449 lines
16 KiB
Python
449 lines
16 KiB
Python
import ctypes
|
||
import os
|
||
import shutil
|
||
import sys
|
||
import threading
|
||
import time
|
||
from ctypes import *
|
||
import logging
|
||
from logging import makeLogRecord
|
||
|
||
import imgProcess
|
||
from clog import logger
|
||
import cv2
|
||
import numpy as np
|
||
|
||
from imgProcess import detectionResProcessing
|
||
from util import change_config_ini
|
||
|
||
image_framework_sdk = None
|
||
data_callback = None
|
||
SYS_OK = 0
|
||
bStop = False
|
||
|
||
# 全局 msg 缓存
|
||
g_msg_cache = []
|
||
|
||
# 全局 frame 缓存
|
||
g_frame_cache = []
|
||
|
||
# 运行模式
|
||
RUNNING_MODE_NONE = -1 # 停止状态
|
||
RUNNING_MODE_LOCATION = 0 # 广角相机运行模式
|
||
RUNNING_MODE_DETECTION = 1 # 高清检测运行模式
|
||
g_running_mode = RUNNING_MODE_NONE # 默认是广角相机运行模式
|
||
|
||
TO_CLIENT_NOTIFY_BASE = 1000
|
||
|
||
# emit的结构体
|
||
MSG_ONLY_RECORD = -1
|
||
MSG_LOCATION_RECORD = 0
|
||
MSG_DETECTION_RECORD = 1
|
||
|
||
# bim_data = [
|
||
# {"code": "BFX1101VBPT001", "type": "248x248", "x": "325", "y": "250", "center": "1.269", "w": "248", "h": "248",
|
||
# "angle": "0°"},
|
||
# {"code": "BFX1101VBPT002", "type": "150x149", "x": "717", "y": "250", "center": "0.849", "w": "150", "h": "149",
|
||
# "angle": "0°"},
|
||
# {"code": "BFX1101VBPT003", "type": "300x248", "x": "778", "y": "250", "center": "0.317", "w": "300", "h": "248",
|
||
# "angle": "0°"},
|
||
# {"code": "BFX1101VBPT004", "type": "248x248", "x": "1668", "y": "250", "center": "0.296", "w": "248", "h": "248",
|
||
# "angle": "90°"},
|
||
# {"code": "BFX1101VBPT005", "type": "248x248", "x": "2454", "y": "250", "center": "1.307", "w": "248", "h": "248",
|
||
# "angle": "0°"}]
|
||
|
||
bim_data = [
|
||
{"code": "BFX1101VBPT002", "type": "150x149", "x": "717", "y": "250", "center": "0.960", "w": "150", "h": "149",
|
||
"angle": "0°"},
|
||
{"code": "BFX1101VBPT003", "type": "300x248", "x": "778", "y": "250", "center": "0.317", "w": "300", "h": "248",
|
||
"angle": "0°"},
|
||
{"code": "BFX1101VBPT004", "type": "248x248", "x": "1668", "y": "250", "center": "0.296", "w": "248", "h": "248",
|
||
"angle": "90°"}]
|
||
|
||
MAX_OBJ = 32
|
||
|
||
|
||
class OjectInfo(ctypes.Structure):
|
||
_fields_ = [
|
||
("id", ctypes.c_int),
|
||
("name", ctypes.c_char * 256),
|
||
("centerX", ctypes.c_float),
|
||
("centerY", ctypes.c_float),
|
||
("w", ctypes.c_float),
|
||
("h", ctypes.c_float)
|
||
]
|
||
|
||
|
||
class OjectsInfo(ctypes.Structure):
|
||
_fields_ = [
|
||
("count", ctypes.c_int),
|
||
("objs", OjectInfo * MAX_OBJ)
|
||
]
|
||
|
||
|
||
# 获取消息
|
||
def _get_msg_info(code) -> str:
|
||
global MSG_LIST
|
||
for msg in MSG_LIST:
|
||
for key, value in msg.items():
|
||
if code == key:
|
||
return value.encode("utf-8")
|
||
return "未知错误".encode("utf-8")
|
||
|
||
|
||
class Msg:
|
||
def __init__(self, msg_type, record, im2D):
|
||
self.msg_type = msg_type # 0：刷新广角图片， 1：刷新高清， -1：不刷新图片，纯消息
|
||
self.record = record
