344 lines
14 KiB
C++
344 lines
14 KiB
C++
#include "DetectPresenter.h"
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#include "AlgorithmParamConverter.h"
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#include "CoordinateTransform.h"
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#include "ScrewPositionTCPProtocol.h"
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#include "rodAndBarDetection_Export.h"
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#include <QColor>
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#include <cmath>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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namespace {
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QImage BuildScrewPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
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const std::vector<SSX_rodPoseInfo>& screwInfo)
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{
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PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
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if (!canvas.isValid()) {
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return QImage();
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}
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constexpr double kAxisLineLength = 60.0;
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const QColor pointColor(0, 255, 0);
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const QColor lineColor(255, 0, 0);
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const QColor textColor(255, 255, 0);
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for (size_t i = 0; i < screwInfo.size(); ++i) {
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const auto& screw = screwInfo[i];
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canvas.drawPoint(screw.center.x, screw.center.y, pointColor, 8);
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canvas.drawText(screw.center.x, screw.center.y, QString::number(i + 1), textColor, 16, 10, -10);
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canvas.drawLine(screw.center.x - kAxisLineLength * screw.axialDir.x,
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screw.center.y - kAxisLineLength * screw.axialDir.y,
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screw.center.x + kAxisLineLength * screw.axialDir.x,
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screw.center.y + kAxisLineLength * screw.axialDir.y,
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lineColor, 2);
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}
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return canvas.image().copy();
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}
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QImage BuildToolDiskPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
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const SSX_pointPoseInfo& poseInfo,
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bool hasResult)
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{
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PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
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if (!canvas.isValid()) {
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return QImage();
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}
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if (hasResult) {
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constexpr double kNormalLineLength = 60.0;
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const QColor centerColor(0, 255, 0);
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const QColor normalColor(255, 0, 0);
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const QColor textColor(255, 255, 0);
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// 绘制定位盘中心点
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canvas.drawPoint(poseInfo.center.x, poseInfo.center.y, centerColor, 10);
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canvas.drawText(poseInfo.center.x, poseInfo.center.y,
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QStringLiteral("center"), textColor, 14, 10, -10);
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// 绘制法向量方向线
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canvas.drawLine(poseInfo.center.x,
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poseInfo.center.y,
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poseInfo.center.x + kNormalLineLength * poseInfo.normalDir.x,
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poseInfo.center.y + kNormalLineLength * poseInfo.normalDir.y,
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normalColor, 2);
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}
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return canvas.image().copy();
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}
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void SaveDebugImageIfNeeded(int cameraIndex,
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const VrDebugParam& debugParam,
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const QImage& image,
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const QString& prefix)
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{
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if (!debugParam.enableDebug || !debugParam.saveDebugImage || image.isNull()) {
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return;
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}
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const std::string timeStamp = CVrDateUtils::GetNowTime();
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const std::string fileName = debugParam.debugOutputPath + "/" +
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prefix.toStdString() + "_" +
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std::to_string(cameraIndex) + "_" +
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timeStamp + ".png";
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LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
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image.save(QString::fromStdString(fileName));
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}
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CTHomogeneousMatrix BuildEyeInHandTransform(const double clibMatrix[16], const RobotPose6D& robotPose)
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{
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CTHomogeneousMatrix handEyeMatrix;
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for (int row = 0; row < 4; ++row) {
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for (int col = 0; col < 4; ++col) {
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handEyeMatrix.at(row, col) = clibMatrix[row * 4 + col];
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}
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}
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const CTRobotPose flangePose = CTRobotPose::fromDegrees(
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robotPose.x,
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robotPose.y,
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robotPose.z,
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robotPose.rx,
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robotPose.ry,
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robotPose.rz);
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return flangePose.toHomogeneousMatrix() * handEyeMatrix;
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}
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CTVec3D NormalizeVector(const CTVec3D& vector)
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{
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const double length = vector.norm();
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if (length < 1e-8) {
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return CTVec3D();
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}
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return vector * (1.0 / length);
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}
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CTVec3D ToCTVec3D(const SVzNL3DPoint& point)
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{
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return CTVec3D(point.x, point.y, point.z);
