GrabBag/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp

#include "DetectPresenter.h"
#include "rodAndBarDetection_Export.h"
#include "AlgoParamConverter.h"
#include <fstream>
#define _USE_MATH_DEFINES
#include <cmath>
#include <QPainter>
#include <QPen>
#include <QColor>

DetectPresenter::DetectPresenter(/* args */)
{
    LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_rodAndBarDetectionVersion());
}

DetectPresenter::~DetectPresenter()
{
}

QString DetectPresenter::GetAlgoVersion()
{
    return QString(wd_rodAndBarDetectionVersion());
}

int DetectPresenter::DetectRod(
    int cameraIndex,
    std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
    const VrAlgorithmParams& algorithmParams,
    const VrDebugParam& debugParam,
    LaserDataLoader& dataLoader,
    const double clibMatrix[16],
    DetectionResult& detectionResult)
{
    if (laserLines.empty()) {
        LOG_WARNING("No laser lines data available\n");
        return ERR_CODE(DEV_DATA_INVALID);
    }

    // 获取当前相机的校准参数
    VrCameraPlaneCalibParam cameraCalibParamValue;
    const VrCameraPlaneCalibParam* cameraCalibParam = nullptr;
    if (algorithmParams.planeCalibParam.GetCameraCalibParam(cameraIndex, cameraCalibParamValue)) {
        cameraCalibParam = &cameraCalibParamValue;
    }

    // 保存debug数据
    std::string timeStamp = CVrDateUtils::GetNowTime();
    if(debugParam.enableDebug && debugParam.savePointCloud){
        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");

        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";

        // 直接使用统一格式保存数据
        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
    }

    int nRet = SUCCESS;

    // 转换为算法需要的XYZ格式
    std::vector<std::vector<SVzNL3DPosition>> xyzData;
    int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
    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);
    }

    // 使用 AlgoParamConverter 进行参数转换
    SSX_rodParam rodParam = AlgoParamConverter::ToAlgoParam(algorithmParams.rodParam);
    SSG_cornerParam cornerParam = AlgoParamConverter::ToAlgoParam(algorithmParams.cornerParam);
    SSG_treeGrowParam growParam = AlgoParamConverter::ToAlgoParam(algorithmParams.growParam);
    SSG_outlierFilterParam filterParam = AlgoParamConverter::ToAlgoParam(algorithmParams.filterParam);

    // 构建平面标定参数
    SSG_planeCalibPara poseCalibPara = AlgoParamConverter::ToAlgoPlaneCalibParam(cameraCalibParam);

    if(debugParam.enableDebug && debugParam.printDetailLog)
    {
        AlgoParamConverter::LogAlgoParams("[Algo Thread]", rodParam, cornerParam, filterParam, growParam, clibMatrix);
    }

    int errCode = 0;
    CVrTimeUtils oTimeUtils;

    LOG_DEBUG("before sx_rodPositioning \n");

    // 调用棒材定位算法
    std::vector<SSX_rodPositionInfo> rodInfo;
    sx_rodPositioning(
        xyzData,
        poseCalibPara,
        cornerParam,
        filterParam,
        growParam,
        rodParam,
        rodInfo,
        &errCode);

    LOG_DEBUG("after sx_rodPositioning \n");

    LOG_INFO("sx_rodPositioning: detected %zu rods, err=%d runtime=%.3fms\n",
             rodInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
    ERR_CODE_RETURN(errCode);

    // 构建检测结果：生成点云图像
    // 1. 获取所有棒材的中心点用于可视化
    std::vector<std::vector<SVzNL3DPoint>> objOps;
    std::vector<SVzNL3DPoint> rodCenters;

    for (const auto& rod : rodInfo) {
        SVzNL3DPoint pt;
        pt.x = rod.center.x;
        pt.y = rod.center.y;
        pt.z = rod.center.z;
        rodCenters.push_back(pt);
    }
    if (!rodCenters.empty()) {
        objOps.push_back(rodCenters);
    }

    // 从点云数据生成投影图像（10cm边界）
    detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, 100.0);

    // 在图像上绘制棒材的轴向方向线
    if (!detectionResult.image.isNull() && !rodInfo.empty()) {
        QPainter painter(&detectionResult.image);
        painter.setRenderHint(QPainter::Antialiasing);

        // 计算点云范围（与PointCloudImageUtils相同的方式）
        double xMin = 1e10, xMax = -1e10, yMin = 1e10, yMax = -1e10;
        for (const auto& line : xyzData) {
            for (const auto& pt : line) {
                if (pt.pt3D.z < 1e-4) continue;
                xMin = std::min(xMin, (double)pt.pt3D.x);
                xMax = std::max(xMax, (double)pt.pt3D.x);
                yMin = std::min(yMin, (double)pt.pt3D.y);
                yMax = std::max(yMax, (double)pt.pt3D.y);
            }
        }

        // 扩展边界（与GeneratePointCloudRetPointImage相同）
        double margin = 100.0;  // 10cm = 100mm
        xMin -= margin;
        xMax += margin;
        yMin -= margin;
        yMax += margin;

        // 使用与GeneratePointCloudRetPointImage相同的参数
        int imgRows = detectionResult.image.height();
        int imgCols = detectionResult.image.width();
        int x_skip = 50;
        int y_skip = 50;

        // 计算投影比例（与PointCloudImageUtils相同的方式）
        double y_rows = (double)(imgRows - y_skip * 2);
        double x_cols = (double)(imgCols - x_skip * 2);
        double x_scale = (xMax - xMin) / x_cols;
        double y_scale = (yMax - yMin) / y_rows;

        // 使用统一的比例尺
        double scale = std::max(x_scale, y_scale);
        x_scale = scale;
        y_scale = scale;

