GrabBag/App/Workpiece/Doc/工件角点检测完整实现代码.md

# 工件角点检测功能 - 完整实现代码

## 已完成的工作 ✅

### 1. 配置结构更新 ✅
- ✅ 更新 `IVrConfig.h` 添加 `lineLen` 参数
- ✅ 更新 `config.xml` 配置文件
- ✅ 更新 `VrConfig.cpp` 支持加载和保存新参数
- ✅ 更新 `WorkpieceApp.pro` 添加SDK依赖

### 2. 算法集成 ✅
- ✅ 更新 `DetectPresenter.cpp` 集成角点提取算法
- ✅ 调用 `sx_BQ_getWorkpieceCorners` API
- ✅ 处理12个角点结果（左、右、上、下各3个）
- ✅ 坐标转换和可视化

## 待实现代码

### 1. 参数配置界面 (dialogalgoarg)

#### dialogalgoarg.ui 更新
在算法参数对话框中添加以下控件（使用Qt Designer）：

```xml
<!-- 在<><E59CA8><EFBFBD>有的算法参数区域添加 -->
<widget class="QLineEdit" name="lineEdit_lineLen">
    <property name="geometry">
        <rect>
            <x>150</x>
            <y>200</y>
            <width>100</width>
            <height>30</height>
        </rect>
    </property>
    <property name="text">
        <string>100.0</string>
    </property>
</widget>

<widget class="QLabel" name="label_lineLen">
    <property name="geometry">
        <rect>
            <x>20</x>
            <y>200</y>
            <width>120</width>
            <height>30</height>
        </rect>
    </property>
    <property name="text">
        <string>直线段长度:</string>
    </property>
</widget>
```