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}
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void VectorToPitchYaw(const CTVec3D& direction, double& pitch, double& yaw)
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{
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const double xyLen = std::sqrt(direction.x * direction.x + direction.y * direction.y);
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pitch = std::atan2(-direction.z, xyLen) * 180.0 / M_PI;
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yaw = std::atan2(direction.y, direction.x) * 180.0 / M_PI;
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}
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}
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DetectPresenter::DetectPresenter(/* args */)
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{
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LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_rodAndBarDetectionVersion());
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}
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DetectPresenter::~DetectPresenter()
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{
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}
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QString DetectPresenter::GetAlgoVersion()
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{
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return QString(wd_rodAndBarDetectionVersion());
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}
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int DetectPresenter::DetectScrew(
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int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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const RobotPose6D& robotPose,
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DetectionResult& detectionResult)
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{
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if (laserLines.empty()) {
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LOG_WARNING("No laser lines data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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std::vector<std::vector<SVzNL3DPosition>> xyzData;
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int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
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if (convertResult != SUCCESS || xyzData.empty()) {
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LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
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const double rodDiameter = algoParams.rodDiameter;
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const bool isHorizonScan = algoParams.isHorizonScan;
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const SSG_cornerParam& cornerParam = algoParams.cornerParam;
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const SSG_treeGrowParam& growParam = algoParams.growParam;
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const SSG_outlierFilterParam& filterParam = algoParams.filterParam;
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if (debugParam.enableDebug && debugParam.printDetailLog) {
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LOG_INFO("[Algo Thread] clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f]\n",
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clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
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clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
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clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
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clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
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LOG_INFO("[Algo Thread] Screw: rodDiameter=%.1f, isHorizonScan=%s\n", rodDiameter, isHorizonScan ? "true" : "false");
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LOG_INFO("[Algo Thread] Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
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cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
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cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
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LOG_INFO("[Algo Thread] Tree Grow: yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f, minLTypeTreeLen=%.1f, minVTypeTreeLen=%.1f\n",
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growParam.yDeviation_max, growParam.zDeviation_max, growParam.maxLineSkipNum,
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growParam.maxSkipDistance, growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
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LOG_INFO("[Algo Thread] Filter: continuityTh=%.1f, outlierTh=%.1f\n", filterParam.continuityTh, filterParam.outlierTh);
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}
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int errCode = 0;
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CVrTimeUtils oTimeUtils;
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LOG_DEBUG("before sx_hexHeadScrewMeasure \n");
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std::vector<SSX_rodPoseInfo> screwInfo;
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sx_hexHeadScrewMeasure(
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xyzData,
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isHorizonScan,
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cornerParam,
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filterParam,
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growParam,
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rodDiameter,
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screwInfo,
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&errCode);
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LOG_DEBUG("after sx_hexHeadScrewMeasure \n");
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LOG_INFO("sx_hexHeadScrewMeasure: detected %zu screws, err=%d runtime=%.3fms\n",
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screwInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(errCode);
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detectionResult.success = true;
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detectionResult.errorCode = 0;
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detectionResult.message = QStringLiteral("\u68c0\u6d4b\u6210\u529f");
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detectionResult.image = BuildScrewPointCloudImage(xyzData, screwInfo);
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const CTHomogeneousMatrix eyeInHandTransform = BuildEyeInHandTransform(clibMatrix, robotPose);
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if (debugParam.enableDebug && debugParam.printDetailLog) {
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LOG_INFO("[Algo Thread] Robot flange pose: X=%.3f, Y=%.3f, Z=%.3f, RX=%.3f, RY=%.3f, RZ=%.3f\n",
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robotPose.x, robotPose.y, robotPose.z,
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robotPose.rx, robotPose.ry, robotPose.rz);
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}
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for (size_t i = 0; i < screwInfo.size(); ++i) {
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const auto& screw = screwInfo[i];
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const CTVec3D robotCenter = eyeInHandTransform.transformPoint(ToCTVec3D(screw.center));
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const CTVec3D robotAxialDir = NormalizeVector(eyeInHandTransform.transformVector(ToCTVec3D(screw.axialDir)));
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ScrewPosition pos;
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pos.x = robotCenter.x;
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pos.y = robotCenter.y;
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pos.z = robotCenter.z;
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// 从轴向量计算欧拉角
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pos.roll = 0.0;
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VectorToPitchYaw(robotAxialDir, pos.pitch, pos.yaw);
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detectionResult.positions.push_back(pos);
