732 lines
32 KiB
C++
732 lines
32 KiB
C++
#include "DetectPresenter.h"
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#include "AlgorithmParamConverter.h"
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#include "CoordinateTransform.h"
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#include "ScrewPositionTCPProtocol.h"
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#include "rodAndBarDetection_Export.h"
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#include <QColor>
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#include <array>
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#include <cmath>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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namespace {
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constexpr double kVectorEpsilon = 1e-8;
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constexpr double kRotationEpsilon = 1e-9;
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QImage BuildScrewPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
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const std::vector<SSX_rodPoseInfo>& screwInfo,
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const std::vector<std::pair<double, double>>* approachXY = nullptr)
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{
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PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
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if (!canvas.isValid()) {
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return QImage();
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}
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constexpr double kAxisLineLength = 60.0;
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const QColor pointColor(0, 255, 0);
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const QColor lineColor(255, 0, 0);
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const QColor textColor(255, 255, 0);
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const QColor approachColor(255, 128, 0); // 橙色：接近点
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for (size_t i = 0; i < screwInfo.size(); ++i) {
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const auto& screw = screwInfo[i];
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canvas.drawPoint(screw.center.x, screw.center.y, pointColor, 8);
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canvas.drawText(screw.center.x, screw.center.y, QString::number(i + 1), textColor, 16, 10, -10);
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canvas.drawLine(screw.center.x - kAxisLineLength * screw.axialDir.x,
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screw.center.y - kAxisLineLength * screw.axialDir.y,
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screw.center.x + kAxisLineLength * screw.axialDir.x,
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screw.center.y + kAxisLineLength * screw.axialDir.y,
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lineColor, 2);
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if (approachXY && i < approachXY->size()) {
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const auto& ap = (*approachXY)[i];
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canvas.drawPoint(ap.first, ap.second, approachColor, 6);
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canvas.drawLine(screw.center.x, screw.center.y, ap.first, ap.second, approachColor, 1);
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}
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}
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return canvas.image().copy();
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}
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QImage BuildToolDiskPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
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const SSX_platePoseInfo& poseInfo,
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bool hasResult,
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const std::pair<double, double>* approachXY = nullptr)
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{
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PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
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if (!canvas.isValid()) {
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return QImage();
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}
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if (hasResult) {
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constexpr double kNormalLineLength = 60.0;
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const QColor centerColor(0, 255, 0);
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const QColor normalColor(0, 180, 255); // 蓝色：法向 Z
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const QColor xAxisColor(255, 0, 0); // 红色：X 轴
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const QColor yAxisColor(0, 255, 0); // 绿色：Y 轴
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const QColor textColor(255, 255, 0);
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const QColor approachColor(255, 128, 0); // 橙色：接近点
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// 绘制定位盘中心点
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canvas.drawPoint(poseInfo.center.x, poseInfo.center.y, centerColor, 10);
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// 绘制法向量方向线
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const double normalEndX = poseInfo.center.x + kNormalLineLength * poseInfo.normalDir.x;
