690 lines
22 KiB
C++
690 lines
22 KiB
C++
#include <algorithmThread.h>
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#include <ReadBarcode.h>
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#include "camera_thread.h"
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#include "myiothread.h"
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#include "FrontendBackendBridge.h"
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#include <myTools.h>
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bool showOk = true;//显示ok缺陷的框
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std::string fileSavePath("D://CCD//");
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struct _2Dto3D_strcut
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{
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double out_meanValue = -99;
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double out_maxValue = -99;
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double out_minValue = -99;
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Point ltPos;
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Point rdPos;
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};
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//////////////////////
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void writeToData_xxxCsvOkNgNew(detData* rdata, QString OKNG, ngNoteCls* note)
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{
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QDateTime currentDateTime = QDateTime::currentDateTime();
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std::string ymd = currentDateTime.toString("yyyy-MM-dd").toStdString();
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QString filePath = QString::fromStdString(fileSavePath + "//result//" + ymd + "//Data_" + ymd + ".csv");
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/* QString searchString = QString::fromStdString(rdata->getSN() + "_" + to_string(rdata->snCountIndex));*/
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QString searchString = QString::fromStdString(rdata->SNcode);
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QFile file(filePath);
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if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
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qDebug() << "Error opening file.";
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}
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QStringList headers;
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QList<QStringList> data;
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QTextStream in(&file);
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while (!in.atEnd()) {
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QString line = in.readLine();
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QStringList fields = line.split(',');
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if (headers.isEmpty()) {
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// 如果headers为空，则当前行为标题行
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headers = fields;
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}
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else {
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data.append(fields);
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}
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}
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file.close();
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// 在data中进行字符串检索并修改匹配的行
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int modifiedRowCount = 0;
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for (int i = data.size() - 1; i > 0; --i) {
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QStringList& row = data[i];
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//if (row.size()<3||row.isEmpty())
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//{
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// break;
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//}
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// 在当前行中检索字符串
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try
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{
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if (row.size() >= 6)
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if (row[1].contains(searchString, Qt::CaseInsensitive)) {
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// 匹配到字符串，进行修改
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row[3] = OKNG;
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row[4] += note->getNgSummaryStr();
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row[5] += note->getOkSummaryStr();
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modifiedRowCount++;
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}
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}
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catch (...)
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{
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break;
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}
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}
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// 将修改后的数据写回文件
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QFile writeFile(filePath);
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if (!writeFile.open(QIODevice::WriteOnly | QIODevice::Text)) {
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qDebug() << "Error opening file for writing.";
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}
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QTextStream out(&writeFile);
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// 写入标题行
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out << headers.join(",") << "\n";
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// 写入修改后的数据行
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for (const auto& row : data) {
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out << row.join(",") << "\n";
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}
