diff --git a/.idea/detect-gui.iml b/.idea/detect-gui.iml
index a1b377a..80f67ae 100644
--- a/.idea/detect-gui.iml
+++ b/.idea/detect-gui.iml
@@ -4,7 +4,7 @@
-
+
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
index 9f2e3a2..66b3d02 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -3,5 +3,5 @@
-
+
\ No newline at end of file
diff --git a/components/image_framework.py b/components/image_framework.py
index 7f03d79..edeb3bb 100644
--- a/components/image_framework.py
+++ b/components/image_framework.py
@@ -1,4 +1,5 @@
import os
+import threading
from ctypes import *
import numpy as np
from PyQt5.QtCore import QObject, pyqtSignal
@@ -6,6 +7,7 @@ from dynaconf.base import Settings
from numpy.ctypeslib import as_array
import platform
import time
+import cv2
from core.edge_component import action, EdgeComponent, service
from util import get_system_and_library_suffix
@@ -49,10 +51,139 @@ CallbackInfo = _CallbackInfo_
# 回调函数类型定义
CallbackType = CFUNCTYPE(None, POINTER(CallbackInfo))
+# emit的结构体
+MSG_ONLY_RECORD = -1
+MSG_LOCATION_RECORD = 0
+MSG_DETECTION_RECORD = 1
+
+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
+
+
+TO_CLIENT_NOTIFY_BASE = 1000
+SYS_BASE = 1000
+CAL_2D3D_BASE = 2000
+CAMERA_BASE = 4000
+LIDAR_BASE = 5000
+SYS_OK = 0
+CAL_OK = 0
+LIDAR_OK = 0
+MSG_LIST = [
+ { 1 + TO_CLIENT_NOTIFY_BASE : "开始相机拍摄" },
+ { 2 + TO_CLIENT_NOTIFY_BASE : "相机拍摄已完成" },
+ { 3 + TO_CLIENT_NOTIFY_BASE : "开始雷达采集数据" },
+ { 4 + TO_CLIENT_NOTIFY_BASE : "雷达采集数据已完成" },
+ { 5 + TO_CLIENT_NOTIFY_BASE : "开始定位检测" }, # 这个消息是相机实时定位，不用打印
+ { 6 + TO_CLIENT_NOTIFY_BASE : "定位检测已完成" },
+ { 7 + TO_CLIENT_NOTIFY_BASE : "开始角点2D检测" },
+ { 8 + TO_CLIENT_NOTIFY_BASE : "角点2D检测已完成" },
+ { 9 + TO_CLIENT_NOTIFY_BASE : "开始角点3D检测" },
+ { 10 + TO_CLIENT_NOTIFY_BASE : "角点3D检测已完成" },
+ { 11 + TO_CLIENT_NOTIFY_BASE : "开始计算预埋件尺寸" },
+ { 12 + TO_CLIENT_NOTIFY_BASE : "预埋件尺寸计算已完成" },
+
+ { 1 - SYS_BASE : "驱动初始化错误" },
+ { 2 - SYS_BASE : "NPU计算单元初始化错误" },
+ { 3 - SYS_BASE : "系统错误" },
+ { 4 - SYS_BASE : "相机初始化错误" },
+ { 5 - SYS_BASE : "当前没有可以读取的高清相片"},
+
+ { 1 - CAL_2D3D_BASE : "读取图片文件错误" },
+ { 2 - CAL_2D3D_BASE : "写图片文件错误" },
+ { 3 - CAL_2D3D_BASE : "空指针" },
+ { 4 - CAL_2D3D_BASE : "空参数" },
+ { 5 - CAL_2D3D_BASE : "读取图像错误" },
+ { 6 - CAL_2D3D_BASE : "NPU加载数据错误" },
+ { 7 - CAL_2D3D_BASE : "NPU模型执行错误" },
+ { 8 - CAL_2D3D_BASE : "NPU获取结果错误" },
+ { 9 - CAL_2D3D_BASE : "NPU卸载数据错误" },
+ { 10 - CAL_2D3D_BASE : "YOLO推理无可信ROI区域" },
+ { 11 - CAL_2D3D_BASE : "ROI处理线程错误" },
+ { 12 - CAL_2D3D_BASE : "H计算错误" },
+ { 13 - CAL_2D3D_BASE : "3D角点检测错误" },
+ { 14 - CAL_2D3D_BASE : "2D角点定位错误" },
+ { 15 - CAL_2D3D_BASE : "3D投影计算错误" },
+ { 16 - CAL_2D3D_BASE : "3D点云为空" },
