272 lines
9.2 KiB
Python
272 lines
9.2 KiB
Python
import os
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import shutil
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import sys
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import threading
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import time
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from ctypes import *
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import logging
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from logging import makeLogRecord
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from clog import logger
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import cv2
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import numpy as np
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from imgProcess import detectionResProcessing
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from util import change_config_ini
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image_framework_sdk = None
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data_callback = None
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SYS_OK = 0
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bStop = False
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# 全局 msg 缓存
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g_msg_cache = []
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# 全局 frame 缓存
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g_frame_cache = []
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# 运行模式
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RUNNING_MODE_NONE = -1 # 停止状态
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RUNNING_MODE_LOCATION = 0 # 广角相机运行模式
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RUNNING_MODE_DETECTION = 1 # 高清检测运行模式
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g_running_mode = RUNNING_MODE_NONE # 默认是广角相机运行模式
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TO_CLIENT_NOTIFY_BASE = 1000
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# emit的结构体
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MSG_ONLY_RECORD = -1
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MSG_LOCATION_RECORD = 0
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MSG_DETECTION_RECORD = 1
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# 获取消息
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def _get_msg_info(code) -> str:
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global MSG_LIST
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for msg in MSG_LIST:
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for key, value in msg.items():
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if code == key:
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return value.encode("utf-8")
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return "未知错误".encode("utf-8")
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class Msg:
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def __init__(self, msg_type, record, im2D):
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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
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self.record = record
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self.im2D = im2D
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class _SubRoiData_(Structure):
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_fields_ = [
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('mPparentId', c_long),
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('mId', c_long),
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('mInfo', c_char * 256),
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('isGood', c_bool),
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('vpOffset', c_float * 2),
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('mRoiPoints', c_float * 8), # 4 * 2
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('mInnerConners', c_float * 8), # 4 * 2
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('mInnerConners3D', c_float * 12), # 4 * 3
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('edges', c_float * 4),
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('center', c_float * 2),
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('cloud_size', c_int),
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('mVc2D', POINTER(c_float)),
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('mVc3D', POINTER(c_float)),
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('H', c_float * 9),
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]
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SubRoiData = _SubRoiData_
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class _CallbackInfo_(Structure):
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_fields_ = [
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('code', c_int),
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('errorInfo', c_char * 256),
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('bGetData', c_bool),
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('mId', c_long),
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('mInfo', c_char * 256),
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('mImPath', c_char * 256),
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('mIm2D3DPtr', c_char * 256),
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('roi_size', c_int),
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('subRois', SubRoiData * 16),
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]
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CallbackInfo = _CallbackInfo_
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# 回调函数类型定义
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CallbackType = CFUNCTYPE(None, POINTER(CallbackInfo))
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def _copy_record(record):
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new_record = CallbackInfo()
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new_record.code = record.code
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new_record.errorInfo = record.errorInfo
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new_record.bGetData = record.bGetData
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new_record.roi_size = record.roi_size
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for i in range(record.roi_size):
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if i > 15: # 超过16个ROI，返回
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break
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subRois = record.subRois[i]
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newSubRois = new_record.subRois[i]
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for j in range(8):
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newSubRois.mRoiPoints[j] = subRois.mRoiPoints[j]
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newSubRois.mInnerConners[j] = subRois.mInnerConners[j]
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for j in range(12):
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newSubRois.mInnerConners3D[j] = subRois.mInnerConners3D[j]
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return new_record
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def init_callback():
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global data_callback, bStop
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def _callback(data):
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print("_callback回调执行")
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global g_msg_cache, g_frame_cache, g_running_mode, bStop
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record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
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frame = None
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ret = SYS_OK
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msg = None
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# 获取数据
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data_type = CallbackInfo
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data_ptr = cast(data, POINTER(data_type))
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ckinfoCache = data_ptr.contents
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record = _copy_record(ckinfoCache)
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print(str(g_running_mode) + " : " + str(record.code) + " : " + bytes.decode(record.errorInfo))
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# 当定位模式下，接收到【定位完成】消息
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if g_running_mode == RUNNING_MODE_LOCATION and record.code == (6 + TO_CLIENT_NOTIFY_BASE):
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if len(g_frame_cache) == 0:
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print("当前没有广角数据")
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return
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frame = g_frame_cache.pop() # 从图像缓存中去除图像
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g_frame_cache = [] # 清空缓存，避免无限增长
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msg = Msg(MSG_LOCATION_RECORD, _copy_record(record), frame)
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# 当检测模式下，接收到【拍照完成】消息
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elif record.code == (8 + TO_CLIENT_NOTIFY_BASE):