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writeFile.close();
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qDebug() << "Modified rows:" << modifiedRowCount;
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qDebug() << "Data modified and saved to data_modified.csv";
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//return 0;
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}
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void writeToData_xxxCSVNew(detData* resData, string OKNG, ngNoteCls* note)
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{
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QDateTime currentDateTime = QDateTime::currentDateTime();
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std::string ymd = currentDateTime.toString("yyyy-MM-dd").toStdString();
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int hour = currentDateTime.time().hour();
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QString filePath = QString::fromStdString(fileSavePath + "//result//" + ymd + "//Data_" + ymd + ".csv");
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//string sn(resData->SNcode + "-" + to_string(resData->snCountIndex));
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string sn(resData->SNcode);
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/*std::string str(to_string(hour) + "H//" + sn + "-" + to_string(resData->snCountIndex) + "//" + ymd
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+ "-" + to_string(hour) + "_" + resData->getSN() + "-" + to_string(resData->snCountIndex));*/
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std::string str(to_string(hour) + "H//" + sn + "//" + ymd
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+ "-" + to_string(hour) + "_" + sn);
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bool fileExist = false;
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QStringList dataList;
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if (hour < 10)
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dataList.append("0" + QString::number(hour) + "H");
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else
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dataList.append(QString::number(hour) + "H");
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dataList.append(QString::fromStdString(sn));
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dataList.append(QString::fromStdString(str));
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dataList.append(QString::fromStdString(OKNG));
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dataList.append(note->getNgSummaryStr());
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dataList.append(note->getOkSummaryStr());
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// 创建CSV文件
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QFile file(filePath);
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if (!file.exists())
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{
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// 创建目录（如果不存在）
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QDir dir;
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if (!dir.mkpath(QFileInfo(filePath).absolutePath()))
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{
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//qWarning() << "无法创建目录：" << QFileInfo(filePath).absolutePath();
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return;
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}
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fileExist = true;
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}
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// 打开CSV文件并写入数据
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if (file.open(QIODevice::WriteOnly | QIODevice::Append | QIODevice::Text)) {
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QTextStream stream(&file);
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if (fileExist == true)
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{
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stream << "Time,";
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stream << "SN,";
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stream << "Path,";
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stream << "Result,";
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stream << "summuryResult,";
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stream << "\n";
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}
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// 将数据写入CSV文件
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for (const QString& data : dataList) {
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stream << data << ",";
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}
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stream << "\n";
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file.close();
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qDebug() << "CSV文件写入成功";
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}
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//else
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// qWarning() << "无法打开CSV文件：" << filePath;
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}
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void algoThread::getAllFiles(string path, vector<string>& files, string format)
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{
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intptr_t hFile = 0;//恅璃曆梟
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struct _finddata_t fileinfo;//恅璃陓洘
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string p;
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if ((hFile = _findfirst(p.assign(path).append("\\*" + format).c_str(), &fileinfo)) != -1) //恅璃湔婓
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{
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do
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{
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if ((fileinfo.attrib & _A_SUBDIR))//瓚剿岆瘁峈恅璃標
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{
