433 lines
18 KiB
C++
433 lines
18 KiB
C++
#include "DetectPresenter.h"
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#include "workpieceHolePositioning_Export.h"
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#include "SG_baseAlgo_Export.h"
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#include "SG_errCode.h"
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#include "AlgoParamConverter.h"
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#include "IHandEyeCalib.h"
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#include "WorkpieceProduct.h"
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#include <cmath>
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#include <fstream>
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#include <memory>
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namespace {
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HECEulerOrder ToHandEyeEulerOrder(int eulerOrder)
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{
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switch (eulerOrder) {
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case 10: return HECEulerOrder::XYZ;
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case 11: return HECEulerOrder::ZYX;
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case 12: return HECEulerOrder::ZXY;
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case 13: return HECEulerOrder::YXZ;
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case 14: return HECEulerOrder::YZX;
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case 15: return HECEulerOrder::XZY;
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default:
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LOG_WARNING("Unsupported tool euler order %d, fallback to 11 (ZYX)\n", eulerOrder);
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return HECEulerOrder::ZYX;
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}
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}
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void ApplyToolRotationToEyeAxes(IHandEyeCalib& handEyeCalib,
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HECEulerOrder eulerOrder,
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const VrToolParam& toolParam,
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std::vector<HECPoint3D>& axes)
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{
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if (axes.size() != 3 ||
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(std::fabs(toolParam.rotX) < 1e-9 &&
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std::fabs(toolParam.rotY) < 1e-9 &&
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std::fabs(toolParam.rotZ) < 1e-9)) {
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return;
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}
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HECRotationMatrix toolRotation;
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handEyeCalib.EulerToRotationMatrix(
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HECEulerAngles::fromDegrees(toolParam.rotX, toolParam.rotY, toolParam.rotZ),
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eulerOrder,
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toolRotation);
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const std::vector<HECPoint3D> originalAxes = axes;
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for (int column = 0; column < 3; ++column) {
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axes[column] = (originalAxes[0] * toolRotation.at(0, column)
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+ originalAxes[1] * toolRotation.at(1, column)
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+ originalAxes[2] * toolRotation.at(2, column)).normalized();
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}
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}
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bool HasValidZPoint(const std::vector<SVzNL3DPosition>& line)
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{
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for (const SVzNL3DPosition& point : line) {
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if (point.pt3D.z > 1e-4) {
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return true;
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}
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}
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return false;
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}
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void TrimZeroBoundaryLines(std::vector<std::vector<SVzNL3DPosition>>& scanLines)
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{
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size_t firstValidLine = 0;
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while (firstValidLine < scanLines.size() && !HasValidZPoint(scanLines[firstValidLine])) {
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++firstValidLine;
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}
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if (firstValidLine == scanLines.size()) {
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scanLines.clear();
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return;
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}
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size_t lastValidLine = scanLines.size();
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while (lastValidLine > firstValidLine && !HasValidZPoint(scanLines[lastValidLine - 1])) {
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--lastValidLine;
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}
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scanLines.erase(scanLines.begin() + lastValidLine, scanLines.end());
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scanLines.erase(scanLines.begin(), scanLines.begin() + firstValidLine);
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}
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} // namespace
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DetectPresenter::DetectPresenter(/* args */)
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{
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LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_workpieceHolePositioningVersion());
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}
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DetectPresenter::~DetectPresenter()
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{
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}
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QString DetectPresenter::GetAlgoVersion()
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{
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const char* ver = wd_workpieceHolePositioningVersion();
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return ver ? QString::fromUtf8(ver) : QString();
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}
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int DetectPresenter::DetectWorkpieceHole(
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int workpieceNumber,
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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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int dirVectorInvert,
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int poseOutputOrder,
