695 lines
26 KiB
C++
695 lines
26 KiB
C++
#include "DetectPresenter.h"
|
||
#include "AlgorithmParamConverter.h"
|
||
#include "CoordinateTransform.h"
|
||
#include "ScrewPositionTCPProtocol.h"
|
||
#include "rodAndBarDetection_Export.h"
|
||
#include <QColor>
|
||
#include <array>
|
||
#include <cmath>
|
||
|
||
#ifndef M_PI
|
||
#define M_PI 3.14159265358979323846
|
||
#endif
|
||
|
||
namespace {
|
||
|
||
constexpr double kVectorEpsilon = 1e-8;
|
||
constexpr int kDirInvertNone = 0;
|
||
constexpr int kDirInvertXY = 1;
|
||
constexpr int kDirInvertXZ = 2;
|
||
constexpr int kDirInvertYZ = 3;
|
||
|
||
QImage BuildScrewPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
|
||
const std::vector<SSX_rodPoseInfo>& screwInfo)
|
||
{
|
||
PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
|
||
if (!canvas.isValid()) {
|
||
return QImage();
|
||
}
|
||
|
||
constexpr double kAxisLineLength = 60.0;
|
||
const QColor pointColor(0, 255, 0);
|
||
const QColor lineColor(255, 0, 0);
|
||
const QColor textColor(255, 255, 0);
|
||
|
||
for (size_t i = 0; i < screwInfo.size(); ++i) {
|
||
const auto& screw = screwInfo[i];
|
||
canvas.drawPoint(screw.center.x, screw.center.y, pointColor, 8);
|
||
canvas.drawText(screw.center.x, screw.center.y, QString::number(i + 1), textColor, 16, 10, -10);
|
||
canvas.drawLine(screw.center.x - kAxisLineLength * screw.axialDir.x,
|
||
screw.center.y - kAxisLineLength * screw.axialDir.y,
|
||
screw.center.x + kAxisLineLength * screw.axialDir.x,
|
||
screw.center.y + kAxisLineLength * screw.axialDir.y,
|
||
lineColor, 2);
|
||
}
|
||
|
||
return canvas.image().copy();
|
||
}
|
||
|
||
QImage BuildToolDiskPointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& xyzData,
|
||
const SSX_pointPoseInfo& poseInfo,
|
||
bool hasResult)
|
||
{
|
||
PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
|
||
if (!canvas.isValid()) {
|
||
return QImage();
|
||
}
|
||
|
||
if (hasResult) {
|
||
constexpr double kNormalLineLength = 60.0;
|
||
const QColor centerColor(0, 255, 0);
|
||
const QColor normalColor(255, 0, 0);
|
||
const QColor xAxisColor(255, 0, 0);
|
||
const QColor yAxisColor(0, 255, 0);
|
||
const QColor textColor(255, 255, 0);
|
||
|
||
// 绘制定位盘中心点
|
||
canvas.drawPoint(poseInfo.center.x, poseInfo.center.y, centerColor, 10);
|
||
canvas.drawText(poseInfo.center.x, poseInfo.center.y,
|
||
QStringLiteral("center"), textColor, 14, 10, -10);
|
||
|
||
// 绘制法向量方向线
|
||
canvas.drawLine(poseInfo.center.x,
|
||
poseInfo.center.y,
|
||
poseInfo.center.x + kNormalLineLength * poseInfo.normalDir.x,
|
||
poseInfo.center.y + kNormalLineLength * poseInfo.normalDir.y,
|
||
normalColor, 2);
|
||
canvas.drawLine(poseInfo.center.x,
|
||
poseInfo.center.y,
|
||
poseInfo.center.x + kNormalLineLength * poseInfo.xDir.x,
|
||
poseInfo.center.y + kNormalLineLength * poseInfo.xDir.y,