#### dialogalgoarg.cpp 更新

```cpp
#include "dialogalgoarg.h"
#include "ui_dialogalgoarg.h"
#include "PathManager.h"
#include <QMessageBox>

DialogAlgoarg::DialogAlgoarg(IVrConfig* vrConfig, QWidget *parent)
    : QDialog(parent)
    , ui(new Ui::DialogAlgoarg)
    , m_vrConfig(vrConfig)
{
    ui->setupUi(this);

    // 加载配置文件路径
    m_configFilePath = PathManager::GetConfigFilePath();

    // 加载当前配置
    if (m_vrConfig) {
        m_configData = m_vrConfig->LoadConfig(m_configFilePath.toStdString());
    }

    // 将配置数据加载到UI
    LoadConfigToUI();
}

DialogAlgoarg::~DialogAlgoarg()
{
    delete ui;
}

void DialogAlgoarg::LoadConfigToUI()
{
    // 加载角点参数
    ui->lineEdit_cornerTh->setText(
        QString::number(m_configData.algorithmParams.cornerParam.cornerTh));
    ui->lineEdit_scale->setText(
        QString::number(m_configData.algorithmParams.cornerParam.scale));
    ui->lineEdit_minEndingGap->setText(
        QString::number(m_configData.algorithmParams.cornerParam.minEndingGap));
    ui->lineEdit_minEndingGap_z->setText(
        QString::number(m_configData.algorithmParams.cornerParam.minEndingGap_z));
    ui->lineEdit_jumpCornerTh_1->setText(
        QString::number(m_configData.algorithmParams.cornerParam.jumpCornerTh_1));
    ui->lineEdit_jumpCornerTh_2->setText(
        QString::number(m_configData.algorithmParams.cornerParam.jumpCornerTh_2));

    // 加载树生长参数
    ui->lineEdit_maxLineSkipNum->setText(
        QString::number(m_configData.algorithmParams.growParam.maxLineSkipNum));
    ui->lineEdit_yDeviation_max->setText(
        QString::number(m_configData.algorithmParams.growParam.yDeviation_max));
    ui->lineEdit_maxSkipDistance->setText(
        QString::number(m_configData.algorithmParams.growParam.maxSkipDistance));
    ui->lineEdit_zDeviation_max->setText(
        QString::number(m_configData.algorithmParams.growParam.zDeviation_max));
    ui->lineEdit_minLTypeTreeLen->setText(
        QString::number(m_configData.algorithmParams.growParam.minLTypeTreeLen));
    ui->lineEdit_minVTypeTreeLen->setText(
        QString::number(m_configData.algorithmParams.growParam.minVTypeTreeLen));

    // 加载工件参数
    ui->lineEdit_lapHeight->setText(
        QString::number(m_configData.algorithmParams.workpieceParam.lapHeight));
    ui->lineEdit_weldMinLen->setText(
        QString::number(m_configData.algorithmParams.workpieceParam.weldMinLen));
    ui->lineEdit_weldRefPoints->setText(
        QString::number(m_configData.algorithmParams.workpieceParam.weldRefPoints));

    // 加载工件角点提取参数
    ui->lineEdit_lineLen->setText(
        QString::number(m_configData.algorithmParams.workpieceParam.lineLen));
}

bool DialogAlgoarg::SaveConfigFromUI()
{
    // 保存角点参数
    m_configData.algorithmParams.cornerParam.cornerTh =
        ui->lineEdit_cornerTh->text().toDouble();
    m_configData.algorithmParams.cornerParam.scale =
        ui->lineEdit_scale->text().toDouble();
    m_configData.algorithmParams.cornerParam.minEndingGap =
        ui->lineEdit_minEndingGap->text().toDouble();
    m_configData.algorithmParams.cornerParam.minEndingGap_z =
        ui->lineEdit_minEndingGap_z->text().toDouble();
    m_configData.algorithmParams.cornerParam.jumpCornerTh_1 =
        ui->lineEdit_jumpCornerTh_1->text().toDouble();
    m_configData.algorithmParams.cornerParam.jumpCornerTh_2 =
        ui->lineEdit_jumpCornerTh_2->text().toDouble();

    // 保存树生长参数
    m_configData.algorithmParams.growParam.maxLineSkipNum =
        ui->lineEdit_maxLineSkipNum->text().toInt();
    m_configData.algorithmParams.growParam.yDeviation_max =
        ui->lineEdit_yDeviation_max->text().toDouble();
    m_configData.algorithmParams.growParam.maxSkipDistance =
        ui->lineEdit_maxSkipDistance->text().toDouble();
    m_configData.algorithmParams.growParam.zDeviation_max =
        ui->lineEdit_zDeviation_max->text().toDouble();
    m_configData.algorithmParams.growParam.minLTypeTreeLen =
        ui->lineEdit_minLTypeTreeLen->text().toDouble();
    m_configData.algorithmParams.growParam.minVTypeTreeLen =
        ui->lineEdit_minVTypeTreeLen->text().toDouble();

    // 保存工件参数
    m_configData.algorithmParams.workpieceParam.lapHeight =
        ui->lineEdit_lapHeight->text().toDouble();
    m_configData.algorithmParams.workpieceParam.weldMinLen =
        ui->lineEdit_weldMinLen->text().toDouble();
    m_configData.algorithmParams.workpieceParam.weldRefPoints =
        ui->lineEdit_weldRefPoints->text().toInt();

    // 保存工件角点提取参数
    m_configData.algorithmParams.workpieceParam.lineLen =
        ui->lineEdit_lineLen->text().toDouble();

    // 保存到配置文件
    if (!m_vrConfig->SaveConfig(m_configFilePath.toStdString(), m_configData)) {
        return false;
    }

    return true;
}

void DialogAlgoarg::on_btn_camer_ok_clicked()
{
    if (SaveConfigFromUI()) {
        QMessageBox::information(this, "提示", "参数保存成功！");
        accept();
    } else {
        QMessageBox::warning(this, "错误", "参数保存失败！");
    }
}

void DialogAlgoarg::on_btn_camer_cancel_clicked()
{
    reject();
}
```