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if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)//恅璃標靡笢祥漪"."睿".."
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{
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files.push_back(p.assign(path).append("\\").append(fileinfo.name)); //悵湔恅璃標靡
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getAllFiles(p.assign(path).append("\\").append(fileinfo.name), files, format); //菰寥梢盪恅璃標
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}
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}
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else
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{
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files.push_back(p.assign(path).append("\\").append(fileinfo.name));//彆祥岆恅璃標ㄛ揣湔恅璃靡
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}
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} while (_findnext(hFile, &fileinfo) == 0);
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_findclose(hFile);
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}
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}
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inline string getFileName(string path)
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{
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return path.substr(path.find_last_of("\\") + 1, path.find_last_of(".") - path.find_last_of("\\") - 1);
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}
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void drawContoursOverlap(cv::Mat& image, const std::vector<std::vector<cv::Point>>& contours) {
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cv::Mat mask = cv::Mat::zeros(image.size(), CV_8U);
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// 绘制轮廓在掩码上
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cv::drawContours(mask, contours, -1, cv::Scalar(255), cv::FILLED);
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// 将图像中与掩码不重叠的区域涂黑
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cv::Mat result;
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image.copyTo(result, mask);
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image.setTo(cv::Scalar(0, 0, 0), ~mask);
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}
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void drawContourOnImage(Mat seg, cv::Mat& imgInput, Size offset = Size(0, 0)) {
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if (seg.empty() || imgInput.empty()) {
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std::cerr << "Empty contour or input image." << std::endl;
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return;
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}
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cv::Mat imgWithAlpha;
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cv::cvtColor(imgInput, imgWithAlpha, cv::COLOR_BGR2BGRA);
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std::vector<std::vector<cv::Point>>contours;
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if (offset.width != 0 && offset.height != 0)
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{
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Mat offsetImg(offset.width + seg.rows, offset.height + seg.cols, CV_8UC1, Scalar(0));
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seg.copyTo(offsetImg(Rect(offset.width, offset.height, seg.rows, seg.cols)));
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offsetImg.copyTo(seg);
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}
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cv::findContours(seg, contours, cv::noArray(), cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE);
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for (auto& contour : contours)
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{
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cv::Scalar color(0, 255, 0, 128);
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cv::polylines(imgWithAlpha, contour, true, color);
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cv::cvtColor(imgWithAlpha, imgInput, cv::COLOR_BGRA2BGR);
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}
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}
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/////Specified function////////////////
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void writeSpecificStatement(Mat& Paint, const wchar_t* Text, rectAndData& data, int amount, int limit, Scalar& color)
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{
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wstring MM(to_wstring(max(data.defectHeight, data.defectWidth)));
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MM = MM.substr(0, MM.find_first_of(L".") + 2);
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putTextHusky(Paint, (WString2String(Text + to_wstring(amount)
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+ L"/" + to_wstring(limit) + L"|" +
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MM + L"mm")).c_str(),
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cv::Point(data.rect.x, data.rect.y - 20), color, 20);
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}
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/// <summary>
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/// 专门給-10的3号相机查找电池位置用的
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/// </summary>
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/// <param name="src">图</param>
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/// <param name="rectReturn">返回rect</param>
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/// <returns></returns>
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///
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/////////////////////ALGOTHREAD/////////////////////////
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struct offsets
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{
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string camera1Top = "./temple/1_1";