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WorkpieceHoleDetectionResult& 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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const VrWorkpieceAlgorithmProfile* profile =
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algorithmParams.FindWorkpieceProfile(workpieceNumber);
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if (!profile) {
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LOG_ERROR("Algorithm profile is missing for workpiece %d\n", workpieceNumber);
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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const VrToolParam& toolParam = profile->toolParam;
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const HECEulerOrder toolEulerOrder = ToHandEyeEulerOrder(toolParam.eulerOrder);
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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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// debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
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std::string timeStamp = CVrDateUtils::GetNowTime();
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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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const size_t originalLineCount = xyzData.size();
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TrimZeroBoundaryLines(xyzData);
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if (xyzData.empty()) {
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LOG_WARNING("No valid scan lines after trimming zero boundary lines\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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LOG_INFO("Trimmed zero boundary lines: %zu -> %zu\n",
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originalLineCount, xyzData.size());
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// 算法接口使用非 const 引用，因此单独准备算法工作数据。
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// xyzData 始终保留原始点云用于绘图，所有算法结果保持原样进入公共处理流程。
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std::vector<std::vector<SVzNL3DPosition>> algorithmData = xyzData;
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// 工件孔参数
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const VrWorkpieceHoleParam& workpieceParam = profile->workpieceHoleParam;
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WD_workpieceHoleParam workpiecePara = AlgoParamConverter::ToAlgoParam(workpieceParam);
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// 线段分割参数
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SSG_lineSegParam lineSegPara = AlgoParamConverter::ToAlgoParam(profile->lineSegParam);
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// 滤波参数
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SSG_outlierFilterParam filterParam = AlgoParamConverter::ToAlgoParam(profile->filterParam);
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// 树生长参数
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SSG_treeGrowParam growParam = AlgoParamConverter::ToAlgoParam(profile->growParam);
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LOG_INFO("Workpiece %d profile: hole=%.1f, H=%.1f, bigHole=%.1f, line=(%.1f,%.1f,%.1f), "
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"filter=(%.1f,%.1f), grow=(%d,%.1f,%.1f,%.1f,%.1f,%.1f)\n",
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workpieceNumber, workpieceParam.holeDiameter, workpieceParam.H,
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workpieceParam.bigHoleDiameter,
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lineSegPara.distScale, lineSegPara.segGapTh_y, lineSegPara.segGapTh_z,
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filterParam.continuityTh, filterParam.outlierTh,
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growParam.maxLineSkipNum, growParam.yDeviation_max,
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growParam.maxSkipDistance, growParam.zDeviation_max,
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growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
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LOG_INFO("Workpiece %d tool params: eulerOrder=%d, rot=(%.3f,%.3f,%.3f), offset=(%.3f,%.3f,%.3f)\n",
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workpieceNumber, toolParam.eulerOrder,
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toolParam.rotX, toolParam.rotY, toolParam.rotZ,
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toolParam.offsetX, toolParam.offsetY, toolParam.offsetZ);
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// 准备平面校准参数
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SSG_planeCalibPara groundCalibPara = AlgoParamConverter::ToAlgoPlaneCalibParam(cameraCalibParam);
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if(debugParam.enableDebug && debugParam.printDetailLog)
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{
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AlgoParamConverter::LogAlgoParams("[Algo Thread]",
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workpiecePara, lineSegPara, filterParam, growParam, groundCalibPara, clibMatrix);
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}
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#if 0
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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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for(size_t i = 0; i < xyzData.size(); i++){
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wd_lineDataR(xyzData[i], cameraCalibParam->planeCalib, -1);
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}
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}
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#endif
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int errCode = 0;
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CVrTimeUtils oTimeUtils;
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LOG_DEBUG("Before workpiece positioning algorithm, workpiece=%d\n", workpieceNumber);
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std::vector<WD_workpieceInfo> workpiecePositioning;
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const char* algorithmName = nullptr;
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const WorkpieceProduct::ProductInfo* product = WorkpieceProduct::Find(workpieceNumber);
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if (!product || !product->detectionSupported) {
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LOG_ERROR("No product or detection algorithm for software workpiece %d\n", workpieceNumber);
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return ERR_CODE(FUN_UNSUPPORT);
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}
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switch (product->algorithmApi) {
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case WorkpieceProduct::AlgorithmApi::Api1:
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algorithmName = "wd_workpieceHolePositioning";
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wd_workpieceHolePositioning(
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algorithmData, workpiecePara, lineSegPara, filterParam, growParam,
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groundCalibPara, workpiecePositioning, &errCode);
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break;
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case WorkpieceProduct::AlgorithmApi::Api2:
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algorithmName = "wd_workpieceHolePositioning_2";
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wd_workpieceHolePositioning_2(
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algorithmData, workpiecePara, lineSegPara, filterParam, growParam,
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groundCalibPara, workpiecePositioning, &errCode);
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break;
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case WorkpieceProduct::AlgorithmApi::Api3:
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algorithmName = "wd_workpieceHolePositioning_3";
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wd_workpieceHolePositioning_3(
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algorithmData, workpiecePara, workpieceParam.bigHoleDiameter,
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lineSegPara, filterParam, growParam, groundCalibPara,
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workpiecePositioning, &errCode);
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break;
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default:
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LOG_ERROR("Unsupported algorithm API for software workpiece %d\n", workpieceNumber);
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return ERR_CODE(FUN_UNSUPPORT);
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}
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LOG_INFO("%s: found %zu workpieces, err=%d runtime=%.3fms\n",
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algorithmName, workpiecePositioning.size(), errCode,
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oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(errCode);
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// 创建手眼标定实例
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std::unique_ptr<IHandEyeCalib, decltype(&DestroyHandEyeCalibInstance)> handEyeCalib(
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CreateHandEyeCalibInstance(),
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DestroyHandEyeCalibInstance);
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if (!handEyeCalib) {
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LOG_ERROR("Failed to create HandEyeCalib instance\n");
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return ERR_CODE(DEV_NOT_FIND);
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}
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const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);
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// 处理每个工件的检测结果
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for (size_t i = 0; i < workpiecePositioning.size(); i++) {
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const WD_workpieceInfo& workpiece = workpiecePositioning[i];
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// 保存工件类型（仅保存第一个工件的类型）
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if (i == 0) {
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detectionResult.workpieceType = workpiece.workpieceType;
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}
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if (IsReversedWorkpieceType(workpiece.workpieceType)) {
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// 算法执行成功，但反向工件属于异常物料；保留结果继续生成可视化图片。
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detectionResult.errorCode = SX_ERR_UNKNOWN_OBJECT;
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LOG_WARNING("Detected reversed workpiece %zu (workpieceType=%d)\n",
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i + 1, workpiece.workpieceType);
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}
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// 六轴转换：位置+姿态（转换到机械臂坐标系）
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HECPoint3D eyeCenter(workpiece.center.x, workpiece.center.y, workpiece.center.z);
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// 构建方向向量（眼坐标系）
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std::vector<HECPoint3D> dirVectors_eye(3);
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dirVectors_eye[0] = HECPoint3D(workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z);
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dirVectors_eye[1] = HECPoint3D(workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z);
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dirVectors_eye[2] = HECPoint3D(workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);
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// 根据配置决定方向向量反向
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switch (dirVectorInvert) {
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case DIR_INVERT_NONE:
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break;
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case DIR_INVERT_XY:
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dirVectors_eye[0] = dirVectors_eye[0] * (-1.0);
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dirVectors_eye[1] = dirVectors_eye[1] * (-1.0);
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break;
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case DIR_INVERT_XZ:
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dirVectors_eye[0] = dirVectors_eye[0] * (-1.0);
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dirVectors_eye[2] = dirVectors_eye[2] * (-1.0);
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break;
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case DIR_INVERT_YZ:
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default:
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dirVectors_eye[1] = dirVectors_eye[1] * (-1.0);
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dirVectors_eye[2] = dirVectors_eye[2] * (-1.0);
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break;
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}
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// 工具姿态补偿在 Eye 坐标系内合成，再进入手眼旋转链。
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ApplyToolRotationToEyeAxes(*handEyeCalib, toolEulerOrder, toolParam, dirVectors_eye);
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// 1. 位置转换：R * P_eye + T
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HECPoint3D ptRobot;
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handEyeCalib->TransformPoint(calibResult.R, calibResult.T, eyeCenter, ptRobot);
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// 2. 方向向量旋转变换（仅旋转，不平移）
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std::vector<HECPoint3D> dirVectors_robot(3);
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for (int j = 0; j < 3; j++) {
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handEyeCalib->RotatePoint(calibResult.R, dirVectors_eye[j], dirVectors_robot[j]);
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}
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// 3. 构建旋转矩阵（列向量形式）
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double R_pose[3][3];
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R_pose[0][0] = dirVectors_robot[0].x;
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R_pose[0][1] = dirVectors_robot[1].x;
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R_pose[0][2] = dirVectors_robot[2].x;
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R_pose[1][0] = dirVectors_robot[0].y;
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R_pose[1][1] = dirVectors_robot[1].y;
