螺杆更新
This commit is contained in:
杰仔
parent
683eb03f25
commit
e9cb8681d0
@ -5,7 +5,7 @@ TEMPLATE = subdirs
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# 可用值:GrabBag,
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# BeltTearing,
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# LapWeld, Workpiece, ParticleSize,
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# BinocularMark, WorkpieceProject, TunnelChannel, WheelMeasure, ScrewPosition, BagThreadPosition, FireBrickPosition, WorkpieceHole, StatorPosition, HoleDetection, RodAndBarPosition
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# BinocularMark, WorkpieceProject, TunnelChannel, WheelMeasure, ScrewPosition, BagThreadPosition, FireBrickPosition, WorkpieceHole, StatorPosition, HoleDetection, RodAndBarPosition, RodWeldSeam
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isEmpty(TARGET_APP) {
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# 未指定则编译全部
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@ -25,6 +25,7 @@ isEmpty(TARGET_APP) {
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SUBDIRS += HoleDetection/HoleDetection.pro # 孔洞检测
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SUBDIRS += HolePitPosition/HolePitPosition.pro # 坑孔定位
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SUBDIRS += RodAndBarPosition/RodAndBarPosition.pro # 棒材定位
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SUBDIRS += RodWeldSeam/RodWeldSeam.pro # 钢筋焊缝定位
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} else {
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equals(TARGET_APP, "GrabBag") {
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SUBDIRS += GrabBag/GrabBag.pro
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@ -58,6 +59,8 @@ isEmpty(TARGET_APP) {
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SUBDIRS += HolePitPosition/HolePitPosition.pro
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} else:equals(TARGET_APP, "RodAndBarPosition") {
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SUBDIRS += RodAndBarPosition/RodAndBarPosition.pro
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} else:equals(TARGET_APP, "RodWeldSeam") {
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SUBDIRS += RodWeldSeam/RodWeldSeam.pro
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} else {
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error("无效的 TARGET_APP: $$TARGET_APP")
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}
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@ -1,10 +1,10 @@
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App下新建StatorPosition项目
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1. 复制workpieceHole进行修改
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2. 使用的算法是 @AppAlgo/motorStatorPosition
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App下新建RodWeldSeam项目
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1. 复制RodAndBarPosition进行修改
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2. 使用的算法是 @AppAlgo/rodAndBarDetection
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3. 使用VzNLSDK 设备
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4. 结果参考算法目录下*test.cpp 参数也参考这个内容
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4. 结果参考算法目录下*test.cpp rodWeldSeamPosition_test接口的测试，参数也参考这个内容
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5. 结果列表进行更新
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6. 根据算法需要的参数进行修改config，并实现从页面进行修改参数
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7. App.pro 中增加编译选项，并且在GrabBagPrj/buildArmPrj.sh编译选项
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8. 增加arm下的pkg脚本
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9. 项目的协议文档也给搞一份
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9. 项目的协议文档也给搞一份ModbusTCP的
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@ -3,7 +3,7 @@
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#define SCREWPOSITION_APP_NAME "螺杆定位"
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#define SCREWPOSITION_VERSION_STRING "1.1.9"
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#define SCREWPOSITION_VERSION_STRING "1.1.10"
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#define SCREWPOSITION_BUILD_STRING "1"
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#define SCREWPOSITION_FULL_VERSION_STRING "V" SCREWPOSITION_VERSION_STRING "_" SCREWPOSITION_BUILD_STRING
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@ -1,3 +1,7 @@
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# 1.1.10 2026-05-15
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## build_1
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1. 更新算法：螺杆检测
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# 1.1.8 2026-05-13
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## build_1
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1. 更新算法：螺杆检测
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@ -22,7 +22,7 @@ struct VrCornerParam
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double minEndingGap = 20.0;
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double minEndingGap_z = 5.0;
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double scale = 2.5;
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double cornerTh = 60.0;
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double cornerTh = 30.0;
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double jumpCornerTh_1 = 15.0;
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double jumpCornerTh_2 = 60.0;
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};
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@ -35,12 +35,12 @@ struct VrOutlierFilterParam
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struct VrTreeGrowParam
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{
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double yDeviation_max = 20.0;
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double yDeviation_max = 5.0;
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double zDeviation_max = 50.0;
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int maxLineSkipNum = 10;
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double maxSkipDistance = 20.0;
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double minLTypeTreeLen = 10.0;
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double minVTypeTreeLen = 10.0;
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double maxSkipDistance = 30.0;
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double minLTypeTreeLen = 50.0;
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double minVTypeTreeLen = 50.0;
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};
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struct VrAlgorithmParams
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@ -141,11 +141,6 @@ public:
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*/
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void StopAllDetection();
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/**
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* @brief 检查是否正在进行顺序检测
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*/
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bool IsSequentialDetecting() const { return m_sequentialDetecting; }
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/**
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* @brief 设置默认相机索引
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*/
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@ -194,19 +189,10 @@ private:
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IWheelMeasureStatus* m_statusUpdate = nullptr;
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int m_currentCameraIndex = 1; // 默认相机索引（1-based）
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// 顺序检测相关
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bool m_sequentialDetecting = false; // 是否正在顺序检测所有设备
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bool m_stopSequentialRequested = false; // 是否请求停止顺序检测
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int m_sequentialCurrentIndex = 0; // 当前顺序检测的设备索引（0-based）
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int m_sequentialTotalCount = 0; // 需要顺序检测的设备总数
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// TCP协议
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WheelMeasureTCPProtocol m_tcpProtocol; // TCP服务器协议
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bool m_tcpDetectionMode = false; // 是否为TCP触发的检测
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QMap<int, WheelMeasureTCPProtocol::CameraMeasureResult> m_tcpResults; // TCP检测结果缓存
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// 继续检测下一个设备
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void continueSequentialDetection();
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};
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#endif // WHEELMEASUREPRESENTER_H
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@ -36,9 +36,8 @@ WheelMeasurePresenter::~WheelMeasurePresenter()
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// 清除状态回调，防止后续回调访问已销毁对象
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m_statusUpdate = nullptr;
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// 停止顺序检测
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m_stopSequentialRequested = true;
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m_sequentialDetecting = false;
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// 停止检测
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StopDetection();
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// 处理待处理的 Qt 事件，确保 QueuedConnection 的回调不会访问已销毁对象
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QCoreApplication::processEvents();
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@ -65,6 +64,9 @@ int WheelMeasurePresenter::InitApp()
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return ERR_CODE(DEV_CONFIG_ERR);
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}
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// 传入扫描配置到基类
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SetScanConfig(m_configResult.scanConfig);
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// 初始化相机
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if (!initializeCameras()) {
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LOG_ERROR("Failed to initialize cameras\n");
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@ -168,6 +170,14 @@ void WheelMeasurePresenter::OnWorkStatusChanged(WorkStatus status)
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m_statusUpdate->OnWorkStatusChanged(status);
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}
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}, Qt::QueuedConnection);
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// TCP模式下检测完成，发送所有结果
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if (status == WorkStatus::Completed && m_tcpDetectionMode) {
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LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
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QMetaObject::invokeMethod(this, [this]() {
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sendTCPMeasureResults();
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}, Qt::QueuedConnection);
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}
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}
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void WheelMeasurePresenter::OnCameraCountChanged(int count)
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@ -285,117 +295,22 @@ void WheelMeasurePresenter::ResetDetect(int cameraIndex)
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void WheelMeasurePresenter::StartAllDetection()
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{
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LOG_INFO("Starting sequential detection for all cameras\n");
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// 计算启用的相机数量
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m_sequentialTotalCount = 0;
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for (const auto& cameraConfig : m_configResult.cameras) {
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if (cameraConfig.enabled) {
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m_sequentialTotalCount++;
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}
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}
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if (m_sequentialTotalCount == 0) {
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LOG_WARNING("No enabled cameras to detect\n");
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if (m_statusUpdate) {
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m_statusUpdate->OnStatusUpdate(QString("没有可用的相机设备"));
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}
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return;
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}
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// 初始化顺序检测状态
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m_sequentialDetecting = true;
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m_stopSequentialRequested = false;
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m_sequentialCurrentIndex = 0;
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LOG_INFO("Starting all cameras detection\n");
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// 清空之前的检测结果
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if (m_statusUpdate) {
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m_statusUpdate->OnClearMeasureData();
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m_statusUpdate->OnStatusUpdate(QString("开始所有设备的检测"));
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}
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LOG_INFO("Sequential detection started, total cameras: %d\n", m_sequentialTotalCount);