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string camera1Mid = "./temple/1_2";
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string camera1Bottom = "./temple/1_3";
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string camera2Top = "./temple/2_1";
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string camera2Mid = "./temple/2_2";
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string camera2Bottom = "./temple/2_3";
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string camera3Top = "./temple/3_1";
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string camera3Mid = "./temple/3_2";
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string camera3Bottom = "./temple/3_3";
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string camera4Top = "./temple/4_1";
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string camera4Mid = "./temple/4_2";
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string camera4Bottom = "./temple/4_3";
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};
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struct offsets2
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{
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string camera1Top = "./temple2/1_1";
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string camera1Mid = "./temple2/1_2";
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string camera1Bottom = "./temple2/1_3";
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string camera2Top = "./temple2/2_1";
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string camera2Mid = "./temple2/2_2";
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string camera2Bottom = "./temple2/2_3";
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string camera3Top = "./temple2/3_1";
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string camera3Mid = "./temple2/3_2";
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string camera3Bottom = "./temple2/3_3";
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string camera4Top = "./temple2/4_1";
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string camera4Mid = "./temple2/4_2";
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string camera4Bottom = "./temple2/4_3";
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};
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bool algoThread::addDetTask(detData* data)
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{
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detQueueMutex.lock();
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detQueue.append(data);
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detQueueMutex.unlock();
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this->start();
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return false;
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}
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bool algoThread::waitForImg(detData* data,int timeOutSet=10000)
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{
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int timeOut = 0;
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int sleepMs = 100;
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while (1)
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{
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int imgSize = data->imgs.size();
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int imgAmountMin = data->imgAmountMin;
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if (imgSize >= imgAmountMin)
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return true;
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timeOut+= sleepMs;
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if (timeOut > timeOutSet)
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return false;
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QThread::msleep(sleepMs);
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}
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}
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void algoThread::run()
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{
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while (m_runFlag == true)
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{
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while (detQueue.size() > 0)
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{
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detQueueMutex.lock();
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detData* data = detQueue.dequeue();//取出数据
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detQueueMutex.unlock();
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if (waitForImg(data) == false)
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{
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qDebug() << "取图失败";
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cout << "get img err" << endl;
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break;
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}
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oriSaveThread->saveOriImg(data);//保存原图
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for (int cnt =0; cnt < data->imgs.size(); cnt++)
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{
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bridge.front.showImg("Camera", data->imgs[cnt], data->oriShowIndex + cnt);//显示原图
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//cout << "showImg" << data->oriShowIndex + cnt << endl;
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}
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int threadId = data->algoThreadIndex;//获取线程id
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//算法
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switch (threadId % 3)
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{
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case 0:
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algoCameraTop(data);
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break;
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case 1:
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algoCameraMid(data);