|
||
xAxisColor, 2);
|
||
canvas.drawLine(poseInfo.center.x,
|
||
poseInfo.center.y,
|
||
poseInfo.center.x + kNormalLineLength * poseInfo.yDir.x,
|
||
poseInfo.center.y + kNormalLineLength * poseInfo.yDir.y,
|
||
yAxisColor, 2);
|
||
}
|
||
|
||
return canvas.image().copy();
|
||
}
|
||
|
||
void SaveDebugImageIfNeeded(int cameraIndex,
|
||
const VrDebugParam& debugParam,
|
||
const QImage& image,
|
||
const QString& prefix)
|
||
{
|
||
if (!debugParam.enableDebug || !debugParam.saveDebugImage || image.isNull()) {
|
||
return;
|
||
}
|
||
|
||
const std::string timeStamp = CVrDateUtils::GetNowTime();
|
||
const std::string fileName = debugParam.debugOutputPath + "/" +
|
||
prefix.toStdString() + "_" +
|
||
std::to_string(cameraIndex) + "_" +
|
||
timeStamp + ".png";
|
||
LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
|
||
image.save(QString::fromStdString(fileName));
|
||
}
|
||
|
||
CTHomogeneousMatrix BuildHandEyeMatrix(const double clibMatrix[16])
|
||
{
|
||
CTHomogeneousMatrix handEyeMatrix;
|
||
for (int row = 0; row < 4; ++row) {
|
||
for (int col = 0; col < 4; ++col) {
|
||
handEyeMatrix.at(row, col) = clibMatrix[row * 4 + col];
|
||
}
|
||
}
|
||
return handEyeMatrix;
|
||
}
|
||
|
||
CTRobotPoseConvention ResolveRobotPoseConvention(int poseOutputOrder)
|
||
{
|
||
switch (poseOutputOrder) {
|
||
case 1:
|
||
return CTRobotPoseConvention::OrderedRxRzRy;
|
||
case 2:
|
||
return CTRobotPoseConvention::OrderedRyRxRz;
|
||
case 3:
|
||
return CTRobotPoseConvention::OrderedRyRzRx;
|
||
case 4:
|
||
return CTRobotPoseConvention::OrderedRzRxRy;
|
||
case 5:
|
||
return CTRobotPoseConvention::OrderedRzRyRx;
|
||
case 0:
|
||
default:
|
||
return CTRobotPoseConvention::LegacyRxRyRz;
|
||
}
|
||
}
|
||
|
||
double ClampUnit(double value)
|
||
{
|
||
if (value > 1.0) {
|
||
return 1.0;
|
||
}
|
||
if (value < -1.0) {
|
||
return -1.0;
|
||
}
|
||
return value;
|
||
}
|
||
|
||
void RotationMatrixToConfiguredEulerDegrees(const CTRotationMatrix& rotation,
|
||
CTEulerOrder order,
|
||
double& rollDeg,
|
||
double& pitchDeg,
|
||
double& yawDeg)
|
||
{
|
||
if (order == CTEulerOrder::sZYX) {
|
||
// External Z-Y-X: R = Rz(yaw) * Ry(pitch) * Rx(roll)
|
||
// Keep this decomposition aligned with the robot-side convention used in ScrewPosition.
|
||
const double pitch = std::asin(ClampUnit(rotation.at(0, 2)));
|
||
const double cosPitch = std::cos(pitch);
|
||
constexpr double kSingularThreshold = 1e-6;
|
||
|
||
double roll = 0.0;
|
||
double yaw = 0.0;
|
||
if (std::abs(cosPitch) > kSingularThreshold) {
|
||
yaw = std::atan2(-rotation.at(0, 1) / cosPitch,
|
||
rotation.at(0, 0) / cosPitch);
|
||
roll = std::atan2(rotation.at(1, 2) / cosPitch,
|
||
rotation.at(2, 2) / cosPitch);
|
||
} else {
|
||
// Near gimbal lock, keep yaw fixed and solve the residual X rotation.