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const double normalEndY = poseInfo.center.y + kNormalLineLength * poseInfo.normalDir.y;
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canvas.drawLine(poseInfo.center.x, poseInfo.center.y, normalEndX, normalEndY, normalColor, 2);
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canvas.drawText(normalEndX, normalEndY, QStringLiteral("Z"), normalColor, 14, 6, -6);
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const double xEndX = poseInfo.center.x + kNormalLineLength * poseInfo.xDir.x;
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const double xEndY = poseInfo.center.y + kNormalLineLength * poseInfo.xDir.y;
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canvas.drawLine(poseInfo.center.x, poseInfo.center.y, xEndX, xEndY, xAxisColor, 2);
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canvas.drawText(xEndX, xEndY, QStringLiteral("X"), xAxisColor, 14, 6, -6);
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const double yEndX = poseInfo.center.x + kNormalLineLength * poseInfo.yDir.x;
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const double yEndY = poseInfo.center.y + kNormalLineLength * poseInfo.yDir.y;
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canvas.drawLine(poseInfo.center.x, poseInfo.center.y, yEndX, yEndY, yAxisColor, 2);
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canvas.drawText(yEndX, yEndY, QStringLiteral("Y"), yAxisColor, 14, 6, -6);
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if (approachXY) {
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canvas.drawPoint(approachXY->first, approachXY->second, approachColor, 8);
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canvas.drawLine(poseInfo.center.x, poseInfo.center.y, approachXY->first, approachXY->second, approachColor, 1);
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}
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}
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return canvas.image().copy();
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}
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void SaveDebugImageIfNeeded(int cameraIndex,
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const VrDebugParam& debugParam,
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const QImage& image,
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const QString& prefix)
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{
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if (!debugParam.enableDebug || !debugParam.saveDebugImage || image.isNull()) {
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return;
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}
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const std::string timeStamp = CVrDateUtils::GetNowTime();
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const std::string fileName = debugParam.debugOutputPath + "/" +
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prefix.toStdString() + "_" + 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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image.save(QString::fromStdString(fileName));
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}
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CTHomogeneousMatrix BuildHandEyeMatrix(const double clibMatrix[16])
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{
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CTHomogeneousMatrix handEyeMatrix;
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for (int row = 0; row < 4; ++row) {
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for (int col = 0; col < 4; ++col) {
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handEyeMatrix.at(row, col) = clibMatrix[row * 4 + col];
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}
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}
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return handEyeMatrix;
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}
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void ResolveRobotPoseAnglesDegrees(const RobotPose6D& robotPose,
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int poseOutputOrder,
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double& rxDeg,
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double& ryDeg,
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double& rzDeg)
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{
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switch (poseOutputOrder) {
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case 1:
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rxDeg = robotPose.a;
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ryDeg = robotPose.b;
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rzDeg = robotPose.c;
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break;
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case 2:
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rxDeg = robotPose.b;
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ryDeg = robotPose.a;
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rzDeg = robotPose.c;
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break;
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case 3:
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rxDeg = robotPose.c;
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ryDeg = robotPose.a;
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rzDeg = robotPose.b;
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break;
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case 4:
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rxDeg = robotPose.b;
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ryDeg = robotPose.c;
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rzDeg = robotPose.a;
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break;
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case 5:
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rxDeg = robotPose.c;
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ryDeg = robotPose.b;
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rzDeg = robotPose.a;
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break;
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case 0:
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default:
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rxDeg = robotPose.a;
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ryDeg = robotPose.b;
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rzDeg = robotPose.c;
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break;
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}
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}
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// 将角度归一化到 (-180°, 180°]
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double WrapDegreesTo180(double deg)
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{
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while (deg > 180.0) {
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deg -= 360.0;
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}
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while (deg <= -180.0) {
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deg += 360.0;
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}
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return deg;
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}
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// 对 Tait-Bryan 欧拉角做等价归一化，使 pitch ∈ [-90°, 90°]
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// 依据：(α, β, γ) ≡ (α±180°, 180°-β, γ±180°) 以及 (α±180°, -180°-β, γ±180°)
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// 适用于 CTEulerOrder 中所有 12 种 Tait-Bryan 顺序（内旋/外旋一致）
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void NormalizePitchRange(double& rollDeg, double& pitchDeg, double& yawDeg)
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{
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pitchDeg = WrapDegreesTo180(pitchDeg);
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if (pitchDeg > 90.0) {
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pitchDeg = 180.0 - pitchDeg;
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rollDeg += 180.0;
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yawDeg += 180.0;
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} else if (pitchDeg < -90.0) {
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pitchDeg = -180.0 - pitchDeg;
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rollDeg += 180.0;
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yawDeg += 180.0;
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}
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rollDeg = WrapDegreesTo180(rollDeg);
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yawDeg = WrapDegreesTo180(yawDeg);
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}
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// 统一走 CCoordinateTransform::rotationMatrixToEuler（与 eulerToRotationMatrix 成对互逆），
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// 再把 pitch 压入 [-90°, 90°]，保证对机器人侧输出的姿态语义稳定。
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void RotationMatrixToConfiguredEulerDegrees(const CTRotationMatrix& rotation,
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CTEulerOrder order,
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double& rollDeg,
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double& pitchDeg,
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double& yawDeg)
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{
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const CTEulerAngles euler = CCoordinateTransform::rotationMatrixToEuler(rotation, order);
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euler.toDegrees(rollDeg, pitchDeg, yawDeg);
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NormalizePitchRange(rollDeg, pitchDeg, yawDeg);
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}
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// 万向锁消歧：当 |pitch| 接近 90° 时，Rz(yaw)·Ry(pitch)·Rx(roll) 的分解退化成一个自由度。
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// 严格展开可得：
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// pitch = +90° → R 只依赖 (roll - yaw)；任意满足 roll - yaw = const 的组合都表示同一 R
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// pitch = -90° → R 只依赖 (roll + yaw)；任意满足 roll + yaw = const 的组合都表示同一 R
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// 本函数把 yaw 锚定到 refYaw 附近，把剩余自由度全部放到 roll，
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// 让不同帧的输出稳定落在参考（通常是机器人法兰的 rx、rz）附近。
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//
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// 【强消歧配置】：阈值覆盖 80°-85°，优先保证数值稳定性，代价是 pitch∈[80°,85°]
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// 的过渡带会改变真实旋转矩阵（X 轴可能偏 3°-5°）。如需精确定姿请收窄阈值或换欧拉顺序。
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// |pitch| < kSoftThreshold：完全不改（保留真实分解）
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// |pitch| ≥ kHardThreshold：完全锁到参考（对 R 影响最小）
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// kSoftThreshold ≤ |pitch| < kHardThreshold：线性插值过渡