+ { 17 - CAL_2D3D_BASE : "未检测到2D角点" },
+ { 18 - CAL_2D3D_BASE : "未检测到预埋件" },
+ { 19 - CAL_2D3D_BASE : "相机捕获图像失败" },
+
+ { 1 - CAMERA_BASE : "相机DLL初始化失败" },
+
+ { 1 - LIDAR_BASE : "雷达初始化SDK失败" },
+ { 2 - LIDAR_BASE : "雷达SO初始化失败" },
+ { 3 - LIDAR_BASE : "雷达广播失败" },
+ { 5 - LIDAR_BASE : "雷达开始采样失败" },
+ { 6 - LIDAR_BASE : "雷达结束采样失败" },
+
+ { -10001 : "已经在检测模式中"},
+ { -10002 : "定位模式不支持执行该操作"}
+]
+
+####################################################################################
+# 全局变量定义
+####################################################################################
+
+# 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_LOCATION # 默认是广角相机运行模式
+
+####################################################################################
+# 内部接口定义
+####################################################################################
+# 获取消息
+def _get_msg_info(code) -> str:
+ global MSG_LIST
+ for msg in MSG_LIST:
+ if code == msg.keys()[0]:
+ return msg.values
+ return "未知错误"
+
+# 加工检测图像
+def _update_location_image(frame):
+ global needHandle, recordCache, ckinfoCache
+ def switch(choice):
+ if ckinfoCache.code == 1006: #TO_CLIENT_NOTIFY_DETECTION_END: 1006
+ for i in range(recordCache.roi_size):
+ subRois = recordCache.subRois[i]
+ s = ""
+ for j in range(8):
+ s += str(subRois.mRoiPoints[j])+ " "
+ else:
+ print("default Case")
+
+# 在回调函数中将 record 数据拷贝出来
+def _copy_record(record):
+ new_record = CallbackInfo()
+ new_record.code = record.code
+ new_record.errorInfo = record.errorInfo
+ new_record.bGetData = record.bGetData
+ for i in range(record.roi_size):
+ subRois = record.subRois[i]
+ newSubRois = new_record.subRois[i]
+ for j in range(8):
+ newSubRois.mRoiPoints[j] = subRois.mRoiPoints[j]
+ newSubRois.mInnerConners[j] = subRois.mInnerConners[j]
+ for j in range(12):
+ newSubRois.mInnerConners3D[j] = subRois.mInnerConners3D[j]
+
+ return new_record
+
class ImageFrameworkSignals(QObject):
# QT 信号
- on_image_result = pyqtSignal(object)
+ on_image_detect_result = pyqtSignal(Msg)
@action("image-framework", auto_start=True)
@@ -63,9 +194,16 @@ class ImageFramework(EdgeComponent):
super().__init__(context)
self.image_framework_sdk = None
self.data_callback = None
+ self.location_thread = None
+ self.process_thread = None
def configure(self, setting: Settings) -> None:
self.init_image_framework_sdk()
+ self.location_thread = threading.Thread(target=self._location_processing_thread)
+ self.location_thread.daemon = True
+ self.process_thread = threading.Thread(target=self._main_processing_thread)
+ self.process_thread.daemon = True
+
self.logger.info(f"Image framework configure done.")