|
||
yaw = 0.0;
|
||
roll = std::atan2(rotation.at(1, 0), rotation.at(1, 1));
|
||
}
|
||
|
||
rollDeg = roll * 180.0 / M_PI;
|
||
pitchDeg = pitch * 180.0 / M_PI;
|
||
yawDeg = yaw * 180.0 / M_PI;
|
||
return;
|
||
}
|
||
|
||
const CTEulerAngles robotEuler = CCoordinateTransform::rotationMatrixToEuler(rotation, order);
|
||
robotEuler.toDegrees(rollDeg, pitchDeg, yawDeg);
|
||
}
|
||
|
||
CTVec3D NormalizeVector(const CTVec3D& vector)
|
||
{
|
||
const double length = vector.norm();
|
||
if (length < kVectorEpsilon) {
|
||
return CTVec3D();
|
||
}
|
||
return vector * (1.0 / length);
|
||
}
|
||
|
||
double DotProduct(const CTVec3D& a, const CTVec3D& b)
|
||
{
|
||
return a.x * b.x + a.y * b.y + a.z * b.z;
|
||
}
|
||
|
||
CTVec3D CrossProduct(const CTVec3D& a, const CTVec3D& b)
|
||
{
|
||
return CTVec3D(a.y * b.z - a.z * b.y,
|
||
a.z * b.x - a.x * b.z,
|
||
a.x * b.y - a.y * b.x);
|
||
}
|
||
|
||
bool IsValidVector(const CTVec3D& vector)
|
||
{
|
||
return vector.norm() >= kVectorEpsilon;
|
||
}
|
||
|
||
CTVec3D ToCTVec3D(const SVzNL3DPoint& point)
|
||
{
|
||
return CTVec3D(point.x, point.y, point.z);
|
||
}
|
||
|
||
bool TryProjectedAxis(const CTVec3D& reference, const CTVec3D& primary, CTVec3D& axis)
|
||
{
|
||
const CTVec3D candidate = NormalizeVector(reference - primary * DotProduct(reference, primary));
|
||
if (!IsValidVector(candidate)) {
|
||
return false;
|
||
}
|
||
axis = candidate;
|
||
return true;
|
||
}
|
||
|
||
bool BuildFrameFromXAxis(const CTVec3D& primary, std::array<CTVec3D, 3>& axes)
|
||
{
|
||
const CTVec3D xAxis = NormalizeVector(primary);
|
||
if (!IsValidVector(xAxis)) {
|
||
return false;
|
||
}
|
||
|
||
CTVec3D yAxis = NormalizeVector(CrossProduct(CTVec3D(0.0, 0.0, 1.0), xAxis));
|
||
if (!IsValidVector(yAxis) &&
|
||
!TryProjectedAxis(CTVec3D(0.0, 1.0, 0.0), xAxis, yAxis) &&
|
||
!TryProjectedAxis(CTVec3D(1.0, 0.0, 0.0), xAxis, yAxis)) {
|
||
return false;
|
||
}
|
||
|
||
const CTVec3D zAxis = NormalizeVector(CrossProduct(xAxis, yAxis));
|
||
if (!IsValidVector(zAxis)) {
|
||
return false;
|
||
}
|
||
|
||
axes = {xAxis, yAxis, zAxis};
|
||
return true;
|
||
}
|
||
|
||
bool BuildFrameFromYAxis(const CTVec3D& primary, std::array<CTVec3D, 3>& axes)
|
||
{
|
||
const CTVec3D yAxis = NormalizeVector(primary);
|
||
if (!IsValidVector(yAxis)) {
|
||
return false;
|
||
}
|
||
|
||
CTVec3D xAxis = NormalizeVector(CrossProduct(yAxis, CTVec3D(0.0, 0.0, 1.0)));
|
||
if (!IsValidVector(xAxis) &&
|
||
!TryProjectedAxis(CTVec3D(1.0, 0.0, 0.0), yAxis, xAxis) &&
|
||
!TryProjectedAxis(CTVec3D(0.0, 1.0, 0.0), yAxis, xAxis)) {
|
||
return false;
|
||
}
|
||
|
||
const CTVec3D zAxis = NormalizeVector(CrossProduct(xAxis, yAxis));
|
||
if (!IsValidVector(zAxis)) {
|
||
return false;
|
||
}
|
||
|
||
axes = {xAxis, yAxis, zAxis};
|
||
return true;
|
||
}
|
||
|
||
void ApplyLongAxisDir(std::array<CTVec3D, 3>& axes, int longAxisDir)
|
||
{
|
||
if (longAxisDir != 1) {
|
||
return;
|
||
}
|
||
|
||
const CTVec3D xAxis = axes[0];
|
||
const CTVec3D yAxis = axes[1];
|
||
axes[0] = yAxis * (-1.0);
|
||
axes[1] = xAxis;
|
||
}
|
||
|
||
bool BuildFrameFromZAxis(const CTVec3D& primary, std::array<CTVec3D, 3>& axes)
|
||
{