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m_statusUpdate->OnStatusUpdate(QString("开始所有设备的检测"));
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// 开始检测第一个设备
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continueSequentialDetection();
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// 委托基类，根据 m_scanConfig.simultaneousCount 自动决定扫描策略
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StartDetection(-1);
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}
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void WheelMeasurePresenter::StopAllDetection()
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{
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LOG_INFO("Stop sequential detection requested\n");
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if (m_sequentialDetecting) {
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// 设置停止标志，等待当前设备检测完成后停止
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m_stopSequentialRequested = true;
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if (m_statusUpdate) {
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m_statusUpdate->OnStatusUpdate(QString("正在完成当前设备检测，之后将停止..."));
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}
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} else {
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// 如果不是顺序检测模式，直接停止
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StopDetection();
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}
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}
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void WheelMeasurePresenter::continueSequentialDetection()
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{
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// 检查是否应该停止
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if (m_stopSequentialRequested) {
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LOG_INFO("Sequential detection stopped by user request\n");
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m_sequentialDetecting = false;
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m_stopSequentialRequested = false;
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if (m_statusUpdate) {
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m_statusUpdate->OnStatusUpdate(QString("顺序检测已停止"));
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}
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SetWorkStatus(WorkStatus::Ready);
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return;
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}
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// 检查是否还有设备需要检测
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if (m_sequentialCurrentIndex >= m_sequentialTotalCount) {
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LOG_INFO("Sequential detection completed, all %d cameras processed\n", m_sequentialTotalCount);
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m_sequentialDetecting = false;
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if (m_statusUpdate) {
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m_statusUpdate->OnStatusUpdate(QString("所有 %1 个设备检测完成").arg(m_sequentialTotalCount));
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}
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SetWorkStatus(WorkStatus::Completed);
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return;
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}
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// 获取当前要检测的相机索引（1-based）
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int cameraIndex = m_sequentialCurrentIndex + 1;
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m_currentCameraIndex = cameraIndex;
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// 获取相机名称
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QString cameraName;
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int enabledIndex = 0;
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for (const auto& cameraConfig : m_configResult.cameras) {
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if (cameraConfig.enabled) {
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enabledIndex++;
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if (enabledIndex == cameraIndex) {
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cameraName = QString::fromStdString(cameraConfig.name);
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break;
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}
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}
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}
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LOG_INFO("Starting detection for camera %d/%d: %s\n",
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m_sequentialCurrentIndex + 1, m_sequentialTotalCount,
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cameraName.toStdString().c_str());
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if (m_statusUpdate) {
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m_statusUpdate->OnStatusUpdate(QString("正在检测设备 %1/%2: %3")
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.arg(m_sequentialCurrentIndex + 1)
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.arg(m_sequentialTotalCount)
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.arg(cameraName));
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}
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// 清空数据缓存
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ClearDetectionDataCache();
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// 开始检测当前相机
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StartDetection(cameraIndex);
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LOG_INFO("Stop all detection requested\n");
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StopDetection();
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}
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void WheelMeasurePresenter::OnConfigChanged(const WheelMeasureConfigResult& configResult)
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@ -403,7 +318,8 @@ void WheelMeasurePresenter::OnConfigChanged(const WheelMeasureConfigResult& conf
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LOG_INFO("Config changed notification received\n");
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m_configResult = configResult;
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// 更新基类调试参数
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// 更新基类扫描配置和调试参数
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SetScanConfig(m_configResult.scanConfig);
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SetDebugParam(m_configResult.debugParam);
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emit configUpdated();
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@ -505,13 +421,6 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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SetWorkStatus(WorkStatus::Error);
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// 如果正在进行顺序检测，继续检测下一个设备
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if (m_sequentialDetecting) {
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m_sequentialCurrentIndex++;
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QMetaObject::invokeMethod(this, [this]() {
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continueSequentialDetection();
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}, Qt::QueuedConnection);
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}
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return;
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}
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@ -595,23 +504,6 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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LOG_INFO("TCP检测结果已缓存: 相机%d, 错误码=401 (未检测到轮胎)\n", m_currentCameraIndex);
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}
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// 如果正在进行顺序检测，继续检测下一个设备
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if (m_sequentialDetecting) {
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m_sequentialCurrentIndex++;
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// TCP模式下，检查是否所有相机都检测完成
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if (m_tcpDetectionMode && m_tcpResults.size() >= m_sequentialTotalCount) {
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LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
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m_sequentialDetecting = false;
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sendTCPMeasureResults();
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} else {
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// 继续检测下一个设备
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QMetaObject::invokeMethod(this, [this]() {
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continueSequentialDetection();
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}, Qt::QueuedConnection);
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}
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}
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return;
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}
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@ -819,8 +711,6 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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m_statusUpdate->OnMeasureResult(result);
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}
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SetWorkStatus(WorkStatus::Completed);
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// 如果是TCP触发的检测，缓存结果
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if (m_tcpDetectionMode) {
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WheelMeasureTCPProtocol::CameraMeasureResult tcpResult;
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@ -842,25 +732,6 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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m_tcpResults[m_currentCameraIndex] = tcpResult;
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LOG_INFO("TCP检测结果已缓存: 相机%d, 错误码=%d\n", tcpResult.cameraId, tcpResult.errorCode);
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}
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// 如果正在进行顺序检测，继续检测下一个设备
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if (m_sequentialDetecting) {
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m_sequentialCurrentIndex++;
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// TCP模式下，检查是否所有相机都检测完成
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if (m_tcpDetectionMode && m_tcpResults.size() >= m_sequentialTotalCount) {
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LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
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// 先结束顺序检测
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m_sequentialDetecting = false;
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// 发送TCP结果
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sendTCPMeasureResults();
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} else {
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// 继续检测下一个设备
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QMetaObject::invokeMethod(this, [this]() {
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continueSequentialDetection();
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}, Qt::QueuedConnection);
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}
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}
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}
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WheelCameraPlaneCalibParam* WheelMeasurePresenter::getPlaneCalibParam(int cameraIndex)
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@ -1063,13 +934,19 @@ bool WheelMeasurePresenter::onTCPDetectionTriggered(int param)
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void WheelMeasurePresenter::sendTCPMeasureResults()
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{
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// 计算期望的相机数量
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int expectedCount = 0;
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for (const auto& cameraConfig : m_configResult.cameras) {
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if (cameraConfig.enabled) expectedCount++;
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}
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LOG_INFO("发送TCP测量结果，共 %d 个相机\n", m_tcpResults.size());
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// 构建结果向量（按相机ID排序）
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std::vector<WheelMeasureTCPProtocol::CameraMeasureResult> results;
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// 按相机ID顺序添加结果
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for (int cameraId = 1; cameraId <= m_sequentialTotalCount; ++cameraId) {
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for (int cameraId = 1; cameraId <= expectedCount; ++cameraId) {
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if (m_tcpResults.contains(cameraId)) {
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results.push_back(m_tcpResults[cameraId]);
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} else {
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@ -19,9 +19,67 @@ DialogCamera::DialogCamera(QWidget *parent) :
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// 隐藏标题栏
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// setWindowFlags(Qt::FramelessWindowHint);
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// 增加对话框高度以容纳新控件
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this->resize(700, 600);
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// 初始化表格
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InitTable();