def init_image_framework_sdk(self):
@@ -81,23 +219,42 @@ class ImageFramework(EdgeComponent):
def init_callback(self):
def _callback(data):
- contents = data.contents
- self.logger.info(f"image framework callback data, bGetData:{contents.bGetData}")
- if contents.bGetData:
- record = CallbackInfo()
- self.image_framework_sdk.LibapGetRecord(byref(record))
- self.logger.info(f"image framework callback data, roi_size:{record.roi_size}")
- self.logger.info(f"image framework callback data, code:{record.code}")
- self.logger.info(f"image framework callback data, errorInfo:{record.errorInfo}")
- for i in range(record.roi_size):
- roi_data = record.subRois[i]
- self.logger.info(f"roi data, roi_data[{i}].mId:{roi_data.mId}")
- self.logger.info(f"roi data, roi_data[{i}].isGood:{roi_data.isGood}")
- self.logger.info(f"roi data, roi_data[{i}].mRoiPoints:{list(roi_data.mRoiPoints)}")
+ global g_msg_cache, g_frame_cache, g_running_mode
- self.signals.on_image_result.emit(record.roi_size)
+ record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
+ frame = None
+ ret = SYS_OK
+ record.code = data.contents.code
+ record.errorInfo = data.contents.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
- self.logger.info("image framework callback done.")
+ 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 g_running_mode == RUNNING_MODE_DETECTION and record.code == (2 + TO_CLIENT_NOTIFY_BASE):
+ frame.zeros(9344, 7000, cv2.CV_8UC3)
+ src_frame_ptr = c_char_p(frame.data.tobytes())
+ ret = self.image_framework_sdk.LibapiGetHQImage(
+ src_frame_ptr, frame.shape[1], frame.shape[0], 3, c_char_p(b"PythonProcessing"))
+ if ret != SYS_OK:
+ record = CallbackInfo(code=ret, errorInfo=_get_msg_info(ret), bGetData=False)
+ msg = Msg(MSG_ONLY_RECORD, record, None)
+ # emit msg
+ return
+ msg = Msg(MSG_DETECTION_RECORD, _copy_record(record), frame)
+ elif g_running_mode == RUNNING_MODE_LOCATION or g_running_mode == RUNNING_MODE_DETECTION:
+ msg = Msg(MSG_ONLY_RECORD, _copy_record(record), None)
+ else:
+ print("未知回调")
+ return
+
+ g_msg_cache.append(msg)
+ # self.logger.info("image framework callback done.")
self.data_callback = CallbackType(_callback)
@@ -115,11 +272,25 @@ class ImageFramework(EdgeComponent):
@service()
def stop(self):
+ if self.location_thread is not None:
+ self.location_thread.join()
+ if self.process_thread is not None:
+ self.process_thread.join()
+
self.image_framework_sdk.stop_sdk()
self.logger.info("Image framework stopped.")
+ @service()
+ def start_location(self):
+ self.location_thread.start()
+ self.process_thread.start()
+
@service()
def start_detect(self):
+ global g_running_mode
+ if g_running_mode != RUNNING_MODE_DETECTION:
+ g_running_mode = RUNNING_MODE_DETECTION # 切换为检测模式
+
ret = self.image_framework_sdk.LibapiStartDetection()
if ret != 0:
raise RuntimeError("启动检测失败!")
@@ -132,6 +303,55 @@ class ImageFramework(EdgeComponent):
@service()
def stop_detect(self):
+ global g_running_mode
+ if g_running_mode == RUNNING_MODE_LOCATION: # 如果在定位任务模式下，该接口不执行
+ raise RuntimeError("正在检测，请稍后停止!")
+
+ g_running_mode = RUNNING_MODE_NONE # 切换为无模式
ret = self.image_framework_sdk.LibapStopDetection()
if ret != 0:
- raise RuntimeError("停止检测失败!")