|
||
const CTVec3D zAxis = NormalizeVector(primary);
|
||
if (!IsValidVector(zAxis)) {
|
||
return false;
|
||
}
|
||
|
||
CTVec3D xAxis = NormalizeVector(CrossProduct(CTVec3D(0.0, 1.0, 0.0), zAxis));
|
||
if (!IsValidVector(xAxis) &&
|
||
!TryProjectedAxis(CTVec3D(1.0, 0.0, 0.0), zAxis, xAxis) &&
|
||
!TryProjectedAxis(CTVec3D(0.0, 0.0, 1.0), zAxis, xAxis)) {
|
||
return false;
|
||
}
|
||
|
||
const CTVec3D yAxis = NormalizeVector(CrossProduct(zAxis, xAxis));
|
||
if (!IsValidVector(yAxis)) {
|
||
return false;
|
||
}
|
||
|
||
axes = {xAxis, yAxis, zAxis};
|
||
return true;
|
||
}
|
||
|
||
bool BuildFrameFromXYAxes(const CTVec3D& xSeed,
|
||
const CTVec3D& ySeed,
|
||
const CTVec3D& zReference,
|
||
std::array<CTVec3D, 3>& axes)
|
||
{
|
||
const CTVec3D xAxis = NormalizeVector(xSeed);
|
||
if (!IsValidVector(xAxis)) {
|
||
return false;
|
||
}
|
||
|
||
CTVec3D yAxis = NormalizeVector(ySeed - xAxis * DotProduct(ySeed, xAxis));
|
||
if (!IsValidVector(yAxis)) {
|
||
return false;
|
||
}
|
||
|
||
CTVec3D zAxis = NormalizeVector(CrossProduct(xAxis, yAxis));
|
||
if (!IsValidVector(zAxis)) {
|
||
return false;
|
||
}
|
||
|
||
if (IsValidVector(zReference) && DotProduct(zAxis, NormalizeVector(zReference)) < 0.0) {
|
||
yAxis = yAxis * (-1.0);
|
||
zAxis = zAxis * (-1.0);
|
||
}
|
||
|
||
axes = {xAxis, yAxis, zAxis};
|
||
return true;
|
||
}
|
||
|
||
void ApplyDirVectorInvert(std::array<CTVec3D, 3>& axes, int dirVectorInvert)
|
||
{
|
||
switch (dirVectorInvert) {
|
||
case kDirInvertXY:
|
||
axes[0] = axes[0] * (-1.0);
|
||
axes[1] = axes[1] * (-1.0);
|
||
break;
|
||
case kDirInvertXZ:
|
||
axes[0] = axes[0] * (-1.0);
|
||
axes[2] = axes[2] * (-1.0);
|
||
break;
|
||
case kDirInvertYZ:
|
||
axes[1] = axes[1] * (-1.0);
|
||
axes[2] = axes[2] * (-1.0);
|
||
break;
|
||
case kDirInvertNone:
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
bool TransformAxes(const std::array<CTVec3D, 3>& eyeAxes,
|
||
const CTHomogeneousMatrix& transform,
|
||
std::array<CTVec3D, 3>& robotAxes)
|
||
{
|
||
for (size_t i = 0; i < eyeAxes.size(); ++i) {
|
||
robotAxes[i] = NormalizeVector(transform.transformVector(eyeAxes[i]));
|
||
if (!IsValidVector(robotAxes[i])) {
|
||
return false;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
CTRotationMatrix BuildRotationMatrix(const std::array<CTVec3D, 3>& axes)
|
||
{
|
||
CTRotationMatrix rotation;
|
||
rotation.at(0, 0) = axes[0].x;
|
||
rotation.at(0, 1) = axes[1].x;
|
||
rotation.at(0, 2) = axes[2].x;
|
||
rotation.at(1, 0) = axes[0].y;
|
||
rotation.at(1, 1) = axes[1].y;
|
||
rotation.at(1, 2) = axes[2].y;
|
||
rotation.at(2, 0) = axes[0].z;
|
||
rotation.at(2, 1) = axes[1].z;
|
||
rotation.at(2, 2) = axes[2].z;
|
||
return rotation;
|
||
}
|
||
|
||
void VectorToPitchYaw(const CTVec3D& direction, double& pitch, double& yaw)
|
||
{
|
||
const double xyLen = std::sqrt(direction.x * direction.x + direction.y * direction.y);
|
||
pitch = std::atan2(-direction.z, xyLen) * 180.0 / M_PI;
|
||
yaw = std::atan2(direction.y, direction.x) * 180.0 / M_PI;
|
||
}
|
||
|
||
}
|
||
|
||
DetectPresenter::DetectPresenter(/* args */)
|
||
{
|
||
LOG_DEBUG("DetectPresenter Init algo ver: %s\n", wd_rodAndBarDetectionVersion());
