202 lines
8.2 KiB
C++
202 lines
8.2 KiB
C++
#ifndef POINTCLOUDIMAGEUTILS_H
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#define POINTCLOUDIMAGEUTILS_H
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#include <QImage>
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#include <QColor>
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#include <vector>
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#include <utility> // for std::pair
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#include "VZNL_Types.h"
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// 简单的颗粒信息结构 - 避免依赖OpenCV
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struct SimpleParticleInfo {
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SVzNL3DPoint vertix[8]; // 8个顶点
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struct {
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double width;
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double height;
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} size;
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};
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// 通用检测目标结构体 - 替代算法SDK的 SSG_peakRgnInfo
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struct DetectionTargetInfo {
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struct {
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double x;
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double y;
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double z_yaw; // 偏航角（度）
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} centerPos;
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struct {
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double dWidth;
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double dHeight;
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} objSize;
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int orienFlag = 0; // 朝向标记: 0=无, 1=正面, 2=反面
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};
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// 孔洞标记信息结构体 - 用于孔洞检测结果可视化
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struct HoleMarkerInfo {
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SVzNL3DPoint center; // 孔洞中心 (double x,y,z)
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double radius; // 孔洞半径 (mm)
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};
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class PointCloudImageUtils
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{
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public:
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// 点云转图像 - 使用通用检测目标结构体
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static QImage GeneratePointCloudImage(SVzNL3DLaserLine* scanData,
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int lineNum,
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const std::vector<DetectionTargetInfo>& objOps);
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static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData,
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int lineNum,
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const std::vector<DetectionTargetInfo>& objOps);
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// 新的点云图像生成函数 - 基于X、Y范围创建图像
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static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData,
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int lineNum);
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// LapWeld点云和检测结果转图像 - 基于scan lines格式
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static QImage GeneratePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
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int imageWidth = 800, int imageHeight = 600);
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// Workpiece点云和角点检测结果转图像 - 将角点画成圆点
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static QImage GeneratePointCloudRetPointImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const std::vector<std::vector<SVzNL3DPoint>>& cornerPoints,
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double margin = 0.0,
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double* outXMin = nullptr,
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double* outXMax = nullptr,
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double* outYMin = nullptr,
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double* outYMax = nullptr);
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// ParticleSize点云和颗粒检测结果转图像 - 生成带颗粒标记的点云图像 (直接返回QImage)
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static QImage GeneratePointCloudImageWithParticles(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const std::vector<SimpleParticleInfo>& particles,
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int cameraIndex);
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// WheelMeasure点云和轮眉检测结果转图像 - 生成带轮眉标记的点云图像
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static QImage GenerateWheelArchImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const SVzNL3DPoint& wheelArchPos,
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const SVzNL3DPoint& wheelUpPos,
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const SVzNL3DPoint& wheelDownPos,
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double archToCenterHeight,
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bool hasResult = true);
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// 从检测数据缓存生成深度图像
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static int GenerateDepthImage(
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const std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& detectionDataCache,
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QImage& outImage);
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// 通道间距测量图像生成 - 根据算法标记的nPointIdx着色
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// 参考 HC_chanelSpaceMeasure_test.cpp 的 _outputRGBDScan_RGBD 函数
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// nPointIdx > 0: 使用预定义的8种颜色, 否则使用灰色
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static QImage GenerateChannelSpaceImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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int imageWidth = 1056, int imageHeight = 992);
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// 点云灰度图生成 - 灰色着色 + 自适应点大小填充扫描线间隙（通用接口）
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static QImage GenerateHeatmapImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double rotateX_deg = 0.0,
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double rotateY_deg = 0.0);
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// 孔洞检测图像生成 - 热力图底图 + 孔洞标记
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// useZGradient: 为true时根据点云Z值范围生成灰度渐变底图，否则使用统一灰色底图
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static QImage GenerateHoleDetectionImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const std::vector<HoleMarkerInfo>& holes,
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double rotateX_deg = 0.0,
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double rotateY_deg = 0.0,
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bool useZGradient = false);
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// 计算scan lines格式点云的范围
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static void CalculateScanLinesRange(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double& xMin, double& xMax,
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double& yMin, double& yMax);
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private:
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// 定义线特征颜色和大小获取函数
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static void GetLineFeatureStyle(int vType, int hType, int objId,
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QColor& pointColor, int& pointSize);
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// 获取对象颜色
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static QColor GetObjectColor(int index);
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// 计算点云范围
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static void CalculatePointCloudRange(SVzNL3DLaserLine* scanData, int lineNum,
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double& xMin, double& xMax,
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double& yMin, double& yMax);
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// 绘制LapWeld检测结果
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static void DrawLapWeldResults(QPainter& painter,
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const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
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double xMin, double xMax, double yMin, double yMax,
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int imageWidth, int imageHeight);
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// 绘制scan lines点云数据
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static void DrawScanLinesPointCloud(QPainter& painter,
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double xMin, double xMax, double yMin, double yMax,
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int imageWidth, int imageHeight);
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// 绘制检测目标（使用通用结构体）
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static void DrawDetectionTargets(QPainter& painter,
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const std::vector<DetectionTargetInfo>& objOps,
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double xMin, double xScale, int xSkip,
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double yMin, double yScale, int ySkip,
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int imgCols, int imgRows);
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};
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/**
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* @brief 通用点云画布类
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* 封装点云底图生成 + 3D→2D投影 + 通用绘图原语
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* 调用方可自由组合绘制点、文字、线段、圆等标记
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*/
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class PointCloudCanvas
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{
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public:
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/**
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* @brief 从 scan lines 创建画布，生成灰色点云底图
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* @param scanLines 扫描线数据
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* @param imageWidth 图像宽度（像素）
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* @param imageHeight 图像高度（像素）
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* @param margin 边距（像素）
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*/
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static PointCloudCanvas Create(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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int imageWidth = 1056, int imageHeight = 992, int margin = 50);
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bool isValid() const;
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QImage& image();
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const QImage& image() const;
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/// 3D坐标→图像像素坐标
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QPoint project(double x, double y) const;
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/// 绘制实心圆点
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void drawPoint(double x, double y, const QColor& color, int size = 4);
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/// 绘制圆（radius3D为3D空间半径，自动投影为像素半径）
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void drawCircle(double x, double y, double radius3D, const QColor& color, int penWidth = 2, bool fill = false);
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/// 绘制文字（offsetX/offsetY 为像素偏移）
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void drawText(double x, double y, const QString& text, const QColor& color, int fontSize = 14, int offsetX = 8, int offsetY = 6);
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/// 绘制线段
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void drawLine(double x1, double y1, double x2, double y2, const QColor& color, int penWidth = 2);
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private:
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QImage m_image;
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double m_xMin = 0.0;
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double m_yMin = 0.0;
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double m_scale = 1.0;
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int m_offsetX = 0;
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int m_offsetY = 0;
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int m_imgWidth = 0;
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int m_imgHeight = 0;
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bool m_valid = false;
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};
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#endif // POINTCLOUDIMAGEUTILS_H
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