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// ===== 添加扫描配置区域 =====
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QGroupBox* groupScan = new QGroupBox("扫描配置", this);
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groupScan->setGeometry(20, 460, 660, 60);
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groupScan->setStyleSheet(
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"QGroupBox {"
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" color: rgb(221, 225, 233);"
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" font-size: 14px;"
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" border: 1px solid rgb(60, 62, 70);"
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" border-radius: 4px;"
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" margin-top: 10px;"
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" padding-top: 15px;"
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"}"
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"QGroupBox::title {"
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" subcontrol-origin: margin;"
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" left: 10px;"
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" padding: 0 5px;"
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"}"
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);
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QLabel* labelScan = new QLabel("同时扫描数量:", groupScan);
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labelScan->setGeometry(15, 22, 130, 28);
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labelScan->setStyleSheet("color: rgb(221, 225, 233); font-size: 14px;");
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|
||||
m_spinSimultaneousCount = new QSpinBox(groupScan);
|
||||
m_spinSimultaneousCount->setGeometry(155, 18, 180, 32);
|
||||
m_spinSimultaneousCount->setMinimum(0); // 0 = 全部同时
|
||||
m_spinSimultaneousCount->setMaximum(4); // 最多4个相机
|
||||
m_spinSimultaneousCount->setValue(1); // 默认单相机
|
||||
m_spinSimultaneousCount->setStyleSheet(
|
||||
"QSpinBox {"
|
||||
" color: rgb(221, 225, 233);"
|
||||
" background-color: rgb(47, 48, 52);"
|
||||
" border: 1px solid rgb(60, 62, 70);"
|
||||
" border-radius: 3px;"
|
||||
" padding: 3px 8px;"
|
||||
" font-size: 14px;"
|
||||
"}"
|
||||
"QSpinBox::up-button, QSpinBox::down-button {"
|
||||
" width: 20px;"
|
||||
"}"
|
||||
);
|
||||
m_spinSimultaneousCount->setToolTip(
|
||||
"0 = 全部相机同时扫描\n"
|
||||
"1 = 单相机顺序扫描\n"
|
||||
"2-4 = 每批N个相机同时扫描"
|
||||
);
|
||||
|
||||
QLabel* labelHint = new QLabel("0=全部同时, 1=单相机, 2-4=每批N个", groupScan);
|
||||
labelHint->setGeometry(350, 22, 290, 28);
|
||||
labelHint->setStyleSheet("color: rgb(140, 142, 150); font-size: 12px;");
|
||||
|
||||
// 调整保存和取消按钮位置
|
||||
ui->btn_save->move(170, 540);
|
||||
ui->btn_cancel->move(370, 540);
|
||||
|
||||
// 加载已有的相机配置
|
||||
LoadExistingCameras();
|
||||
|
||||
@ -97,6 +155,11 @@ void DialogCamera::LoadExistingCameras()
|
||||
m_cameraConfigs.push_back(camera);
|
||||
}
|
||||
LOG_INFO("Loaded %zu existing cameras from config\n", m_cameraConfigs.size());
|
||||
|
||||
// 加载扫描配置
|
||||
if (m_spinSimultaneousCount) {
|
||||
m_spinSimultaneousCount->setValue(configResult->scanConfig.simultaneousCount);
|
||||
}
|
||||
} else {
|
||||
LOG_WARNING("ConfigResult is null\n");
|
||||
}
|
||||
@ -457,12 +520,20 @@ bool DialogCamera::SaveConfigToFile()
|
||||
camera.cameraIP.c_str());
|
||||
}
|
||||
|
||||
// 更新扫描配置
|
||||
if (m_spinSimultaneousCount) {
|
||||
configResult->scanConfig.simultaneousCount = m_spinSimultaneousCount->value();
|
||||
LOG_INFO(" simultaneousCount: %d\n", configResult->scanConfig.simultaneousCount);
|
||||
}
|
||||
|
||||
// 保存配置到文件
|
||||
std::string configFilePath = PathManager::GetInstance().GetConfigFilePath().toStdString();
|
||||
bool saveResult = vrConfig->SaveConfig(configFilePath, *configResult);
|
||||
|
||||
if (saveResult) {
|
||||
LOG_INFO("Camera configuration saved successfully to: %s\n", configFilePath.c_str());
|
||||
// 同步扫描配置到BasePresenter
|
||||
m_presenter->SetScanConfig(configResult->scanConfig);
|
||||
} else {
|
||||
LOG_ERROR("Failed to save camera configuration to file\n");
|
||||
}
|
||||
|
||||
@ -4,6 +4,9 @@
|
||||
#include <QDialog>
|
||||
#include <QTableWidget>
|
||||
#include <QPushButton>
|
||||
#include <QSpinBox>
|
||||
#include <QLabel>
|
||||
#include <QGroupBox>
|
||||
#include <vector>
|
||||
#include <string>
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
@ -70,6 +73,7 @@ private:
|
||||
std::vector<WheelCameraParam> m_cameraConfigs; // 相机配置列表
|
||||
const int MAX_CAMERAS = 4; // 最多支持4个相机
|
||||
WheelMeasurePresenter* m_presenter = nullptr; // Presenter用于访问配置
|
||||
QSpinBox* m_spinSimultaneousCount = nullptr; // 同时扫描数量
|
||||
};
|
||||
|
||||
#endif // DIALOGCAMERA_H
|
||||
|
||||
@ -7,6 +7,7 @@
|
||||
|
||||
#include <QThread>
|
||||
#include <QApplication>
|
||||
#include <QLabel>
|
||||
#include <QListView>
|
||||
#include <cmath>
|
||||
#include <mutex>
|
||||
@ -25,6 +26,46 @@ DialogCameraLevel::DialogCameraLevel(QWidget *parent)
|
||||
{
|
||||
ui->setupUi(this);
|
||||
|
||||
// 创建地面高度编辑控件
|
||||
QFont font14("Arial", 14);
|
||||
QFont font14Btn("Arial", 14);
|
||||
|
||||
QLabel* labelPlaneHeight = new QLabel("地面高度:", this);
|
||||
labelPlaneHeight->setFont(font14);
|
||||
labelPlaneHeight->setStyleSheet("color: rgb(221, 225, 233);");
|
||||
labelPlaneHeight->setGeometry(130, 340, 100, 31);
|
||||
|
||||
m_editPlaneHeight = new QLineEdit(this);
|
||||
m_editPlaneHeight->setFont(font14);
|
||||
m_editPlaneHeight->setStyleSheet("color: rgb(221, 225, 233); background-color: rgb(47, 48, 52);");
|
||||
m_editPlaneHeight->setGeometry(230, 340, 100, 31);
|
||||
m_editPlaneHeight->setAlignment(Qt::AlignCenter);
|
||||
|
||||
QLabel* labelPlaneHeightUnit = new QLabel("mm", this);
|
||||
labelPlaneHeightUnit->setFont(QFont("Arial", 13));
|
||||
labelPlaneHeightUnit->setStyleSheet("color: rgb(221, 225, 233);");
|
||||
labelPlaneHeightUnit->setGeometry(340, 340, 40, 31);
|
||||
|
||||
m_btnSavePlaneHeight = new QPushButton("保存", this);
|
||||
m_btnSavePlaneHeight->setFont(font14Btn);
|
||||
m_btnSavePlaneHeight->setMinimumSize(60, 31);
|
||||
m_btnSavePlaneHeight->setMaximumSize(60, 31);
|
||||
m_btnSavePlaneHeight->setGeometry(390, 340, 60, 31);
|
||||
m_btnSavePlaneHeight->setStyleSheet(
|
||||
"QPushButton {"
|
||||
" color: rgb(221, 225, 233);"
|
||||
" background-color: rgb(60, 63, 65);"
|
||||
" border: 1px solid #3B3D47;"
|
||||
" border-radius: 4px;"
|
||||
"}"
|
||||
"QPushButton:hover {"
|
||||
" background-color: rgb(80, 83, 85);"
|
||||
"}"
|
||||
"QPushButton:pressed {"
|
||||
" background-color: rgb(45, 48, 50);"
|
||||
"}");
|
||||
connect(m_btnSavePlaneHeight, &QPushButton::clicked, this, &DialogCameraLevel::on_btn_save_planeHeight_clicked);
|
||||
|
||||
// 初始化结果显示区域
|
||||
ui->label_level_result->setText("请选择相机，然后点击调平按钮\n开始相机调平操作");
|
||||
ui->label_level_result->setAlignment(Qt::AlignCenter);
|
||||
@ -67,8 +108,13 @@ void DialogCameraLevel::setConfig(IVrWheelMeasureConfig* config, WheelMeasureCon
|
||||
m_pConfig = config;
|
||||
m_pConfigResult = configResult;
|
||||
|
||||
// 重新打开页面时，从文件重新加载配置以获取最新数据
|
||||
if (m_pConfig && m_pConfigResult) {
|
||||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||||
*m_pConfigResult = m_pConfig->LoadConfig(configPath.toStdString());
|
||||
}
|
||||
|
||||
// 如果相机已经选择，重新加载当前相机的标定状态
|
||||
// 修复：打开页面时配置可能在相机列表之后设置，导致初始加载失败
|
||||
if (m_currentCameraIndex >= 0 && m_currentCameraIndex < static_cast<int>(m_cameraList.size())) {
|
||||
checkAndDisplayCalibrationStatus(m_currentCameraIndex);
|
||||
loadCameraRoiRange(m_currentCameraIndex);
|
||||
@ -281,6 +327,9 @@ bool DialogCameraLevel::performCameraLeveling()
|
||||
|
||||
void DialogCameraLevel::updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9])
|
||||
{
|
||||
// 更新地面高度编辑框
|
||||
m_editPlaneHeight->setText(QString::number(planeHeight, 'f', 2));
|
||||
|
||||
// 构建显示文本
|
||||
QString resultText;
|
||||
|
||||
@ -568,7 +617,8 @@ bool DialogCameraLevel::loadCameraCalibrationData(int cameraIndex, const QString
|
||||
}
|
||||
planeHeight = param.planeHeight;
|
||||
|
||||
// 加载该相机的误差补偿值到UI
|
||||
// 加载该相机的地面高度和误差补偿值到UI
|
||||
m_editPlaneHeight->setText(QString::number(param.planeHeight, 'f', 2));
|
||||
ui->edit_error_compensation->setText(QString::number(param.errorCompensation, 'f', 1));
|
||||
|
||||
LOG_INFO("Calibration data loaded successfully for camera %d (%s)\n",
|
||||
@ -611,9 +661,10 @@ void DialogCameraLevel::checkAndDisplayCalibrationStatus(int cameraIndex)
|
||||
LOG_INFO("Displaying existing calibration data for camera %s\n", cameraName.toUtf8().constData());
|
||||
updateLevelingResults(planeCalib, planeHeight, invRMatrix);
|
||||
} else {
|
||||
// 没有标定数据
|
||||
LOG_INFO("No calibration data found for camera %s\n", cameraName.toUtf8().constData());
|
||||
ui->label_level_result->setText(QString("相机: %1\n\n请点击调平按钮开始调平操作").arg(cameraName));
|
||||
// 没有标定数据，显示未标定
|
||||
LOG_INFO("No calibration data found for camera %s, showing uncalibrated\n", cameraName.toUtf8().constData());
|
||||
m_editPlaneHeight->setText("-1.00");
|
||||
ui->label_level_result->setText(QString("相机: %1\n\n未标定").arg(cameraName));
|
||||
ui->label_level_result->setAlignment(Qt::AlignCenter);
|
||||
}
|
||||
}
|
||||
@ -718,6 +769,52 @@ void DialogCameraLevel::on_btn_save_compensation_clicked()
|
||||
}
|
||||
}
|
||||
|
||||
void DialogCameraLevel::on_btn_save_planeHeight_clicked()
|
||||
{
|
||||
if (!m_pConfig || !m_pConfigResult) {
|
||||
LOG_ERROR("Config is null, cannot save plane height\n");
|
||||
return;
|
||||
}
|
||||
|
||||
if (m_currentCameraIndex < 0 || m_currentCameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||||
LOG_WARNING("Invalid camera index: %d\n", m_currentCameraIndex);
|
||||
return;
|
||||
}
|
||||
|
||||
double planeHeight = m_editPlaneHeight->text().toDouble();
|
||||
int cameraIndex = m_currentCameraIndex + 1;
|
||||
|
||||
// 查找或创建相机调平参数
|
||||
bool found = false;
|
||||
for (auto& param : m_pConfigResult->planeCalibParams) {
|
||||
if (param.cameraIndex == cameraIndex) {
|
||||
param.planeHeight = planeHeight;
|
||||
param.isCalibrated = true;
|
||||
found = true;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!found) {
|
||||
WheelCameraPlaneCalibParam newParam;
|
||||
newParam.cameraIndex = cameraIndex;
|
||||
newParam.planeHeight = planeHeight;
|
||||
newParam.isCalibrated = true;
|
||||
m_pConfigResult->planeCalibParams.push_back(newParam);
|
||||
}
|
||||
|
||||
// 保存配置到文件
|
||||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||||
bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
|
||||
if (saveResult) {
|
||||
LOG_INFO("Plane height saved successfully for camera %d: %.2f\n", cameraIndex, planeHeight);
|
||||
// 刷新界面显示
|
||||
checkAndDisplayCalibrationStatus(m_currentCameraIndex);
|
||||
} else {
|
||||
LOG_ERROR("Failed to save plane height\n");
|
||||
}
|
||||
}
|
||||
|
||||
void DialogCameraLevel::loadCameraRoiRange(int cameraIndex)
|
||||
{
|
||||
if (!m_pConfig || !m_pConfigResult) {
|
||||
|
||||
@ -5,6 +5,7 @@
|
||||
#include <QWidget>
|
||||
#include <QComboBox>
|
||||
#include <QLineEdit>
|
||||
#include <QPushButton>
|
||||
#include <QMessageBox>
|
||||
#include <QThread>
|
||||
#include <vector>
|
||||
@ -50,6 +51,7 @@ private slots:
|
||||
void on_combo_camera_currentIndexChanged(int index);
|
||||
void on_btn_save_compensation_clicked();
|
||||
void on_btn_save_roi_clicked();
|
||||
void on_btn_save_planeHeight_clicked();
|
||||
|
||||
private:
|
||||
Ui::DialogCameraLevel *ui;
|
||||
@ -62,6 +64,10 @@ private:
|
||||
IVrWheelMeasureConfig* m_pConfig = nullptr;
|
||||
WheelMeasureConfigResult* m_pConfigResult = nullptr;
|
||||
|
||||
// planeHeight编辑控件
|
||||
QLineEdit* m_editPlaneHeight = nullptr;
|
||||
QPushButton* m_btnSavePlaneHeight = nullptr;
|
||||
|
||||
// 当前选中的相机索引
|
||||
int m_currentCameraIndex = -1;
|
||||
|
||||
|
||||
@ -109,7 +109,7 @@
|
||||
<x>130</x>
|
||||
<y>110</y>
|
||||
<width>511</width>
|
||||
<height>271</height>
|
||||
<height>221</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="font">
|
||||
|
||||
@ -139,6 +139,7 @@ struct WheelMeasureConfigResult
|
||||
std::vector<WheelServerInfo> servers; // 服务器列表
|
||||
WheelMeasureAlgorithmParams algorithmParams; // 算法参数
|
||||
VrDebugParam debugParam; // 调试参数（使用公共VrDebugParam）
|
||||
VrScanConfig scanConfig; // 多相机同时扫描配置
|
||||
|
||||
int serverPort = 5900; // 服务器端口
|
||||
int tcpPort = 5800; // TCP协议端口
|
||||
|
||||
@ -265,6 +265,16 @@ WheelMeasureConfigResult VrWheelMeasureConfig::LoadConfig(const std::string& fil
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
|
||||
// 解析多相机扫描配置
|
||||
else if (xml.isStartElement() && xml.name() == "ScanConfig") {
|
||||
result.scanConfig.simultaneousCount =
|
||||
xml.attributes().value("simultaneousCount").toInt();
|
||||
if (result.scanConfig.simultaneousCount < 0) {
|
||||
result.scanConfig.simultaneousCount = 1; // 默认值
|
||||
}
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
|
||||
// 解析服务端配置
|
||||
else if (xml.isStartElement() && xml.name() == "LocalServerConfig") {
|
||||
while (xml.readNextStartElement()) {
|
||||
@ -429,6 +439,11 @@ bool VrWheelMeasureConfig::SaveConfig(const std::string& filePath, WheelMeasureC
|
||||
xml.writeAttribute("debugOutputPath", QString::fromStdString(configResult.debugParam.debugOutputPath));
|
||||
xml.writeEndElement(); // DebugParam
|
||||
|
||||
// 保存多相机扫描配置
|
||||
xml.writeStartElement("ScanConfig");
|
||||
xml.writeAttribute("simultaneousCount", QString::number(configResult.scanConfig.simultaneousCount));
|
||||
xml.writeEndElement(); // ScanConfig
|
||||
|
||||
// 保存服务端配置
|
||||
xml.writeStartElement("LocalServerConfig");
|
||||
xml.writeStartElement("ServerPort");
|
||||
|
||||
Binary file not shown.
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Binary file not shown.