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void ResolveGimbalAmbiguity(double& rollDeg, double pitchDeg, double& yawDeg,
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double refRollDeg, double refYawDeg)
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{
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constexpr double kSoftThresholdDeg = 80.0;
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constexpr double kHardThresholdDeg = 85.0;
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const double absPitch = std::abs(pitchDeg);
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if (absPitch < kSoftThresholdDeg) {
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return;
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}
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// 不变量方向与 pitch 符号的关系（由 Rz·Ry·Rx 展开式导出）：
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// pitch > 0 → inv = roll - yaw
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// pitch < 0 → inv = roll + yaw
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const bool positivePitch = (pitchDeg >= 0.0);
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const double sum = positivePitch ? (rollDeg - yawDeg) : (rollDeg + yawDeg);
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const double refSum = positivePitch ? (refRollDeg - refYawDeg) : (refRollDeg + refYawDeg);
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double adjustedSum = sum;
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while (adjustedSum - refSum > 180.0) { adjustedSum -= 360.0; }
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while (adjustedSum - refSum < -180.0) { adjustedSum += 360.0; }
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const double fullYaw = WrapDegreesTo180(refYawDeg);
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// 反解 roll：positive 时 roll = sum + yaw；negative 时 roll = sum - yaw（与 sum 方向匹配）
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const double fullRoll = WrapDegreesTo180(positivePitch ? (adjustedSum + fullYaw)
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: (adjustedSum - fullYaw));
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if (absPitch >= kHardThresholdDeg) {
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rollDeg = fullRoll;
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yawDeg = fullYaw;
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return;
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}
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// 过渡带：alpha 从 0（kSoftThreshold）线性增到 1（kHardThreshold）
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const double alpha = (absPitch - kSoftThresholdDeg) /
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(kHardThresholdDeg - kSoftThresholdDeg);
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auto lerpAngle = [alpha](double from, double to) {
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const double diff = WrapDegreesTo180(to - from);
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return WrapDegreesTo180(from + alpha * diff);
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};
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rollDeg = lerpAngle(rollDeg, fullRoll);
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yawDeg = lerpAngle(yawDeg, fullYaw);
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}
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CTVec3D NormalizeVector(const CTVec3D& vector)
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{
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const double length = vector.norm();
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if (length < kVectorEpsilon) {
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return CTVec3D();
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}
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return vector * (1.0 / length);
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}
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double DotProduct(const CTVec3D& a, const CTVec3D& b)
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{
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return a.x * b.x + a.y * b.y + a.z * b.z;
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}
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CTVec3D CrossProduct(const CTVec3D& a, const CTVec3D& b)
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{
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return CTVec3D(a.y * b.z - a.z * b.y,
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a.z * b.x - a.x * b.z,
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a.x * b.y - a.y * b.x);
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}
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bool IsValidVector(const CTVec3D& vector)
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{
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return vector.norm() >= kVectorEpsilon;
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}
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CTVec3D ToCTVec3D(const SVzNL3DPoint& point)
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{
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return CTVec3D(point.x, point.y, point.z);
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}
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bool TryProjectedAxis(const CTVec3D& reference, const CTVec3D& primary, CTVec3D& axis)
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{