|
||
}
|
||
|
||
DetectPresenter::~DetectPresenter()
|
||
{
|
||
}
|
||
|
||
QString DetectPresenter::GetAlgoVersion()
|
||
{
|
||
return QString(wd_rodAndBarDetectionVersion());
|
||
}
|
||
|
||
int DetectPresenter::DetectScrew(
|
||
int cameraIndex,
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
|
||
const VrAlgorithmParams& algorithmParams,
|
||
const VrDebugParam& debugParam,
|
||
LaserDataLoader& dataLoader,
|
||
const double clibMatrix[16],
|
||
const RobotPose6D& robotPose,
|
||
int eulerOrder,
|
||
int poseOutputOrder,
|
||
int dirVectorInvert,
|
||
int longAxisDir,
|
||
DetectionResult& detectionResult)
|
||
{
|
||
if (laserLines.empty()) {
|
||
LOG_WARNING("No laser lines data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
|
||
const double rodDiameter = algoParams.rodDiameter;
|
||
const bool isHorizonScan = algoParams.isHorizonScan;
|
||
const SSG_cornerParam& cornerParam = algoParams.cornerParam;
|
||
const SSG_treeGrowParam& growParam = algoParams.growParam;
|
||
const SSG_outlierFilterParam& filterParam = algoParams.filterParam;
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
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",
|
||
clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
|
||
clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
|
||
clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
|
||
clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
|
||
|
||
LOG_INFO("[Algo Thread] Screw: rodDiameter=%.1f, isHorizonScan=%s\n", rodDiameter, isHorizonScan ? "true" : "false");
|
||
LOG_INFO("[Algo Thread] Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
|
||
cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap,
|
||
cornerParam.minEndingGap_z, cornerParam.jumpCornerTh_1, cornerParam.jumpCornerTh_2);
|
||
LOG_INFO("[Algo Thread] Tree Grow: yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f, minLTypeTreeLen=%.1f, minVTypeTreeLen=%.1f\n",
|
||
growParam.yDeviation_max, growParam.zDeviation_max, growParam.maxLineSkipNum,
|
||
growParam.maxSkipDistance, growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
|
||
LOG_INFO("[Algo Thread] Filter: continuityTh=%.1f, outlierTh=%.1f\n", filterParam.continuityTh, filterParam.outlierTh);
|
||
LOG_INFO("[Algo Thread] Pose Config: eulerOrder=%d, poseOutputOrder=%d, dirVectorInvert=%d, longAxisDir=%d\n",
|
||
eulerOrder, poseOutputOrder, dirVectorInvert, longAxisDir);
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before sx_hexHeadScrewMeasure \n");
|
||
|
||
std::vector<SSX_rodPoseInfo> screwInfo;
|
||
sx_hexHeadScrewMeasure(
|
||
xyzData,
|
||
isHorizonScan,
|
||
cornerParam,
|
||
filterParam,
|
||
growParam,
|
||
rodDiameter,
|
||
screwInfo,
|
||
&errCode);
|
||
|
||
LOG_DEBUG("after sx_hexHeadScrewMeasure \n");
|
||
LOG_INFO("sx_hexHeadScrewMeasure: detected %zu screws, err=%d runtime=%.3fms\n",
|
||
screwInfo.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
detectionResult.success = true;
|
||
detectionResult.errorCode = 0;
|
||
detectionResult.message = QStringLiteral("\u68c0\u6d4b\u6210\u529f");
|
||
detectionResult.image = BuildScrewPointCloudImage(xyzData, screwInfo);
|
||