|
||
self.im2D = im2D
|
||
|
||
|
||
class _SubRoiData_(Structure):
|
||
_fields_ = [
|
||
('mPparentId', c_long),
|
||
('mId', c_long),
|
||
('mInfo', c_char * 256),
|
||
('isGood', c_bool),
|
||
('vpOffset', c_float * 2),
|
||
('mRoiPoints', c_float * 8), # 4 * 2
|
||
('mInnerConners', c_float * 8), # 4 * 2
|
||
('mInnerConners3D', c_float * 12), # 4 * 3
|
||
('edges', c_float * 4),
|
||
('center', c_float * 2),
|
||
('cloud_size', c_int),
|
||
('mVc2D', POINTER(c_float)),
|
||
('mVc3D', POINTER(c_float)),
|
||
('H', c_float * 9),
|
||
# 新增部分
|
||
('mInnerLineCenter', c_float * 8), # 4 * 2
|
||
('mInnerLineCenter3D', c_float * 12), # 4 * 3
|
||
('mInnerCenter', c_float * 2), # 1 * 2
|
||
('mInnerCenter3D', c_float * 3), # 1 * 3
|
||
('mEdgesLen', c_float * 4), # 4
|
||
# 新增字段之后需同步在_copy_record函数中进行添加
|
||
]
|
||
|
||
|
||
SubRoiData = _SubRoiData_
|
||
|
||
|
||
class _CallbackInfo_(Structure):
|
||
_fields_ = [
|
||
('code', c_int),
|
||
('errorInfo', c_char * 256),
|
||
('bGetData', c_bool),
|
||
('mId', c_long),
|
||
('mInfo', c_char * 256),
|
||
('mImPath', c_char * 256),
|
||
('mIm2D3DPtr', c_char * 256),
|
||
('roi_size', c_int),
|
||
('subRois', SubRoiData * 16),
|
||
]
|
||
|
||
|
||
CallbackInfo = _CallbackInfo_
|
||
# 回调函数类型定义
|
||
CallbackType = CFUNCTYPE(None, POINTER(CallbackInfo))
|
||
|
||
|
||
def _copy_record(record):
|
||
new_record = CallbackInfo()
|
||
new_record.code = record.code
|
||
new_record.errorInfo = record.errorInfo
|
||
new_record.bGetData = record.bGetData
|
||
new_record.roi_size = record.roi_size
|
||
for i in range(record.roi_size):
|
||
if i > 15: # 超过16个ROI，返回
|
||
break
|
||
subRois = record.subRois[i]
|
||
|
||
newSubRois = new_record.subRois[i]
|
||
newSubRois.isGood = subRois.isGood
|
||
newSubRois.mInfo = subRois.mInfo
|
||
for j in range(8):
|
||
newSubRois.mRoiPoints[j] = subRois.mRoiPoints[j]
|
||
newSubRois.mInnerConners[j] = subRois.mInnerConners[j]
|
||
newSubRois.mInnerLineCenter[j] = subRois.mInnerLineCenter[j]
|
||
for j in range(12):
|
||
newSubRois.mInnerConners3D[j] = subRois.mInnerConners3D[j]
|
||
newSubRois.mInnerLineCenter3D[j] = subRois.mInnerLineCenter3D[j]
|
||
for j in range(4):
|
||
newSubRois.mEdgesLen[j] = subRois.mEdgesLen[j]
|
||
for j in range(2):
|
||
newSubRois.mInnerCenter[j] = subRois.mInnerCenter[j]
|
||
for j in range(3):
|
||
newSubRois.mInnerCenter3D[j] = subRois.mInnerCenter3D[j]
|
||
|
||
return new_record
|
||
|
||
|
||
# def init_callback():
|
||
# global data_callback, bStop
|
||
#
|
||
# def _callback(data):
|
||
# print("_callback回调执行")
|
||
# global g_msg_cache, g_frame_cache, g_running_mode, bStop
|
||
# record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
|
||
# frame = None
|
||
# ret = SYS_OK
|
||
# msg = None
|
||
#
|
||
# # 获取数据
|
||
# data_type = CallbackInfo
|
||
# data_ptr = cast(data, POINTER(data_type))
|
||
# ckinfoCache = data_ptr.contents
|
||
# record = _copy_record(ckinfoCache)
|
||
