446 lines
16 KiB
C++
446 lines
16 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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#define _USE_MATH_DEFINES
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#include <cmath>
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#include <memory>
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#include <QPainter>
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#include <QPen>
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#include <QColor>
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namespace
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{
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constexpr double kVectorNormEpsilon = 1e-6;
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HECPoint3D MakeHecPoint(double x, double y, double z)
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{
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return HECPoint3D(x, y, z);
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}
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HECPoint3D CrossProduct(const HECPoint3D& a, const HECPoint3D& b)
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{
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return HECPoint3D(
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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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double DotProduct(const HECPoint3D& a, const HECPoint3D& 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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bool NormalizeInPlace(HECPoint3D& v)
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{
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const double norm = v.norm();
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if (norm < kVectorNormEpsilon) {
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return false;
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}
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v = v / norm;
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return true;
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}
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void ApplyDirVectorInvert(std::vector<HECPoint3D>& dirVectors, int dirVectorInvert)
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{
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switch (dirVectorInvert) {
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case 1:
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dirVectors[0] = dirVectors[0] * (-1.0);
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dirVectors[1] = dirVectors[1] * (-1.0);
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break;
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case 2:
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dirVectors[0] = dirVectors[0] * (-1.0);
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dirVectors[2] = dirVectors[2] * (-1.0);
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break;
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case 3:
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dirVectors[1] = dirVectors[1] * (-1.0);
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dirVectors[2] = dirVectors[2] * (-1.0);
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break;
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case 0:
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default:
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break;
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}
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}
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bool BuildRightHandedFrameFromXZ(const HECPoint3D& xSeed,
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const HECPoint3D& zSeed,
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std::vector<HECPoint3D>& dirVectors)
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{
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HECPoint3D xAxis = xSeed;
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HECPoint3D zAxis = zSeed;
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if (!NormalizeInPlace(xAxis) || !NormalizeInPlace(zAxis)) {
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return false;
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}
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zAxis = zAxis - xAxis * DotProduct(xAxis, zAxis);
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if (!NormalizeInPlace(zAxis)) {
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return false;
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}
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HECPoint3D yAxis = CrossProduct(zAxis, xAxis);
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if (!NormalizeInPlace(yAxis)) {
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return false;
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}
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zAxis = CrossProduct(xAxis, yAxis);
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if (!NormalizeInPlace(zAxis)) {
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return false;
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}
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dirVectors = { xAxis, yAxis, zAxis };
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return true;
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}
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HECRotationMatrix BuildRotationMatrixFromAxes(const std::vector<HECPoint3D>& dirVectors)
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{
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HECRotationMatrix rotation;
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rotation.at(0, 0) = dirVectors[0].x;
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rotation.at(0, 1) = dirVectors[1].x;
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rotation.at(0, 2) = dirVectors[2].x;
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rotation.at(1, 0) = dirVectors[0].y;
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rotation.at(1, 1) = dirVectors[1].y;
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rotation.at(1, 2) = dirVectors[2].y;
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rotation.at(2, 0) = dirVectors[0].z;
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rotation.at(2, 1) = dirVectors[1].z;
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rotation.at(2, 2) = dirVectors[2].z;
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return rotation;
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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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HECCalibResult ToHandEyeCalibResult(const double clibMatrix[16])
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{
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HECCalibResult calibResult;
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for (int i = 0; i < 3; ++i) {
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for (int j = 0; j < 3; ++j) {
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calibResult.R.at(i, j) = clibMatrix[i * 4 + j];
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}
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calibResult.T.at(i) = clibMatrix[i * 4 + 3];
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}
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return calibResult;
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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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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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// 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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// 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 = ToHandEyeCalibResult(clibMatrix);
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const HECEulerOrder hecEulerOrder = ToHandEyeEulerOrder(eulerOrder);
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// 构建检测结果：生成点云图像
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// 1. 获取所有棒材的中心点用于可视化
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std::vector<std::vector<SVzNL3DPoint>> objOps;
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std::vector<SVzNL3DPoint> rodCenters;
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for (const auto& rod : rodInfo) {
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SVzNL3DPoint pt;
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pt.x = rod.center.x;
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pt.y = rod.center.y;
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pt.z = rod.center.z;
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rodCenters.push_back(pt);
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}
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if (!rodCenters.empty()) {
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objOps.push_back(rodCenters);
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}
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// 从点云数据生成投影图像（10cm边界）
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detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, 100.0);
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// 在图像上绘制棒材的轴向方向线
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if (!detectionResult.image.isNull() && !rodInfo.empty()) {
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QPainter painter(&detectionResult.image);
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painter.setRenderHint(QPainter::Antialiasing);
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// 计算点云范围（与PointCloudImageUtils相同的方式）
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double xMin = 1e10, xMax = -1e10, yMin = 1e10, yMax = -1e10;
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for (const auto& line : xyzData) {