### 2. TCPServerProtocol JSON结果发送

#### TCPServerMethods.cpp 添加方法

```cpp
#include "TCPServerProtocol.h"
#include "VrLog.h"
#include <QJsonDocument>
#include <QJsonObject>
#include <QJsonArray>
#include <QDateTime>

int TCPServerProtocol::SendWorkpieceCornerResult(
    const std::vector<WorkpiecePosition>& corners,
    int cameraIndex,
    const TCPClient* pClient)
{
    if (!m_pTCPServer || !m_bServerRunning) {
        LOG_ERROR("TCP server is not running\n");
        return -1;
    }

    // 构造JSON格式的检测结果
    QJsonObject jsonResult;
    jsonResult["type"] = "workpiece_corner";
    jsonResult["cameraIndex"] = cameraIndex;
    jsonResult["timestamp"] = QDateTime::currentMSecsSinceEpoch();
    jsonResult["cornerCount"] = static_cast<int>(corners.size());
    jsonResult["success"] = true;
    jsonResult["message"] = "Detection completed successfully";

    // 构造角点数组
    QJsonArray cornersArray;
    for (size_t i = 0; i < corners.size(); i++) {
        const auto& pos = corners[i];
        QJsonObject cornerObj;
        cornerObj["index"] = static_cast<int>(i);
        cornerObj["x"] = pos.x;
        cornerObj["y"] = pos.y;
        cornerObj["z"] = pos.z;
        cornerObj["roll"] = pos.roll;
        cornerObj["pitch"] = pos.pitch;
        cornerObj["yaw"] = pos.yaw;

        // 添加角点分类信息（可选）
        if (i < 3) {
            cornerObj["position"] = "left";
        } else if (i < 6) {
            cornerObj["position"] = "right";
        } else if (i < 9) {
            cornerObj["position"] = "top";
        } else {
            cornerObj["position"] = "bottom";
        }

        cornersArray.append(cornerObj);
    }
    jsonResult["corners"] = cornersArray;

    // 转换为JSON字符串
    QJsonDocument jsonDoc(jsonResult);
    QByteArray jsonData = jsonDoc.toJson(QJsonDocument::Compact);

    // 发送数据
    int result = -1;
    if (pClient) {
        // 发送给指定客户端
        result = m_pTCPServer->SendData(pClient, jsonData.data(), jsonData.size()) ? 0 : -1;
    } else {
        // 广播给所有客户端
        result = m_pTCPServer->SendAllData(jsonData.data(), jsonData.size()) ? 0 : -1;
    }

    if (result == 0) {
        LOG_INFO("Sent workpiece corner detection result: %d corners, size: %d bytes\n",
                 static_cast<int>(corners.size()), jsonData.size());
    } else {
        LOG_ERROR("Failed to send workpiece corner detection result\n");
    }

    return result;
}
```

#### TCPServerProtocol.h 添加声明

```cpp
class TCPServerProtocol
{
public:
    // ... 现有方法 ...

    /**
     * @brief 发送工件角点检测结果
     * @param corners 角点位置数组
     * @param cameraIndex 相机索引
     * @param pClient 目标客户端（nullptr表示广播给所有客户端）
     * @return 0-成功，其他-失败
     */
    int SendWorkpieceCornerResult(
        const std::vector<WorkpiecePosition>& corners,
        int cameraIndex,
        const TCPClient* pClient = nullptr);
};
```

### 3. WorkpiecePresenter 完整业务逻辑

#### WorkpiecePresenter.cpp 中的 _DetectTask 更新

```cpp
int WorkpiecePresenter::_DetectTask()
{
    LOG_INFO("[Algo Thread] Start workpiece corner extraction detection\n");

    std::lock_guard<std::mutex> lock(m_detectionDataMutex);

    // 1. 检查数据
    if (m_detectionDataCache.empty()) {
        LOG_WARNING("No cached detection data available\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("无缓存的检测数据");
        }
        return ERR_CODE(DEV_DATA_INVALID);
    }

    LOG_INFO("[Algo Thread] Detection data cache size: %zu lines\n",
             m_detectionDataCache.size());

    // 2. 获取手眼标定矩阵
    const CalibMatrix& calibMatrix = m_clibMatrixList[m_currentCameraIndex - 1];

    // 3. 执行检测
    DetectionResult detectionResult;
    int nRet = m_pDetectPresenter->DetectWorkpiece(
        m_currentCameraIndex,
        m_detectionDataCache,
        m_algorithmParams,
        m_debugParam,
        m_dataLoader,
        calibMatrix.clibMatrix,
        detectionResult
    );

    if (nRet != SUCCESS) {
        LOG_ERROR("Detection failed with error: %d\n", nRet);
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate(QString("检测失败，错误码: %1").arg(nRet).toStdString());
            m_pStatus->OnWorkStatusChanged(WorkStatus::Error);
        }
        m_currentWorkStatus = WorkStatus::Error;
        return nRet;
    }

    LOG_INFO("[Algo Thread] Detection completed successfully, found %zu corners\n",
             detectionResult.positions.size());

    // 4. 更新检测结果
    detectionResult.cameraIndex = m_currentCameraIndex;

    // 5. 通知UI显示结果
    if (m_pStatus) {
        m_pStatus->OnDetectionResult(detectionResult);
        QString statusMsg = QString("检测完成，找到 %1 个角点")
            .arg(detectionResult.positions.size());
        m_pStatus->OnStatusUpdate(statusMsg.toStdString());
    }

    // 6. 发送结果到TCP客户端
    _SendDetectionResultToTCP(detectionResult, m_currentCameraIndex);

    // 7. 更新工作状态
    m_currentWorkStatus = WorkStatus::Completed;
    if (m_pStatus) {
        m_pStatus->OnWorkStatusChanged(WorkStatus::Completed);
    }

    return SUCCESS;
}
```

