# -- coding: utf-8 -- from ctypes import * import numpy as np from numpy.ctypeslib import as_array import cv2 from clog import logger TO_CLIENT_NOTIFY_BASE = 1000 def process(msg): record = msg.record if msg.msg_type == 0 and record.code == (6 + TO_CLIENT_NOTIFY_BASE): return doLocationProcessing(msg) elif msg.msg_type == 1 and ( record.code == (2 + TO_CLIENT_NOTIFY_BASE) or record.code == (8 + TO_CLIENT_NOTIFY_BASE) or record.code == ( 12 + TO_CLIENT_NOTIFY_BASE)): return doDetectionProcessing(msg) else: pass return msg def _darw_rect(im): cv2.rectangle(im, (130, 135), (430, 375), (0, 255, 0), 5) # 处理图像 def doLocationProcessing(msg): if msg is None: return msg im = msg.im2D record = msg.record ptsRoiPoints = None ptsInnerConners = None ptsInnerConners3D = None if record.roi_size > 16: return msg for i in range(record.roi_size): roi = record.subRois[i] # if not roi.isGood: continue roiPoints = roi.mRoiPoints innerConners = roi.mInnerConners innerConners3D = roi.mInnerConners3D ptsRoiPoints = np.array([ [roiPoints[0], roiPoints[1]], [roiPoints[2], roiPoints[3]], [roiPoints[4], roiPoints[5]], [roiPoints[6], roiPoints[7]]], dtype=np.int32) # ptsInnerConners = np.array([ # [innerConners[0],innerConners[1]], # [innerConners[2],innerConners[3]], # [innerConners[4],innerConners[5]],s # [innerConners[6],innerConners[7]]], dtype=np.int32) # ptsInnerConners3D = np.array([ # [innerConners3D[0],innerConners3D[1],innerConners3D[2]], # [innerConners3D[3],innerConners3D[4],innerConners3D[5]], # [innerConners3D[6],innerConners3D[7],innerConners3D[8]], # [innerConners3D[9],innerConners3D[10],innerConners3D[11]]]) cv2.polylines(im, [ptsRoiPoints], True, (255, 0, 0), 2) # cv2.polylines(im, [ptsInnerConners], True, (255,0,0) , 2) _darw_rect(im) return msg def doDetectionProcessing(msg): if msg is None: return msg if msg.im2D is not None: im = cv2.resize(msg.im2D, (int(msg.im2D.shape[1] / 16), int(msg.im2D.shape[0] / 16))) record = msg.record ptsRoiPoints = None ptsInnerConners = None ptsInnerConners3D = None ptsRoiPointslist = [] ptsInnerConnerslist = [] ptsInnerConners3Dlist = [] if record.roi_size > 16: return msg for i in range(record.roi_size): roi = record.subRois[i] if not roi.isGood: continue roiPoints = roi.mRoiPoints innerConners = roi.mInnerConners innerConners3D = roi.mInnerConners3D ptsRoiPoints = np.array([ [roiPoints[0], roiPoints[1]], [roiPoints[2], roiPoints[3]], [roiPoints[4], roiPoints[5]], [roiPoints[6], roiPoints[7]]], dtype=np.int32) ptsInnerConners = np.array([ [innerConners[0], innerConners[1]], [innerConners[2], innerConners[3]], [innerConners[4], innerConners[5]], [innerConners[6], innerConners[7]]], dtype=np.int32) ptsInnerConners3D = np.array([ [innerConners3D[0], innerConners3D[1], innerConners3D[2]], [innerConners3D[3], innerConners3D[4], innerConners3D[5]], [innerConners3D[6], innerConners3D[7], innerConners3D[8]], [innerConners3D[9], innerConners3D[10], innerConners3D[11]]]) print(ptsInnerConners3D) for i in range(4): ptsRoiPoints[i][0] = int(ptsRoiPoints[i][0] / 16) ptsRoiPoints[i][1] = int(ptsRoiPoints[i][1] / 