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const CTVec3D candidate = NormalizeVector(reference - primary * DotProduct(reference, primary));
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if (!IsValidVector(candidate)) {
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return false;
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}
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axis = candidate;
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return true;
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}
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bool BuildFrameFromXAxis(const CTVec3D& primary, std::array<CTVec3D, 3>& axes)
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{
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const CTVec3D xAxis = NormalizeVector(primary);
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if (!IsValidVector(xAxis)) {
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return false;
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}
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CTVec3D yAxis = NormalizeVector(CrossProduct(CTVec3D(0.0, 0.0, 1.0), xAxis));
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if (!IsValidVector(yAxis) &&
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!TryProjectedAxis(CTVec3D(0.0, 1.0, 0.0), xAxis, yAxis) &&
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!TryProjectedAxis(CTVec3D(1.0, 0.0, 0.0), xAxis, yAxis)) {
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return false;
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}
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const CTVec3D zAxis = NormalizeVector(CrossProduct(xAxis, yAxis));
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if (!IsValidVector(zAxis)) {
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return false;
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}
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axes = {xAxis, yAxis, zAxis};
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return true;
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}
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void ApplyAxesRotation(std::array<CTVec3D, 3>& axes,
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double rotXDeg, double rotYDeg, double rotZDeg)
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{
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if (std::fabs(rotXDeg) < kRotationEpsilon &&
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std::fabs(rotYDeg) < kRotationEpsilon &&
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std::fabs(rotZDeg) < kRotationEpsilon) {
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return;
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}
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const double rx = rotXDeg * M_PI / 180.0;
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const double ry = rotYDeg * M_PI / 180.0;
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const double rz = rotZDeg * M_PI / 180.0;
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const double cx = std::cos(rx), sx = std::sin(rx);
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const double cy = std::cos(ry), sy = std::sin(ry);
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const double cz = std::cos(rz), sz = std::sin(rz);
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// R = Rx(rx) * Ry(ry) * Rz(rz)；对 Eye 坐标系下的工具轴组合（列向量）右乘 R，
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// 等价于在工具坐标系内按内旋 XYZ 顺序施加补偿旋转。
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double R[3][3];
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R[0][0] = cy * cz;
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R[0][1] = -cy * sz;
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R[0][2] = sy;
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R[1][0] = sx * sy * cz + cx * sz;
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R[1][1] = -sx * sy * sz + cx * cz;
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R[1][2] = -sx * cy;
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R[2][0] = -cx * sy * cz + sx * sz;
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R[2][1] = cx * sy * sz + sx * cz;
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R[2][2] = cx * cy;
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const CTVec3D oldX = axes[0];
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const CTVec3D oldY = axes[1];
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const CTVec3D oldZ = axes[2];
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axes[0] = oldX * R[0][0] + oldY * R[1][0] + oldZ * R[2][0];
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axes[1] = oldX * R[0][1] + oldY * R[1][1] + oldZ * R[2][1];
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axes[2] = oldX * R[0][2] + oldY * R[1][2] + oldZ * R[2][2];
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}
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bool TransformAxes(const std::array<CTVec3D, 3>& eyeAxes,
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const CTHomogeneousMatrix& transform,
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std::array<CTVec3D, 3>& robotAxes)
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{
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for (size_t i = 0; i < eyeAxes.size(); ++i) {
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robotAxes[i] = NormalizeVector(transform.transformVector(eyeAxes[i]));
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if (!IsValidVector(robotAxes[i])) {
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return false;
