229 lines
8.5 KiB
C++
229 lines
8.5 KiB
C++
#include "DetectPresenter.h"
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#include "rodAndBarDetection_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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#include <QColor>
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namespace
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{
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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 euler order %d, fallback to 11(sZYX)\n", eulerOrder);
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return HECEulerOrder::ZYX;
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}
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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_rodAndBarDetectionVersion());
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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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return QString(wd_rodAndBarDetectionVersion());
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}
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int DetectPresenter::DetectRod(
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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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int longAxisDir,
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DetectionResult& 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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// 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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// 使用 AlgoParamConverter 进行参数转换
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SSX_rodParam rodParam = AlgoParamConverter::ToAlgoParam(algorithmParams.rodParam);
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SSG_cornerParam cornerParam = AlgoParamConverter::ToAlgoParam(algorithmParams.cornerParam);
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SSG_treeGrowParam growParam = AlgoParamConverter::ToAlgoParam(algorithmParams.growParam);
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SSG_outlierFilterParam filterParam = AlgoParamConverter::ToAlgoParam(algorithmParams.filterParam);
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// 构建平面标定参数
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SSG_planeCalibPara poseCalibPara = AlgoParamConverter::ToAlgoPlaneCalibParam(cameraCalibParam);
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if(debugParam.enableDebug && debugParam.printDetailLog)
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{
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AlgoParamConverter::LogAlgoParams("[Algo Thread]", rodParam, cornerParam, filterParam, growParam, clibMatrix);
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}
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int errCode = 0;
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CVrTimeUtils oTimeUtils;
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LOG_DEBUG("before sx_rodPositioning \n");
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// 调用棒材定位算法
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std::vector<SSX_rodPositionInfo> rodInfo;
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sx_rodPositioning(
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xyzData,
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poseCalibPara,
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cornerParam,
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filterParam,
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growParam,
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rodParam,
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rodInfo,
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&errCode);
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LOG_DEBUG("after sx_rodPositioning \n");
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LOG_INFO("sx_rodPositioning: detected %zu rods, err=%d runtime=%.3fms\n", rodInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(errCode);
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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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const HECEulerOrder hecEulerOrder = ToHandEyeEulerOrder(eulerOrder);
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// 使用 PointCloudCanvas 生成点云图像（灰色底图 + 棒材中心/方向线标记）
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{
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PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
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for (size_t i = 0; i < rodInfo.size(); i++) {
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const auto& rod = rodInfo[i];
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// 绘制棒材中心点（红色）
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canvas.drawPoint(rod.center.x, rod.center.y, QColor(255, 0, 0), 6);
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// 绘制轴向方向线（红色）
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double len = 60;
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double ax0 = rod.center.x - len * rod.axialDir.x;
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double ay0 = rod.center.y - len * rod.axialDir.y;
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double ax1 = rod.center.x + len * rod.axialDir.x;
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double ay1 = rod.center.y + len * rod.axialDir.y;
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canvas.drawLine(ax0, ay0, ax1, ay1, QColor(255, 0, 0), 2);
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// 绘制起点到终点线段（绿色）
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canvas.drawLine(rod.startPt.x, rod.startPt.y, rod.endPt.x, rod.endPt.y, QColor(0, 255, 0), 2);
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// 中心点白色编号
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canvas.drawText(rod.center.x, rod.center.y, 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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// 转换检测结果为UI显示格式（使用机械臂坐标系数据）
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for (size_t i = 0; i < rodInfo.size(); i++) {
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const auto& rod = rodInfo[i];
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LOG_INFO("[Algo Thread] Rod %zu Eye Center: X=%.2f, Y=%.2f, Z=%.2f\n", i, rod.center.x, rod.center.y, rod.center.z);
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LOG_INFO("[Algo Thread] Rod %zu Input X seed: [%.6f, %.6f, %.6f]\n", i, rod.axialDir.x, rod.axialDir.y, rod.axialDir.z);
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LOG_INFO("[Algo Thread] Rod %zu Input Z seed: [%.6f, %.6f, %.6f]\n", i, rod.normalDir.x, rod.normalDir.y, rod.normalDir.z);
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HECPoseResult poseResult;
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bool validPose = handEyeCalib->TransformPose(
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calibResult,
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HECPoint3D(rod.center.x, rod.center.y, rod.center.z),
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HECPoint3D(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z),
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HECPoint3D(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z),
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dirVectorInvert,
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hecEulerOrder,
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longAxisDir == 1 ? HECLongAxisDir::AxisY : HECLongAxisDir::AxisX,
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poseResult);
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if (!validPose) {
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LOG_WARNING("[Algo Thread] Rod %zu has invalid axial/normal direction, use zero pose\n", i);
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}
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double rollDeg = 0.0, pitchDeg = 0.0, yawDeg = 0.0;
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poseResult.angles.toDegrees(rollDeg, pitchDeg, yawDeg);
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// 创建位置数据（使用转换后的机械臂坐标）
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RodPosition pos;
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pos.roll = rollDeg;
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pos.pitch = pitchDeg;
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pos.yaw = yawDeg;
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pos.x = poseResult.position.x;
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pos.y = poseResult.position.y;
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pos.z = poseResult.position.z;
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detectionResult.positions.push_back(pos);
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// 保存棒材信息
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RodInfo info;
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info.centerX = poseResult.position.x;
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info.centerY = poseResult.position.y;
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info.centerZ = poseResult.position.z;
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info.axialDirX = rod.axialDir.x;
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info.axialDirY = rod.axialDir.y;
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info.axialDirZ = rod.axialDir.z;
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info.normalDirX = rod.normalDir.x;
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info.normalDirY = rod.normalDir.y;
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info.normalDirZ = rod.normalDir.z;
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info.startPtX = rod.startPt.x;
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info.startPtY = rod.startPt.y;
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info.startPtZ = rod.startPt.z;
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info.endPtX = rod.endPt.x;
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info.endPtY = rod.endPt.y;
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info.endPtZ = rod.endPt.z;
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detectionResult.rodInfoList.push_back(info);
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// Print key values for coordinate transform debugging
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LOG_INFO("[Algo Thread] Rod %zu Robot Pose: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.6f, Pitch=%.6f, Yaw=%.6f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
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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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