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bStop = True
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time.sleep(1)
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elif record.code == (12 + TO_CLIENT_NOTIFY_BASE):
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msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), None)
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detectionResProcessing(msg,data_img_path,data_detect_res_save_path)
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bStop = True
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time.sleep(1)
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# # frame = np.zeros((7000, 9344, 3), np.uint8)
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# # # frame.zeros(9344, 7000, cv2.CV_8UC3)
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# # # src_frame_ptr = c_char_p(frame.data.tobytes())
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# # mv = memoryview(frame.data)
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# # buffer_pointer = cast(mv.obj.ctypes.data, c_void_p)
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# # ret = image_framework_sdk.LibapiGetHQImage(
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# # buffer_pointer, frame.shape[1], frame.shape[0], 3, c_char_p(b"PythonProcessing"))
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# if ret != SYS_OK:
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# print("ret != SYS_OK:" + str(ret))
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# record = CallbackInfo(code=ret, errorInfo=_get_msg_info(ret), bGetData=False)
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# msg = Msg(MSG_DETECTION_RECORD, record, None)
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# g_msg_cache.append(msg)
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# # emit msg
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# return
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# msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), frame)
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# elif g_running_mode == RUNNING_MODE_LOCATION:
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# msg = Msg(MSG_LOCATION_RECORD, _copy_record(record), None)
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# elif g_running_mode == RUNNING_MODE_DETECTION:
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# msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), None)
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# else:
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# print("未知回调")
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# return
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data_callback = CallbackType(_callback)
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def init_image_framework_sdk():
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global image_framework_sdk
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try:
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# 加载C++库
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current_file_dir = os.path.dirname(os.path.abspath(__file__))
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image_framework_sdk = CDLL(os.path.join(current_file_dir, f'./image_framework.dll'))
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print("Load Image framework sdk success")
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except Exception as e:
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print(f"Load Image framework sdk failed: {str(e)}")
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def adjust():
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global image_framework_sdk
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record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
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ret = image_framework_sdk.LibapiStartDetection()
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if ret != SYS_OK:
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print(f"image_framework_sdk.LibapiStartDetection()：执行失败 :{ret}")
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return record
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def check():
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print("check====================")
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global image_framework_sdk
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record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
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ret = image_framework_sdk.LibapiContinuetDetection("{}")
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if ret != SYS_OK:
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print("image_framework_sdk.LibapiContinuetDetection：执行失败")
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return record
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def start():
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global bStop
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# 开始检测
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logger.debug("开始adjust")
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adjust()
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while not bStop:
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logger.debug("adjust等待回调")
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time.sleep(1)
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logger.debug("开始check")
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check()
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bStop = False
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while not bStop:
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logger.debug("check等待回调")
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time.sleep(1)
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if __name__ == '__main__':
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# 加载驱动
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init_image_framework_sdk()
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if image_framework_sdk is None:
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raise RuntimeError("Image framework SDK未正确加载!")
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# 设置回调函数
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init_callback()
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ret = image_framework_sdk.LibapiInit(1, "", data_callback)
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if ret != 0:
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raise RuntimeError(f"设置回调函数始设置失败, 错误码: {ret}")
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dataPath = "./result/hy_1" # 数据路径
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data_img_path = None # 检测的图片路径
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data_detect_res_save_path = None # 检测结果的保存路径
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# 遍历目录
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for root, dirs, files in os.walk(dataPath):
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for dir in dirs:
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logger.debug(f"开始处理子目录：{dir}")
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data_detect_res_save_path = os.path.join(root, dir)
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# 目录下的所有文件路径
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for file in os.listdir(os.path.join(root, dir)):
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file_path = os.path.join(root, dir, file)
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# 将反斜杠替换为正斜杠
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file_path = file_path.replace('\\', '/')
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logger.debug(f"文件路径：{file_path}")
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# 如果是jpg图片
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if file.endswith("output.jpg"):
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# 将文件路径修改到ini配置中
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data_img_path = file_path
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change_config_ini("sys", "fake_image_fpath", file_path)
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if file.endswith(".ply"):
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# 将文件路径修改到ini配置中
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change_config_ini("sys", "fake_lidar_fpath", file_path)
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if file.endswith(".txt"):
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# 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。
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shutil.copy(file_path, os.path.join("./", file))
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logger.info(f"roi坐标文件已复制到更目录")
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time.sleep(1)
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# ...
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# 开始检测
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bStop = False
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logger.debug("开始检测")
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start()
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exit()
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