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}
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}
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return true;
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}
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CTRotationMatrix BuildRotationMatrix(const std::array<CTVec3D, 3>& axes)
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{
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CTRotationMatrix rotation;
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rotation.at(0, 0) = axes[0].x;
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rotation.at(0, 1) = axes[1].x;
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rotation.at(0, 2) = axes[2].x;
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rotation.at(1, 0) = axes[0].y;
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rotation.at(1, 1) = axes[1].y;
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rotation.at(1, 2) = axes[2].y;
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rotation.at(2, 0) = axes[0].z;
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rotation.at(2, 1) = axes[1].z;
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rotation.at(2, 2) = axes[2].z;
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return rotation;
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}
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}
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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::DetectScrew(
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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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const RobotPose6D& robotPose,
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const HandEyeExtrinsic& extrinsic,
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int poseOutputOrder,
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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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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()) {
|
||
LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
|
||
const double rodDiameter = algoParams.rodDiameter;
|
||
const bool isHorizonScan = algoParams.isHorizonScan;
|
||
const SSG_cornerParam& cornerParam = algoParams.cornerParam;
|
||
const SSG_treeGrowParam& growParam = algoParams.growParam;
|
||
const SSG_outlierFilterParam& filterParam = algoParams.filterParam;
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f]\n",
|
||
clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
|
||
clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
|
||
clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
|
||
clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
|
||
|
||
LOG_INFO("[Algo Thread] Screw: rodDiameter=%.1f, isHorizonScan=%s\n", rodDiameter, isHorizonScan ? "true" : "false");
|
||
LOG_INFO("[Algo Thread] Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
|
||
cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
|
||
cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
|
||
LOG_INFO("[Algo Thread] Tree Grow: yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f, minLTypeTreeLen=%.1f, minVTypeTreeLen=%.1f\n",
|
||
growParam.yDeviation_max, growParam.zDeviation_max, growParam.maxLineSkipNum,
|
||
growParam.maxSkipDistance, growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
|
||
LOG_INFO("[Algo Thread] Filter: continuityTh=%.1f, outlierTh=%.1f\n", filterParam.continuityTh, filterParam.outlierTh);
|
||
LOG_INFO("[Algo Thread] Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f\n",
|
||
extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ);
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before sx_hexHeadScrewMeasure \n");
|
||
|
||
std::vector<SSX_rodPoseInfo> screwInfo;
|
||
sx_hexHeadScrewMeasure(
|
||
xyzData,
|
||
isHorizonScan,
|
||
cornerParam,
|
||
filterParam,
|
||
growParam,
|
||
rodDiameter,
|
||
screwInfo,
|
||
&errCode);
|
||
|
||
LOG_DEBUG("after sx_hexHeadScrewMeasure \n");
|
||
LOG_INFO("sx_hexHeadScrewMeasure: detected %zu screws, err=%d runtime=%.3fms\n",
|
||
screwInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
detectionResult.success = true;
|
||
detectionResult.errorCode = 0;
|
||
detectionResult.message = QStringLiteral("\u68c0\u6d4b\u6210\u529f");
|
||
const CTHomogeneousMatrix handEyeMatrix = BuildHandEyeMatrix(clibMatrix);
|
||
const CTEulerOrder order = static_cast<CTEulerOrder>(extrinsic.eulerOrder);
|
||
|
||
double rx, ry, rz;
|
||
ResolveRobotPoseAnglesDegrees(robotPose, poseOutputOrder, rx, ry, rz);
|
||
const CTRobotPose flangePose = CTRobotPose::fromDegrees(robotPose.x, robotPose.y, robotPose.z, rx, ry, rz);
|
||
// flangePose.rx/ry/rz 已经是真实轴角，可直接交给 sixAxisEyeInHandBuildTransform 按 eulerOrder 组装。
|
||
const CTHomogeneousMatrix eyeInHandTransform = CCoordinateTransform::sixAxisEyeInHandBuildTransform(
|
||
flangePose, order, handEyeMatrix);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] Robot flange pose fields: X=%.3f, Y=%.3f, Z=%.3f, RX=%.3f, RY=%.3f, RZ=%.3f (eulerOrder=%d)\n",
|
||
robotPose.x, robotPose.y, robotPose.z, rx, ry, rz, static_cast<int>(order));
|
||
}
|
||
|
||
std::vector<std::pair<double, double>> approachEyeXY;
|
||
approachEyeXY.reserve(screwInfo.size());
|
||
|
||
for (size_t i = 0; i < screwInfo.size(); ++i) {
|
||
const auto& screw = screwInfo[i];
|
||
|
||
const CTVec3D eyeCenter = ToCTVec3D(screw.center);
|
||
const CTVec3D eyeAxialDir = NormalizeVector(ToCTVec3D(screw.axialDir));
|
||
const CTVec3D robotCenter = eyeInHandTransform.transformPoint(eyeCenter);