# print(str(g_running_mode) + " : " + str(record.code) + " : " + bytes.decode(record.errorInfo))
|
||
# # 当定位模式下，接收到【定位完成】消息
|
||
# if g_running_mode == RUNNING_MODE_LOCATION and record.code == (6 + TO_CLIENT_NOTIFY_BASE):
|
||
# if len(g_frame_cache) == 0:
|
||
# print("当前没有广角数据")
|
||
# return
|
||
# frame = g_frame_cache.pop() # 从图像缓存中去除图像
|
||
# g_frame_cache = [] # 清空缓存，避免无限增长
|
||
# msg = Msg(MSG_LOCATION_RECORD, _copy_record(record), frame)
|
||
# # 当检测模式下，接收到【拍照完成】消息
|
||
# elif record.code == (8 + TO_CLIENT_NOTIFY_BASE):
|
||
# bStop = True
|
||
# time.sleep(1)
|
||
# elif record.code == (12 + TO_CLIENT_NOTIFY_BASE):
|
||
# msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), None)
|
||
# detectionResProcessing(msg,data_img_path,data_detect_res_save_path)
|
||
# bStop = True
|
||
# time.sleep(1)
|
||
# # # frame = np.zeros((7000, 9344, 3), np.uint8)
|
||
# # # # frame.zeros(9344, 7000, cv2.CV_8UC3)
|
||
# # # # src_frame_ptr = c_char_p(frame.data.tobytes())
|
||
# # # mv = memoryview(frame.data)
|
||
# # # buffer_pointer = cast(mv.obj.ctypes.data, c_void_p)
|
||
# # # ret = image_framework_sdk.LibapiGetHQImage(
|
||
# # # buffer_pointer, frame.shape[1], frame.shape[0], 3, c_char_p(b"PythonProcessing"))
|
||
# # if ret != SYS_OK:
|
||
# # print("ret != SYS_OK:" + str(ret))
|
||
# # record = CallbackInfo(code=ret, errorInfo=_get_msg_info(ret), bGetData=False)
|
||
# # msg = Msg(MSG_DETECTION_RECORD, record, None)
|
||
# # g_msg_cache.append(msg)
|
||
# # # emit msg
|
||
# # return
|
||
# # msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), frame)
|
||
# # elif g_running_mode == RUNNING_MODE_LOCATION:
|
||
# # msg = Msg(MSG_LOCATION_RECORD, _copy_record(record), None)
|
||
# # elif g_running_mode == RUNNING_MODE_DETECTION:
|
||
# # msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), None)
|
||
# # else:
|
||
# # print("未知回调")
|
||
# # return
|
||
#
|
||
# data_callback = CallbackType(_callback)
|
||
|
||
def init_callback():
|
||
global data_callback
|
||
|
||
def _callback(data):
|
||
print("_callback回调执行")
|
||
|
||
global g_msg_cache, g_frame_cache, g_running_mode
|
||
|
||
record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
|
||
frame = None
|
||
ret = SYS_OK
|
||
msg = None
|
||
|
||
# 获取数据
|
||
data_type = CallbackInfo
|
||
data_ptr = cast(data, POINTER(data_type))
|
||
ckinfoCache = data_ptr.contents
|
||
record = _copy_record(ckinfoCache)
|
||
print(f"g_running_mode===={g_running_mode}")
|
||
print(f"record===={record.code}")
|
||
# print("callback ============ > " + str(record.code) + " mode " + str(g_running_mode))
|
||
# print(str(g_running_mode) + " : " + str(record.code) + " : " + bytes.decode(record.errorInfo))
|
||
# 当定位模式下，接收到【定位完成】消息
|
||
if g_running_mode == RUNNING_MODE_LOCATION and record.code == (6 + TO_CLIENT_NOTIFY_BASE):
|
||
if len(g_frame_cache) == 0:
|
||
# self.logger.error("当前没有广角数据")
|
||
return
|
||
frame = g_frame_cache.pop() # 从图像缓存中去除图像
|
||
