2025-07-23 01:35:14 +08:00
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#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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2025-09-14 14:51:38 +08:00
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2025-09-16 00:02:42 +08:00
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#include "VZNL_Types.h"
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2025-09-14 14:51:38 +08:00
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#include "SG_baseDataType.h"
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2025-07-23 01:35:14 +08:00
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class PointCloudImageUtils
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{
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public:
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2025-09-14 14:51:38 +08:00
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// 点云转图像 - 从LapWeldPresenter提取
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2025-07-23 01:35:14 +08:00
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static QImage GeneratePointCloudImage(SVzNL3DLaserLine* scanData,
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int lineNum,
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const std::vector<SSG_peakRgnInfo>& objOps);
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static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData,
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int lineNum,
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const std::vector<SSG_peakOrienRgnInfo>& objOps);
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2025-07-26 01:10:21 +08:00
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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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2025-11-02 16:48:52 +08:00
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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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2025-07-23 01:35:14 +08:00
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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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2025-09-16 00:02:42 +08:00
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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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// 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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2025-07-23 01:35:14 +08:00
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// 绘制目标检测结果
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static void DrawDetectionTargets(QPainter& painter,
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const std::vector<SSG_peakRgnInfo>& 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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// 绘制目标检测结果
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static void DrawDetectionTargets(QPainter& painter,
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const std::vector<SSG_peakOrienRgnInfo>& 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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2025-09-16 00:02:42 +08:00
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#endif // POINTCLOUDIMAGEUTILS_H
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