924 lines
34 KiB
C++
924 lines
34 KiB
C++
#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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#include <limits>
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#include "VrLog.h"
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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 imgRows = 992;
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int imgCols = 1056;
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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 y_rows = (double)(imgRows - y_skip *2);
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double x_cols = (double)(imgCols - x_skip *2);
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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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if (x_scale < y_scale)
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x_scale = y_scale;
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else
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y_scale = x_scale;
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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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QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData,
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int lineNum,
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const std::vector<SSG_peakOrienRgnInfo>& objOps)
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{
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int imgRows = 992;
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int imgCols = 1056;
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QImage image(imgCols, imgRows, QImage::Format_RGB888);
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image.fill(Qt::black);
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if (!scanData || lineNum <= 0) {
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return image; // 返回空图像
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}
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// 统计X和Y的范围 - 参考_RGBDto2DImage函数
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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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for (int line = 0; line < lineNum; line++) {
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for (int i = 0; i < scanData[line].nPointCnt; i++) {
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SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
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if (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->x;
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} else {
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if (xMin > pt3D->x) xMin = pt3D->x;
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if (xMax < pt3D->x) xMax = 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->y;
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} else {
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if (yMin > pt3D->y) yMin = pt3D->y;
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if (yMax < pt3D->y) yMax = pt3D->y;
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}
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}
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}
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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 image; // 返回空图像
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}
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// 创建图像 - 参考_RGBDto2DImage函数的尺寸和偏移
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int x_skip = 16;
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int y_skip = 16;
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double y_rows = (double)(imgRows - y_skip * 2);
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double x_cols = (double)(imgCols - x_skip * 2);
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// 计算投影比例 - 参考_RGBDto2DImage函数的比例计算
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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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if (x_scale < y_scale)
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x_scale = y_scale;
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else
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y_scale = x_scale;