g_frame_cache = [] # 清空缓存，避免无限增长
|
||
msg = Msg(MSG_LOCATION_RECORD, _copy_record(record), frame, None)
|
||
# 当检测模式下，接收到【拍照完成】消息
|
||
elif (g_running_mode == RUNNING_MODE_DETECTION and record.code == (2 + TO_CLIENT_NOTIFY_BASE)) or \
|
||
(g_running_mode == RUNNING_MODE_DETECTION and record.code == (8 + TO_CLIENT_NOTIFY_BASE)) or \
|
||
(g_running_mode == RUNNING_MODE_DETECTION and record.code == (12 + TO_CLIENT_NOTIFY_BASE)):
|
||
frame = np.zeros((7000, 9344, 3), np.uint8)
|
||
print("1")
|
||
# frame.zeros(9344, 7000, cv2.CV_8UC3)
|
||
# src_frame_ptr = c_char_p(frame.data.tobytes())
|
||
mv = memoryview(frame.data)
|
||
buffer_pointer = cast(mv.obj.ctypes.data, c_void_p)
|
||
print("12")
|
||
# ret = self.image_framework_sdk.LibapiGetHQImage(
|
||
# buffer_pointer, frame.shape[1], frame.shape[0], 3, c_char_p(b"PythonProcessing"))
|
||
print("13")
|
||
if ret != SYS_OK:
|
||
print("ret != SYS_OK:" + str(ret))
|
||
record = CallbackInfo(code=ret, errorInfo=_get_msg_info(ret), bGetData=False)
|
||
msg = Msg(MSG_DETECTION_RECORD, record, None)
|
||
print("14")
|
||
g_msg_cache.append(msg)
|
||
|
||
# emit msg
|
||
return
|
||
msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), frame)
|
||
elif g_running_mode == RUNNING_MODE_LOCATION:
|
||
# msg = Msg(MSG_LOCATION_RECORD, _copy_record(record), None, None)
|
||
print("")
|
||
elif g_running_mode == RUNNING_MODE_DETECTION:
|
||
# msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), None, None)
|
||
print("")
|
||
else:
|
||
print("未知回调")
|
||
return
|
||
|
||
print("15")
|
||
g_msg_cache.append(msg)
|
||
# self.logger.info("image framework callback done.")
|
||
|
||
data_callback = CallbackType(_callback)
|
||
|
||
|
||
def init_image_framework_sdk():
|
||
global image_framework_sdk
|
||
try:
|
||
# 加载C++库
|
||
current_file_dir = os.path.dirname(os.path.abspath(__file__))
|
||
image_framework_sdk = CDLL(os.path.join(current_file_dir, f'./image_framework.dll'))
|
||
print(f"[image_framework_sdk] ====== [{image_framework_sdk}]")
|
||
print("Load Image framework sdk success")
|
||
except Exception as e:
|
||
print(f"Load Image framework sdk failed: {str(e)}")
|
||
|
||
|
||
|
||
|
||
def adjust():
|
||
global image_framework_sdk
|
||
record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
|
||
|
||
# 创建一个 OjectsInfo 实例
|
||
info = OjectsInfo()
|
||
|
||
for idx, bim in enumerate(bim_data):
|
||
print(bim["center"])
|
||
info.objs[idx].id = idx
|
||
info.objs[idx].name = bim["code"].encode("utf-8")
|
||
info.objs[idx].centerX = float(bim["x"]) / 1000
|
||
info.objs[idx].centerY = float(bim["center"])
|
||
info.objs[idx].w = float(bim["w"]) / 1000
|
||
info.objs[idx].h = float(bim["h"]) / 1000
|
||
|
||
ret = image_framework_sdk.LibapiStartDetectionV2(ctypes.byref(info))
|
||
if ret != SYS_OK:
|
||
print(f"image_framework_sdk.LibapiStartDetection()：执行失败 :{ret}")
|
||
return record
|
||
|
||
|
||
def check():
|
||
print("check====================")
|
||
