235 lines
8.2 KiB
C++
235 lines
8.2 KiB
C++
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#include "PointCloudImageUtils.h"
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#include <QPainter>
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#include <cmath>
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#include <algorithm>
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#ifndef PI
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#define PI 3.14159265358979323846
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#endif
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QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNL3DLaserLine* scanData,
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int lineNum,
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const std::vector<SSG_peakRgnInfo>& objOps)
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{
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if (!scanData || lineNum <= 0) {
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return QImage(); // 返回空图像
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}
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// 统计X和Y的范围
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double xMin = 0.0, xMax = -1.0;
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double yMin = 0.0, yMax = -1.0;
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CalculatePointCloudRange(scanData, lineNum, xMin, xMax, yMin, yMax);
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// 检查范围是否有效
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if (xMax < xMin || yMax < yMin) {
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return QImage(); // 返回空图像
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}
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// 创建图像
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int imgCols = 800;
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int imgRows = 600;
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double x_cols = 768.0;
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double y_rows = 568.0;
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int x_skip = 16;
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int y_skip = 16;
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// 计算投影比例
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double x_scale = (xMax - xMin) / x_cols;
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double y_scale = (yMax - yMin) / y_rows;
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QImage image(imgCols, imgRows, QImage::Format_RGB888);
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image.fill(Qt::black);
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QPainter painter(&image);
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// 绘制点云
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for (int line = 0; line < lineNum; line++) {
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for (int i = 0; i < scanData[line].nPositionCnt; i++) {
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SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
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if (pt3D->pt3D.z < 1e-4) continue;
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// 解析点索引信息
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int vType = pt3D->nPointIdx & 0xff;
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int hType = vType >> 4;
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int objId = (pt3D->nPointIdx >> 16) & 0xff;
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vType = vType & 0x0f;
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// 根据线特征类型确定颜色和大小
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QColor pointColor;
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int pointSize = 1;
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GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize);
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int px = (int)((pt3D->pt3D.x - xMin) / x_scale + x_skip);
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int py = (int)((pt3D->pt3D.y - yMin) / y_scale + y_skip);
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if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
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painter.setPen(QPen(pointColor, 1));
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painter.drawPoint(px, py);
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}
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}
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}
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// 绘制检测目标和方向线
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DrawDetectionTargets(painter, objOps, xMin, x_scale, x_skip, yMin, y_scale, y_skip, imgCols, imgRows);
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return image;
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}
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void PointCloudImageUtils::GetLineFeatureStyle(int vType, int hType, int objId,
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QColor& pointColor, int& pointSize)
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{
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pointSize = 1;
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// 优先根据垂直方向特征设置颜色
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if (LINE_FEATURE_L_JUMP_H2L == vType) {
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pointColor = QColor(255, 97, 0); // 橙色
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pointSize = 2;
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}
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else if (LINE_FEATURE_L_JUMP_L2H == vType) {
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pointColor = QColor(255, 255, 0); // 黄色
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pointSize = 2;
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}
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else if (LINE_FEATURE_V_SLOPE == vType) {
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pointColor = QColor(255, 0, 255); // 紫色
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pointSize = 2;
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}
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else if (LINE_FEATURE_L_SLOPE_H2L == vType) {
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pointColor = QColor(160, 82, 45); // 褐色
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pointSize = 2;
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}
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else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) {
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pointColor = QColor(255, 0, 0); // 红色
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pointSize = 2;
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}
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else if (LINE_FEATURE_L_SLOPE_L2H == vType) {
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pointColor = QColor(233, 150, 122); // 浅褐色
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pointSize = 2;
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}
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// 检查水平方向特征
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else if (LINE_FEATURE_L_JUMP_H2L == hType) {
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pointColor = QColor(0, 0, 255); // 蓝色
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pointSize = 2;
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}
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else if (LINE_FEATURE_L_JUMP_L2H == hType) {
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pointColor = QColor(0, 255, 255); // 青色
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pointSize = 2;
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}
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else if (LINE_FEATURE_V_SLOPE == hType) {
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pointColor = QColor(0, 255, 0); // 绿色
