72 lines
2.4 KiB
C
72 lines
2.4 KiB
C
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#ifndef IYHOLEPITPOSITIONSTATUS_H
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#define IYHOLEPITPOSITIONSTATUS_H
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#include <string>
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#include <functional>
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#include <vector>
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#include <QImage>
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#include <QMetaType>
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#include "IVisionApplicationStatus.h"
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/**
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* @brief 凹坑孔定位详细结果数据
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*/
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struct HoleResultData {
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float centerX = 0.0f, centerY = 0.0f, centerZ = 0.0f; // 孔洞中心
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float normalX = 0.0f, normalY = 0.0f, normalZ = 0.0f; // 法向量
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float radius = 0.0f; // 半径 (mm)
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float depth = 0.0f; // 深度 (mm)
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float eccentricity = 0.0f; // 离心率
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float radiusVariance = 0.0f; // 半径方差
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float angularSpan = 0.0f; // 角度跨度
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float qualityScore = 0.0f; // 质量分数 (0-1)
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HoleResultData() = default;
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HoleResultData(const HoleResultData&) = default;
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HoleResultData& operator=(const HoleResultData&) = default;
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};
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// 孔位置结构体（机器人坐标系下的6DOF位姿）
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struct HolePosition : public PositionData<double> {
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HolePosition() : PositionData<double>() {}
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HolePosition(double _x, double _y, double _z, double _roll, double _pitch, double _yaw)
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: PositionData<double>(_x, _y, _z, _roll, _pitch, _yaw) {}
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HolePosition(const HolePosition&) = default;
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HolePosition& operator=(const HolePosition&) = default;
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HolePosition(const PositionData<double>& pos)
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: PositionData<double>(pos) {}
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};
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// 凹坑孔定位检测结果结构体
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struct HoleDetectionResult : public DetectionResultData<HolePosition> {
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std::vector<HoleResultData> holeDetails;
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int totalCandidates = 0;
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int filteredCount = 0;
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HoleDetectionResult() = default;
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HoleDetectionResult(const HoleDetectionResult&) = default;
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HoleDetectionResult& operator=(const HoleDetectionResult&) = default;
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};
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// 状态回调接口
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class IYHolePitPositionStatus : public IVisionApplicationStatus<HoleDetectionResult>
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{
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public:
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virtual ~IYHolePitPositionStatus() = default;
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};
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// 类型别名，供外部使用统一命名
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using HolePitPositionResult = HoleDetectionResult;
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using HolePitPosition = HolePosition;
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using HolePitResultData = HoleResultData;
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Q_DECLARE_METATYPE(HoleDetectionResult)
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Q_DECLARE_METATYPE(HolePosition)
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Q_DECLARE_METATYPE(HoleResultData)
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#endif // IYHOLEPITPOSITIONSTATUS_H
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