16) ptsInnerConners[i][0] = int(ptsInnerConners[i][0] / 16) ptsInnerConners[i][1] = int(ptsInnerConners[i][1] / 16) ptsRoiPointslist.append(ptsRoiPoints) ptsInnerConnerslist.append(ptsInnerConners) ptsInnerConners3Dlist.append(ptsInnerConners3D) cv2.polylines(im, ptsRoiPointslist, True, (0, 255, 0), 1) cv2.polylines(im, ptsInnerConnerslist, True, (0, 255, 255), 1) cv2.imwrite("result.png", im) print("================== cv2.imwrite success =================") if record.code == 12 + TO_CLIENT_NOTIFY_BASE: bim_result = [] for i in range(record.roi_size): roi2 = record.subRois[i] if not roi2.isGood: continue mInfo = roi2.mInfo.decode('utf-8') mInnerConners3D = list(roi2.mInnerConners3D) mInnerLineCenter = list(roi2.mInnerLineCenter) mInnerLineCenter3D = list(roi2.mInnerLineCenter3D) mInnerCenter = list(roi2.mInnerCenter) mInnerCenter3D = list(roi2.mInnerCenter3D) mEdgesLen = list(roi2.mEdgesLen) print(f"mEdgesLen={mEdgesLen}") print(f"ℹ️ℹ️mInfo={mInfo}") # 单位换算 for i in range(3): mInnerCenter3D[i] = mInnerCenter3D[i] * 1000 mInnerCenter3D[i] = round(mInnerCenter3D[i], 2) for i in range(12): # 米 单位 换算成毫米。# 留下小数 mInnerConners3D[i] = mInnerConners3D[i] * 1000 mInnerConners3D[i] = round(mInnerConners3D[i], 2) mInnerLineCenter3D[i] = mInnerLineCenter3D[i] * 1000 mInnerLineCenter3D[i] = round(mInnerLineCenter3D[i], 2) # mEdgesLen换算 for i in range(4): # 米 单位 换算成毫米 mEdgesLen[i] = mEdgesLen[i] * 1000 # 留下小数 mEdgesLen[i] = round(mEdgesLen[i], 2) # 从bim数据数组中获取code等于mInfo的元素 # this_bim_data = None # for bim_data_item in bim_data: # if str(bim_data_item["code"]) == mInfo: # this_bim_data = bim_data_item # break # if this_bim_data is None: # print(f"🟡返回的值为mInfo={mInfo},无法在bim数据中找到code相同的") # continue # else: # print(f"🟢{mInfo}预埋件匹配成功") # 临时测试 bim_data = [ {'code': 'BFX1101VBPT003', 'type': '300x248', 'x': '778', 'y': '250', 'center': '0.317', 'w': '300', 'h': '248', 'angle': '0°', 'm_x': '0', 'm_y': '0', 'm_z': '0', 'base': '3'}] this_bim_data = bim_data[0] print(f"🟢{mInfo}预埋件匹配成功") # bim的长度 和 计算出来的长度进行计算，取优的值 bim_data_width = float(this_bim_data["w"]) bim_data_height = float(this_bim_data["h"]) print(f"bim_data_width:{bim_data_width}") print(f"bim_data_height:{bim_data_height}") # 上右下左 cal_up_width = mEdgesLen[0] # 上边宽度 cal_down_width = mEdgesLen[2] # 下边宽度 cal_left_height = mEdgesLen[3] # 左边高度 cal_right_height = mEdgesLen[1] # 右边宽度 print("mEdgesLen:==", mEdgesLen) # 取差值最小width 和 height的值 if abs(cal_up_width - bim_data_width) < abs(cal_down_width - bim_data_width): best_cal_width = cal_up_width else: best_cal_width = cal_down_width if abs(cal_left_height - bim_data_height) < abs(cal_right_height - bim_data_height): best_cal_height = cal_left_height else: best_cal_height = cal_right_height print("best_cal_width:==", best_cal_width) print("best_cal_height:==", best_cal_height) # 画到图上 cv2.putText(im, "w:" + str(best_cal_width), \ (int((ptsInnerConners[0][0] + ptsInnerConners[(0 + 1) % 4][0]) / 2), \ int((ptsInnerConners[0][1] + ptsInnerConners[(0 + 1) % 4][1]) / 2 + 0 * 20)), \ cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (255, 0, 0), 2) cv2.putText(im, "h:" + str(best_cal_height), \ (int((ptsInnerConners[0][0] + ptsInnerConners[(0 + 1) % 4][0]) / 2), \ int((ptsInnerConners[0][1] + ptsInnerConners[(0 + 1) % 4][1]) / 2 + 1 * 20)), \ cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (255, 0, 0), 2) # 预埋件基础数据 dict = this_bim_data # 四个点的3d坐标 dict["x1"] = mInnerConners3D[0] dict["y1"] = mInnerConners3D[1] dict["z1"] = mInnerConners3D[2] dict["x2"] = mInnerConners3D[3] dict["y2"] = mInnerConners3D[4] dict["z2"] = mInnerConners3D[5] dict["x3"] = mInnerConners3D[6] dict["y3"] = mInnerConners3D[7] dict["z3"] = mInnerConners3D[8] dict["x4"] = mInnerConners3D[9] dict["y4"] = mInnerConners3D[10] dict["z4"] = mInnerConners3D[11] # 四条边中各自中点的3d坐标 dict["top_line_center_x"] = mInnerLineCenter3D[0] dict["top_line_center_y"] = mInnerLineCenter3D[1] dict["top_line_center_z"] = mInnerLineCenter3D[2] dict["right_line_center_x"] = mInnerLineCenter3D[3] dict["right_line_center_y"] = mInnerLineCenter3D[4] dict["right_line_center_z"] = mInnerLineCenter3D[5] dict["bottom_line_center_x"] = mInnerLineCenter3D[6] dict["bottom_line_center_y"] = mInnerLineCenter3D[7] dict["bottom_line_center_z"] = mInnerLineCenter3D[8] dict["left_line_center_x"] = mInnerLineCenter3D[9] dict["left_line_center_y"] = mInnerLineCenter3D[10] dict["left_line_center_z"] = mInnerLineCenter3D[11] # 计算出的宽度和高度 dict["best_cal_width"] = best_cal_width dict["best_cal_height"] = best_cal_height # 中心点3d坐标 dict["x_center"] = mInnerCenter3D[0] dict["y_center"] = mInnerCenter3D[1] dict["z_center"] = mInnerCenter3D[2] dict["actual_value"] = "" dict["status"] = "good" dict["base"] = "5" # dict["x_center"] = mInnerConners3D[0] # dict["y_center"] = mInnerConners3D[1] # dict["z_center"] = mInnerConners3D[2] bim_result.append(dict) print(f"bim_result🟠={bim_result}") # for j in range(record.roi_size): # roi = record.subRois[j] # if not roi.isGood: continue # ptsInnerConners = ptsInnerConnerslist[j] # ptsInnerConners3D = ptsInnerConners3Dlist[j] # if len(ptsInnerConners) == 4: # for i in range(4): # p3d = ptsInnerConners3D[i] # p3d_next = ptsInnerConners3D[(i + 1) % 4] # p2d = ptsInnerConners[i] # p2d_next = ptsInnerConners[(i + 1) % 4] # edge = np.sqrt(pow((p3d[0] - p3d_next[0]), 2) # + pow((p3d[1] - p3d_next[1]), 2) # + pow((p3d[2] - p3d_next[2]), 2)) # cv2.putText(im, str(edge)[:6], \ # (int((ptsInnerConners[0][0] + ptsInnerConners[(0 + 1) % 4][0]) / 2), \ # int((ptsInnerConners[0][1] + ptsInnerConners[(0 + 1) % 4][1]) / 2 + i * 20)), \ # cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (255, 0, 0), 2) print("================== draw =================") msg.im2D = im # cv2.imshow("HQImage", im) # cv2.waitKey(1) return msg # detect结果处理 def detectionResProcessing(msg,data_img_path,data_detect_res_save_path): # im = cv2.resize(msg.im2D, (int(msg.im2D.shape[1] / 16), int(msg.im2D.shape[0] / 16))) # Read the image from the local directory im = cv2.imread(data_img_path) # Resize the image im = cv2.resize(im, (int(im.shape[1] / 16), int(im.shape[0] / 16))) record = msg.record ptsRoiPoints = None ptsInnerConners = None ptsInnerConners3D = None ptsRoiPointslist = [] ptsInnerConnerslist = [] ptsInnerConners3Dlist = [] logger.debug(f"record.roi_size：{record.roi_size}") if record.roi_size > 16: logger.warn(f"roi_size大于:{record.roi_size}个，请检查！") for i in range(record.roi_size): roi = record.subRois[i] logger.debug(f"roi=====：{roi.isGood}") # if not roi.isGood: continue roiPoints = roi.mRoiPoints innerConners = roi.mInnerConners innerConners3D = roi.mInnerConners3D ptsRoiPoints = np.array([ [roiPoints[0], roiPoints[1]], [roiPoints[2], roiPoints[3]], [roiPoints[4], roiPoints[5]], [roiPoints[6], roiPoints[7]]], dtype=np.int32) ptsInnerConners = np.array([ [innerConners[0], innerConners[1]], [innerConners[2], innerConners[3]], [innerConners[4], innerConners[5]], [innerConners[6], innerConners[7]]], dtype=np.int32) ptsInnerConners3D = np.array([ [innerConners3D[0], innerConners3D[1], innerConners3D[2]], [innerConners3D[3], innerConners3D[4], innerConners3D[5]], [innerConners3D[6], innerConners3D[7], innerConners3D[8]], [innerConners3D[9], innerConners3D[10], innerConners3D[11]]]) print(ptsInnerConners3D) for i in range(4): ptsRoiPoints[i][0] = int(ptsRoiPoints[i][0] / 16) ptsRoiPoints[i][1] = int(ptsRoiPoints[i][1] / 16) ptsInnerConners[i][0] = int(ptsInnerConners[i][0] / 16) ptsInnerConners[i][1] = int(ptsInnerConners[i][1] / 16) ptsRoiPointslist.append(ptsRoiPoints) ptsInnerConnerslist.append(ptsInnerConners) ptsInnerConners3Dlist.append(ptsInnerConners3D) # 打印三个list # for i in range(len(ptsRoiPointslist)): # logger.debug("ptsRoiPointslist:", ptsRoiPointslist[i]) # logger.debug(("ptsInnerConnerslist:", ptsInnerConnerslist[i])) # logger.debug(("ptsInnerConners3Dlist:", ptsInnerConners3Dlist[i])) cv2.polylines(im, ptsRoiPointslist, True, (0, 255, 0), 1) cv2.polylines(im, ptsInnerConnerslist, True, (0, 255, 255), 1) cv2.imwrite(f"{data_detect_res_save_path}/result.jpg", im) logger.success("================== cv2.imwrite result.jpg success =================") if record.code == 12 + TO_CLIENT_NOTIFY_BASE: for i in range(record.roi_size): roi2 = record.subRois[i] if not roi2.isGood: continue mInfo = roi2.mInfo print(f"mInfo====={mInfo}") for j in range(record.roi_size): roi = record.subRois[j] # if not roi.isGood: continue ptsInnerConners = ptsInnerConnerslist[j] ptsInnerConners3D = ptsInnerConners3Dlist[j] if len(ptsInnerConners) == 4: for i in range(4): p3d = ptsInnerConners3D[i] p3d_next = ptsInnerConners3D[(i + 1) % 4] p2d = ptsInnerConners[i] p2d_next = ptsInnerConners[(i + 1) % 4] edge = np.sqrt(pow((p3d[0] - p3d_next[0]), 2) + pow((p3d[1] - p3d_next[1]), 2) + pow((p3d[2] - p3d_next[2]), 2)) cv2.putText(im, str(edge)[:6], \ (int((ptsInnerConners[0][0] + ptsInnerConners[(0 + 1) % 4][0]) / 2), \ int((ptsInnerConners[0][1] + ptsInnerConners[(0 + 1) % 4][1]) / 2 + i * 20)), \ cv2.FONT_HERSHEY_COMPLEX_SMALL, 1, (255, 0, 0), 2) cv2.imwrite(f"{data_detect_res_save_path}/result2.jpg", im) logger.success("================== cv2.imwrite result2.jpg success =================")