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break;
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case 2:
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algoCameraBottom(data);
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break;
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}
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if (data->resultImgs.size() > 0)
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{
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for (int cnt = 0; cnt < data->resultImgs.size(); cnt++)
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{
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bridge.front.showImg("Algorithm", data->resultImgs[cnt], data->oriShowIndex + cnt);//显示原图
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}
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resSaveThread->saveResImg(data);//保存结果图
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}
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if (!data->SNcode.compare(snDatas->snErrorsnError))
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data->SNcode = snDatas->waitForSn(data->timeCode);
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sqlDataStruct sqlDataStruct;//定义sql数据
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sqlDataStruct.SN = data->SNcode;//
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for (auto sqlData : data->sqlVec)//将算法中的数据导入到数据结构中
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sqlDataStruct.dataVec.push_back(sql->sqlDatasInit(sqlData.first, sqlData.second));
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sql->addData(sqlDataStruct);//将数据插入数据库
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//delete data;
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detDataController* dController = data->dController;
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data->dController->deleteDetData(data->timeCode);
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}
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QThread::msleep(10);
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}
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}
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void algoThread::algoCameraTop(detData* data)
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{
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if (data->imgs.size() < 2)
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{
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qDebug() << "algoCamera1 img size <2";
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return;
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}
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cv::Mat leftSrc = data->imgs[0];
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cv::Mat rightSrc = data->imgs[1];
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cv::Mat leftPaint;
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cv::Mat rightPaint;
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//leftSrc.copyTo(leftPaint);
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//rightSrc.copyTo(rightPaint);
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cvtColor(leftSrc, leftPaint, COLOR_GRAY2BGR);
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cvtColor(rightSrc, rightPaint, COLOR_GRAY2BGR);
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double pix1 = 0.0058;
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string camre_distan_up;
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if (getOffSetTimes() == 0)
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{
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offsets offset;
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switch (data->algoThreadIndex)
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{
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case 0:
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camre_distan_up = offset.camera1Top;
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Indexs = 1;
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break;
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case 3:
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camre_distan_up = offset.camera2Top;
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Indexs = 2;
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break;
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case 6:
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camre_distan_up = offset.camera3Top;
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Indexs = 3;
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break;
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case 9:
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camre_distan_up = offset.camera4Top;
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Indexs = 4;
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break;
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}
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}
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else if (getOffSetTimes() == 1)
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{
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offsets2 offset;
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switch (data->algoThreadIndex)
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{
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case 0:
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camre_distan_up = offset.camera1Top;
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Indexs = 1;
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break;
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case 3:
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camre_distan_up = offset.camera2Top;
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Indexs = 2;
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break;
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case 6:
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camre_distan_up = offset.camera3Top;
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Indexs = 3;