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ScrewInfo info;
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info.centerX = robotCenter.x;
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info.centerY = robotCenter.y;
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info.centerZ = robotCenter.z;
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info.axialDirX = robotAxialDir.x;
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info.axialDirY = robotAxialDir.y;
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info.axialDirZ = robotAxialDir.z;
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info.rotateAngle = pos.roll;
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detectionResult.screwInfoList.push_back(info);
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if (debugParam.enableDebug && debugParam.printDetailLog) {
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LOG_INFO("[Algo Thread] Screw %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", i, screw.center.x, screw.center.y, screw.center.z);
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LOG_INFO("[Algo Thread] Screw %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, RPY=%.2f/%.2f/%.2f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
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LOG_INFO("[Algo Thread] Screw %zu Axial Dir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", i, screw.axialDir.x, screw.axialDir.y, screw.axialDir.z);
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LOG_INFO("[Algo Thread] Screw %zu Axial Dir Robot: X=%.3f, Y=%.3f, Z=%.3f\n", i, robotAxialDir.x, robotAxialDir.y, robotAxialDir.z);
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}
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}
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SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("Image"));
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return SUCCESS;
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}
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int DetectPresenter::DetectToolDisk(
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int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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const RobotPose6D& robotPose,
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DetectionResult& detectionResult)
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{
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if (laserLines.empty()) {
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LOG_WARNING("No laser lines data available for tool disk detection\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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std::vector<std::vector<SVzNL3DPosition>> xyzData;
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int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
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if (convertResult != SUCCESS || xyzData.empty()) {
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LOG_WARNING("Failed to convert tool disk data to XYZ format or no XYZ data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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// 构造算法参数（与螺杆检测共享 cornerParam）
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const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
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const SSG_cornerParam& cornerParam = algoParams.cornerParam;
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if (debugParam.enableDebug && debugParam.printDetailLog) {
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LOG_INFO("[Algo Thread] ToolDisk clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[%.3f, %.3f, %.3f, %.3f]\n",
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clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
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clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
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clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
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clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
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LOG_INFO("[Algo Thread] ToolDisk Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f\n",
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cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap, cornerParam.minEndingGap_z);
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}
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int errCode = 0;
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CVrTimeUtils oTimeUtils;
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LOG_DEBUG("before sx_getLocationPlatePose\n");
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SSX_pointPoseInfo poseInfo = sx_getLocationPlatePose(
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xyzData,
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cornerParam,
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&errCode);
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LOG_DEBUG("after sx_getLocationPlatePose\n");
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LOG_INFO("sx_getLocationPlatePose: err=%d runtime=%.3fms\n",
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errCode, oTimeUtils.GetElapsedTimeInMilliSec());
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ERR_CODE_RETURN(errCode);
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detectionResult.success = true;
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detectionResult.errorCode = 0;
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detectionResult.message = QStringLiteral("\u5de5\u5177\u76d8\u68c0\u6d4b\u6210\u529f");
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detectionResult.image = BuildToolDiskPointCloudImage(xyzData, poseInfo, true);
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const CTHomogeneousMatrix eyeInHandTransform = BuildEyeInHandTransform(clibMatrix, robotPose);
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// 将定位盘中心点通过手眼标定转换为机器人坐标
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const CTVec3D robotCenter = eyeInHandTransform.transformPoint(ToCTVec3D(poseInfo.center));
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const CTVec3D robotNormalDir = NormalizeVector(eyeInHandTransform.transformVector(ToCTVec3D(poseInfo.normalDir)));
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ScrewPosition pos;
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pos.x = robotCenter.x;
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pos.y = robotCenter.y;
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pos.z = robotCenter.z;
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// 法向量转欧拉角：roll=0, pitch=atan2(-nz, sqrt(nx^2+ny^2)), yaw=atan2(ny, nx)
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pos.roll = 0.0;
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VectorToPitchYaw(robotNormalDir, pos.pitch, pos.yaw);
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detectionResult.positions.push_back(pos);
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if (debugParam.enableDebug && debugParam.printDetailLog) {
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LOG_INFO("[Algo Thread] ToolDisk Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", poseInfo.center.x, poseInfo.center.y, poseInfo.center.z);
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LOG_INFO("[Algo Thread] ToolDisk Robot Coords: X=%.2f, Y=%.2f, Z=%.2f\n", pos.x, pos.y, pos.z);
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LOG_INFO("[Algo Thread] ToolDisk NormalDir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", poseInfo.normalDir.x, poseInfo.normalDir.y, poseInfo.normalDir.z);
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LOG_INFO("[Algo Thread] ToolDisk NormalDir Robot: X=%.3f, Y=%.3f, Z=%.3f\n", robotNormalDir.x, robotNormalDir.y, robotNormalDir.z);
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LOG_INFO("[Algo Thread] ToolDisk Euler: Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n", pos.roll, pos.pitch, pos.yaw);
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}
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SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("ToolDisk_Image"));
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return SUCCESS;
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}
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