257 lines
10 KiB
C++
257 lines
10 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 "AlgoParamConverter.h"
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#include "IHandEyeCalib.h"
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#include <fstream>
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#include <memory>
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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 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 eulerOrder,
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int dirVectorInvert,
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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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// 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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// 保存debug数据
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std::string timeStamp = CVrDateUtils::GetNowTime();
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if(debugParam.enableDebug && debugParam.savePointCloud){
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LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
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// 获取当前时间戳，格式为YYYYMMDDHHMMSS
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std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
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// 直接使用统一格式保存数据
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dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
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}
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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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// 工件孔参数
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WD_workpieceHoleParam workpiecePara = AlgoParamConverter::ToAlgoParam(algorithmParams.workpieceHoleParam);
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// 线段分割参数
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SSG_lineSegParam lineSegPara = AlgoParamConverter::ToAlgoParam(algorithmParams.lineSegParam);
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// 滤波参数
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SSG_outlierFilterParam filterParam = AlgoParamConverter::ToAlgoParam(algorithmParams.filterParam);
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// 树生长参数
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SSG_treeGrowParam growParam = AlgoParamConverter::ToAlgoParam(algorithmParams.growParam);
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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 wd_workpieceHolePositioning \n");
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// 调用工件孔定位算法
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std::vector<WD_workpieceInfo> workpiecePositioning;
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wd_workpieceHolePositioning(
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xyzData,
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workpiecePara,
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lineSegPara,
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filterParam,
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growParam,
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groundCalibPara,
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workpiecePositioning,
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&errCode
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);
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LOG_DEBUG("after wd_workpieceHolePositioning \n");
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LOG_INFO("wd_workpieceHolePositioning: found %zu workpieces, err=%d runtime=%.3fms\n", workpiecePositioning.size(), errCode, 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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// 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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// 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. 使用算法库的 rotationMatrixToEulerZYX 转换为欧拉角（返回角度）
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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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HolePosition centerRobotPos;
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centerRobotPos.x = ptRobot.x;
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centerRobotPos.y = ptRobot.y;
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centerRobotPos.z = ptRobot.z;
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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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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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workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z,
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workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z,
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workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.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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ptRobot.x, ptRobot.y, ptRobot.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（灰色底图 + 红色孔位标记 + 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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// 红色小圆点标记每个孔
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for (size_t j = 0; j < workpiece.holes.size(); j++) {
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canvas.drawPoint(workpiece.holes[j].x, workpiece.holes[j].y, QColor(255, 0, 0), 4);
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}
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// 中心点标记 + 白色编号
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canvas.drawPoint(workpiece.center.x, workpiece.center.y, QColor(255, 0, 0), 4);
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canvas.drawText(workpiece.center.x, workpiece.center.y,
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QString("%1").arg(i + 1), Qt::white, 14);
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}
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detectionResult.image = canvas.image();
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}
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if(debugParam.enableDebug && debugParam.saveDebugImage){
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// 获取当前时间戳，格式为YYYYMMDDHHMMSS
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std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
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LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
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// 保存检测结果图片
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if (!detectionResult.image.isNull()) {
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QString qFileName = QString::fromStdString(fileName);
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detectionResult.image.save(qFileName);
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} else {
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LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
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}
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}
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return nRet;
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}
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