global image_framework_sdk
|
||
|
||
record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
|
||
ret = image_framework_sdk.LibapiContinuetDetection("{}")
|
||
print("返回值:", ret)
|
||
if ret != SYS_OK:
|
||
print("image_framework_sdk.LibapiContinuetDetection：执行失败")
|
||
return record
|
||
|
||
|
||
def start():
|
||
global g_running_mode
|
||
global bStop
|
||
g_running_mode = RUNNING_MODE_DETECTION
|
||
# 开始检测
|
||
logger.debug("开始adjust")
|
||
adjust()
|
||
# while not bStop:
|
||
# logger.debug("adjust等待回调")
|
||
# time.sleep(1)
|
||
time.sleep(5)
|
||
logger.debug("开始check")
|
||
check()
|
||
bStop = False
|
||
while not bStop:
|
||
logger.debug("check等待回调")
|
||
time.sleep(1)
|
||
|
||
|
||
def _main_processing_thread():
|
||
global g_msg_cache, g_running_mode
|
||
record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
|
||
times = 0
|
||
while True:
|
||
if len(g_msg_cache) <= 0:
|
||
times += 1
|
||
time.sleep(0.01)
|
||
# if times % 200 == 0:
|
||
# print("%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%")
|
||
continue
|
||
|
||
msg = g_msg_cache.pop()
|
||
# g_msg_cache = []
|
||
# print("===============> start" + str(msg.record.code))
|
||
if msg is None:
|
||
continue
|
||
msg = imgProcess.process(msg)
|
||
# print("===============> end" + str(msg.record.code))
|
||
# self.logger.info("msg ==> ui")
|
||
# self.signals.on_image_detect_result.emit(msg)
|
||
|
||
|
||
if __name__ == '__main__':
|
||
process_thread = threading.Thread(target=_main_processing_thread)
|
||
process_thread.daemon = True
|
||
process_thread.start()
|
||
|
||
# 加载驱动
|
||
init_image_framework_sdk()
|
||
if image_framework_sdk is None:
|
||
raise RuntimeError("Image framework SDK未正确加载!")
|
||
|
||
# 设置回调函数
|
||
init_callback()
|
||
ret = image_framework_sdk.LibapiInit(1, "", data_callback)
|
||
if ret != 0:
|
||
raise RuntimeError(f"设置回调函数始设置失败, 错误码: {ret}")
|
||
|
||
dataPath = "./result2" # 数据路径
|
||
data_img_path = None # 检测的图片路径
|
||
data_detect_res_save_path = None # 检测结果的保存路径
|
||
# 遍历目录
|
||
for root, dirs, files in os.walk(dataPath):
|
||
for dir in dirs:
|
||
logger.debug(f"开始处理子目录：{dir}")
|
||
data_detect_res_save_path = os.path.join(root, dir)
|
||
# 目录下的所有文件路径
|
||
for file in os.listdir(os.path.join(root, dir)):
|
||
file_path = os.path.join(root, dir, file)
|
||
# 将反斜杠替换为正斜杠
|
||
file_path = file_path.replace('\\', '/')
|
||
logger.debug(f"文件路径：{file_path}")
|
||
# 如果是jpg图片
|
||
if file.endswith("output.jpg"):
|
||
# 将文件路径修改到ini配置中
|
||
data_img_path = file_path
|
||
change_config_ini("sys", "fake_image_fpath", file_path)
|
||
if file.endswith(".ply"):
|
||
# 将文件路径修改到ini配置中
|
||
change_config_ini("sys", "fake_lidar_fpath", file_path)
|
||
if file.endswith(".txt"):
|
||
# txt roi坐标复制到更目录，曹总懒得修改c代码，只能从根目录读取。
|
||
shutil.copy(file_path, os.path.join("./", file))
|
||
logger.info(f"roi坐标文件已复制到更目录")
|
||
time.sleep(1)
|
||
# ...
|
||
# 开始检测
|
||
bStop = False
|
||
logger.debug("开始检测")
|
||
start()
|
||
exit()
|