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break;
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case 9:
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camre_distan_up = offset.camera4Top;
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Indexs = 4;
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break;
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}
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}
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///////////////////////////////////
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//algoMutex->lock();
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HObject ho_Image1;
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simpleAlgo::MatToHObject(leftSrc, ho_Image1);
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//QThread::msleep(10);
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HObject ho_Image2;
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simpleAlgo::MatToHObject(rightSrc, ho_Image2);
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//algoMutex->unlock();
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HTuple hv_Out_line1;
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HTuple hv_Out_line2;
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HTuple hv_Mean_distance1;
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HTuple hv_Make;
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HTuple hv_Path;
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HTuple hv_Diameter{46};
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HTuple hv_Model{0};
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hv_Path = camre_distan_up.c_str();
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_952_15_Distance_UP( ho_Image1, ho_Image2, hv_Path, hv_Model,
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hv_Diameter, & hv_Out_line1, & hv_Out_line2, & hv_Mean_distance1,
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& hv_Make);
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double distance_up = -99;
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if (hv_Make.D() != -1)
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{
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cv::line(leftPaint, cv::Point(hv_Out_line1[1].D(), hv_Out_line1[0].D()), cv::Point(hv_Out_line1[3].D(), hv_Out_line1[2].D()), Scalar(0, 255, 0), 3);
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cv::line(leftPaint, cv::Point(hv_Out_line1[5].D(), hv_Out_line1[4].D()), cv::Point(hv_Out_line1[7].D(), hv_Out_line1[6].D()), Scalar(0, 255, 0), 3);
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distance_up = hv_Mean_distance1.D();
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//cv::putText(leftPaint, "hv_Mean_distance1:" + to_string(hv_Mean_distance1.D()), cv::Point(100, 100), 1, 10, Scalar(0, 255, 0), 10);
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cv::line(rightPaint, cv::Point(hv_Out_line2[1].D(), hv_Out_line2[0].D()), cv::Point(hv_Out_line2[3].D(), hv_Out_line2[2].D()), Scalar(0, 255, 0), 3);
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cv::line(rightPaint, cv::Point(hv_Out_line2[5].D(), hv_Out_line2[4].D()), cv::Point(hv_Out_line2[7].D(), hv_Out_line2[6].D()), Scalar(0, 255, 0), 3);
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//cv::putText(rightPaint, "hv_Mean_distance2:" + to_string(hv_Mean_distance2.D()), cv::Point(100, 100), 1, 5, Scalar(0, 255, 0), 10);
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cout << "distance_up"<< Indexs<< " " << distance_up << endl;
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cv::putText(leftPaint, "distance_up:" + to_string(distance_up), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
|
|
cv::putText(rightPaint, "distance_up:" + to_string(distance_up), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
|
|
if (!data->SNcode.compare(snDatas->snErrorsnError))
|
|
data->SNcode = snDatas->waitForSn(data->timeCode);
|
|
int res = avgDatasPtr->insertData(data->SNcode, avgDataCls::top, distance_up);
|
|
if (res == 3)
|
|
{
|
|
double batterylenth = avgDatasPtr->getAvg(data->SNcode);
|
|
cv::putText(leftPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
|
|
cv::putText(rightPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
|
|
data->sqlVec.push_back({ "batteryLenth",(int)(batterylenth * 1000) });
|
|
}
|
|
}
|
|
else
|
|
{
|
|
cout << "algo error "<<data->algoThreadName.toStdString() << endl;
|
|
}
|
|
|
|
|
|
data->resultImgs.push_back(leftPaint);
|
|
data->resultImgs.push_back(rightPaint);
|
|
|
|
|
|
}
|
|
void algoThread::algoCameraMid(detData* data)
|
|
{
|
|
if (data->imgs.size() < 2)
|
|
{
|
|
qDebug() << "algoCamera1 img size <2";
|
|
return;
|
|
}
|
|
cv::Mat leftSrc = data->imgs[0];
|
|
cv::Mat rightSrc = data->imgs[1];
|
|
cv::Mat leftPaint;
|
|
cv::Mat rightPaint;
|
|
cvtColor(leftSrc, leftPaint, COLOR_GRAY2BGR);
|
|
cvtColor(rightSrc, rightPaint, COLOR_GRAY2BGR);
|
|
double Pix2 = 0.0058;
|
|
string camre_distan_zhong;
|
|
if (getOffSetTimes() == 0)
|
|
{
|
|
offsets offset;
|
|
switch (data->algoThreadIndex)
|
|
{
|
|
case 1:
|
|
camre_distan_zhong = offset.camera1Mid;
|
|
Indexs = 1;
|
|
break;
|
|
case 4:
|
|
camre_distan_zhong = offset.camera2Mid;
|
|
Indexs = 2;
|
|
break;
|
|
case 7:
|
|
camre_distan_zhong = offset.camera3Mid;
|
|
Indexs = 3;
|
|
break;
|
|
case 10:
|
|
camre_distan_zhong = offset.camera4Mid;
|
|
Indexs = 4;
|
|
break;
|
|
}
|
|
}
|
|
else if (getOffSetTimes() == 1)
|
|
{
|
|
offsets2 offset;
|
|
switch (data->algoThreadIndex)
|
|
{
|
|
case 1:
|
|
camre_distan_zhong = offset.camera1Mid;
|
|
Indexs = 1;
|
|
break;
|
|
case 4:
|
|
camre_distan_zhong = offset.camera2Mid;
|
|
Indexs = 2;
|
|
break;
|
|
case 7:
|
|
camre_distan_zhong = offset.camera3Mid;
|
|
Indexs = 3;
|
|
break;
|
|
case 10:
|
|
camre_distan_zhong = offset.camera4Mid;
|
|
Indexs = 4;
|
|
break;
|
|
}
|
|
}
|
|
///////////////////////////////////
|
|
HObject ho_Image1;
|
|
simpleAlgo::MatToHObject(leftSrc, ho_Image1);
|
|
//QThread::msleep(10);
|
|
HObject ho_Image2;
|
|
simpleAlgo::MatToHObject(rightSrc, ho_Image2);
|
|
double Pix3 = 0.0058;
|
|