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pointSize = 2;
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}
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else if (LINE_FEATURE_L_SLOPE_H2L == hType) {
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pointColor = QColor(85, 107, 47); // 橄榄绿
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pointSize = 2;
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}
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else if (LINE_FEATURE_L_SLOPE_L2H == hType) {
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pointColor = QColor(0, 255, 154); // 浅绿色
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pointSize = 2;
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}
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else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) {
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pointColor = QColor(255, 0, 0); // 红色
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pointSize = 3;
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}
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// 检查是否为目标对象
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else if (objId > 0) {
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pointColor = GetObjectColor(objId);
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pointSize = 1;
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}
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// 默认颜色
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else {
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pointColor = QColor(150, 150, 150); // 深灰色
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pointSize = 1;
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}
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}
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QColor PointCloudImageUtils::GetObjectColor(int index)
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{
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QColor objColors[8] = {
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QColor(245,222,179), QColor(210,105,30), QColor(240,230,140), QColor(135,206,235),
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QColor(250,235,215), QColor(189,252,201), QColor(221,160,221), QColor(188,143,143)
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};
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return objColors[index % 8];
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}
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void PointCloudImageUtils::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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{
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xMin = 0.0; xMax = -1.0;
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yMin = 0.0; yMax = -1.0;
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for (int line = 0; line < lineNum; line++) {
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for (int i = 0; i < scanData[line].nPositionCnt; i++) {
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SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
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if (pt3D->pt3D.z < 1e-4) continue;
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// 更新X范围
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if (xMax < xMin) {
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xMin = xMax = pt3D->pt3D.x;
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} else {
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if (xMin > pt3D->pt3D.x) xMin = pt3D->pt3D.x;
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if (xMax < pt3D->pt3D.x) xMax = pt3D->pt3D.x;
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}
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// 更新Y范围
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if (yMax < yMin) {
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yMin = yMax = pt3D->pt3D.y;
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} else {
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if (yMin > pt3D->pt3D.y) yMin = pt3D->pt3D.y;
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if (yMax < pt3D->pt3D.y) yMax = pt3D->pt3D.y;
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}
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}
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}
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}
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void PointCloudImageUtils::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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{
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// 绘制检测目标和方向线
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for (size_t i = 0; i < objOps.size(); i++) {
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QColor objColor = (i == 0) ? QColor(255, 0, 0) : QColor(255, 255, 0);
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int size = (i == 0) ? 12 : 8;
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int px = (int)((objOps[i].centerPos.x - xMin) / xScale + xSkip);
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int py = (int)((objOps[i].centerPos.y - yMin) / yScale + ySkip);
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if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
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// 绘制抓取点圆圈
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painter.setPen(QPen(objColor, 2));
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painter.setBrush(QBrush(objColor));
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painter.drawEllipse(px - size/2, py - size/2, size, size);
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// 绘制方向线
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const double deg2rad = PI / 180.0;
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// 使用检测目标实际2D尺寸的较大值的一半作为方向线长度
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double maxSize = std::max(objOps[i].objSize.dHeight, objOps[i].objSize.dWidth);
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double R = std::max(20.0, maxSize / 6.0);
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const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
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double cy = cos(yaw);
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double sy = sin(yaw);
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double x1 = objOps[i].centerPos.x + R * cy;
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double y1 = objOps[i].centerPos.y - R * sy;
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double x2 = objOps[i].centerPos.x - R * cy;
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double y2 = objOps[i].centerPos.y + R * sy;
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int px1 = (int)((x1 - xMin) / xScale + xSkip);
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int py1 = (int)((y1 - yMin) / yScale + ySkip);
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int px2 = (int)((x2 - xMin) / xScale + xSkip);
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int py2 = (int)((y2 - yMin) / yScale + ySkip);
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// 绘制方向线
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painter.setPen(QPen(objColor, 3));
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painter.drawLine(px1, py1, px2, py2);
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// 绘制目标编号
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painter.setPen(QPen(Qt::white, 1));
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painter.setFont(QFont("Arial", 15, QFont::Bold));
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painter.drawText(px + 15, py - 10, QString("%1").arg(i + 1));
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}
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}
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}
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