHolePosition&) = default;
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DiscHolePosition(const PositionData<double>& pos)
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: PositionData<double>(pos) {}
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};
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// 检测结果结构体
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struct DetectionResult : public DetectionResultData<DiscHolePosition> {
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// 砂轮盘孔信息列表
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std::vector<DiscHoleInfo> discHoleInfoList;
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// 砂轮盘架子信息列表
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std::vector<DiscRackInfo> discRackInfoList;
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bool success = true;
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QString message = "检测成功";
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DetectionResult() = default;
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DetectionResult(const DetectionResult&) = default;
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DetectionResult& operator=(const DetectionResult&) = default;
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};
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// 状态回调接口
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class IYDiscHolePoseStatus : public IVisionApplicationStatus<DetectionResult>
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{
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public:
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virtual ~IYDiscHolePoseStatus() = default;
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};
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Q_DECLARE_METATYPE(DiscHoleInfo)
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Q_DECLARE_METATYPE(DiscRackInfo)
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Q_DECLARE_METATYPE(DiscHolePosition)
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Q_DECLARE_METATYPE(DetectionResult)
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#endif // IYDISCHOLEPOSESTATUS_H
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