262 lines
12 KiB
C++
262 lines
12 KiB
C++
#include "DetectPresenter.h"
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DetectPresenter::DetectPresenter(/* args */)
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{
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}
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DetectPresenter::~DetectPresenter()
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{
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}
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int DetectPresenter::DetectBag(std::vector<SVzNL3DLaserLine>& detectionDataCache,
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const SG_bagPositionParam& algoParam,
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const SSG_planeCalibPara& cameraCalibParam,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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DetectionResult& detectionResult)
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{
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if (detectionDataCache.empty()) {
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LOG_WARNING("No cached detection data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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// 2. 数据预处理：调平和去除地面（使用当前相机的调平参数）
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for (size_t i = 0; i < detectionDataCache.size(); i++) {
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sg_lineDataR(&detectionDataCache[i], cameraCalibParam.planeCalib, cameraCalibParam.planeHeight);
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}
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// 3. 调用算法检测接口（使用当前相机的调平参数）
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std::vector<SSG_peakRgnInfo> objOps;
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sg_getBagPosition(static_cast<SVzNL3DLaserLine*>(detectionDataCache.data()), detectionDataCache.size(), algoParam, cameraCalibParam, objOps);
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// 从点云数据生成投影图像
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detectionResult.image = PointCloudImageUtils::GeneratePointCloudImage(static_cast<SVzNL3DLaserLine*>(detectionDataCache.data()),
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detectionDataCache.size(), objOps);
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// 转换检测结果为UI显示格式（使用机械臂坐标系数据）
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for (size_t i = 0; i < objOps.size(); i++) {
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const SSG_peakRgnInfo& obj = objOps[i];
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// 进行坐标转换：从算法坐标系转换到机械臂坐标系
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SVzNL3DPoint targetObj;
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targetObj.x = obj.centerPos.x;
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targetObj.y = obj.centerPos.y;
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targetObj.z = obj.centerPos.z;
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SVzNL3DPoint robotObj;
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CVrConvert::EyeToRobot(targetObj, robotObj, clibMatrix);
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// 创建位置数据（使用转换后的机械臂坐标）
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GrabBagPosition pos;
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pos.x = robotObj.x; // 机械臂坐标X
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pos.y = robotObj.y; // 机械臂坐标Y
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pos.z = robotObj.z; // 机械臂坐标Z
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pos.roll = obj.centerPos.x_roll; // 保持原有姿态角
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pos.pitch = obj.centerPos.y_pitch; // 保持原有姿态角
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pos.yaw = obj.centerPos.z_yaw; // 保持原有偏航角
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detectionResult.positions.push_back(pos);
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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Object %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n",
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i, obj.centerPos.x, obj.centerPos.y, obj.centerPos.z);
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LOG_INFO("[Algo Thread] Object %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n",
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i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
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}
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}
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return 0;
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}
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int DetectPresenter::DetectBag(std::vector<SVzNLXYZRGBDLaserLine>& detectionDataCache,
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const SG_bagPositionParam& algoParam,
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const SSG_planeCalibPara& cameraCalibParam,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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const SSG_hsvCmpParam& hsvCmpParam,
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const RGB& rgbColorPattern,
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const double frontColorTemplate[RGN_HIST_SIZE],
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const double backColorTemplate[RGN_HIST_SIZE],
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DetectionResult& detectionResult)
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{
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if (detectionDataCache.empty()) {
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LOG_WARNING("No cached detection data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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// 2. 数据预处理：调平和去除地面（使用当前相机的调平参数）
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for (size_t i = 0; i < detectionDataCache.size(); i++) {
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sg_lineDataR_RGBD(&detectionDataCache[i], cameraCalibParam.planeCalib, cameraCalibParam.planeHeight);
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}
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// 3. 调用算法检测接口（使用当前相机的调平参数）
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std::vector<SSG_peakOrienRgnInfo> objOps;