\ No newline at end of file
+ raise RuntimeError("停止检测失败!")
+
+ # 广角相机运行定位处理线程
+ def _location_processing_thread(self):
+ global g_msg_cache, g_frame_cache, g_running_mode
+ # 打开广角摄像头
+ capture = cv2.VideoCapture(0)
+ while True:
+ # 如果当前不是定位模式，不处理任何事务
+ if g_running_mode != RUNNING_MODE_LOCATION:
+ time.sleep(0.5)
+ continue
+ # 获取一帧图像
+ _, frame = capture.read()
+ # 如果图像为空，等待一秒，上报消息
+ if frame is None:
+ time.sleep(0.1)
+ self.logger.error("[ERROR] 广角相机未捕获到图像")
+ continue
+
+ src_frame_ptr = c_char_p(frame.data.tobytes())
+ ret = self.image_framework_sdk.LibapiCameraSendMsgWithImage(
+ src_frame_ptr, frame.shape[1], frame.shape[0], 3,
+ c_char_p(b"PythonProcessing"), c_char_p(b"_t_PluginCameraPro"))
+ if ret != SYS_OK:
+ self.logger.error(_get_msg_info(ret))
+ # emit msg
+ continue
+ # 向 g_frame_cache 中加入消息，对图像进行二次加工
+ g_frame_cache.append(frame)
+
+ # 高清相机运行检测处理线程
+ def _main_processing_thread(self):
+ global g_msg_cache, g_frame_cache, g_running_mode
+
+ while True:
+ if len(g_msg_cache) <= 0:
+ time.sleep(0.01)
+ continue
+
+ msg = g_msg_cache.pop()
+ if msg.msg_type == MSG_LOCATION_RECORD:
+ # cv2.imshow("LOCATION", msg.im2D)
+ # cv2.waitKey(1)
+ self.signals.on_image_detect_result.emit(msg)
diff --git a/config.ini b/config.ini
index 2f0de86..47b265f 100644
--- a/config.ini
+++ b/config.ini
@@ -14,6 +14,7 @@ k3=-0.15639485
yolo_label=0
yolo_prob=0.25
yolo_modol_path=./best_rgb_ymj_csc_80_2.om
+save_image=true
# 3D config
[3D]
@@ -30,6 +31,8 @@ dmaxy=2.5
dminz=0.0
dmaxz=3.8
kk=0.02
+cloud_need_points_size=300000
+save_cload=true
# system config
[sys]
diff --git a/req.txt b/req.txt
index 6141723..4746cb4 100644
--- a/req.txt
+++ b/req.txt
@@ -8,4 +8,5 @@ paho-mqtt==2.1.0
dynaconf==3.2.5
fastapi==0.111.0
uvicorn==0.30.1
-SQLAlchemy==2.0.34
\ No newline at end of file
+SQLAlchemy==2.0.34
+opencv-python==4.10.0.84
\ No newline at end of file
diff --git a/widget/task_run.py b/widget/task_run.py
index d9047ed..df990c1 100644
--- a/widget/task_run.py
+++ b/widget/task_run.py
@@ -1,8 +1,10 @@
+import cv2
from PyQt5.QtCore import Qt
-from PyQt5.QtGui import QPixmap
+from PyQt5.QtGui import QPixmap, QImage
from PyQt5.QtWidgets import QDialog, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, QScrollArea, QPushButton, \
QSpacerItem, QSizePolicy, QLabel
+from components.image_framework import MSG_LOCATION_RECORD
from core.context import AppContext
from widget.embed_item import EmbedItem
@@ -23,17 +25,32 @@ class TaskRunDialog(QDialog):
self.check_widget = None
self.embed_widgets = []
+ self.view_label = None
+ self.picture_label = None
+
self.start_adjust_button = None
self.start_check_button = None
self.stop_check_button = None
self.stop_task_button = None
self.init_ui()
+ self.init_event()
- AppContext.get_edge_context().get_component('image-framework').signals.on_image_result.connect(lambda data: self.image_result(data))
+ def init_event(self):
+ AppContext.get_edge_context().get_component('image-framework').signals.on_image_detect_result.connect(