@ -224,16 +224,24 @@ void _outputChanneltInfo(char* fileName, std::vector<SSX_rodPoseInfo>& screwInfo
|
||||
sw.close();
|
||||
}
|
||||
|
||||
void _outputPlatePiseInfo(char* fileName, SSX_pointPoseInfo& centerInfo)
|
||||
void _outputPlatePiseInfo(char* fileName, SSX_platePoseInfo& centerInfo)
|
||||
{
|
||||
std::ofstream sw(fileName);
|
||||
char dataStr[250];
|
||||
sprintf_s(dataStr, 250, "定位盘: center_( %g, %g, %g ), normalDir_( %g, %g, %g ), xDir_( %g, %g, %g ), yDir_( %g, %g, %g )",
|
||||
centerInfo.center.x, centerInfo.center.y, centerInfo.center.z,
|
||||
centerInfo.normalDir.x, centerInfo.normalDir.y, centerInfo.normalDir.z,
|
||||
centerInfo.xDir.x, centerInfo.xDir.y, centerInfo.xDir.z,
|
||||
centerInfo.yDir.x, centerInfo.yDir.y, centerInfo.yDir.z);
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, "定位盘: \n");
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, " holeLT_(% g, % g, % g)\n", centerInfo.holeLT.x, centerInfo.holeLT.y, centerInfo.holeLT.z);
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, " holeRB_(% g, % g, % g)\n", centerInfo.holeRB.x, centerInfo.holeRB.y, centerInfo.holeRB.z);
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, " center_(% g, % g, % g)\n", centerInfo.center.x, centerInfo.center.y, centerInfo.center.z);
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, " normalDir_(% g, % g, % g)\n", centerInfo.normalDir.x, centerInfo.normalDir.y, centerInfo.normalDir.z);
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, " xDir_(% g, % g, % g)\n", centerInfo.xDir.x, centerInfo.xDir.y, centerInfo.xDir.z);
|
||||
sw << dataStr << std::endl;
|
||||
sprintf_s(dataStr, 250, " yDir_(% g, % g, % g)\n", centerInfo.yDir.x, centerInfo.yDir.y, centerInfo.yDir.z);
|
||||
sw << dataStr << std::endl;
|
||||
sw.close();
|
||||
}
|
||||
|
||||
@ -325,9 +333,13 @@ void _outputRGBDScan_RGBD(
|
||||
else if (pt3D->nPointIdx == 2)
|
||||
{
|
||||
rgb = { 250, 0, 0 };
|
||||
size = 5;
|
||||
size = 3;
|
||||
}
|
||||
else if (pt3D->nPointIdx == 4)
|
||||
{
|
||||
rgb = { 250, 250, 0 };
|
||||
size = 6;
|
||||
}
|
||||
|
||||
else //if (pt3D->nPointIdx == 0)
|
||||
{
|
||||
rgb = { 200, 200, 200 };
|
||||
@ -366,16 +378,17 @@ void _outputRGBDScan_RGBD(
|
||||
|
||||
//输出法向
|
||||
size = 1;
|
||||
double len = 60;
|
||||
double len1 = 30;
|
||||
double len2 = 200;
|
||||
lineIdx = 0;
|
||||
for (int i = 0; i < objNum; i++)
|
||||
{
|
||||
SVzNL3DPoint pt0 = { screwInfo[i].center.x - len * screwInfo[i].axialDir.x,
|
||||
screwInfo[i].center.y - len * screwInfo[i].axialDir.y,
|
||||
screwInfo[i].center.z - len * screwInfo[i].axialDir.z };
|
||||
SVzNL3DPoint pt1 = { screwInfo[i].center.x + len * screwInfo[i].axialDir.x,
|
||||
screwInfo[i].center.y + len * screwInfo[i].axialDir.y,
|
||||
screwInfo[i].center.z + len * screwInfo[i].axialDir.z };
|
||||
SVzNL3DPoint pt0 = { screwInfo[i].center.x - len1 * screwInfo[i].axialDir.x,
|
||||
screwInfo[i].center.y - len1 * screwInfo[i].axialDir.y,
|
||||
screwInfo[i].center.z - len1 * screwInfo[i].axialDir.z };
|
||||
SVzNL3DPoint pt1 = { screwInfo[i].center.x + len2 * screwInfo[i].axialDir.x,
|
||||
screwInfo[i].center.y + len2 * screwInfo[i].axialDir.y,
|
||||
screwInfo[i].center.z + len2 * screwInfo[i].axialDir.z };
|
||||
//显示法向量
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
|
||||
@ -386,22 +399,6 @@ void _outputRGBDScan_RGBD(
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
}
|
||||
//多输出一个，修正显示工具bug
|
||||
SVzNL3DPoint pt0 = { screwInfo[0].center.x - len * screwInfo[0].axialDir.x,
|
||||
screwInfo[0].center.y - len * screwInfo[0].axialDir.y,
|
||||
screwInfo[0].center.z - len * screwInfo[0].axialDir.z };
|
||||
SVzNL3DPoint pt1 = { screwInfo[0].center.x + len * screwInfo[0].axialDir.x,
|
||||
screwInfo[0].center.y + len * screwInfo[0].axialDir.y,
|
||||
screwInfo[0].center.z + len * screwInfo[0].axialDir.z };
|
||||
//显示法向量
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
}
|
||||
sw.close();
|
||||
}
|
||||
@ -409,7 +406,7 @@ void _outputRGBDScan_RGBD(
|
||||
void _outputRGBDScan_RGBD_centerPose(
|
||||
char* fileName,
|
||||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||||
SSX_pointPoseInfo& poseInfo
|
||||
SSX_platePoseInfo& poseInfo
|
||||
)
|
||||
{
|
||||
int lineNum = (int)scanLines.size();
|
||||
@ -477,7 +474,7 @@ void _outputRGBDScan_RGBD_centerPose(
|
||||
}
|
||||
|
||||
{
|
||||
sw << "Line_" << lineIdx << "_0_1" << std::endl;
|
||||
sw << "Line_" << lineIdx << "_0_3" << std::endl;
|
||||
rgb = { 250, 0, 0 };
|
||||
size = 8;
|
||||
float x = (float)poseInfo.center.x;
|
||||
@ -487,14 +484,28 @@ void _outputRGBDScan_RGBD_centerPose(
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||||
|
||||
x = (float)poseInfo.holeLT.x;
|
||||
y = (float)poseInfo.holeLT.y;
|
||||
z = (float)poseInfo.holeLT.z;
|
||||
sw << "{" << x << "," << y << "," << z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||||
|
||||
x = (float)poseInfo.holeRB.x;
|
||||
y = (float)poseInfo.holeRB.y;
|
||||
z = (float)poseInfo.holeRB.z;
|
||||
sw << "{" << x << "," << y << "," << z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||||
|
||||
//输出法向
|
||||
size = 1;
|
||||
double len = 60;
|
||||
lineIdx = 0;
|
||||
{
|
||||
SVzNL3DPoint pt0 = { poseInfo.center.x - len * poseInfo.normalDir.x,
|
||||
poseInfo.center.y - len * poseInfo.normalDir.y,
|
||||
poseInfo.center.z - len * poseInfo.normalDir.z };
|
||||
SVzNL3DPoint pt0 = { poseInfo.center.x, // - len * poseInfo.normalDir.x,
|
||||
poseInfo.center.y, // - len * poseInfo.normalDir.y,
|
||||
poseInfo.center.z }; // - len * poseInfo.normalDir.z };
|
||||
SVzNL3DPoint pt1 = { poseInfo.center.x + len * poseInfo.normalDir.x,
|
||||
poseInfo.center.y + len * poseInfo.normalDir.y,
|
||||
poseInfo.center.z + len * poseInfo.normalDir.z };
|
||||
@ -535,6 +546,37 @@ void _outputRGBDScan_RGBD_centerPose(
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
|
||||
rgb = { 0, 250, 0 };
|
||||
basePt = { poseInfo.holeLT.x - len * poseInfo.xDir.x,
|
||||
poseInfo.holeLT.y - len * poseInfo.xDir.y,
|
||||
poseInfo.holeLT.z - len * poseInfo.xDir.z };
|
||||
pt2 = { poseInfo.holeLT.x + len * poseInfo.xDir.x,
|
||||
poseInfo.holeLT.y + len * poseInfo.xDir.y,
|
||||
poseInfo.holeLT.z + len * poseInfo.xDir.z };
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)basePt.x << "," << (float)basePt.y << "," << (float)basePt.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
sw << "{" << pt2.x << "," << pt2.y << "," << pt2.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
|
||||
basePt = { poseInfo.holeRB.x - len * poseInfo.xDir.x,
|
||||
poseInfo.holeRB.y - len * poseInfo.xDir.y,
|
||||
poseInfo.holeRB.z - len * poseInfo.xDir.z };
|
||||
pt2 = { poseInfo.holeRB.x + len * poseInfo.xDir.x,
|
||||
poseInfo.holeRB.y + len * poseInfo.xDir.y,
|
||||
poseInfo.holeRB.z + len * poseInfo.xDir.z };
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)basePt.x << "," << (float)basePt.y << "," << (float)basePt.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
sw << "{" << pt2.x << "," << pt2.y << "," << pt2.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
}
|
||||
}
|
||||
sw.close();
|
||||
@ -727,16 +769,22 @@ void _outputRGBDScan_RGBD_weldSeam(
|
||||
int centerFlag = pt3D->nPointIdx >> 4;
|
||||
if (centerFlag > 0)
|
||||
{
|
||||
rgb = { 180, 0, 0 };
|
||||
size = 2;
|
||||
if (centerFlag <= 2)
|
||||
{
|
||||
rgb = { 180, 0, 0 };
|
||||
size = 2;
|
||||
}
|
||||
else if(centerFlag == 4)
|
||||
{
|
||||
rgb = { 0, 250, 0 };
|
||||
size = 4;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
rgb = objColor[pt3D->nPointIdx % 8];
|
||||
size = 2;
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
else //if (pt3D->nPointIdx == 0)
|
||||
{
|
||||
@ -754,52 +802,75 @@ void _outputRGBDScan_RGBD_weldSeam(
|
||||
|
||||
if (objNum > 0)
|
||||
{
|
||||
sw << "Line_" << lineIdx << "_0_" << objNum << std::endl;
|
||||
size = 12;
|
||||
std::vector<SVzNL3DPoint> weldPoints;
|
||||
for (int i = 0; i < objNum; i++)
|
||||
{
|
||||
if (i == 0)
|
||||
rgb = { 250, 255, 0 };
|
||||
if (weldSeamInfo[i].weldType == KeWD_WELD_POINT)
|
||||
weldPoints.push_back(weldSeamInfo[i].center);
|
||||
else
|
||||
rgb = { 250, 0, 0 };
|
||||
float x = (float)weldSeamInfo[i].center.x;
|
||||
float y = (float)weldSeamInfo[i].center.y;
|
||||
float z = (float)weldSeamInfo[i].center.z;
|
||||
{
|
||||
weldPoints.push_back(weldSeamInfo[i].startPt);
|
||||
weldPoints.push_back(weldSeamInfo[i].center);
|
||||
weldPoints.push_back(weldSeamInfo[i].endPt);
|
||||
}
|
||||
}
|
||||
|
||||
sw << "Line_" << lineIdx << "_0_" << (int)weldPoints.size() << std::endl;
|
||||
size = 15;
|
||||
for (int i = 0; i < (int)weldPoints.size(); i++)
|
||||
{
|
||||
rgb = { 250, 0, 0 };
|
||||
float x = (float)weldPoints[i].x;
|
||||
float y = (float)weldPoints[i].y;
|
||||
float z = (float)weldPoints[i].z;
|
||||
sw << "{" << x << "," << y << "," << z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||||
}
|
||||
//输出法向
|
||||
size = 8;
|
||||
double len = 60;
|
||||