const CTHomogeneousMatrix handEyeMatrix = BuildHandEyeMatrix(clibMatrix);
|
||
const CTEulerOrder order = static_cast<CTEulerOrder>(eulerOrder);
|
||
const CTRobotPose flangePose = CTRobotPose::fromDegrees(robotPose.x, robotPose.y, robotPose.z, robotPose.rx, robotPose.ry, robotPose.rz);
|
||
const CTRobotPoseConvention poseConvention = ResolveRobotPoseConvention(poseOutputOrder);
|
||
const CTHomogeneousMatrix eyeInHandTransform = CCoordinateTransform::sixAxisEyeInHandBuildTransform(
|
||
flangePose, order, handEyeMatrix, poseConvention);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] Robot flange pose fields: X=%.3f, Y=%.3f, Z=%.3f, A1=%.3f, A2=%.3f, A3=%.3f\n",
|
||
robotPose.x, robotPose.y, robotPose.z,
|
||
robotPose.rx, robotPose.ry, robotPose.rz);
|
||
}
|
||
|
||
for (size_t i = 0; i < screwInfo.size(); ++i) {
|
||
const auto& screw = screwInfo[i];
|
||
|
||
const CTVec3D robotCenter = eyeInHandTransform.transformPoint(ToCTVec3D(screw.center));
|
||
const CTVec3D eyeAxialDir = NormalizeVector(ToCTVec3D(screw.axialDir));
|
||
const CTVec3D robotAxialDir = NormalizeVector(eyeInHandTransform.transformVector(eyeAxialDir));
|
||
|
||
ScrewPosition pos;
|
||
pos.x = robotCenter.x;
|
||
pos.y = robotCenter.y;
|
||
pos.z = robotCenter.z;
|
||
// 从轴向量计算欧拉角
|
||
const bool useConfiguredPose = (dirVectorInvert != kDirInvertNone || longAxisDir != 0);
|
||
bool frameReady = false;
|
||
if (useConfiguredPose) {
|
||
std::array<CTVec3D, 3> eyeAxes;
|
||
frameReady = BuildFrameFromXAxis(eyeAxialDir, eyeAxes);
|
||
|
||
if (frameReady) {
|
||
ApplyLongAxisDir(eyeAxes, longAxisDir);
|
||
ApplyDirVectorInvert(eyeAxes, dirVectorInvert);
|
||
|
||
std::array<CTVec3D, 3> robotAxes;
|
||
frameReady = TransformAxes(eyeAxes, eyeInHandTransform, robotAxes);
|
||
if (frameReady) {
|
||
const CTRotationMatrix rotation = BuildRotationMatrix(robotAxes);
|
||
RotationMatrixToConfiguredEulerDegrees(rotation, order, pos.roll, pos.pitch, pos.yaw);
|
||
}
|
||
}
|
||
}
|
||
|
||
if (!frameReady && useConfiguredPose) {
|
||
LOG_WARNING("[Algo Thread] Screw %zu failed to build configured pose frame, fallback to pitch/yaw only\n", i);
|
||
}
|
||
if (!frameReady) {
|
||
pos.roll = 0.0;
|
||
VectorToPitchYaw(robotAxialDir, pos.pitch, pos.yaw);
|
||
}
|
||
detectionResult.positions.push_back(pos);
|
||
|
||
ScrewInfo info;
|
||
info.centerX = robotCenter.x;
|
||
info.centerY = robotCenter.y;
|
||
info.centerZ = robotCenter.z;
|
||
info.axialDirX = robotAxialDir.x;
|
||
info.axialDirY = robotAxialDir.y;
|
||
info.axialDirZ = robotAxialDir.z;
|
||
info.rotateAngle = pos.roll;
|
||
detectionResult.screwInfoList.push_back(info);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
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);
|
||
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);
|
||
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);
|
||
LOG_INFO("[Algo Thread] Screw %zu Axial Dir Robot: X=%.3f, Y=%.3f, Z=%.3f\n", i, robotAxialDir.x, robotAxialDir.y, robotAxialDir.z);
|
||
}
|
||
}
|
||
|
||
SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("Image"));
|
||
return SUCCESS;
|
||
}
|
||
|
||
int DetectPresenter::DetectToolDisk(
|
||
int cameraIndex,
|
||