#### WorkpiecePresenter.cpp 中的 _SendDetectionResultToTCP 实现

```cpp
void WorkpiecePresenter::_SendDetectionResultToTCP(
    const DetectionResult& detectionResult,
    int cameraIndex)
{
    if (!m_pTCPServer) {
        LOG_WARNING("TCP server not initialized\n");
        return;
    }

    if (!m_bTCPConnected) {
        LOG_WARNING("TCP not connected, skip sending detection result\n");
        return;
    }

    LOG_INFO("Sending workpiece corner detection result to TCP client\n");

    // 调用TCPServerProtocol发送JSON格式结果
    int result = m_pTCPServer->SendWorkpieceCornerResult(
        detectionResult.positions,
        cameraIndex,
        nullptr  // 广播给所有客户端
    );

    if (result == 0) {
        LOG_INFO("Successfully sent detection result to TCP client: %zu corners\n",
                 detectionResult.positions.size());
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("检测结果已发送到客户端");
        }
    } else {
        LOG_ERROR("Failed to send detection result to TCP client\n");
        if (m_pStatus) {
            m_pStatus->OnStatusUpdate("发送检测结果失败");
        }
    }
}
```

### 4. MainWindow 显示检测结果

#### mainwindow.cpp 实现 OnDetectionResult

```cpp
void MainWindow::OnDetectionResult(const DetectionResult& result)
{
    LOG_INFO("Received detection result: %zu corners from camera %d\n",
             result.positions.size(), result.cameraIndex);

    // 1. 显示检测图像
    if (!result.image.isNull()) {
        // 缩放图像以适应显示区域
        QPixmap pixmap = QPixmap::fromImage(result.image);
        QPixmap scaledPixmap = pixmap.scaled(
            ui->label_image->size(),
            Qt::KeepAspectRatio,
            Qt::SmoothTransformation
        );
        ui->label_image->setPixmap(scaledPixmap);

        LOG_DEBUG("Detection image displayed: %dx%d\n",
                  result.image.width(), result.image.height());
    } else {
        LOG_WARNING("No detection image to display\n");
    }

    // 2. 更新结果列表
    ui->listWidget_results->clear();

    // 添加标题信息
    QString headerText = QString("=== 相机 %1 检测结果 ===").arg(result.cameraIndex);
    ui->listWidget_results->addItem(headerText);

    QString countText = QString("检测到 %1 个角点:").arg(result.positions.size());
    ui->listWidget_results->addItem(countText);
    ui->listWidget_results->addItem("");  // 空行

    // 添加每个角点的详细信息
    for (size_t i = 0; i < result.positions.size(); i++) {
        const auto& pos = result.positions[i];

        // 确定角点位置（左、右、上、下）
        QString positionLabel;
        if (i < 3) {
            positionLabel = QString("左侧角点 %1").arg(i + 1);
        } else if (i < 6) {
            positionLabel = QString("右侧角点 %1").arg(i - 2);
        } else if (i < 9) {
            positionLabel = QString("顶部角点 %1").arg(i - 5);
        } else {
            positionLabel = QString("底部角点 %1").arg(i - 8);
        }

        QString resultText = QString("%1: X=%.2f, Y=%.2f, Z=%.2f")
            .arg(positionLabel)
            .arg(pos.x)
            .arg(pos.y)
            .arg(pos.z);

        ui->listWidget_results->addItem(resultText);

        LOG_DEBUG("Corner %zu: (%.2f, %.2f, %.2f)\n", i, pos.x, pos.y, pos.z);
    }

    // 3. 更新状态栏
    QString statusText = QString("检测完成 - 找到 %1 个角点 - 相机 %2")
        .arg(result.positions.size())
        .arg(result.cameraIndex);
    ui->statusBar->showMessage(statusText, 5000);  // 显示5秒

    // 4. 更<><E69BB4><EFBFBD>检测时间戳
    QString timeText = QDateTime::currentDateTime().toString("yyyy-MM-dd hh:mm:ss");
    ui->label_detectTime->setText(timeText);

    LOG_INFO("Detection result display updated successfully\n");
}
```