size = 4;
|
||||
double len1 = 20;
|
||||
double len2 = 20;
|
||||
lineIdx = 0;
|
||||
for (int i = 0; i < objNum; i++)
|
||||
{
|
||||
if (i == 0)
|
||||
rgb = { 250, 255, 0 };
|
||||
SVzNL3DPoint pt0, pt1;
|
||||
if (weldSeamInfo[i].weldType == KeWD_WELD_POINT)
|
||||
{
|
||||
pt0 = weldSeamInfo[i].center;
|
||||
pt1 = { weldSeamInfo[i].center.x + len1 * weldSeamInfo[i].axialDir.x,
|
||||
weldSeamInfo[i].center.y + len1 * weldSeamInfo[i].axialDir.y,
|
||||
weldSeamInfo[i].center.z + len1 * weldSeamInfo[i].axialDir.z };
|
||||
}
|
||||
else
|
||||
rgb = { 250, 0, 0 };
|
||||
SVzNL3DPoint pt0 = { weldSeamInfo[i].center.x, weldSeamInfo[i].center.y, weldSeamInfo[i].center.z };
|
||||
SVzNL3DPoint pt2 = { weldSeamInfo[i].center.x + len * weldSeamInfo[i].normalDir.x,
|
||||
weldSeamInfo[i].center.y + len * weldSeamInfo[i].normalDir.y,
|
||||
weldSeamInfo[i].center.z + len * weldSeamInfo[i].normalDir.z };
|
||||
{
|
||||
pt0 = weldSeamInfo[i].startPt;
|
||||
pt1 = weldSeamInfo[i].endPt;
|
||||
}
|
||||
|
||||
SVzNL3DPoint pt2 = { weldSeamInfo[i].center.x, weldSeamInfo[i].center.y, weldSeamInfo[i].center.z };
|
||||
SVzNL3DPoint pt3 = { weldSeamInfo[i].center.x + len2 * weldSeamInfo[i].normalDir.x,
|
||||
weldSeamInfo[i].center.y + len2 * weldSeamInfo[i].normalDir.y,
|
||||
weldSeamInfo[i].center.z + len2 * weldSeamInfo[i].normalDir.z };
|
||||
//显示轴向量
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)weldSeamInfo[i].startPt.x << "," << (float)weldSeamInfo[i].startPt.y << "," << (float)weldSeamInfo[i].startPt.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
sw << "{" << (float)weldSeamInfo[i].endPt.x << "," << (float)weldSeamInfo[i].endPt.y << "," << (float)weldSeamInfo[i].endPt.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
//显示法向量
|
||||
rgb = { 0, 0, 250 };
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
sw << "{" << (float)pt1.x << "," << (float)pt1.y << "," << (float)pt1.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
//显示法向量
|
||||
rgb = { 250, 0, 0 };
|
||||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||||
sw << "{" << (float)pt2.x << "," << (float)pt2.y << "," << (float)pt2.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
sw << "{" << (float)pt3.x << "," << (float)pt3.y << "," << (float)pt3.z << "}-";
|
||||
sw << "{0,0}-{0,0}-";
|
||||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||||
lineIdx++;
|
||||
}
|
||||
lineIdx++;
|
||||
@ -807,27 +878,38 @@ void _outputRGBDScan_RGBD_weldSeam(
|
||||
sw.close();
|
||||
}
|
||||
|
||||
#define SCREW_TEST_GROUP 1
|
||||
#define SCREW_TEST_GROUP 7
|
||||
void screwTest(void)
|
||||
{
|
||||
const char* dataPath[SCREW_TEST_GROUP] = {
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/数据/模拟数据/", //0
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云2/上方两根/", //1
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云3/", //2
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置1/", //3
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2/", //4
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2未动螺杆拧进去100mm左右/", //5
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2向前100mm螺杆拧进去100mm左右/", //6
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
|
||||
{1,4},
|
||||
{1,4},{1,30},{1,11},
|
||||
{1,20}, {1,20}, {1,5}, {1,21}
|
||||
};
|
||||
|
||||
const char* ver = wd_rodAndBarDetectionVersion();
|
||||
printf("ver:%s\n", ver);
|
||||
|
||||
for (int grp = 0; grp < SCREW_TEST_GROUP; grp++)
|
||||
for (int grp = 3; grp < SCREW_TEST_GROUP; grp++)
|
||||
{
|
||||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||||
{
|
||||
//fidx =7;
|
||||
//fidx =3;
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
|
||||
if(0 == grp)
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
else
|
||||
sprintf_s(_scan_file, "%s%d_LaserData_Jl26C299.txt", dataPath[grp], fidx);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||||
@ -838,10 +920,16 @@ void screwTest(void)
|
||||
|
||||
long t1 = (long)GetTickCount64();//统计时间
|
||||
|
||||
double rodDiameter = 10.0;
|
||||
double rodDiameter;
|
||||
if (grp == 0)
|
||||
rodDiameter = 10.0;
|
||||
else
|
||||
rodDiameter = 28.0; //现场螺杆直径28mm
|
||||
|
||||
//double rodDiameter = 10.0;
|
||||
|
||||
SSG_cornerParam cornerParam;
|
||||
cornerParam.cornerTh = 60; //45度角
|
||||
cornerParam.cornerTh = 30; //45度角
|
||||
cornerParam.scale = rodDiameter/4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||||
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||||
cornerParam.minEndingGap_z = 5.0;
|
||||
@ -853,12 +941,12 @@ void screwTest(void)
|
||||
filterParam.outlierTh = 5;
|
||||
|
||||
SSG_treeGrowParam growParam;
|
||||
growParam.maxLineSkipNum = 10;
|
||||
growParam.yDeviation_max = 20.0;
|
||||
growParam.maxSkipDistance = 20.0;
|
||||
growParam.zDeviation_max = 50.0;//
|
||||
growParam.minLTypeTreeLen = 10; //mm, 螺杆长度
|
||||
growParam.minVTypeTreeLen = 10; //mm
|
||||
growParam.maxLineSkipNum = 30;
|
||||
growParam.yDeviation_max = 5.0;
|
||||
growParam.maxSkipDistance = 30.0;
|
||||
growParam.zDeviation_max = 50;//
|
||||
growParam.minLTypeTreeLen = 50; //mm, 螺杆长度
|
||||
growParam.minVTypeTreeLen = 50; //mm
|
||||
|
||||
bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道
|
||||
int errCode = 0;
|
||||
@ -874,7 +962,7 @@ void screwTest(void)
|
||||
&errCode);
|
||||
|
||||
long t2 = (long)GetTickCount64();
|
||||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||||
printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
|
||||
//输出测试结果
|
||||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||||
_outputRGBDScan_RGBD(_scan_file, scanLines, screwInfo);
|
||||
@ -892,7 +980,7 @@ void locatingPlateTest(void)
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[LOCATING_PALTE_TEST_GROUP] = {
|
||||
{1,16},
|
||||
{1,17},
|
||||
};
|
||||
|
||||
const char* ver = wd_rodAndBarDetectionVersion();
|
||||
@ -902,7 +990,7 @@ void locatingPlateTest(void)
|
||||
{
|
||||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||||
{
|
||||
//fidx =4;
|
||||
//fidx =2;
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
|
||||
@ -926,7 +1014,7 @@ void locatingPlateTest(void)
|
||||
cornerParam.jumpCornerTh_2 = 60;
|
||||
|
||||
int errCode = 0;
|
||||
SSX_pointPoseInfo centerPose = sx_getLocationPlatePose(
|
||||
SSX_platePoseInfo centerPose = sx_getLocationPlatePose(
|
||||
scanLines,
|
||||
cornerParam,
|
||||
& errCode);
|
||||
@ -942,21 +1030,22 @@ void locatingPlateTest(void)
|
||||
}
|
||||
}
|
||||
|
||||
#define ROD_POSITION_TEST_GROUP 1
|
||||
#define ROD_POSITION_TEST_GROUP 2
|
||||
void rodPositionTest(void)
|
||||
{
|
||||
const char* dataPath[ROD_POSITION_TEST_GROUP] = {
|
||||
"F:/ShangGu/项目/冠钦项目/棒材抓取/", //0
|
||||
"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/", //0
|
||||
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //1
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
|
||||
{1,8},
|
||||
{1,8}, {1,5}
|
||||
};
|
||||
|
||||
const char* ver = wd_rodAndBarDetectionVersion();
|
||||
printf("ver:%s\n", ver);
|
||||
|
||||
for (int grp = 0; grp < ROD_POSITION_TEST_GROUP; grp++)
|
||||
for (int grp = 1; grp < ROD_POSITION_TEST_GROUP; grp++)
|
||||
{
|
||||
SSG_planeCalibPara poseCalibPara;
|
||||
//初始化成单位阵
|
||||
@ -980,7 +1069,10 @@ void rodPositionTest(void)
|
||||
{
|
||||
//fidx =1;
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
if(1 == grp)
|
||||
sprintf_s(_scan_file, "%s%d_LaserData_Hi229156.txt", dataPath[grp], fidx);
|
||||
else
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||||
@ -992,8 +1084,16 @@ void rodPositionTest(void)
|
||||
long t1 = (long)GetTickCount64();//统计时间
|
||||
|
||||
SSX_rodParam rodParam;
|
||||
rodParam.diameter = 52.0; //圆棒直径
|
||||
rodParam.len = 290;
|
||||
if (0 == grp)
|
||||
{
|
||||
rodParam.diameter = 52.0; //圆棒直径
|
||||
rodParam.len = 290;
|
||||
}
|
||||
else
|
||||
{
|
||||
rodParam.diameter = 68.0; //圆棒直径
|
||||
rodParam.len = 187;
|
||||
}
|
||||
|
||||
SSG_cornerParam cornerParam;
|
||||
cornerParam.cornerTh = 60; //45度角
|
||||
@ -1079,7 +1179,7 @@ void rodWeldSeamPosition_test(void)
|
||||
{
|
||||
//fidx =1;
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
sprintf_s(_scan_file, "%s%d_LaserData_ID019567.txt", dataPath[grp], fidx);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||||
@ -1091,8 +1191,8 @@ void rodWeldSeamPosition_test(void)
|
||||
long t1 = (long)GetTickCount64();//统计时间
|
||||
|
||||
SSX_rodParam rodParam;
|
||||
rodParam.diameter = 52.0; //圆棒直径
|
||||
rodParam.len = 290;
|
||||
rodParam.diameter = 16.0; //钢筋直径
|
||||
rodParam.len = 50;
|
||||
|
||||
SSG_cornerParam cornerParam;
|
||||
cornerParam.cornerTh = 60; //45度角
|
||||
@ -1103,18 +1203,19 @@ void rodWeldSeamPosition_test(void)
|
||||
cornerParam.jumpCornerTh_2 = 60;
|
||||
|
||||
SSG_outlierFilterParam filterParam;
|
||||
filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||||
filterParam.outlierTh = 5;
|
||||
filterParam.continuityTh = 4.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||||
filterParam.outlierTh = 4;
|
||||
|
||||