std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
|
||
const VrAlgorithmParams& algorithmParams,
|
||
const VrDebugParam& debugParam,
|
||
LaserDataLoader& dataLoader,
|
||
const double clibMatrix[16],
|
||
const RobotPose6D& robotPose,
|
||
int eulerOrder,
|
||
int poseOutputOrder,
|
||
int dirVectorInvert,
|
||
int longAxisDir,
|
||
DetectionResult& detectionResult)
|
||
{
|
||
if (laserLines.empty()) {
|
||
LOG_WARNING("No laser lines data available for tool disk detection\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
std::vector<std::vector<SVzNL3DPosition>> xyzData;
|
||
int convertResult = dataLoader.ConvertToSVzNL3DPosition(laserLines, xyzData);
|
||
if (convertResult != SUCCESS || xyzData.empty()) {
|
||
LOG_WARNING("Failed to convert tool disk data to XYZ format or no XYZ data available\n");
|
||
return ERR_CODE(DEV_DATA_INVALID);
|
||
}
|
||
|
||
// 构造算法参数（与螺杆检测共享 cornerParam）
|
||
const ScrewDetectAlgorithmParams algoParams = AlgorithmParamConverter::ToScrewDetectAlgorithmParams(algorithmParams);
|
||
const SSG_cornerParam& cornerParam = algoParams.cornerParam;
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
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",
|
||
clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
|
||
clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
|
||
clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
|
||
clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
|
||
LOG_INFO("[Algo Thread] ToolDisk Corner: cornerTh=%.1f, scale=%.1f, minEndingGap=%.1f, minEndingGap_z=%.1f\n",
|
||
cornerParam.cornerTh, cornerParam.scale, cornerParam.minEndingGap, cornerParam.minEndingGap_z);
|
||
LOG_INFO("[Algo Thread] ToolDisk Pose Config: eulerOrder=%d, poseOutputOrder=%d, dirVectorInvert=%d, longAxisDir=%d\n",
|
||
eulerOrder, poseOutputOrder, dirVectorInvert, longAxisDir);
|
||
}
|
||
|
||
int errCode = 0;
|
||
CVrTimeUtils oTimeUtils;
|
||
|
||
LOG_DEBUG("before sx_getLocationPlatePose\n");
|
||
|
||
SSX_pointPoseInfo poseInfo = sx_getLocationPlatePose(xyzData, cornerParam, &errCode);
|
||
|
||
LOG_DEBUG("after sx_getLocationPlatePose\n");
|
||
LOG_INFO("sx_getLocationPlatePose: err=%d runtime=%.3fms\n", errCode, oTimeUtils.GetElapsedTimeInMilliSec());
|
||
ERR_CODE_RETURN(errCode);
|
||
|
||
detectionResult.success = true;
|
||
detectionResult.errorCode = 0;
|
||
detectionResult.message = QStringLiteral("\u5de5\u5177\u76d8\u68c0\u6d4b\u6210\u529f");
|
||
detectionResult.image = BuildToolDiskPointCloudImage(xyzData, poseInfo, true);
|
||
const CTHomogeneousMatrix handEyeMatrix = BuildHandEyeMatrix(clibMatrix);
|
||
const CTEulerOrder order = static_cast<CTEulerOrder>(eulerOrder);
|
||
const CTRobotPose flangePose = CTRobotPose::fromDegrees(
|
||
robotPose.x, robotPose.y, robotPose.z,
|
||
robotPose.rx, robotPose.ry, robotPose.rz);
|
||
const CTRobotPoseConvention poseConvention = ResolveRobotPoseConvention(poseOutputOrder);
|
||
const CTHomogeneousMatrix eyeInHandTransform = CCoordinateTransform::sixAxisEyeInHandBuildTransform(
|
||
flangePose, order, handEyeMatrix, poseConvention);
|
||
|
||
// 将定位盘中心点通过手眼标定转换为机器人坐标
|
||
const CTVec3D robotCenter = eyeInHandTransform.transformPoint(ToCTVec3D(poseInfo.center));