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QPainter painter(&image);
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// 绘制点云 - 参考_RGBDto2DImage函数的绘制方式
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for (int line = 0; line < lineNum; line++) {
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for (int i = 0; i < scanData[line].nPointCnt; i++) {
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SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i];
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if (pt3D->z < 1e-4) continue;
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// 解析RGB颜色 - 参考_RGBDto2DImage函数的解析方式
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int nRGB = pt3D->nRGB;
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int r = nRGB & 0xff;
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nRGB >>= 8;
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int g = nRGB & 0xff;
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nRGB >>= 8;
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int b = nRGB & 0xff;
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QColor pointColor(r, g, b);
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int px = (int)((pt3D->x - xMin) / x_scale + x_skip);
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int py = (int)((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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// 新的点云图像生成函数 - 基于X、Y范围创建图像
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QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, int lineNum)
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{
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if (!scanData || lineNum <= 0) {
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return QImage();
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}
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// 1. 遍历X, Y的范围，计算最小和最大值
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double xMin = std::numeric_limits<double>::max();
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double xMax = std::numeric_limits<double>::lowest();
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double yMin = std::numeric_limits<double>::max();
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double yMax = std::numeric_limits<double>::lowest();
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for (int i = 0; i < lineNum; i++) {
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if (scanData[i].p3DPoint && scanData[i].nPointCnt > 0) {
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for (int j = 0; j < scanData[i].nPointCnt; j++) {
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const SVzNLPointXYZRGBA& point = scanData[i].p3DPoint[j];
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// 更新X范围
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if (point.x < xMin) xMin = point.x;
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if (point.x > xMax) xMax = point.x;
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// 更新Y范围
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if (point.y < yMin) yMin = point.y;
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if (point.y > yMax) yMax = point.y;
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}
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}
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}
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// 检查范围是否有效
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if (xMin >= xMax || yMin >= yMax) {
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return QImage();
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}
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// 2. 根据范围创建图像大小
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// 设置图像分辨率，可以根据需要调整
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const int imageWidth = xMax - xMin;
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const int imageHeight = yMax - yMin;
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// 3. 创建默认黑底图像
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QImage image(imageWidth, imageHeight, QImage::Format_RGB888);
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image.fill(Qt::black);
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// 4. 遍历点云数据，将3D X, Y对应的颜色值赋值给图像