SSG_treeGrowParam growParam;
|
||||
growParam.maxLineSkipNum = 5;
|
||||
growParam.yDeviation_max = 10.0;
|
||||
growParam.maxSkipDistance = 10.0;
|
||||
growParam.zDeviation_max = 10.0;//
|
||||
growParam.minLTypeTreeLen = 100; //mm, 螺杆长度
|
||||
growParam.minVTypeTreeLen = 100; //mm
|
||||
growParam.yDeviation_max = 5.0;
|
||||
growParam.maxSkipDistance = 20.0;
|
||||
growParam.zDeviation_max = 3.0;//
|
||||
growParam.minLTypeTreeLen = 50; //mm, 螺杆长度
|
||||
growParam.minVTypeTreeLen = 50; //mm
|
||||
|
||||
bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道
|
||||
double weldSeanRange = 100; //焊缝距钢筋交叉点的范围（最大值）
|
||||
int errCode = 0;
|
||||
std::vector<SSX_weldSeamInfo> weldSeamInfo;
|
||||
sx_rebarWeldSeamPositioning(
|
||||
@ -1124,6 +1225,7 @@ void rodWeldSeamPosition_test(void)
|
||||
filterParam,
|
||||
growParam,
|
||||
rodParam,
|
||||
weldSeanRange,
|
||||
weldSeamInfo,
|
||||
&errCode);
|
||||
long t2 = (long)GetTickCount64();
|
||||
@ -1140,13 +1242,13 @@ void rodWeldSeamPosition_test(void)
|
||||
int main()
|
||||
{
|
||||
#if 1 //螺杆定位测试
|
||||
#if 0
|
||||
#if 1
|
||||
screwTest();
|
||||
#else
|
||||
locatingPlateTest();
|
||||
#endif
|
||||
#else //棒材抓取定位测试
|
||||
#if 0
|
||||
#if 1
|
||||
rodPositionTest();
|
||||
#else
|
||||
rodWeldSeamPosition_test();
|
||||
|
||||
@ -6,6 +6,9 @@
|
||||
#include <thread>
|
||||
#include <mutex>
|
||||
#include <vector>
|
||||
#include <queue>
|
||||
#include <map>
|
||||
#include <set>
|
||||
#include <memory>
|
||||
#include <string>
|
||||
#include <QObject>
|
||||
@ -19,6 +22,19 @@
|
||||
|
||||
// 前向声明
|
||||
class IYModbusTCPServer;
|
||||
class BasePresenter;
|
||||
|
||||
/**
|
||||
* @brief 相机回调上下文
|
||||
*
|
||||
* 携带 BasePresenter 指针和相机索引，解决多相机同时扫描时
|
||||
* 静态回调函数中无法识别数据来源相机的问题
|
||||
*/
|
||||
struct CameraCallbackContext
|
||||
{
|
||||
BasePresenter* presenter;
|
||||
int cameraIndex;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 基础Presenter类
|
||||
@ -149,6 +165,18 @@ public:
|
||||
*/
|
||||
void SetWorkStatus(WorkStatus status);
|
||||
|
||||
/**
|
||||
* @brief 设置扫描配置
|
||||
* @param config 扫描配置
|
||||
*/
|
||||
void SetScanConfig(const VrScanConfig& config) { m_scanConfig = config; }
|
||||
|
||||
/**
|
||||
* @brief 获取扫描配置
|
||||
* @return 扫描配置
|
||||
*/
|
||||
VrScanConfig GetScanConfig() const { return m_scanConfig; }
|
||||
|
||||
// ============ ModbusTCP 服务相关 ============
|
||||
|
||||
/**
|
||||
@ -417,7 +445,6 @@ protected:
|
||||
m_debugParam = debugParam;
|
||||
}
|
||||
|
||||
|
||||
// ============ 公共实现方法 ============
|
||||
|
||||
/**
|
||||
@ -523,6 +550,46 @@ private:
|
||||
*/
|
||||
void StopCameraReconnectTimer();
|
||||
|
||||
// ============ 多相机同时扫描相关方法 ============
|
||||
|
||||
/**
|
||||
* @brief 添加数据到指定相机的独立缓存（同时扫描模式专用）
|
||||
* @param cameraIndex 相机索引（1-based）
|
||||
* @param dataType 数据类型
|
||||
* @param laserData 激光数据
|
||||
*/
|
||||
void AddDetectionDataToCameraCache(int cameraIndex, EVzResultDataType dataType,
|
||||
const SVzLaserLineData& laserData);
|
||||
|
||||
/**
|
||||
* @brief 清空所有相机的独立数据缓存
|
||||
*/
|
||||
void ClearAllCameraDataCaches();
|
||||
|
||||
/**
|
||||
* @brief 相机扫描完成通知（Swing_Finish 时调用）
|
||||
*
|
||||
* 增加批次完成计数
|
||||
*
|
||||
* @param cameraIndex 完成扫描的相机索引
|
||||
*/
|
||||
void OnCameraScanFinished(int cameraIndex);
|
||||
|
||||
/**
|
||||
* @brief 启动一批相机的扫描
|
||||
*
|
||||
* 从 m_batchStartIndex 开始，取 m_batchSize 个相机同时启动扫描
|
||||
*/
|
||||
void StartBatchScan();
|
||||
|
||||
/**
|
||||
* @brief 检查当前批次是否全部完成并逐个处理
|
||||
*
|
||||
* 在算法线程中调用，当前批次全部扫描完成后逐个处理每个相机的数据，
|
||||
* 处理完后自动推进到下一批或结束
|
||||
*/
|
||||
void ProcessBatchIfReady();
|
||||
|
||||
private slots:
|
||||
/**
|
||||
* @brief 相机重连定时器触发
|
||||
@ -577,6 +644,26 @@ protected:
|
||||
// 调试数据异步存储
|
||||
DebugDataSaver m_debugDataSaver;
|
||||
|
||||
// ============ 多相机同时扫描相关成员 ============
|
||||
|
||||
// 扫描配置
|
||||
VrScanConfig m_scanConfig;
|
||||
|
||||
// 每个相机的回调上下文（key = 相机索引 1-based）
|
||||
std::map<int, CameraCallbackContext*> m_cameraContexts;
|
||||
|
||||
// 每个相机的独立数据缓存区（key = 相机索引 1-based）
|
||||
std::map<int, std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>> m_perCameraDataCache;
|
||||
std::mutex m_perCameraDataMutex;
|
||||
|
||||
// 分批扫描调度相关
|
||||
std::vector<int> m_batchCameraList; // 本轮需扫描的相机列表
|
||||
int m_batchStartIndex = 0; // 当前批次起始位置
|
||||
int m_batchSize = 0; // 当前批次相机数
|
||||
int m_batchFinishedCount = 0; // 当前批次已完成计数
|
||||
bool m_batchInProgress = false; // 是否正在分批扫描
|
||||
std::mutex m_batchStateMutex; // 保护分批调度状态
|
||||
|
||||
private:
|
||||
// 启动ModbusTCP服务（在Init中调用）
|
||||
int StartModbusServer(int port = 5020);
|
||||
|
||||
@ -234,6 +234,32 @@ struct VrDebugParam
|
||||
VrDebugParam() = default;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 多相机扫描配置
|
||||
*
|
||||
* 控制同时进行扫描的相机数量：
|
||||
* - 1: 单相机模式（默认，完全兼容现有行为）
|
||||
* - 0: 所有已连接相机同时扫描
|
||||
* - N: 每批 N 个相机同时扫描（N > 1）
|
||||
*/
|
||||
struct VrScanConfig
|
||||
{
|
||||
int simultaneousCount = 1;
|
||||
|
||||
VrScanConfig& operator=(const VrScanConfig& other) {
|
||||
if (this != &other) {
|
||||
simultaneousCount = other.simultaneousCount;
|
||||
}
|
||||
return *this;
|
||||
}
|
||||
|
||||
VrScanConfig(const VrScanConfig& other)
|
||||
: simultaneousCount(other.simultaneousCount) {
|
||||
}
|
||||
|
||||
VrScanConfig() = default;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 配置改变通知接口（前向声明ConfigResult）
|
||||
*/
|
||||
|
||||
@ -61,6 +61,16 @@ BasePresenter::~BasePresenter()
|
||||
}
|
||||
}
|
||||
m_vrEyeDeviceList.clear();
|
||||
|
||||
// 清理相机回调上下文
|
||||
for (auto& pair : m_cameraContexts) {
|
||||
delete pair.second;
|
||||
}
|
||||
m_cameraContexts.clear();
|
||||
|
||||
// 清理各相机独立数据缓存
|
||||
ClearAllCameraDataCaches();
|
||||
|
||||
LOG_INFO("BasePresenter destructor finished\n");
|
||||
}
|
||||
|
||||
@ -98,59 +108,138 @@ int BasePresenter::Init()
|
||||
|
||||
int BasePresenter::StartDetection(int cameraIndex, bool isAuto)
|
||||
{
|
||||
LOG_INFO("[BasePresenter] StartDetection - cameraIndex=%d, isAuto=%d\n", cameraIndex, isAuto);
|
||||
LOG_INFO("[BasePresenter] StartDetection - cameraIndex=%d, isAuto=%d, simultaneousCount=%d\n",
|
||||
cameraIndex, isAuto, m_scanConfig.simultaneousCount);
|
||||
|
||||
// 设置当前相机索引
|
||||
if (cameraIndex >= 0 && cameraIndex != -1) {
|
||||
// ===== 分支1: cameraIndex > 0，单相机模式 =====
|
||||
if (cameraIndex > 0) {
|
||||
m_currentCameraIndex = cameraIndex;
|
||||
}
|
||||
int currentCamera = m_currentCameraIndex;
|
||||
int currentCamera = m_currentCameraIndex;
|
||||
|
||||
// 检查相机列表是否为空
|
||||
if (m_vrEyeDeviceList.empty()) {
|
||||
LOG_ERROR("[BasePresenter] No camera device found\n");
|
||||
if (m_vrEyeDeviceList.empty()) {
|
||||
LOG_ERROR("[BasePresenter] No camera device found\n");
|
||||
return ERR_CODE(DEV_NOT_FIND);
|
||||
}
|
||||
|
||||
ClearDetectionDataCache();
|
||||
|
||||
int arrayIndex = currentCamera - 1;
|
||||
if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) ||
|
||||
m_vrEyeDeviceList[arrayIndex].second == nullptr) {
|
||||
LOG_ERROR("[BasePresenter] Camera %d is not connected or invalid\n", currentCamera);
|
||||
return ERR_CODE(DEV_NOT_FIND);
|
||||
}
|
||||
|
||||
SetWorkStatus(WorkStatus::Working);
|
||||
|
||||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
|
||||
EVzResultDataType eDataType = GetDetectionDataType();
|
||||
VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
|
||||
VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
|
||||
|
||||
// 使用相机专属的回调上下文
|
||||
CameraCallbackContext* ctx = m_cameraContexts[currentCamera];
|
||||
pDevice->SetStatusCallback(statusCallback, ctx);
|
||||
|
||||
int nRet = pDevice->StartDetect(detectCallback, eDataType, ctx);
|
||||
LOG_INFO("[BasePresenter] Camera %d start detection result: %d\n", currentCamera, nRet);
|
||||
|
||||
if (nRet == SUCCESS) {
|
||||
StartAlgoDetectThread();
|
||||
}
|
||||
LOG_INFO("[BasePresenter] StartDetection finish\n");
|
||||
return nRet;
|
||||
}
|
||||
|
||||
// ===== 分支2: cameraIndex <= 0 且为单相机模式，使用默认相机 =====
|
||||
if (m_scanConfig.simultaneousCount == 1) {
|
||||
cameraIndex = m_currentCameraIndex;
|
||||
if (cameraIndex <= 0) cameraIndex = 1;
|
||||
m_currentCameraIndex = cameraIndex;
|
||||
int currentCamera = m_currentCameraIndex;
|
||||
|
||||
if (m_vrEyeDeviceList.empty()) {
|
||||
LOG_ERROR("[BasePresenter] No camera device found\n");
|
||||
return ERR_CODE(DEV_NOT_FIND);
|
||||
}
|
||||
|
||||
ClearDetectionDataCache();
|
||||
|
||||
int arrayIndex = currentCamera - 1;
|
||||
if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) ||
|
||||
m_vrEyeDeviceList[arrayIndex].second == nullptr) {
|
||||
LOG_ERROR("[BasePresenter] Camera %d is not connected or invalid\n", currentCamera);
|
||||
return ERR_CODE(DEV_NOT_FIND);
|
||||
}
|
||||
|
||||
SetWorkStatus(WorkStatus::Working);
|
||||
|
||||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
|
||||
EVzResultDataType eDataType = GetDetectionDataType();
|
||||
VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
|
||||
VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
|
||||
|
||||
CameraCallbackContext* ctx = m_cameraContexts[currentCamera];
|
||||
pDevice->SetStatusCallback(statusCallback, ctx);
|
||||
|
||||
int nRet = pDevice->StartDetect(detectCallback, eDataType, ctx);
|
||||
LOG_INFO("[BasePresenter] Camera %d start detection result: %d\n", currentCamera, nRet);
|
||||
|
||||
if (nRet == SUCCESS) {
|
||||
StartAlgoDetectThread();
|
||||
}
|
||||
LOG_INFO("[BasePresenter] StartDetection finish\n");
|
||||
return nRet;
|
||||
}
|
||||
|
||||
// ===== 分支3: 多相机同时/分批扫描 =====
|
||||
LOG_INFO("[BasePresenter] 进入多相机分批扫描模式\n");
|
||||
|
||||
// 停止当前正在进行的检测
|
||||
if (m_batchInProgress || m_bAlgoDetectThreadRunning) {
|
||||
StopDetection();
|
||||
}
|
||||
|
||||
// 收集本轮所有已连接的相机
|
||||
m_batchCameraList.clear();
|
||||
for (int i = 0; i < static_cast<int>(m_vrEyeDeviceList.size()); i++) {
|
||||
if (m_vrEyeDeviceList[i].second != nullptr) {
|
||||
m_batchCameraList.push_back(i + 1); // 1-based index
|
||||
}
|
||||
}
|
||||
if (m_batchCameraList.empty()) {
|
||||
LOG_ERROR("[BasePresenter] No connected cameras for batch scan\n");
|
||||
return ERR_CODE(DEV_NOT_FIND);
|
||||
}
|
||||
|
||||
// 清空检测数据缓存
|
||||
ClearDetectionDataCache();
|
||||
|
||||
int nRet = SUCCESS;
|
||||
|
||||
// 启动指定相机（cameraIndex为相机ID，从1开始编号）
|
||||
int arrayIndex = currentCamera - 1; // 转换为数组索引（从0开始）
|
||||
|
||||
// 检查相机是否连接
|
||||
if (arrayIndex < 0 || arrayIndex >= static_cast<int>(m_vrEyeDeviceList.size()) ||
|
||||
m_vrEyeDeviceList[arrayIndex].second == nullptr) {
|
||||
LOG_ERROR("[BasePresenter] Camera %d is not connected or invalid\n", currentCamera);
|
||||
return ERR_CODE(DEV_NOT_FIND);
|
||||
// 计算每批大小
|
||||
int totalCameras = static_cast<int>(m_batchCameraList.size());
|
||||
if (m_scanConfig.simultaneousCount == 0) {
|
||||
m_batchSize = totalCameras;
|
||||
} else {
|
||||
m_batchSize = std::min(m_scanConfig.simultaneousCount, totalCameras);
|
||||
}
|
||||
|
||||
// 初始化分批状态
|
||||
m_batchStartIndex = 0;
|
||||
m_batchFinishedCount = 0;
|
||||
m_batchInProgress = true;
|
||||
|
||||
// 清空所有 per-camera 缓存
|
||||
ClearAllCameraDataCaches();
|
||||
|
||||
SetWorkStatus(WorkStatus::Working);
|
||||
|
||||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrayIndex].second;
|
||||
|
||||
// 获取数据类型（由子类决定）
|
||||
EVzResultDataType eDataType = GetDetectionDataType();
|
||||
|
||||
// 设置状态回调
|
||||
VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
|
||||
pDevice->SetStatusCallback(statusCallback, this);
|
||||
|
||||
// 获取检测回调函数（由子类提供）
|
||||
VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
|
||||
|
||||
// 开始检测
|
||||
nRet = pDevice->StartDetect(detectCallback, eDataType, this);
|
||||
LOG_INFO("[BasePresenter] Camera %d start detection result: %d\n", currentCamera, nRet);
|
||||
|
||||
if (nRet == SUCCESS) {
|
||||
// 启动算法检测线程
|
||||
// 启动算法检测线程
|
||||
if (!m_bAlgoDetectThreadRunning) {
|
||||
StartAlgoDetectThread();
|
||||
}
|
||||
LOG_INFO("[BasePresenter] StartDetection finish \n");
|
||||
return nRet;
|
||||
|
||||
// 启动第一批相机扫描
|
||||
StartBatchScan();
|
||||
|
||||
LOG_INFO("[BasePresenter] 分批扫描已启动: total=%d, batchSize=%d\n", totalCameras, m_batchSize);
|
||||
return SUCCESS;
|
||||
}
|
||||
|
||||
int BasePresenter::StopDetection()
|
||||
@ -173,6 +262,15 @@ int BasePresenter::StopDetection()
|
||||
// 停止算法检测线程
|
||||
StopAlgoDetectThread();
|
||||
|
||||
// 清理多相机分批扫描状态
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||||
m_batchInProgress = false;
|
||||
m_batchFinishedCount = 0;
|
||||
m_batchCameraList.clear();
|
||||
}
|
||||
ClearAllCameraDataCaches();
|
||||
|
||||
return SUCCESS;
|
||||
}
|
||||
|
||||
@ -420,9 +518,19 @@ int BasePresenter::OpenDevice(int cameraIndex, const char* cameraName, const cha
|
||||
pDevice = nullptr;
|
||||
} else {
|
||||
|
||||
// 设置状态回调（调用子类提供的回调函数）
|
||||
// 释放旧的回调上下文（重连场景）
|
||||
auto oldCtx = m_cameraContexts.find(cameraIndex);
|
||||
if (oldCtx != m_cameraContexts.end()) {
|
||||
delete oldCtx->second;
|
||||
}
|
||||
|
||||
// 创建新的回调上下文，携带相机索引
|
||||
CameraCallbackContext* ctx = new CameraCallbackContext{this, cameraIndex};
|
||||
m_cameraContexts[cameraIndex] = ctx;
|
||||
|
||||
// 设置状态回调（使用带相机索引的上下文）
|
||||
VzNL_OnNotifyStatusCBEx callback = GetCameraStatusCallback();
|
||||
nRet = pDevice->SetStatusCallback(callback, this);
|
||||
nRet = pDevice->SetStatusCallback(callback, ctx);
|
||||
LOG_DEBUG("[BasePresenter] SetStatusCallback result: %d\n", nRet);
|
||||
if (nRet != SUCCESS) {
|
||||
delete pDevice;
|
||||
@ -451,22 +559,25 @@ void BasePresenter::AlgoDetectThreadFunc()
|
||||
{
|
||||
std::unique_lock<std::mutex> lock(m_algoDetectMutex);
|
||||
|
||||
// 等待检测触发（子类需要调用 m_algoDetectCondition.notify_one() 来触发）
|
||||
// 等待检测触发
|
||||
m_algoDetectCondition.wait(lock);
|
||||
|
||||
if(!m_bAlgoDetectThreadRunning){
|
||||
break;
|
||||
}
|
||||
|
||||
LOG_INFO("[BasePresenter] 检测线程被唤醒，开始执行检测任务\n");
|
||||
|
||||
// 执行检测任务
|
||||
int nRet = DetectTask();
|
||||
|
||||
if(nRet != SUCCESS){
|
||||
LOG_ERROR("[BasePresenter] 检测任务执行失败，错误码: %d\n", nRet);
|
||||
if (m_scanConfig.simultaneousCount > 1 || m_scanConfig.simultaneousCount == 0) {
|
||||
// 多相机分批模式：检查批次是否完成并处理
|
||||
ProcessBatchIfReady();
|
||||
} else {
|
||||
LOG_INFO("[BasePresenter] 检测任务执行成功\n");
|
||||
// 单相机模式：直接执行检测任务
|
||||
LOG_INFO("[BasePresenter] 检测线程被唤醒，开始执行检测任务\n");
|
||||
int nRet = DetectTask();
|
||||
if(nRet != SUCCESS){
|
||||
LOG_ERROR("[BasePresenter] 检测任务执行失败，错误码: %d\n", nRet);
|
||||
} else {
|
||||
LOG_INFO("[BasePresenter] 检测任务执行成功\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -543,7 +654,13 @@ int BasePresenter::DetectTask()
|
||||
int nRet = ProcessAlgoDetection(m_detectionDataCache);
|
||||
LOG_INFO("[BasePresenter] ProcessAlgoDetection 执行结果: %d\n", nRet);
|
||||
|
||||
SetWorkStatus(WorkStatus::Completed);
|
||||
// 批量模式下不在这里设置Completed，由ProcessBatchIfReady统一设置
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||||
if (!m_batchInProgress) {
|
||||
SetWorkStatus(WorkStatus::Completed);
|
||||
}
|
||||
}
|
||||
|
||||
LOG_INFO("[BasePresenter] DetectTask - 检测任务执行成功\n");
|
||||
return nRet;
|
||||
@ -618,12 +735,14 @@ void BasePresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLas
|
||||
return;
|
||||
}
|
||||
|
||||
// 获取 BasePresenter 实例指针
|
||||
BasePresenter* pThis = reinterpret_cast<BasePresenter*>(pUserData);
|
||||
if (!pThis) {
|
||||
LOG_ERROR("[BasePresenter Detection Callback] pUserData is null\n");
|
||||
// 提取回调上下文（多相机模式下携带相机索引）
|
||||
CameraCallbackContext* ctx = static_cast<CameraCallbackContext*>(pUserData);
|
||||
if (!ctx || !ctx->presenter) {
|
||||
LOG_ERROR("[BasePresenter Detection Callback] invalid context\n");
|
||||
return;
|
||||
}
|
||||
BasePresenter* pThis = ctx->presenter;
|
||||
int cameraIndex = ctx->cameraIndex;
|
||||
|
||||
// 创建 SVzLaserLineData 副本
|
||||
SVzLaserLineData lineData;
|
||||
@ -680,8 +799,14 @@ void BasePresenter::_StaticDetectionCallback(EVzResultDataType eDataType, SVzLas
|
||||
lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
|
||||
lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;
|
||||
|
||||
// 添加到检测数据缓存
|
||||
pThis->AddDetectionDataToCache(eDataType, lineData);
|
||||
// 根据扫描模式分流存储
|
||||
if (pThis->m_scanConfig.simultaneousCount > 1 || pThis->m_scanConfig.simultaneousCount == 0) {
|
||||
// 多相机同时扫描模式：存入该相机的独立缓存
|
||||
pThis->AddDetectionDataToCameraCache(cameraIndex, eDataType, lineData);
|
||||
} else {
|
||||
// 单相机模式：存入共享缓存
|
||||
pThis->AddDetectionDataToCache(eDataType, lineData);
|
||||
}
|
||||
}
|
||||
|
||||
// 通用的静态相机状态回调函数实现
|
||||
@ -689,43 +814,44 @@ void BasePresenter::_StaticCameraStatusCallback(EVzDeviceWorkStatus eStatus, voi
|
||||
{
|
||||
LOG_DEBUG("[BasePresenter Camera Status Callback] received: status=%d\n", (int)eStatus);
|
||||
|
||||
// 获取 BasePresenter 实例指针
|
||||
BasePresenter* pThis = reinterpret_cast<BasePresenter*>(pInfoParam);
|
||||
if (!pThis) {
|
||||
LOG_ERROR("[BasePresenter Camera Status Callback] pInfoParam is null\n");
|
||||
// 提取回调上下文（携带相机索引）
|
||||
CameraCallbackContext* ctx = static_cast<CameraCallbackContext*>(pInfoParam);
|
||||
if (!ctx || !ctx->presenter) {
|
||||
LOG_ERROR("[BasePresenter Camera Status Callback] invalid context\n");
|
||||
return;
|
||||
}
|
||||
BasePresenter* pThis = ctx->presenter;
|
||||
int cameraIndex = ctx->cameraIndex;
|
||||
|
||||
switch (eStatus) {
|
||||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Offline:
|
||||
{
|
||||
LOG_WARNING("[BasePresenter Camera Status Callback] Camera device offline/disconnected\n");
|
||||
LOG_WARNING("[BasePresenter Camera Status Callback] Camera %d offline/disconnected\n", cameraIndex);
|
||||
|
||||
// 更新相机连接状态
|
||||
pThis->m_bCameraConnected = false;
|
||||
|
||||
// 通知子类相机状态变更（这里暂时通知相机1，实际应用中可能需要区分）
|
||||
pThis->OnCameraStatusChanged(1, false);
|
||||
pThis->OnCameraStatusChanged(cameraIndex, false);
|
||||
break;
|
||||
}
|
||||
|
||||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Eye_Reconnect:
|
||||
{
|
||||