HTuple hv_Out_line1;
|
|
HTuple hv_Out_line2;
|
|
HTuple hv_Mean_distance1;
|
|
HTuple hv_Make;
|
|
HTuple hv_Path;
|
|
HTuple hv_Diameter{46};
|
|
HTuple hv_Model{0};
|
|
hv_Path= camre_distan_zhong.c_str();
|
|
_952_15_Distance_Zhong( ho_Image1,ho_Image2,hv_Path,
|
|
hv_Model,hv_Diameter, &hv_Out_line1, & hv_Out_line2,
|
|
& hv_Mean_distance1, &hv_Make);
|
|
double distance_Zhong = -99;
|
|
if (hv_Make.D() != -1)
|
|
{
|
|
cv::line(leftPaint, cv::Point(hv_Out_line1[1].D(), hv_Out_line1[0].D()), cv::Point(hv_Out_line1[3].D(), hv_Out_line1[2].D()), Scalar(0, 255, 0), 3);
|
|
cv::line(leftPaint, cv::Point(hv_Out_line1[5].D(), hv_Out_line1[4].D()), cv::Point(hv_Out_line1[7].D(), hv_Out_line1[6].D()), Scalar(0, 255, 0), 3);
|
|
//cv::putText(leftPaint, "hv_Mean_distance1:" + to_string(hv_Mean_distance1.D()), cv::Point(100, 100), 1, 10, Scalar(0, 255, 0), 10);
|
|
distance_Zhong = hv_Mean_distance1.D();
|
|
cv::line(rightPaint, cv::Point(hv_Out_line2[1].D(), hv_Out_line2[0].D()), cv::Point(hv_Out_line2[3].D(), hv_Out_line2[2].D()), Scalar(0, 255, 0), 3);
|
|
cv::line(rightPaint, cv::Point(hv_Out_line2[5].D(), hv_Out_line2[4].D()), cv::Point(hv_Out_line2[7].D(), hv_Out_line2[6].D()), Scalar(0, 255, 0), 3);
|
|
//cv::putText(rightPaint, "hv_Mean_distance2:" + to_string(hv_Mean_distance2.D()), cv::Point(100, 100), 1, 5, Scalar(0, 255, 0), 10);
|
|
cout << "distance_Zhong"<< Indexs<<" " << distance_Zhong << endl;
|
|
cv::putText(leftPaint, "distance_zhong:" + to_string(distance_Zhong), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
|
|
cv::putText(rightPaint, "distance_zhong:" + to_string(distance_Zhong), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
|
|
if (!data->SNcode.compare(snDatas->snErrorsnError))
|
|
data->SNcode = snDatas->waitForSn(data->timeCode);
|
|
int res = avgDatasPtr->insertData(data->SNcode, avgDataCls::mid, distance_Zhong);
|
|
if (res == 3)
|
|
{
|
|
double batterylenth = avgDatasPtr->getAvg(data->SNcode);
|
|
cv::putText(leftPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
|
|
cv::putText(rightPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
|
|
data->sqlVec.push_back({ "batteryLenth",(int)(batterylenth * 1000) });
|
|
}
|
|
}
|
|
|
|
data->resultImgs.push_back(leftPaint);
|
|
data->resultImgs.push_back(rightPaint);
|
|
}
|
|
void algoThread::algoCameraBottom(detData* data)
|
|
{
|
|
if (data->imgs.size() < 2)
|
|
{
|
|
qDebug() << "algoCamera1 img size <2";
|
|
return;
|
|
}
|
|
cv::Mat leftSrc = data->imgs[0];
|
|
cv::Mat rightSrc = data->imgs[1];
|
|
cv::Mat leftPaint;
|
|
cv::Mat rightPaint;
|
|
cvtColor(leftSrc, leftPaint, COLOR_GRAY2BGR);
|
|
cvtColor(rightSrc, rightPaint, COLOR_GRAY2BGR);
|
|
double Pix3 = 0.0058;
|
|
string camre_distan_Down;
|
|
if (getOffSetTimes() == 0)
|
|
{
|
|
offsets offset;
|
|
switch (data->algoThreadIndex)
|
|
{
|
|
case 2:
|
|
camre_distan_Down = offset.camera1Bottom;
|
|
Indexs = 1;
|
|
break;
|
|
case 5:
|
|
camre_distan_Down = offset.camera2Bottom;
|
|
Indexs = 2;
|
|
break;
|
|
case 8:
|
|
camre_distan_Down = offset.camera3Bottom;
|
|
Indexs = 3;
|
|
break;
|
|
case 11:
|
|
camre_distan_Down = offset.camera4Bottom;
|
|
Indexs = 4;
|
|
break;
|
|
}
|
|
}
|
|
else if (getOffSetTimes() == 1)
|
|
{
|
|
offsets2 offset;
|
|
switch (data->algoThreadIndex)
|
|
{
|
|
case 2:
|
|
camre_distan_Down = offset.camera1Bottom;
|
|
Indexs = 1;
|
|
break;
|
|
case 5:
|
|
camre_distan_Down = offset.camera2Bottom;
|
|
Indexs = 2;
|
|
break;
|
|
case 8:
|
|
camre_distan_Down = offset.camera3Bottom;
|
|
Indexs = 3;
|
|
break;
|
|
case 11:
|
|
camre_distan_Down = offset.camera4Bottom;
|
|
Indexs = 4;
|
|
break;
|
|
}
|
|
}
|
|
///////////////////////////////////
|
|
HObject ho_Image1;
|
|
simpleAlgo::MatToHObject(leftSrc, ho_Image1);
|
|
//QThread::msleep(10);
|
|
HObject ho_Image2;
|
|
simpleAlgo::MatToHObject(rightSrc, ho_Image2);
|
|
HTuple hv_Out_line1;
|
|
HTuple hv_Out_line2;
|
|
HTuple hv_Mean_distance1;
|
|
HTuple hv_Make;
|
|
HTuple hv_Path;
|
|
HTuple hv_Diameter{46};
|
|
HTuple hv_Model{0};
|
|
hv_Path = camre_distan_Down.c_str();
|
|
_952_15_Distance_Down( ho_Image1,ho_Image2, hv_Path,
|
|
hv_Model,hv_Diameter, &hv_Out_line1, &hv_Out_line2,
|
|
& hv_Mean_distance1,& hv_Make);
|
|
double distance_Dowm=-99;
|
|
if (hv_Make.D() != -1)
|
|
{
|
|
cv::line(leftPaint, cv::Point(hv_Out_line1[1].D(), hv_Out_line1[0].D()), cv::Point(hv_Out_line1[3].D(), hv_Out_line1[2].D()), Scalar(0, 255, 0), 3);
|
|
cv::line(leftPaint, cv::Point(hv_Out_line1[5].D(), hv_Out_line1[4].D()), cv::Point(hv_Out_line1[7].D(), hv_Out_line1[6].D()), Scalar(0, 255, 0), 3);
|
|
//cv::putText(leftPaint, "hv_Mean_distance1:" + to_string(hv_Mean_distance1.D()), cv::Point(100, 100), 1, 10, Scalar(0, 255, 0), 10);
|
|
distance_Dowm =hv_Mean_distance1.D();
|
|
cv::line(rightPaint, cv::Point(hv_Out_line2[1].D(), hv_Out_line2[0].D()), cv::Point(hv_Out_line2[3].D(), hv_Out_line2[2].D()), Scalar(0, 255, 0), 3);
|
|
cv::line(rightPaint, cv::Point(hv_Out_line2[5].D(), hv_Out_line2[4].D()), cv::Point(hv_Out_line2[7].D(), hv_Out_line2[6].D()), Scalar(0, 255, 0), 3);
|
|
//cv::putText(rightPaint, "hv_Mean_distance2:" + to_string(hv_Mean_distance2.D()), cv::Point(100, 100), 1, 5, Scalar(0, 255, 0), 10);
|
|
cout << "distance_Dowm"<< Indexs<<" " << distance_Dowm << endl;
|
|
cv::putText(leftPaint, "distance_Dowm:" + to_string(distance_Dowm), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
|
|
cv::putText(rightPaint, "distance_Dowm:" + to_string(distance_Dowm), cv::Point(100, 200), 1, 5, Scalar(0, 255, 0), 10);
|
|
if (!data->SNcode.compare(snDatas->snErrorsnError))
|
|
data->SNcode = snDatas->waitForSn(data->timeCode);
|
|
int res = avgDatasPtr->insertData(data->SNcode, avgDataCls::btm, distance_Dowm);
|
|
if (res == 3)
|
|
{
|
|
double batterylenth = avgDatasPtr->getAvg(data->SNcode);
|
|
cv::putText(leftPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
|
|
cv::putText(rightPaint, to_string(res) + "times/avg:" + to_string(batterylenth), cv::Point(100, 300), 1, 5, Scalar(0, 255, 0), 10);
|
|
data->sqlVec.push_back({ "batteryLenth",(int)(batterylenth * 1000) });
|
|
}
|
|
}
|
|
|
|
data->resultImgs.push_back(leftPaint);
|
|
data->resultImgs.push_back(rightPaint);
|
|
|
|
|
|
} |