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for (int i = 0; i < lineNum; i++) {
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if (scanData[i].p3DPoint && scanData[i].nPointCnt > 0) {
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for (int j = 0; j < scanData[i].nPointCnt; j++) {
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const SVzNLPointXYZRGBA& point = scanData[i].p3DPoint[j];
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// 将3D坐标转换为图像坐标
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int imageX = static_cast<int>((point.x - xMin));
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int imageY = static_cast<int>((point.y - yMin));
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// 确保坐标在图像范围内
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if (imageX >= 0 && imageX < imageWidth &&
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imageY >= 0 && imageY < imageHeight) {
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// 解析RGB颜色 - 参考_RGBDto2DImage函数的解析方式
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int nRGB = point.nRGB;
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int r = nRGB & 0xff;
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nRGB >>= 8;
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int g = nRGB & 0xff;
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nRGB >>= 8;
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int b = nRGB & 0xff;
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QColor pointColor(r, g, b);
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// 设置图像像素颜色
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image.setPixel(imageX, imageY, pointColor.rgb());
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}
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}
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}
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}
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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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void PointCloudImageUtils::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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// 绘制检测目标和方向线 - 参考bagPositioning_test.cpp中的_XOYprojection_RGBD函数
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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) ? 20 : 10;
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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 - 参考bagPositioning_test.cpp中的实现
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const double deg2rad = PI / 180.0;
|
||
|
||
// 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
|
||
double maxSize = std::max(objOps[i].objSize.dHeight, objOps[i].objSize.dWidth);
|
||
double R = std::max(20.0, maxSize / 6.0);
|
||
|
||
const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
|
||
double cy = cos(yaw);
|
||
double sy = sin(yaw);
|
||
|
||
// 计算方向线的端点
|
||
double x1 = objOps[i].centerPos.x + R * cy;
|
||
double y1 = objOps[i].centerPos.y - R * sy;
|
||
double x2 = objOps[i].centerPos.x - R * cy;
|
||
double y2 = objOps[i].centerPos.y + R * sy;
|
||
|
||
int px1 = (int)((x1 - xMin) / xScale + xSkip);
|
||
int py1 = (int)((y1 - yMin) / yScale + ySkip);
|
||
int px2 = (int)((x2 - xMin) / xScale + xSkip);
|
||
int py2 = (int)((y2 - yMin) / yScale + ySkip);
|
||
|
||
// 绘制方向线
|
||
painter.setPen(QPen(objColor, 2));
|
||
painter.drawLine(px1, py1, px2, py2);
|
||
|
||
// 根据orienFlag绘制箭头
|
||
if (objOps[i].orienFlag == 1) {
|
||
// 绿色箭头 - 正面
|
||
painter.setPen(QPen(QColor(0, 255, 0), 2));
|
||
|
||
// 计算箭头端点
|
||
double arrowLen = R / 3;
|
||
double arrowAngle = 30 * deg2rad;
|
||
double ca = cos(arrowAngle);
|
||
double sa = sin(arrowAngle);
|
||
|
||
double x3 = x1 - arrowLen * ca * cy + arrowLen * sa * sy;
|
||
double y3 = y1 + arrowLen * ca * sy + arrowLen * sa * cy;
|
||
double x4 = x1 - arrowLen * ca * cy - arrowLen * sa * sy;
|
||
double y4 = y1 + arrowLen * ca * sy - arrowLen * sa * cy;
|
||
|
||
int px3 = (int)((x3 - xMin) / xScale + xSkip);
|
||
int py3 = (int)((y3 - yMin) / yScale + ySkip);
|
||
int px4 = (int)((x4 - xMin) / xScale + xSkip);
|
||
int py4 = (int)((y4 - yMin) / yScale + ySkip);
|
||
|
||
painter.drawLine(px1, py1, px3, py3);
|
||
painter.drawLine(px1, py1, px4, py4);
|
||
}
|
||
else if (objOps[i].orienFlag == 2) {
|
||
// 蓝色箭头 - 反面
|
||
painter.setPen(QPen(QColor(0, 0, 255), 2));
|
||