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int nRet = 0;
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sg_getBagPositionAndOrientation(static_cast<SVzNLXYZRGBDLaserLine*>(detectionDataCache.data()), detectionDataCache.size(),
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algoParam, cameraCalibParam, hsvCmpParam, rgbColorPattern,
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frontColorTemplate, backColorTemplate, objOps, &nRet);
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if(nRet != 0){
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LOG_ERROR("sg_getBagPositionAndOrientation failed, error code: %d\n", nRet);
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return nRet;
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}
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// 从点云数据生成投影图像
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detectionResult.image = PointCloudImageUtils::GeneratePointCloudImage(
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static_cast<SVzNLXYZRGBDLaserLine*>(detectionDataCache.data()),
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detectionDataCache.size(), objOps);
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// 转换检测结果为UI显示格式（使用机械臂坐标系数据）
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for (size_t i = 0; i < objOps.size(); i++) {
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const SSG_peakOrienRgnInfo& obj = objOps[i];
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// 进行坐标转换：从算法坐标系转换到机械臂坐标系
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SVzNL3DPoint targetObj;
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targetObj.x = obj.centerPos.x;
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targetObj.y = obj.centerPos.y;
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targetObj.z = obj.centerPos.z;
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SVzNL3DPoint robotObj;
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CVrConvert::EyeToRobot(targetObj, robotObj, clibMatrix);
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// 创建位置数据（使用转换后的机械臂坐标）
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GrabBagPosition pos;
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pos.x = robotObj.x; // 机械臂坐标X
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pos.y = robotObj.y; // 机械臂坐标Y
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pos.z = robotObj.z; // 机械臂坐标Z
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pos.roll = obj.centerPos.x_roll; // 保持原有姿态角
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pos.pitch = obj.centerPos.y_pitch; // 保持原有姿态角
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pos.yaw = obj.centerPos.z_yaw; // 保持原有偏航角
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detectionResult.positions.push_back(pos);
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if(debugParam.enableDebug && debugParam.printDetailLog){
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LOG_INFO("[Algo Thread] Object %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n",
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i, obj.centerPos.x, obj.centerPos.y, obj.centerPos.z);
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LOG_INFO("[Algo Thread] Object %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n",
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i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw);
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}
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}
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return 0;
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}
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// 新增：处理统一数据格式和项目类型的DetectBag函数
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int DetectPresenter::DetectBag(
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int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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ProjectType projectType,
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const SG_bagPositionParam& algoParam,
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const SSG_planeCalibPara& cameraCalibParam,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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const SSG_hsvCmpParam& hsvCmpParam,
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const RGB& rgbColorPattern,
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const double frontColorTemplate[RGN_HIST_SIZE],
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const double backColorTemplate[RGN_HIST_SIZE],
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DetectionResult& detectionResult)
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{
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if (laserLines.empty()) {
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LOG_WARNING("No laser lines data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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// 保存debug数据
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std::string timeStamp = CVrDateUtils::GetNowTime();
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if(debugParam.enableDebug && debugParam.savePointCloud){
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LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
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// 获取当前时间戳，格式为YYYYMMDDHHMMSS
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std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
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// 直接使用统一格式保存数据
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dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
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}
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if(debugParam.enableDebug && debugParam.printDetailLog)
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{
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LOG_INFO("[Algo Thread] clibMatrix: \n\t[%.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f] \n\t[ %.3f, %.3f, %.3f, %.3f]\n",
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clibMatrix[0], clibMatrix[1], clibMatrix[2], clibMatrix[3],
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clibMatrix[4], clibMatrix[5], clibMatrix[6], clibMatrix[7],