|
||
const CTVec3D eyeXAxis = NormalizeVector(ToCTVec3D(poseInfo.xDir));
|
||
const CTVec3D eyeYAxis = NormalizeVector(ToCTVec3D(poseInfo.yDir));
|
||
const CTVec3D eyeNormalDir = NormalizeVector(ToCTVec3D(poseInfo.normalDir));
|
||
const CTVec3D robotNormalDir = NormalizeVector(eyeInHandTransform.transformVector(eyeNormalDir));
|
||
|
||
ScrewPosition pos;
|
||
pos.x = robotCenter.x;
|
||
pos.y = robotCenter.y;
|
||
pos.z = robotCenter.z;
|
||
double eyeRoll = 0.0;
|
||
double eyePitch = 0.0;
|
||
double eyeYaw = 0.0;
|
||
bool eyeEulerReady = false;
|
||
// 法向量转欧拉角：roll=0, pitch=atan2(-nz, sqrt(nx^2+ny^2)), yaw=atan2(ny, nx)
|
||
const bool useConfiguredPose = true;
|
||
bool frameReady = false;
|
||
{
|
||
std::array<CTVec3D, 3> eyeAxes;
|
||
frameReady = BuildFrameFromXYAxes(eyeXAxis, eyeYAxis, eyeNormalDir, eyeAxes);
|
||
if (!frameReady) {
|
||
frameReady = BuildFrameFromZAxis(eyeNormalDir, eyeAxes);
|
||
}
|
||
if (frameReady) {
|
||
ApplyLongAxisDir(eyeAxes, longAxisDir);
|
||
ApplyDirVectorInvert(eyeAxes, dirVectorInvert);
|
||
const CTRotationMatrix eyeRotation = BuildRotationMatrix(eyeAxes);
|
||
RotationMatrixToConfiguredEulerDegrees(eyeRotation, order, eyeRoll, eyePitch, eyeYaw);
|
||
eyeEulerReady = true;
|
||
|
||
std::array<CTVec3D, 3> robotAxes;
|
||
frameReady = TransformAxes(eyeAxes, eyeInHandTransform, robotAxes);
|
||
if (frameReady) {
|
||
const CTRotationMatrix rotation = BuildRotationMatrix(robotAxes);
|
||
RotationMatrixToConfiguredEulerDegrees(rotation, order, pos.roll, pos.pitch, pos.yaw);
|
||
}
|
||
}
|
||
}
|
||
|
||
if (!frameReady) {
|
||
LOG_WARNING("[Algo Thread] ToolDisk failed to build pose frame from algorithm axes, fallback to pitch/yaw only\n");
|
||
}
|
||
if (!frameReady) {
|
||
pos.roll = 0.0;
|
||
VectorToPitchYaw(robotNormalDir, pos.pitch, pos.yaw);
|
||
}
|
||
detectionResult.positions.push_back(pos);
|
||
|
||
if (debugParam.enableDebug && debugParam.printDetailLog) {
|
||
LOG_INFO("[Algo Thread] ToolDisk Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", poseInfo.center.x, poseInfo.center.y, poseInfo.center.z);
|
||
LOG_INFO("[Algo Thread] ToolDisk XDir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", poseInfo.xDir.x, poseInfo.xDir.y, poseInfo.xDir.z);
|
||
LOG_INFO("[Algo Thread] ToolDisk YDir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", poseInfo.yDir.x, poseInfo.yDir.y, poseInfo.yDir.z);
|
||
LOG_INFO("[Algo Thread] ToolDisk ZDir Eye: X=%.3f, Y=%.3f, Z=%.3f\n", poseInfo.normalDir.x, poseInfo.normalDir.y, poseInfo.normalDir.z);
|
||
if (eyeEulerReady) {
|
||
LOG_INFO("[Algo Thread] ToolDisk Euler Eye: Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n",
|
||
eyeRoll, eyePitch, eyeYaw);
|
||
} else {
|
||
LOG_INFO("[Algo Thread] ToolDisk Euler Eye: unavailable\n");
|
||
}
|
||
LOG_INFO("[Algo Thread] ToolDisk Robot Coords: X=%.2f, Y=%.2f, Z=%.2f\n", pos.x, pos.y, pos.z);
|
||
LOG_INFO("[Algo Thread] ToolDisk Euler: Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n", pos.roll, pos.pitch, pos.yaw);
|
||
}
|
||
|
||
SaveDebugImageIfNeeded(cameraIndex, debugParam, detectionResult.image, QStringLiteral("ToolDisk_Image"));
|
||
return SUCCESS;
|
||
}
|