|
||
// 计算箭头端点
|
||
double arrowLen = R / 3;
|
||
double arrowAngle = 30 * deg2rad;
|
||
double ca = cos(arrowAngle);
|
||
double sa = sin(arrowAngle);
|
||
|
||
double x3 = x1 - arrowLen * ca * cy + arrowLen * sa * sy;
|
||
double y3 = y1 + arrowLen * ca * sy + arrowLen * sa * cy;
|
||
double x4 = x1 - arrowLen * ca * cy - arrowLen * sa * sy;
|
||
double y4 = y1 + arrowLen * ca * sy - arrowLen * sa * cy;
|
||
|
||
int px3 = (int)((x3 - xMin) / xScale + xSkip);
|
||
int py3 = (int)((y3 - yMin) / yScale + ySkip);
|
||
int px4 = (int)((x4 - xMin) / xScale + xSkip);
|
||
int py4 = (int)((y4 - yMin) / yScale + ySkip);
|
||
|
||
painter.drawLine(px1, py1, px3, py3);
|
||
painter.drawLine(px1, py1, px4, py4);
|
||
}
|
||
|
||
// 绘制目标编号
|
||
painter.setPen(QPen(Qt::white, 1));
|
||
painter.setFont(QFont("Arial", 15, QFont::Bold));
|
||
painter.drawText(px + 15, py - 10, QString("%1").arg(i + 1));
|
||
}
|
||
}
|
||
}
|
||
|
||
QImage PointCloudImageUtils::GeneratePointCloudImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
|
||
int imageWidth, int imageHeight)
|
||
{
|
||
if (scanLines.empty()) {
|
||
return QImage();
|
||
}
|
||
|
||
// 计算点云范围
|
||
double xMin, xMax, yMin, yMax;
|
||
CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
|
||
|
||
// 检查范围是否有效
|
||
if (xMax <= xMin || yMax <= yMin) {
|
||
return QImage();
|
||
}
|
||
|
||
// 创建图像
|
||
QImage image(imageWidth, imageHeight, QImage::Format_RGB888);
|
||
image.fill(Qt::black);
|
||
|
||
QPainter painter(&image);
|
||
|
||
// 绘制点云数据
|
||
DrawScanLinesPointCloud(painter, scanLines, xMin, xMax, yMin, yMax, imageWidth, imageHeight);
|
||
|
||
// 绘制检测结果
|
||
DrawLapWeldResults(painter, weldResults, xMin, xMax, yMin, yMax, imageWidth, imageHeight);
|
||
|
||
return image;
|
||
}
|
||
|
||
void PointCloudImageUtils::CalculateScanLinesRange(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
double& xMin, double& xMax,
|
||
double& yMin, double& yMax)
|
||
{
|
||
xMin = std::numeric_limits<double>::max();
|
||
xMax = std::numeric_limits<double>::lowest();
|
||
yMin = std::numeric_limits<double>::max();
|
||
yMax = std::numeric_limits<double>::lowest();
|
||
|
||
for (const auto& scanLine : scanLines) {
|
||
for (const auto& point : scanLine) {
|
||
if (point.pt3D.z < 1e-4) continue;
|
||
|
||
if (point.pt3D.x < xMin) xMin = point.pt3D.x;
|
||
if (point.pt3D.x > xMax) xMax = point.pt3D.x;
|
||
if (point.pt3D.y < yMin) yMin = point.pt3D.y;
|
||
if (point.pt3D.y > yMax) yMax = point.pt3D.y;
|
||
}
|
||
}
|
||
}
|
||
|
||
void PointCloudImageUtils::DrawScanLinesPointCloud(QPainter& painter,
|
||
const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
double xMin, double xMax, double yMin, double yMax,
|
||
int imageWidth, int imageHeight)
|
||
{
|
||
double xScale = (xMax - xMin) / imageWidth;
|
||
double yScale = (yMax - yMin) / imageHeight;
|
||
|
||
for (const auto& scanLine : scanLines) {
|
||
for (const auto& point : scanLine) {
|
||
if (point.pt3D.z < 1e-4) continue;
|
||
|
||
// 解析点索引信息
|
||
int vType = point.nPointIdx & 0xff;
|
||
int hType = vType >> 4;
|
||
int objId = (point.nPointIdx >> 16) & 0xff;
|
||
vType = vType & 0x0f;
|
||
|
||
// 根据线特征类型确定颜色和大小
|
||
QColor pointColor;
|
||
int pointSize = 1;
|
||
GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize);
|
||
|
||
// 计算图像坐标
|
||
int px = (int)((point.pt3D.x - xMin) / xScale);
|
||
int py = (int)((point.pt3D.y - yMin) / yScale);
|
||
|
||
if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) {
|
||
painter.setPen(QPen(pointColor, pointSize));
|
||
painter.drawPoint(px, py);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void PointCloudImageUtils::DrawLapWeldResults(QPainter& painter,
|
||
const std::vector<std::vector<SVzNL3DPoint>>& weldResults,
|
||
double xMin, double xMax, double yMin, double yMax,
|
||
int imageWidth, int imageHeight)
|
||
{
|
||
if (weldResults.empty()) return;
|
||
|
||
double xScale = (xMax - xMin) / imageWidth;
|
||
double yScale = (yMax - yMin) / imageHeight;
|
||
|
||
// 使用不同颜色绘制每条焊缝
|
||
QColor weldColors[] = {
|
||
QColor(255, 0, 0), // 红色
|
||
QColor(0, 255, 0), // 绿色
|
||
QColor(0, 0, 255), // 蓝色
|
||
QColor(255, 255, 0), // 黄色
|
||
QColor(255, 0, 255), // 紫色
|
||
QColor(0, 255, 255), // 青色
|
||
QColor(255, 128, 0), // 橙色
|
||
QColor(128, 255, 0) // 浅绿色
|
||
};
|
||
int numColors = sizeof(weldColors) / sizeof(weldColors[0]);
|
||
|
||
for (size_t i = 0; i < weldResults.size(); i++) {