|
||
const CTVec3D robotAxialDir = NormalizeVector(eyeInHandTransform.transformVector(eyeAxialDir));
|
||
|
||
// 接近点：Eye 系沿螺杆轴偏移 offset，再经 T 变换到 Robot 系；姿态与目标点共用。
|
||
const double offset = extrinsic.approachOffset;
|
||
const CTVec3D eyeApproach(eyeCenter.x + eyeAxialDir.x * offset,
|
||
eyeCenter.y + eyeAxialDir.y * offset,
|
||
eyeCenter.z + eyeAxialDir.z * offset);
|
||
const CTVec3D robotApproach = eyeInHandTransform.transformPoint(eyeApproach);
|
||
approachEyeXY.emplace_back(eyeApproach.x, eyeApproach.y);
|
||
|
||
// 姿态：以螺杆轴为 X 轴构建正交三元组 → 标定补偿 → 变换到 Robot 系 → 提欧拉角。
|
||
std::array<CTVec3D, 3> eyeAxes;
|
||
if (!BuildFrameFromXAxis(eyeAxialDir, eyeAxes)) {
|
||
LOG_WARNING("[Algo Thread] Screw %zu: 无法由轴向构建坐标系，已跳过\n", i);
|
||
continue;
|
||
}
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
const CTRotationMatrix eyeRotationBefore = BuildRotationMatrix(eyeAxes);
|
||
double eyeRollBefore = 0.0;
|
||
double eyePitchBefore = 0.0;
|
||
double eyeYawBefore = 0.0;
|
||
RotationMatrixToConfiguredEulerDegrees(eyeRotationBefore, order, eyeRollBefore, eyePitchBefore, eyeYawBefore);
|
||
LOG_INFO("[Algo Thread] Screw %zu Eye Euler before compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
|
||
i, static_cast<int>(order), eyeRollBefore, eyePitchBefore, eyeYawBefore);
|
||
}
|
||
ApplyAxesRotation(eyeAxes, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ);
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
const CTRotationMatrix eyeRotationAfter = BuildRotationMatrix(eyeAxes);
|
||
double eyeRollAfter = 0.0;
|
||
double eyePitchAfter = 0.0;
|
||
double eyeYawAfter = 0.0;
|
||
RotationMatrixToConfiguredEulerDegrees(eyeRotationAfter, order, eyeRollAfter, eyePitchAfter, eyeYawAfter);
|
||
LOG_INFO("[Algo Thread] Screw %zu Eye Euler after compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
|
||
i, static_cast<int>(order), eyeRollAfter, eyePitchAfter, eyeYawAfter);
|
||
}
|
||
std::array<CTVec3D, 3> robotAxes;
|
||
if (!TransformAxes(eyeAxes, eyeInHandTransform, robotAxes)) {
|
||
LOG_WARNING("[Algo Thread] Screw %zu: 轴变换到机器人坐标系失败，已跳过\n", i);
|
||
continue;
|
||
}
|
||
const CTRotationMatrix rotation = BuildRotationMatrix(robotAxes);
|
||
|
||
ScrewPosition pos;
|
||
pos.x = robotCenter.x;
|
||
pos.y = robotCenter.y;
|
||
pos.z = robotCenter.z;
|
||
pos.approachX = robotApproach.x;
|
||
pos.approachY = robotApproach.y;
|
||
pos.approachZ = robotApproach.z;
|
||
RotationMatrixToConfiguredEulerDegrees(rotation, order, pos.roll, pos.pitch, pos.yaw);
|
||
// 拍照姿态作参考，把 gimbal lock / 多解区的解拉回拍照姿态附近，减少机械臂旋转量。
|
||
ResolveGimbalAmbiguity(pos.roll, pos.pitch, pos.yaw, rx, rz);
|
||
detectionResult.positions.push_back(pos);
|
||
|
||
ScrewInfo info;
|
||
info.centerX = robotCenter.x;
|
||
info.centerY = robotCenter.y;
|
||
info.centerZ = robotCenter.z;
|
||
info.axialDirX = robotAxialDir.x;
|
||
info.axialDirY = robotAxialDir.y;
|
||
info.axialDirZ = robotAxialDir.z;
|
||
info.rotateAngle = pos.roll;
|
||
detectionResult.screwInfoList.push_back(info);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] Screw %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", i, screw.center.x, screw.center.y, screw.center.z);
|
||
LOG_INFO("[Algo Thread] Screw %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f/%.2f/%.2f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
|
||
LOG_INFO("[Algo Thread] Screw %zu Axial Dir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", i, screw.axialDir.x, screw.axialDir.y, screw.axialDir.z);
|
||
LOG_INFO("[Algo Thread] Screw %zu Axial Dir Robot: X=%.3f, Y=%.3f, Z=%.3f\n", i, robotAxialDir.x, robotAxialDir.y, robotAxialDir.z);
|
||
LOG_INFO("[Algo Thread] Screw %zu Approach (offset=%.2f): X=%.2f, Y=%.2f, Z=%.2f\n", i, offset, pos.approachX, pos.approachY, pos.approachZ);
|
||
}
|
||
}
|
||
|
||
detectionResult.image = BuildScrewPointCloudImage(xyzData, screwInfo, &approachEyeXY);
|
||
|
||
SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("Image"));
|
||
return SUCCESS;
|
||
}
|
||
|
||
int DetectPresenter::DetectToolDisk(
|
||
int cameraIndex,
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
|
||
const VrAlgorithmParams& algorithmParams,
|
||
const VrDebugParam& debugParam,
|
||
LaserDataLoader& dataLoader,
|
||
const double clibMatrix[16],
|
||
const RobotPose6D& robotPose,
|
||
const HandEyeExtrinsic& extrinsic,
|
||
int poseOutputOrder,
|
||
DetectionResult& detectionResult)
|
||
{
|
||
if (laserLines.empty()) {
|
||
LOG_WARNING("No laser lines data available for tool disk detection\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert tool disk data to XYZ format or no XYZ data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 构造算法参数（与螺杆检测共享 cornerParam）
|
||
const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
|
||
const SSG_cornerParam& cornerParam = algoParams.cornerParam;
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] ToolDisk clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f]\n",
|
||
clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
|
||
clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
|
||
clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
|
||
clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
|
||
|
||
LOG_INFO("[Algo Thread] ToolDisk Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f\n",
|
||
cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap, cornerParam.minEndingGap_z);
|
||
LOG_INFO("[Algo Thread] ToolDisk Pose Config: eulerOrder=%d, poseOutputOrder=%d, rotX=%.3f, rotY=%.3f, rotZ=%.3f\n",
|
||
extrinsic.eulerOrder, poseOutputOrder, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ);