LOG_INFO("[BasePresenter Camera Status Callback] Camera device online/connected\n");
|
||||
LOG_INFO("[BasePresenter Camera Status Callback] Camera %d online/connected\n", cameraIndex);
|
||||
|
||||
// 更新相机连接状态
|
||||
pThis->m_bCameraConnected = true;
|
||||
|
||||
// 通知子类相机状态变更
|
||||
pThis->OnCameraStatusChanged(1, true);
|
||||
pThis->OnCameraStatusChanged(cameraIndex, true);
|
||||
break;
|
||||
}
|
||||
|
||||
case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
|
||||
{
|
||||
LOG_INFO("[BasePresenter Camera Status Callback] Received scan finish signal from camera\n");
|
||||
LOG_INFO("[BasePresenter Camera Status Callback] Camera %d scan finished\n", cameraIndex);
|
||||
|
||||
// 通知算法检测线程开始处理
|
||||
// 多相机模式下记录批次完成
|
||||
if (pThis->m_scanConfig.simultaneousCount > 1 || pThis->m_scanConfig.simultaneousCount == 0) {
|
||||
pThis->OnCameraScanFinished(cameraIndex);
|
||||
}
|
||||
|
||||
// 唤醒算法检测线程
|
||||
pThis->m_algoDetectCondition.notify_one();
|
||||
break;
|
||||
}
|
||||
@ -919,3 +1045,168 @@ int BasePresenter::OnModbusWriteRegisters(uint8_t unitId, uint16_t startAddress,
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
// ============ 多相机同时扫描方法实现 ============
|
||||
|
||||
void BasePresenter::AddDetectionDataToCameraCache(int cameraIndex,
|
||||
EVzResultDataType dataType, const SVzLaserLineData& laserData)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_perCameraDataMutex);
|
||||
m_perCameraDataCache[cameraIndex].push_back(std::make_pair(dataType, laserData));
|
||||
}
|
||||
|
||||
void BasePresenter::ClearAllCameraDataCaches()
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_perCameraDataMutex);
|
||||
for (auto& pair : m_perCameraDataCache) {
|
||||
m_dataLoader.FreeLaserScanData(pair.second);
|
||||
}
|
||||
m_perCameraDataCache.clear();
|
||||
}
|
||||
|
||||
void BasePresenter::OnCameraScanFinished(int cameraIndex)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||||
m_batchFinishedCount++;
|
||||
LOG_INFO("[BasePresenter] Camera %d finished, batch progress: %d/%d\n",
|
||||
cameraIndex, m_batchFinishedCount, m_batchSize);
|
||||
}
|
||||
|
||||
void BasePresenter::StartBatchScan()
|
||||
{
|
||||
int batchEnd = std::min(m_batchStartIndex + m_batchSize, static_cast<int>(m_batchCameraList.size()));
|
||||
int batchCount = batchEnd - m_batchStartIndex;
|
||||
|
||||
LOG_INFO("[BasePresenter] StartBatchScan: cameras [%d, %d), count=%d\n",
|
||||
m_batchStartIndex, batchEnd, batchCount);
|
||||
|
||||
if (batchCount <= 0) {
|
||||
LOG_WARNING("[BasePresenter] StartBatchScan: empty batch\n");
|
||||
return;
|
||||
}
|
||||
|
||||
EVzResultDataType eDataType = GetDetectionDataType();
|
||||
VzNL_AutoOutputLaserLineExCB detectCallback = GetDetectionCallback();
|
||||
VzNL_OnNotifyStatusCBEx statusCallback = GetCameraStatusCallback();
|
||||
|
||||
for (int i = m_batchStartIndex; i < batchEnd; i++) {
|
||||
int cameraIndex = m_batchCameraList[i];
|
||||
int arrIndex = cameraIndex - 1;
|
||||
|
||||
if (arrIndex < 0 || arrIndex >= static_cast<int>(m_vrEyeDeviceList.size())) {
|
||||
LOG_WARNING("[BasePresenter] Camera %d index out of range, skipping\n", cameraIndex);
|
||||
continue;
|
||||
}
|
||||
|
||||
IVrEyeDevice* pDevice = m_vrEyeDeviceList[arrIndex].second;
|
||||
if (!pDevice) {
|
||||
LOG_WARNING("[BasePresenter] Camera %d device is null, skipping\n", cameraIndex);
|
||||
continue;
|
||||
}
|
||||
|
||||
// 清空该相机的独立缓存
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_perCameraDataMutex);
|
||||
auto it = m_perCameraDataCache.find(cameraIndex);
|
||||
if (it != m_perCameraDataCache.end()) {
|
||||
m_dataLoader.FreeLaserScanData(it->second);
|
||||
m_perCameraDataCache.erase(it);
|
||||
}
|
||||
}
|
||||
|
||||
// 使用相机专属的回调上下文
|
||||
CameraCallbackContext* ctx = m_cameraContexts[cameraIndex];
|
||||
pDevice->SetStatusCallback(statusCallback, ctx);
|
||||
|
||||
int nRet = pDevice->StartDetect(detectCallback, eDataType, ctx);
|
||||
LOG_INFO("[BasePresenter] Camera %d start detect: %d\n", cameraIndex, nRet);
|
||||
}
|
||||
|
||||
LOG_INFO("[BasePresenter] Batch scan started: %d cameras\n", batchCount);
|
||||
}
|
||||
|
||||
void BasePresenter::ProcessBatchIfReady()
|
||||
{
|
||||
// 检查当前批次是否全部完成
|
||||
bool batchComplete = false;
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||||
if (!m_batchInProgress) return;
|
||||
batchComplete = (m_batchFinishedCount >= m_batchSize);
|
||||
}
|
||||
|
||||
if (!batchComplete) {
|
||||
// 批次未完成，可能是被提前唤醒（Offline 等事件）
|
||||
return;
|
||||
}
|
||||
|
||||
int batchEnd = std::min(m_batchStartIndex + m_batchSize, static_cast<int>(m_batchCameraList.size()));
|
||||
|
||||
LOG_INFO("[BasePresenter] 批次完成，处理相机 [%d, %d)\n", m_batchStartIndex, batchEnd);
|
||||
|
||||
// 逐个处理批次内每个相机的数据
|
||||
for (int i = m_batchStartIndex; i < batchEnd; i++) {
|
||||
int cameraIndex = m_batchCameraList[i];
|
||||
|
||||
// 将相机数据从 per-camera 缓存移到 m_detectionDataCache
|
||||
{
|
||||
std::lock_guard<std::mutex> dataLock(m_perCameraDataMutex);
|
||||
auto it = m_perCameraDataCache.find(cameraIndex);
|
||||
if (it != m_perCameraDataCache.end() && !it->second.empty()) {
|
||||
std::lock_guard<std::mutex> detLock(m_detectionDataMutex);
|
||||
m_dataLoader.FreeLaserScanData(m_detectionDataCache);
|
||||
m_detectionDataCache.clear();
|
||||
m_detectionDataCache = std::move(it->second);
|
||||
m_perCameraDataCache.erase(it);
|
||||
} else {
|
||||
LOG_WARNING("[BasePresenter] 相机%d 无扫描数据，跳过\n", cameraIndex);
|
||||
continue;
|
||||
}
|
||||
}
|
||||
|
||||
m_currentCameraIndex = cameraIndex;
|
||||
|
||||
LOG_INFO("[BasePresenter] 处理相机 %d (%d/%d)\n",
|
||||
cameraIndex, i - m_batchStartIndex + 1, m_batchSize);
|
||||
|
||||
int nRet = DetectTask();
|
||||
if (nRet != SUCCESS) {
|
||||
LOG_ERROR("[BasePresenter] 相机%d 检测失败: %d\n", cameraIndex, nRet);
|
||||
}
|
||||
}
|
||||
|
||||
// 推进到下一批
|
||||
bool hasMore = false;
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||||
|
||||
m_batchStartIndex = batchEnd;
|
||||
m_batchFinishedCount = 0;
|
||||
|
||||
int remaining = static_cast<int>(m_batchCameraList.size()) - m_batchStartIndex;
|
||||
if (remaining > 0) {
|
||||
if (m_scanConfig.simultaneousCount == 0) {
|
||||
m_batchSize = remaining;
|
||||
} else {
|
||||
m_batchSize = std::min(m_scanConfig.simultaneousCount, remaining);
|
||||
}
|
||||
hasMore = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (hasMore) {
|
||||
LOG_INFO("[BasePresenter] 启动下一批扫描: start=%d, size=%d\n", m_batchStartIndex, m_batchSize);
|
||||
// 在主线程中启动下一批扫描
|
||||
QMetaObject::invokeMethod(this, [this]() {
|
||||
StartBatchScan();
|
||||
}, Qt::QueuedConnection);
|
||||
} else {
|
||||
LOG_INFO("[BasePresenter] 所有批次扫描完成，共 %d 个相机\n",
|
||||
static_cast<int>(m_batchCameraList.size()));
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(m_batchStateMutex);
|
||||
m_batchInProgress = false;
|
||||
}
|
||||
SetWorkStatus(WorkStatus::Completed);
|
||||
}
|
||||
}
|
||||
|
||||
@ -12,4 +12,8 @@ SUBDIRS += \
|
||||
GalaxyDevice/GalaxyDevice.pro \
|
||||
HikDevice/HikDevice.pro \
|
||||
GlLineLaserDevice/GlLineLaserDevice.pro
|
||||
# RsLidarDevice/RsLidarDevice.pro
|
||||
|
||||
|
||||
win32-msvc {
|
||||
SUBDIRS += RsLidarDevice/RsLidarDevice.pro
|
||||
}
|
||||
|
||||
@ -15,8 +15,9 @@
|
||||
| 9 | 颗粒尺寸检测 | ParticleSize | 1.0.0.0 |
|
||||
| 10 | 双目标记检测 | BinocularMarkServer | 1.0.0.4 |
|
||||
| 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 |
|
||||
| 12 | 螺杆定位 | ScrewPosition | 1.1.8.1 |
|
||||
| 12 | 螺杆定位 | ScrewPosition | 1.1.10.1 |
|
||||
| 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
|
||||
| 14 | 工件孔定位 | WorkpieceHole | 1.1.5.1 |
|
||||
| 16 | 坑孔定位 | HolePitPosition | 无 |
|
||||
| 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.1 |
|
||||
|
||||
|
||||
@ -27,6 +27,8 @@ Device.depends = Utils AppUtils
|
||||
AppUtils.depends = Utils Module
|
||||
App.depends = Utils VrNets Module Device AppUtils
|
||||
Tools.depends = Module Utils Robot
|
||||
Test.depends = Device Module
|
||||
|
||||
# Test 测试
|
||||
SUBDIRS += ../Test/Test.pro
|
||||
Test.file = ../Test/Test.pro
|
||||
SUBDIRS += Test
|
||||
|
||||
@ -44,6 +44,7 @@ DESKTOP_PROJECTS=(
|
||||
"WorkpieceHole;workpieceHolePositioning"
|
||||
"StatorPosition;motorStatorPosition"
|
||||
"RodAndBarPosition;rodAndBarDetection"
|
||||
"RodWeldSeam;rodAndBarDetection"
|
||||
"HolePitPosition;workpieceHolePositioning"
|
||||
"WheelMeasure;wheelArchHeigthMeasure"
|
||||
|
||||
|
||||
@ -11,3 +11,8 @@ SUBDIRS += \
|
||||
AuthModule/AuthModule.pro \
|
||||
HandEyeCalib/HandEyeCalib.pro \
|
||||
ChessboardDetector/ChessboardDetector.pro
|
||||
|
||||
|
||||
win32-msvc {
|
||||
SUBDIRS += CloudShow/CloudShow.pro
|
||||
}
|
||||
@ -3,4 +3,8 @@ TEMPLATE = subdirs
|
||||
# 撕裂项目
|
||||
# SUBDIRS += tcpclient/tcpclient_test.pro
|
||||
# SUBDIRS += tcpserver/tcpserver_test.pro
|
||||
# SUBDIRS += RsLidarTest/RsLidarTest.pro
|
||||
|
||||
|
||||
win32-msvc {
|
||||
SUBDIRS += RsLidarTest/RsLidarTest.pro
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user