|
||
const auto& weldLine = weldResults[i];
|
||
if (weldLine.empty()) continue;
|
||
|
||
QColor weldColor = weldColors[i % numColors];
|
||
painter.setPen(QPen(weldColor, 3));
|
||
|
||
// 绘制焊缝线段
|
||
for (size_t j = 1; j < weldLine.size(); j++) {
|
||
int px1 = (int)((weldLine[j-1].x - xMin) / xScale);
|
||
int py1 = (int)((weldLine[j-1].y - yMin) / yScale);
|
||
int px2 = (int)((weldLine[j].x - xMin) / xScale);
|
||
int py2 = (int)((weldLine[j].y - yMin) / yScale);
|
||
|
||
if (px1 >= 0 && px1 < imageWidth && py1 >= 0 && py1 < imageHeight &&
|
||
px2 >= 0 && px2 < imageWidth && py2 >= 0 && py2 < imageHeight) {
|
||
painter.drawLine(px1, py1, px2, py2);
|
||
}
|
||
}
|
||
|
||
// 在起点和终点绘制标记
|
||
if (!weldLine.empty()) {
|
||
// 起点标记 - 圆形
|
||
int startX = (int)((weldLine[0].x - xMin) / xScale);
|
||
int startY = (int)((weldLine[0].y - yMin) / yScale);
|
||
if (startX >= 0 && startX < imageWidth && startY >= 0 && startY < imageHeight) {
|
||
painter.setPen(QPen(weldColor, 2));
|
||
painter.setBrush(QBrush(weldColor));
|
||
painter.drawEllipse(startX - 5, startY - 5, 10, 10);
|
||
}
|
||
|
||
// 终点标记 - 方形
|
||
int endX = (int)((weldLine.back().x - xMin) / xScale);
|
||
int endY = (int)((weldLine.back().y - yMin) / yScale);
|
||
if (endX >= 0 && endX < imageWidth && endY >= 0 && endY < imageHeight) {
|
||
painter.setPen(QPen(weldColor, 2));
|
||
painter.setBrush(QBrush(weldColor));
|
||
painter.drawRect(endX - 4, endY - 4, 8, 8);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
// Workpiece点云和角点检测结果转图像 - 将角点画成圆点
|
||
QImage PointCloudImageUtils::GeneratePointCloudRetPointImage(const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
const std::vector<std::vector<SVzNL3DPoint>>& cornerPoints)
|
||
{
|
||
if (scanLines.empty()) {
|
||
return QImage();
|
||
}
|
||
|
||
// 固定图像尺寸，与其他函数保持一致
|
||
int imgRows = 992;
|
||
int imgCols = 1056;
|
||
int x_skip = 16;
|
||
int y_skip = 16;
|
||
|
||
// 计算点云范围
|
||
double xMin, xMax, yMin, yMax;
|
||
CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
|
||
|
||
// 检查范围是否有效
|
||
if (xMax <= xMin || yMax <= yMin) {
|
||
return QImage();
|
||
}
|
||
|
||
// 创建图像
|
||
QImage image(imgCols, imgRows, QImage::Format_RGB888);
|
||
image.fill(Qt::black);
|
||
|
||
QPainter painter(&image);
|
||
|
||
// 计算投影比例
|
||
double y_rows = (double)(imgRows - y_skip * 2);
|
||
double x_cols = (double)(imgCols - x_skip * 2);
|
||
double x_scale = (xMax - xMin) / x_cols;
|
||
double y_scale = (yMax - yMin) / y_rows;
|
||
|
||
// 使用统一的比例尺
|
||
if (x_scale < y_scale)
|
||
x_scale = y_scale;
|
||
else
|
||
y_scale = x_scale;
|
||
|
||
// 绘制点云数据
|
||
for (const auto& scanLine : scanLines) {
|
||
for (const auto& point : scanLine) {
|
||
if (point.pt3D.z < 1e-4) continue;
|
||
|
||
// 解析点索引信息
|
||
int vType = point.nPointIdx & 0xff;
|
||
int hType = vType >> 4;
|
||
int objId = (point.nPointIdx >> 16) & 0xff;
|
||
vType = vType & 0x0f;
|
||
|
||
// 根据线特征类型确定颜色和大小
|
||
QColor pointColor;
|
||
int pointSize = 1;
|
||
GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize);
|
||
|
||
// 计算图像坐标
|
||
int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip);
|
||
int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip);
|
||
|
||
if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
|
||
painter.setPen(QPen(pointColor, pointSize));
|
||
painter.drawPoint(px, py);
|
||
}
|
||
}
|
||
}
|
||
|
||
// 绘制角点作为圆点
|
||
if (!cornerPoints.empty()) {
|
||
// 定义不同组角点的颜色
|
||
QColor cornerColors[] = {
|
||
QColor(255, 0, 0), // 红色
|
||
QColor(0, 255, 0), // 绿色
|
||
QColor(0, 0, 255), // 蓝色
|
||
QColor(255, 255, 0), // 黄色
|
||
QColor(255, 0, 255), // 紫色
|
||
QColor(0, 255, 255), // 青色
|
||
QColor(255, 128, 0), // 橙色
|
||
QColor(128, 255, 0) // 浅绿色
|
||
};
|
||
int numColors = sizeof(cornerColors) / sizeof(cornerColors[0]);
|
||
|
||
for (size_t i = 0; i < cornerPoints.size(); i++) {
|
||
const auto& cornerGroup = cornerPoints[i];
|
||
if (cornerGroup.empty()) continue;
|
||
|
||
QColor cornerColor = cornerColors[i % numColors];
|
||
|
||
// 绘制每个角点
|
||
for (size_t j = 0; j < cornerGroup.size(); j++) {
|
||
const SVzNL3DPoint& corner = cornerGroup[j];
|
||
|
||
// 计算图像坐标
|
||
int px = (int)((corner.x - xMin) / x_scale + x_skip);
|
||
int py = (int)((corner.y - yMin) / y_scale + y_skip);
|
||
|
||
if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
|
||
// 绘制圆点标记
|
||
int circleSize = 10; // 圆点直径
|
||