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clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
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clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
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// 1. 使用成员变量算法参数（已在初始化时从XML读取）
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LOG_INFO("[Algo Thread] Using algorithm parameters from XML configuration\n");
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LOG_INFO(" Bag: L=%.1f, W=%.1f, H=%.1f\n",algoParam.bagParam.bagL, algoParam.bagParam.bagW, algoParam.bagParam.bagH);
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LOG_INFO(" Filter: continuityTh=%.1f, outlierTh=%.1f\n", algoParam.filterParam.continuityTh, algoParam.filterParam.outlierTh);
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LOG_INFO(" Corner: minEndingGap=%.1f, minEndingGap_z=%.1f, scale=%.1f, cornerTh=%.1f, jumpCornerTh_1=%.1f, jumpCornerTh_2=%.1f\n",
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algoParam.cornerParam.minEndingGap, algoParam.cornerParam.minEndingGap_z, algoParam.cornerParam.scale, algoParam.cornerParam.cornerTh,
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algoParam.cornerParam.jumpCornerTh_1, algoParam.cornerParam.jumpCornerTh_2);
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LOG_INFO(" Grow: minVTypeTreeLen=%.1f, minLTypeTreeLen=%.1f yDeviation_max=%.1f, zDeviation_max=%.1f, maxLineSkipNum=%d, maxSkipDistance=%.1f\n",
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algoParam.growParam.minVTypeTreeLen, algoParam.growParam.minLTypeTreeLen,
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algoParam.growParam.yDeviation_max, algoParam.growParam.zDeviation_max,
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algoParam.growParam.maxLineSkipNum, algoParam.growParam.maxSkipDistance);
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LOG_INFO(" Plane height: %.3f\n", cameraCalibParam.planeHeight);
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LOG_INFO(" Plane calibration matrix: [%.3f, %.3f, %.3f; %.3f, %.3f, %.3f; %.3f, %.3f, %.3f]\n",
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cameraCalibParam.planeCalib[0], cameraCalibParam.planeCalib[1], cameraCalibParam.planeCalib[2],
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cameraCalibParam.planeCalib[3], cameraCalibParam.planeCalib[4], cameraCalibParam.planeCalib[5],
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cameraCalibParam.planeCalib[6], cameraCalibParam.planeCalib[7], cameraCalibParam.planeCalib[8]);
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}
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int nRet = SUCCESS;
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// 根据项目类型转换数据并进行算法调用
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if (projectType == ProjectType::DirectBag) {
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// RGBD项目：转换为RGBD格式进行算法调用
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std::vector<SVzNLXYZRGBDLaserLine> rgbdData;
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int convertResult = dataLoader.ConvertToSVzNLXYZRGBDLaserLine(laserLines, rgbdData);
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if (convertResult == SUCCESS && !rgbdData.empty()) {
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nRet = DetectBag(rgbdData, algoParam, cameraCalibParam, debugParam, dataLoader, clibMatrix, hsvCmpParam, rgbColorPattern, frontColorTemplate, backColorTemplate, detectionResult);
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// 清理RGBD内存
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dataLoader.FreeConvertedData(rgbdData);
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} else {
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LOG_WARNING("Failed to convert data to RGBD format or no RGBD data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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} else {
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// 普通项目：转换为XYZ格式进行算法调用
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std::vector<SVzNL3DLaserLine> xyzData;
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int convertResult = dataLoader.ConvertToSVzNL3DLaserLine(laserLines, xyzData);
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if (convertResult == SUCCESS && !xyzData.empty()) {
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nRet = DetectBag(xyzData, algoParam, cameraCalibParam, debugParam, dataLoader, clibMatrix, detectionResult);
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// 清理XYZ内存
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dataLoader.FreeConvertedData(xyzData);
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} else {
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LOG_WARNING("Failed to convert data to XYZ format or no XYZ data available\n");
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return ERR_CODE(DEV_DATA_INVALID);
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}
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}
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if(debugParam.enableDebug && debugParam.saveDebugImage){
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// 获取当前时间戳，格式为YYYYMMDDHHMMSS
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std::string fileName = debugParam.debugOutputPath + "/Image_" + std::to_string(cameraIndex) + "_" + timeStamp + ".png";
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LOG_INFO("[Algo Thread] Debug image saved image : %s\n", fileName.c_str());
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// 保存检测结果图片
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if (!detectionResult.image.isNull()) {
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QString qFileName = QString::fromStdString(fileName);
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detectionResult.image.save(qFileName);
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} else {
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LOG_WARNING("[Algo Thread] No valid image to save for debug\n");
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}
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}
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return nRet;
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}
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