## JSON 通信协议格式

### 客户端触发检测请求
```
@,1,1,Trig,$
```
格式说明：`@，视觉号(相机ID)，视觉模版号，启动信息，$`

### 服务端返回检测结果

```json
{
    "type": "workpiece_corner",
    "cameraIndex": 1,
    "timestamp": 1640000000000,
    "cornerCount": 12,
    "success": true,
    "message": "Detection completed successfully",
    "corners": [
        {
            "index": 0,
            "position": "left",
            "x": 100.523,
            "y": 200.341,
            "z": 50.218,
            "roll": 0.0,
            "pitch": 0.0,
            "yaw": 0.0
        },
        {
            "index": 1,
            "position": "left",
            "x": 100.234,
            "y": 250.567,
            "z": 50.123,
            "roll": 0.0,
            "pitch": 0.0,
            "yaw": 0.0
        },
        // ... 更多角点数据（共12个）...
        {
            "index": 11,
            "position": "bottom",
            "x": 450.789,
            "y": 650.234,
            "z": 50.456,
            "roll": 0.0,
            "pitch": 0.0,
            "yaw": 0.0
        }
    ]
}
```

### 角点位置说明
- **index 0-2**: 左侧角点（position: "left"）
- **index 3-5**: 右侧角点（position: "right"）
- **index 6-8**: 顶部角点（position: "top"）
- **index 9-11**: 底部角点（position: "bottom"）

## 编译和测试

### 编译步骤
```bash
# Windows平台
cd App/Workpiece/WorkpieceApp
qmake WorkpieceApp.pro
nmake  # 或在Qt Creator中直接构建

# Linux/ARM平台
cd App/Workpiece/WorkpieceApp
qmake WorkpieceApp.pro
make -j4
```

### 测试步骤

#### 1. 参数配置测试
1. 运行WorkpieceApp
2. 点击"算法参数"按钮打开配置对话框
3. 修改"直线段长度"参数（默认100.0）
4. 点击"确定"保存
5. 验证 `config.xml` 文件中的 `lineLen` 参数已更新

#### 2. 算法检测测试
1. 准备点云数据文件（.txt格式）
2. 在主界面点击"加载数据"
3. 选择点云文件
4. 点击"开始检测"
5. 观察日志输出和UI显示

#### 3. TCP通信测试
使用TCP客户端工具连接服务器：
```python
import socket
import json

# 连接服务器
client = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
client.connect(('127.0.0.1', 5020))

# 发送触发命令
trigger_cmd = b'@,1,1,Trig,$'
client.send(trigger_cmd)

# 接收JSON结果
response = client.recv(4096)
result = json.loads(response.decode('utf-8'))

print(f"检测到 {result['cornerCount']} 个角点")
for corner in result['corners']:
    print(f"角点 {corner['index']}: ({corner['x']:.2f}, {corner['y']:.2f}, {corner['z']:.2f})")

client.close()
```

## 调试建议

### 1. 日志级别设置
在 `config.xml` 中启用调试模式：
```xml
<DebugParam enableDebug="true" savePointCloud="true"
            saveDebugImage="true" printDetailLog="true"
            debugOutputPath="./debug" />
```

### 2. 查看调试输出
- 点云数据：`./debug/Laserline_1_YYYYMMDDHHMMSS.txt`
- 检测图像：`./debug/Image_1_YYYYMMDDHHMMSS.png`

### 3. 常见问题排查

#### 问题1：SDK库找不到
**症状**：编译或运行时提示找不到 `BQ_workpieceCornerExtraction.dll`

**解决方案**：
- Windows: 确保 `SDK/workpieceCornerExtraction/Windows/x64/Release` 路径正确
- Linux: 设置 `LD_LIBRARY_PATH` 环境变量

#### 问题2：检测结果为空
**症状**：`cornerCount` 为 0

**解决方案**：
- 检查点云数据质量
- 调整 `lineLen` 参数（尝试50-200范围）
- 检查调平参数是否正确

#### 问题3：坐标转换错误
**症状**：角点坐标异常

**解决方案**：
- 验证手眼标定矩阵
- 检查相机调平参数
- 查看日志中的原始坐标和转换后坐标

## 性能优化建议

1. **大数据量处理**：启用多线程处理
2. **网络传输**：压缩JSON数据
3. **图像显示**：使用异步更新
4. **内存管理**：及时释放点云缓存

## 总结

✅ **已完成**：
- 配置结构和文件更新
- 算法SDK集成
- 检测结果处理
- 项目配置文件更新

📝 **待实现**：
- 参数配置UI界面（需要Qt Designer编辑.ui文件）
- TCP JSON结果发送方法
- 主窗口结果显示逻辑

所有核心算法逻辑已经完成，剩余工作主要是UI界面调整和TCP通信完善。参考本文档中的代码示例即可快速完成剩余实现。