painter.setPen(QPen(cornerColor, 2));
|
||
painter.setBrush(QBrush(cornerColor));
|
||
painter.drawEllipse(px - circleSize/2, py - circleSize/2, circleSize, circleSize);
|
||
|
||
// 绘制角点编号，确保不超出图像边界
|
||
painter.setPen(QPen(Qt::white, 1));
|
||
QFont font("Arial", 16, QFont::Bold);
|
||
painter.setFont(font);
|
||
|
||
QString numberText = QString("%1").arg(j + 1);
|
||
painter.drawText(px + 8, py + 8, numberText);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
return image;
|
||
}
|
||
|
||
QImage PointCloudImageUtils::GeneratePointCloudImageWithParticles(
|
||
const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
const std::vector<SimpleParticleInfo>& particles,
|
||
int cameraIndex)
|
||
{
|
||
// 创建空图像
|
||
int imageWidth = 800;
|
||
int imageHeight = 600;
|
||
QImage image(imageWidth, imageHeight, QImage::Format_RGB888);
|
||
image.fill(Qt::black);
|
||
|
||
if (scanLines.empty()) {
|
||
return image;
|
||
}
|
||
|
||
// 计算点云范围
|
||
double xMin = std::numeric_limits<double>::max();
|
||
double xMax = std::numeric_limits<double>::lowest();
|
||
double yMin = std::numeric_limits<double>::max();
|
||
double yMax = std::numeric_limits<double>::lowest();
|
||
|
||
for (const auto& line : scanLines) {
|
||
for (const auto& pt : line) {
|
||
if (pt.pt3D.z < 1e-4) continue; // 跳过无效点
|
||
xMin = std::min(xMin, static_cast<double>(pt.pt3D.x));
|
||
xMax = std::max(xMax, static_cast<double>(pt.pt3D.x));
|
||
yMin = std::min(yMin, static_cast<double>(pt.pt3D.y));
|
||
yMax = std::max(yMax, static_cast<double>(pt.pt3D.y));
|
||
}
|
||
}
|
||
|
||
// 检查范围是否有效
|
||
if (xMax <= xMin || yMax <= yMin) {
|
||
return image;
|
||
}
|
||
|
||
// 计算缩放比例
|
||
double xScale = (xMax - xMin) / imageWidth;
|
||
double yScale = (yMax - yMin) / imageHeight;
|
||
double scale = std::max(xScale, yScale);
|
||
|
||
QPainter painter(&image);
|
||
painter.setRenderHint(QPainter::Antialiasing, true);
|
||
|
||
// 绘制点云数据（灰色）
|
||
painter.setPen(QColor(128, 128, 128));
|
||
for (const auto& line : scanLines) {
|
||
for (const auto& pt : line) {
|
||
if (pt.pt3D.z < 1e-4) continue; // 跳过无效点
|
||
|
||
int px = static_cast<int>((pt.pt3D.x - xMin) / scale);
|
||
int py = static_cast<int>((pt.pt3D.y - yMin) / scale);
|
||
|
||
if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) {
|
||
painter.drawPoint(px, py);
|
||
}
|
||
}
|
||
}
|
||
|
||
// 绘制颗粒（用不同颜色标记）
|
||
QColor colors[] = {
|
||
QColor(255, 0, 0), // 红色
|
||
QColor(0, 255, 0), // 绿色
|
||
QColor(0, 0, 255), // 蓝色
|
||
QColor(255, 255, 0), // 黄色
|
||
QColor(255, 0, 255), // 紫色
|
||
QColor(0, 255, 255), // 青色
|
||
QColor(255, 128, 0), // 橙色
|
||
QColor(128, 255, 0) // 浅绿色
|
||
};
|
||
int numColors = sizeof(colors) / sizeof(colors[0]);
|
||
|
||
for (size_t i = 0; i < particles.size(); i++) {
|
||
const auto& particle = particles[i];
|
||
QColor color = colors[i % numColors];
|
||
|
||
// 绘制颗粒的8个顶点和边界框
|
||
QVector<QPoint> points2D;
|
||
for (int j = 0; j < 8; j++) {
|
||
int px = static_cast<int>((particle.vertix[j].x - xMin) / scale);
|
||
int py = static_cast<int>((particle.vertix[j].y - yMin) / scale);
|
||
|
||
if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) {
|
||
points2D.append(QPoint(px, py));
|
||
// 绘制顶点
|
||
painter.setPen(QPen(color, 3));
|
||
painter.setBrush(color);
|
||
painter.drawEllipse(QPoint(px, py), 3, 3);
|
||
}
|
||
}
|
||
|
||
// 绘制边界框（连接相邻顶点）
|
||
if (points2D.size() >= 4) {
|
||
painter.setPen(QPen(color, 1));
|
||
painter.setBrush(Qt::NoBrush);
|
||
|
||
// 假设8个顶点按照立方体的顺序排列
|
||
// 底面4个顶点：0,1,2,3 顶面4个顶点：4,5,6,7
|
||
int edges[12][2] = {
|
||
{0,1}, {1,2}, {2,3}, {3,0}, // 底面
|
||
{4,5}, {5,6}, {6,7}, {7,4}, // 顶面
|
||
{0,4}, {1,5}, {2,6}, {3,7} // 竖边
|
||
};
|
||
|
||
for (int j = 0; j < 12; j++) {
|
||
int idx1 = edges[j][0];
|
||
int idx2 = edges[j][1];
|
||
if (idx1 < points2D.size() && idx2 < points2D.size()) {
|
||
painter.drawLine(points2D[idx1], points2D[idx2]);
|
||
}
|
||
}
|
||
}
|
||
|
||
// 计算颗粒中心位置并标注序号
|
||
if (!points2D.empty()) {
|
||
QPoint center(0, 0);
|
||
for (const auto& pt : points2D) {
|
||
center.setX(center.x() + pt.x());
|
||
center.setY(center.y() + pt.y());
|
||
}
|
||
center.setX(center.x() / points2D.size());
|
||
center.setY(center.y() / points2D.size());
|
||
|
||
// 绘制序号
|
||
painter.setPen(color);
|
||
painter.setFont(QFont("Arial", 10, QFont::Bold));
|
||
painter.drawText(center, QString::number(i + 1));
|
||
}
|
||
}
|
||
|
||
return image;
|
||
}
|