130 lines
3.0 KiB
C++
130 lines
3.0 KiB
C++
#pragma once
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#include <cstdint>
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#include <string>
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#include <vector>
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#include <memory>
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/**
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* @brief 检测目标矩形框（图像像素坐标）
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*/
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struct DroneScrewBox
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{
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int classId{0};
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float score{0.0f};
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int x{0};
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int y{0};
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int width{0};
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int height{0};
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};
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/**
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* @brief 单帧检测结果
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*/
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// Stereo distance result in millimeters.
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struct DroneScrewDistance
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{
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int fromId{0};
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int toId{0};
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float distanceMm{0.0f};
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};
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struct DroneScrewResult
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{
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uint64_t frameId{0};
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int64_t timestampUs{0};
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int imageWidth{0};
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int imageHeight{0};
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std::vector<DroneScrewBox> boxes;
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std::vector<DroneScrewDistance> distances;
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bool success{true};
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int errorCode{0};
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std::string message;
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};
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/**
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* @brief 算法参数（页面可配置项，预留字段）
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*/
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struct DroneScrewAlgoParams
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{
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float scoreThreshold{0.5f};
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float nmsThreshold{0.45f};
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int inputWidth{4096};
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int inputHeight{3000};
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std::string modelPath; // stereo_bolt config yaml path
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int modelType{1}; // 1=stereo_bolt_delivery
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int expectedBoltCount{8};
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// 预留位置：客户实际算法接入后可扩展
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};
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/**
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* @brief 输入图像描述
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*/
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struct DroneScrewInputImage
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{
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const unsigned char* data{nullptr};
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int width{0};
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int height{0};
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int stride{0};
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int pixelFormat{0}; // 0=Mono8, 1=BGR8, 2=RGB8, 3=BayerRG8 ...
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uint64_t frameId{0};
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int64_t timestampUs{0};
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};
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/**
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* @brief IDroneScrewAlgo
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*
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* 无人机螺杆/螺栓检测算法接口（预留）。
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*
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* 后续接入实际算法时，只需新增一个实现类替代 DroneScrewAlgoStub 即可。
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*/
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class IDroneScrewAlgo
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{
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public:
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virtual ~IDroneScrewAlgo() = default;
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/**
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* @brief 工厂：返回当前选定实现
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*/
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static std::unique_ptr<IDroneScrewAlgo> CreateDefault();
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/**
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* @brief 初始化
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*/
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virtual int Init(const DroneScrewAlgoParams& params) = 0;
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/**
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* @brief 反初始化
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*/
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virtual int UnInit() = 0;
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/**
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* @brief 检测单帧（双目输入）
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* @param leftImage 左目图像
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* @param rightImage 右目图像
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* @param result 检测结果
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* @return 0-成功，非0-失败
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*/
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virtual int Detect(const DroneScrewInputImage& leftImage,
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const DroneScrewInputImage& rightImage,
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DroneScrewResult& result) = 0;
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virtual int DetectDistance(const DroneScrewInputImage& leftImage,
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const DroneScrewInputImage& rightImage,
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DroneScrewResult& result) = 0;
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/**
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* @brief 动态更新参数
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*/
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virtual int UpdateParams(const DroneScrewAlgoParams& params) = 0;
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/**
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* @brief 算法版本字符串
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*/
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virtual std::string GetVersion() const = 0;
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};
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