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R_pose[1][2] = dirVectors_robot[2].y;
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R_pose[2][0] = dirVectors_robot[0].z;
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R_pose[2][1] = dirVectors_robot[1].z;
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R_pose[2][2] = dirVectors_robot[2].z;
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// 4. 保持既有 ZYX 输出分解约定，确保零工具补偿时输出完全兼容。
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// toolParam.eulerOrder 只控制上面的工具补偿旋转合成顺序。
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const SSG_EulerAngles robotRpy = rotationMatrixToEulerZYX(R_pose);
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// 将机器人坐标系下的位姿添加到positions列表
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// 根据 poseOutputOrder 重映射欧拉角输出顺序
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HolePosition centerRobotPos;
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centerRobotPos.workpieceType = workpiece.workpieceType;
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centerRobotPos.x = ptRobot.x + toolParam.offsetX;
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centerRobotPos.y = ptRobot.y + toolParam.offsetY;
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centerRobotPos.z = ptRobot.z + toolParam.offsetZ;
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switch (poseOutputOrder) {
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case POSE_ORDER_RPY:
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centerRobotPos.roll = robotRpy.roll;
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centerRobotPos.pitch = robotRpy.pitch;
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centerRobotPos.yaw = robotRpy.yaw;
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break;
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case POSE_ORDER_RYP:
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centerRobotPos.roll = robotRpy.roll;
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centerRobotPos.pitch = robotRpy.yaw;
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centerRobotPos.yaw = robotRpy.pitch;
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break;
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case POSE_ORDER_PRY:
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centerRobotPos.roll = robotRpy.pitch;
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centerRobotPos.pitch = robotRpy.roll;
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centerRobotPos.yaw = robotRpy.yaw;
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break;
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case POSE_ORDER_PYR:
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centerRobotPos.roll = robotRpy.pitch;
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centerRobotPos.pitch = robotRpy.yaw;
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centerRobotPos.yaw = robotRpy.roll;
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break;
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case POSE_ORDER_YRP:
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centerRobotPos.roll = robotRpy.yaw;
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centerRobotPos.pitch = robotRpy.roll;
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centerRobotPos.yaw = robotRpy.pitch;
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break;
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case POSE_ORDER_YPR:
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centerRobotPos.roll = robotRpy.yaw;
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centerRobotPos.pitch = robotRpy.pitch;
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centerRobotPos.yaw = robotRpy.roll;
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break;
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default:
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centerRobotPos.roll = robotRpy.roll;
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centerRobotPos.pitch = robotRpy.pitch;
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centerRobotPos.yaw = robotRpy.yaw;
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break;
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}
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detectionResult.positions.push_back(centerRobotPos);
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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Direction vectors (eye): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
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dirVectors_eye[0].x, dirVectors_eye[0].y, dirVectors_eye[0].z,
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dirVectors_eye[1].x, dirVectors_eye[1].y, dirVectors_eye[1].z,
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dirVectors_eye[2].x, dirVectors_eye[2].y, dirVectors_eye[2].z);
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LOG_INFO("[Algo Thread] Direction vectors (robot): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
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dirVectors_robot[0].x, dirVectors_robot[0].y, dirVectors_robot[0].z,
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dirVectors_robot[1].x, dirVectors_robot[1].y, dirVectors_robot[1].z,
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dirVectors_robot[2].x, dirVectors_robot[2].y, dirVectors_robot[2].z);
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LOG_INFO("[Algo Thread] Center Eye Coords: X=%.3f, Y=%.3f, Z=%.3f\n",
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workpiece.center.x, workpiece.center.y, workpiece.center.z);
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LOG_INFO("[Algo Thread] Center Robot Coords: X=%.3f, Y=%.3f, Z=%.3f, R=%.4f, P=%.4f, Y=%.4f\n",
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centerRobotPos.x, centerRobotPos.y, centerRobotPos.z,
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centerRobotPos.roll, centerRobotPos.pitch, centerRobotPos.yaw);
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}
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}
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// 使用 PointCloudCanvas 生成点云图像（正向红点、反向蓝点 + 中心点编号）
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{
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PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
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for (size_t i = 0; i < workpiecePositioning.size(); i++) {
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const WD_workpieceInfo& workpiece = workpiecePositioning[i];
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const QColor markerColor = IsReversedWorkpieceType(workpiece.workpieceType)
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? QColor(0, 0, 255)
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: QColor(255, 0, 0);
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// 小圆点标记每个孔
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for (size_t j = 0; j < workpiece.holes.size(); j++) {
|
||
canvas.drawPoint(workpiece.holes[j].x, workpiece.holes[j].y, markerColor, 4);
|
||
}
|
||
// 中心点标记 + 白色编号
|
||
canvas.drawPoint(workpiece.center.x, workpiece.center.y, markerColor, 4);
|
||
canvas.drawText(workpiece.center.x, workpiece.center.y,
|
||
QString("%1").arg(i + 1), Qt::white, 14);
|
||
}
|
||
detectionResult.image = canvas.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;
|
||
}
|