+ lambda data: self.image_result(data))
+
+ def image_result(self, msg):
+ if msg.msg_type == MSG_LOCATION_RECORD:
+ rgb_frame = cv2.cvtColor(msg.im2D, cv2.COLOR_BGR2RGB)
+
+ # 转换为 QImage
+ height, width, channels = rgb_frame.shape
+ bytes_per_line = channels * width
+ qt_image = QImage(rgb_frame.data, width, height, bytes_per_line, QImage.Format_RGB888)
+
+ self.view_label.setPixmap(QPixmap.fromImage(qt_image))
- def image_result(self, data):
- ccc = data
def init_ui(self):
# bim
@@ -115,31 +132,31 @@ class TaskRunDialog(QDialog):
content_widget = QWidget()
content_widget.setObjectName("contentWidget")
- picture_label = QLabel()
- picture_label.setObjectName("pictureWidget")
- picture_label.setFixedWidth(450)
- picture_label.setFixedHeight(450)
- picture_label.setScaledContents(True)
+ self.picture_label = QLabel()
+ self.picture_label.setObjectName("pictureWidget")
+ self.picture_label.setFixedWidth(450)
+ self.picture_label.setFixedHeight(450)
+ self.picture_label.setScaledContents(True)
picture_pixmap = QPixmap("assets/img2.png")
- picture_label.setPixmap(picture_pixmap)
+ self.picture_label.setPixmap(picture_pixmap)
view_widget = QWidget()
view_widget.setObjectName("viewWidget")
view_widget.setFixedHeight(450)
- view_label = QLabel(view_widget)
- view_label.setObjectName("viewLabel")
- view_label.setFixedHeight(450)
- view_label.setScaledContents(True)
+ self.view_label = QLabel(view_widget)
+ self.view_label.setObjectName("viewLabel")
+ self.view_label.setFixedHeight(450)
+ self.view_label.setScaledContents(True)
view_pixmap = QPixmap("assets/img1.jpg")
sc = view_pixmap.height() / 450
- view_label.setFixedWidth(view_pixmap.width() / sc)
- view_label.setPixmap(view_pixmap)
- view_label.setGeometry((view_widget.width() - view_label.width() / 2), 0, view_label.width(), view_label.height())
+ self.view_label.setFixedWidth(view_pixmap.width() / sc)
+ self.view_label.setPixmap(view_pixmap)
+ self.view_label.setGeometry((view_widget.width() - self.view_label.width() / 2), 0, self.view_label.width(), self.view_label.height())
view_check_widget = QWidget(view_widget)
view_check_widget.setObjectName("viewCheckWidget")
- view_check_widget.setGeometry(view_label.geometry().x() + 145, 170, 240, 240)
+ view_check_widget.setGeometry(self.view_label.geometry().x() + 145, 170, 240, 240)
# view_widget = QWidget()
# view_widget.setObjectName("viewWidget")
@@ -202,7 +219,7 @@ class TaskRunDialog(QDialog):
content_layout.setSpacing(0)
content_layout.addWidget(view_widget)
content_layout.addSpacing(20)
- content_layout.addWidget(picture_label)
+ content_layout.addWidget(self.picture_label)
content_layout.addSpacing(20)
content_layout.addWidget(tool_widget)
content_widget.setLayout(content_layout)
@@ -256,3 +273,6 @@ class TaskRunDialog(QDialog):
self.start_check_button.setEnabled(False)
# self.stop_check_button.setEnabled(False)
self.checkIndex += 1
+
+ def showEvent(self, e):
+ AppContext.get_edge_context().get_component('image-framework').start_location()
\ No newline at end of file