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for (const auto& pt : line) {
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if (pt.pt3D.z < 1e-4) continue;
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xMin = std::min(xMin, (double)pt.pt3D.x);
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xMax = std::max(xMax, (double)pt.pt3D.x);
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yMin = std::min(yMin, (double)pt.pt3D.y);
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yMax = std::max(yMax, (double)pt.pt3D.y);
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}
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}
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// 扩展边界（与GeneratePointCloudRetPointImage相同）
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double margin = 100.0; // 10cm = 100mm
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xMin -= margin;
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xMax += margin;
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yMin -= margin;
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yMax += margin;
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// 使用与GeneratePointCloudRetPointImage相同的参数
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int imgRows = detectionResult.image.height();
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int imgCols = detectionResult.image.width();
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int x_skip = 50;
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int y_skip = 50;
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// 计算投影比例（与PointCloudImageUtils相同的方式）
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double y_rows = (double)(imgRows - y_skip * 2);
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double x_cols = (double)(imgCols - x_skip * 2);
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double x_scale = (xMax - xMin) / x_cols;
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double y_scale = (yMax - yMin) / y_rows;
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// 使用统一的比例尺
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double scale = std::max(x_scale, y_scale);
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x_scale = scale;
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y_scale = scale;
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// 计算点云在图像中居中的偏移量（与PointCloudImageUtils一致）
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double cloudWidth = (xMax - xMin) / scale;
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double cloudHeight = (yMax - yMin) / scale;
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int x_offset = x_skip + (int)((x_cols - cloudWidth) / 2);
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int y_offset = y_skip + (int)((y_rows - cloudHeight) / 2);
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// 转换3D坐标到图像坐标的lambda函数（使用居中偏移）
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auto toImageCoord = [&](const SVzNL3DPoint& pt) -> QPointF {
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int px = (int)((pt.x - xMin) / x_scale + x_offset);
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int py = (int)((pt.y - yMin) / y_scale + y_offset);
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return QPointF(px, py);
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};
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// 绘制棒材的轴向方向线
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for (const auto& rod : rodInfo) {
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// 绘制轴向方向线（红色）
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double len = 60;
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QPen axisPen(QColor(255, 0, 0), 2);
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painter.setPen(axisPen);
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SVzNL3DPoint pt0 = { rod.center.x - len * rod.axialDir.x,
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rod.center.y - len * rod.axialDir.y,
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rod.center.z - len * rod.axialDir.z };
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SVzNL3DPoint pt1 = { rod.center.x + len * rod.axialDir.x,
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rod.center.y + len * rod.axialDir.y,
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rod.center.z + len * rod.axialDir.z };
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QPointF imgPt0 = toImageCoord(pt0);
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QPointF imgPt1 = toImageCoord(pt1);
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painter.drawLine(imgPt0, imgPt1);
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// 绘制起点到终点线段（绿色）
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QPen segPen(QColor(0, 255, 0), 2);
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painter.setPen(segPen);
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SVzNL3DPoint startPt = { rod.startPt.x, rod.startPt.y, rod.startPt.z };
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SVzNL3DPoint endPt = { rod.endPt.x, rod.endPt.y, rod.endPt.z };
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QPointF imgStart = toImageCoord(startPt);
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QPointF imgEnd = toImageCoord(endPt);
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painter.drawLine(imgStart, imgEnd);
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}
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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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// 进行坐标转换：从算法坐标系转换到机械臂坐标系
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SVzNL3DPoint targetObj;
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targetObj.x = rod.center.x;
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targetObj.y = rod.center.y;
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targetObj.z = rod.center.z;
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HECPoint3D eyePoint = MakeHecPoint(targetObj.x, targetObj.y, targetObj.z);
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HECPoint3D robotPoint;
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handEyeCalib->TransformPoint(calibResult.R, calibResult.T, eyePoint, robotPoint);
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std::vector<HECPoint3D> dirVectorsEye;
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bool validPose = BuildRightHandedFrameFromXZ(
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MakeHecPoint(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z),
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MakeHecPoint(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z),
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dirVectorsEye);
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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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dirVectorsEye = {
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HECPoint3D(1.0, 0.0, 0.0),
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HECPoint3D(0.0, 1.0, 0.0),
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HECPoint3D(0.0, 0.0, 1.0)
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};
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}
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ApplyDirVectorInvert(dirVectorsEye, dirVectorInvert);
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std::vector<HECPoint3D> dirVectorsRobot(3);
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for (int axisIdx = 0; axisIdx < 3; ++axisIdx) {
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handEyeCalib->RotatePoint(calibResult.R, dirVectorsEye[axisIdx], dirVectorsRobot[axisIdx]);
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}
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const HECRotationMatrix robotPoseR = BuildRotationMatrixFromAxes(dirVectorsRobot);
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HECEulerAngles robotEuler;
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handEyeCalib->RotationMatrixToEuler(robotPoseR, hecEulerOrder, robotEuler);
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double rollDeg = 0.0;
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double pitchDeg = 0.0;
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double yawDeg = 0.0;
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robotEuler.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 = robotPoint.x; // 机械臂坐标X
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pos.y = robotPoint.y; // 机械臂坐标Y
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pos.z = robotPoint.z; // 机械臂坐标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 = robotPoint.x;
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info.centerY = robotPoint.y;
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info.centerZ = robotPoint.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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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Rod %zu Eye Coords: 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 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);
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LOG_INFO("[Algo Thread] Rod %zu Axial Dir: X=%.3f, Y=%.3f, Z=%.3f\n", i, rod.axialDir.x, rod.axialDir.y, rod.axialDir.z);
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LOG_INFO("[Algo Thread] Rod %zu Normal Dir: X=%.3f, Y=%.3f, Z=%.3f\n", i, rod.normalDir.x, rod.normalDir.y, rod.normalDir.z);
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}
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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()) {
|
||
QString qFileName = QString::fromStdString(fileName);
|
||
detectionResult.image.save(qFileName);
|
||
} else {
|
||
LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
|
||
}
|
||
}
|
||
|
||
return nRet;
|
||
}
|