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before sx_getLocationPlatePose\n");
|
||
|
||
SSX_platePoseInfo poseInfo = sx_getLocationPlatePose(xyzData, cornerParam, &errCode);
|
||
|
||
LOG_DEBUG("after sx_getLocationPlatePose\n");
|
||
LOG_INFO("sx_getLocationPlatePose: err=%d runtime=%.3fms\n", errCode, oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
detectionResult.success = true;
|
||
detectionResult.errorCode = 0;
|
||
detectionResult.message = QStringLiteral("工具盘检测成功");
|
||
const CTHomogeneousMatrix handEyeMatrix = BuildHandEyeMatrix(clibMatrix);
|
||
const CTEulerOrder order = static_cast<CTEulerOrder>(extrinsic.eulerOrder);
|
||
|
||
double rx, ry, rz;
|
||
ResolveRobotPoseAnglesDegrees(robotPose, poseOutputOrder, rx, ry, rz);
|
||
const CTRobotPose flangePose = CTRobotPose::fromDegrees( robotPose.x, robotPose.y, robotPose.z, rx, ry, rz);
|
||
// flangePose.rx/ry/rz 已经是真实轴角，可直接交给 sixAxisEyeInHandBuildTransform 按 eulerOrder 组装。
|
||
const CTHomogeneousMatrix eyeInHandTransform = CCoordinateTransform::sixAxisEyeInHandBuildTransform(
|
||
flangePose, order, handEyeMatrix);
|
||
|
||
// 将定位盘中心点通过手眼标定转换为机器人坐标
|
||
const CTVec3D robotCenter = eyeInHandTransform.transformPoint(ToCTVec3D(poseInfo.center));
|
||
const CTVec3D eyeXAxis = NormalizeVector(ToCTVec3D(poseInfo.xDir));
|
||
const CTVec3D eyeYAxis = NormalizeVector(ToCTVec3D(poseInfo.yDir));
|
||
const CTVec3D eyeNormalDir = NormalizeVector(ToCTVec3D(poseInfo.normalDir));
|
||
|
||
ScrewPosition pos;
|
||
pos.x = robotCenter.x;
|
||
pos.y = robotCenter.y;
|
||
pos.z = robotCenter.z;
|
||
// 接近点：Eye 系沿工具盘 X 轴偏移 offset，再经 T 变换到 Robot 系；姿态与目标点共用。
|
||
const double offset = extrinsic.approachOffset;
|
||
const CTVec3D eyeCenter = ToCTVec3D(poseInfo.center);
|
||
const CTVec3D eyeApproach(eyeCenter.x + eyeXAxis.x * offset, eyeCenter.y + eyeXAxis.y * offset, eyeCenter.z + eyeXAxis.z * offset);
|
||
const CTVec3D robotApproach = eyeInHandTransform.transformPoint(eyeApproach);
|
||
pos.approachX = robotApproach.x;
|
||
pos.approachY = robotApproach.y;
|
||
pos.approachZ = robotApproach.z;
|
||
const std::pair<double, double> approachEyeXY(eyeApproach.x, eyeApproach.y);
|
||
|
||
// 姿态：三轴直接取算法输出 → 标定补偿 → 变换到 Robot 系 → 提欧拉角。
|
||
std::array<CTVec3D, 3> eyeAxes = {eyeXAxis, eyeYAxis, eyeNormalDir};
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
const CTRotationMatrix eyeRotationBefore = BuildRotationMatrix(eyeAxes);
|
||
double eyeRollBefore = 0.0;
|
||
double eyePitchBefore = 0.0;
|
||
double eyeYawBefore = 0.0;
|
||
RotationMatrixToConfiguredEulerDegrees(eyeRotationBefore, order, eyeRollBefore, eyePitchBefore, eyeYawBefore);
|
||
LOG_INFO("[Algo Thread] ToolDisk Eye Euler before compensation (order=%d): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
|
||
static_cast<int>(order), eyeRollBefore, eyePitchBefore, eyeYawBefore);
|
||
}
|
||
ApplyAxesRotation(eyeAxes, extrinsic.rotX, extrinsic.rotY, extrinsic.rotZ);
|
||
std::array<CTVec3D, 3> robotAxes;
|
||
if (!TransformAxes(eyeAxes, eyeInHandTransform, robotAxes)) {
|
||
LOG_WARNING("[Algo Thread] ToolDisk: 轴变换到机器人坐标系失败\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
const CTRotationMatrix robotRotation = BuildRotationMatrix(robotAxes);
|
||
RotationMatrixToConfiguredEulerDegrees(robotRotation, order, pos.roll, pos.pitch, pos.yaw);
|
||
// 拍照姿态作参考，把 gimbal lock / 多解区的解拉回拍照姿态附近，减少机械臂旋转量。
|
||
ResolveGimbalAmbiguity(pos.roll, pos.pitch, pos.yaw, rx, rz);
|
||
detectionResult.positions.push_back(pos);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
const CTRotationMatrix eyeRotation = BuildRotationMatrix(eyeAxes);
|
||
double eyeRoll = 0.0;
|
||
double eyePitch = 0.0;
|
||
double eyeYaw = 0.0;
|
||
RotationMatrixToConfiguredEulerDegrees(eyeRotation, order, eyeRoll, eyePitch, eyeYaw);
|
||
|
||
LOG_INFO("[Algo Thread] === Tool Disk Pose Debug ===\n");
|
||
LOG_INFO("[Algo Thread] Eye Rotation Matrix:\n");
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", eyeRotation.at(0, 0), eyeRotation.at(0, 1), eyeRotation.at(0, 2));
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", eyeRotation.at(1, 0), eyeRotation.at(1, 1), eyeRotation.at(1, 2));
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", eyeRotation.at(2, 0), eyeRotation.at(2, 1), eyeRotation.at(2, 2));
|
||
LOG_INFO("[Algo Thread] Eye Pos: (%.6f, %.6f, %.6f)\n", poseInfo.center.x, poseInfo.center.y, poseInfo.center.z);
|
||
LOG_INFO("[Algo Thread] Eye Euler after compensation (order=%d ): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
|
||
static_cast<int>(order), eyeRoll, eyePitch, eyeYaw);
|
||
|
||
LOG_INFO("[Algo Thread] Robot Rotation Matrix:\n");
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", robotRotation.at(0, 0), robotRotation.at(0, 1), robotRotation.at(0, 2));
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", robotRotation.at(1, 0), robotRotation.at(1, 1), robotRotation.at(1, 2));
|
||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", robotRotation.at(2, 0), robotRotation.at(2, 1), robotRotation.at(2, 2));
|
||
LOG_INFO("[Algo Thread] Robot Pos: (%.6f, %.6f, %.6f)\n", robotCenter.x, robotCenter.y, robotCenter.z);
|
||
LOG_INFO("[Algo Thread] Robot Pos Euler (order=%d ): Roll=%.3f, Pitch=%.3f, Yaw=%.3f\n",
|
||
static_cast<int>(order), pos.roll, pos.pitch, pos.yaw);
|
||
LOG_INFO("[Algo Thread] ToolDisk Approach (offset=%.2f): X=%.2f, Y=%.2f, Z=%.2f\n",
|
||
offset, pos.approachX, pos.approachY, pos.approachZ);
|
||
}
|
||
|
||
detectionResult.image = BuildToolDiskPointCloudImage(xyzData, poseInfo, true, &approachEyeXY);
|
||
|
||
SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("ToolDisk_Image"));
|
||
return SUCCESS;
|
||
}
|