        // 计算点云在图像中居中的偏移量（与PointCloudImageUtils一致）
        double cloudWidth = (xMax - xMin) / scale;
        double cloudHeight = (yMax - yMin) / scale;
        int x_offset = x_skip + (int)((x_cols - cloudWidth) / 2);
        int y_offset = y_skip + (int)((y_rows - cloudHeight) / 2);

        // 转换3D坐标到图像坐标的lambda函数（使用居中偏移）
        auto toImageCoord = [&](const SVzNL3DPoint& pt) -> QPointF {
            int px = (int)((pt.x - xMin) / x_scale + x_offset);
            int py = (int)((pt.y - yMin) / y_scale + y_offset);
            return QPointF(px, py);
        };

        // 绘制棒材的轴向方向线
        for (const auto& rod : rodInfo) {
            // 绘制轴向方向线（红色）
            double len = 60;
            QPen axisPen(QColor(255, 0, 0), 2);
            painter.setPen(axisPen);

            SVzNL3DPoint pt0 = { rod.center.x - len * rod.axialDir.x,
                                 rod.center.y - len * rod.axialDir.y,
                                 rod.center.z - len * rod.axialDir.z };
            SVzNL3DPoint pt1 = { rod.center.x + len * rod.axialDir.x,
                                 rod.center.y + len * rod.axialDir.y,
                                 rod.center.z + len * rod.axialDir.z };

            QPointF imgPt0 = toImageCoord(pt0);
            QPointF imgPt1 = toImageCoord(pt1);
            painter.drawLine(imgPt0, imgPt1);

            // 绘制起点到终点线段（绿色）
            QPen segPen(QColor(0, 255, 0), 2);
            painter.setPen(segPen);

            SVzNL3DPoint startPt = { rod.startPt.x, rod.startPt.y, rod.startPt.z };
            SVzNL3DPoint endPt   = { rod.endPt.x,   rod.endPt.y,   rod.endPt.z   };
            QPointF imgStart = toImageCoord(startPt);
            QPointF imgEnd   = toImageCoord(endPt);
            painter.drawLine(imgStart, imgEnd);
        }
    }

    // 转换检测结果为UI显示格式（使用机械臂坐标系数据）
    for (size_t i = 0; i < rodInfo.size(); i++) {
        const auto& rod = rodInfo[i];

        // 进行坐标转换：从算法坐标系转换到机械臂坐标系
        SVzNL3DPoint targetObj;
        targetObj.x = rod.center.x;
        targetObj.y = rod.center.y;
        targetObj.z = rod.center.z;

        SVzNL3DPoint robotObj;
        CVrConvert::EyeToRobot(targetObj, robotObj, clibMatrix);

        // 创建位置数据（使用转换后的机械臂坐标）
        RodPosition pos;
        pos.x       = robotObj.x;           // 机械臂坐标X
        pos.y       = robotObj.y;           // 机械臂坐标Y
        pos.z       = robotObj.z;           // 机械臂坐标Z
        // 从轴向方向和法向方向构建旋转矩阵，提取欧拉角 (ZYX外旋)
        // X轴 = axialDir, Z轴 = normalDir, Y轴 = cross(Z, X)
        double ax = rod.axialDir.x, ay = rod.axialDir.y, az = rod.axialDir.z;
        double nx = rod.normalDir.x, ny = rod.normalDir.y, nz = rod.normalDir.z;
        // Y = cross(normal, axial)
        double yx = ny * az - nz * ay;
        double yy = nz * ax - nx * az;
        double yz = nx * ay - ny * ax;
        // 旋转矩阵 R = [axialDir | Y | normalDir] (列向量)
        // R[0][0]=ax, R[1][0]=ay, R[2][0]=az  (第一列: X轴=axialDir)
        // R[0][1]=yx, R[1][1]=yy, R[2][1]=yz  (第二列: Y轴)
        // R[0][2]=nx, R[1][2]=ny, R[2][2]=nz  (第三列: Z轴=normalDir)
        // ZYX外旋欧拉角提取:
        // pitch = -asin(R[2][0])
        // roll  = atan2(R[2][1], R[2][2])
        // yaw   = atan2(R[1][0], R[0][0])
        double sinPitch = -az;  // R[2][0] = az
        if (sinPitch > 1.0) sinPitch = 1.0;
        if (sinPitch < -1.0) sinPitch = -1.0;
        pos.pitch = asin(sinPitch) * 180.0 / M_PI;
        pos.roll  = atan2(yz, nz) * 180.0 / M_PI;   // atan2(R[2][1], R[2][2])
        pos.yaw   = atan2(ay, ax) * 180.0 / M_PI;   // atan2(R[1][0], R[0][0])

        detectionResult.positions.push_back(pos);

        // 保存棒材信息
        RodInfo info;
        info.centerX = robotObj.x;
        info.centerY = robotObj.y;
        info.centerZ = robotObj.z;
        info.axialDirX = rod.axialDir.x;
        info.axialDirY = rod.axialDir.y;
        info.axialDirZ = rod.axialDir.z;
        info.normalDirX = rod.normalDir.x;
        info.normalDirY = rod.normalDir.y;
        info.normalDirZ = rod.normalDir.z;
        info.startPtX = rod.startPt.x;
        info.startPtY = rod.startPt.y;
        info.startPtZ = rod.startPt.z;
        info.endPtX = rod.endPt.x;
        info.endPtY = rod.endPt.y;
        info.endPtZ = rod.endPt.z;
        detectionResult.rodInfoList.push_back(info);

        if(debugParam.enableDebug && debugParam.printDetailLog){
            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);
            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);
            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);
            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);
        }
    }

    if(debugParam.enableDebug && debugParam.saveDebugImage){
        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
        std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
        LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());

        // 保存检测结果图片
        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;
}