mirror of
http://git.xinwangdao.com/cnnc-embedded-parts-detect/detect-gui.git
synced 2025-06-24 05:04:12 +08:00
fixed
This commit is contained in:
njdaoyehu
parent
12fb34fb77
commit
995b8f5390
@ -10,7 +10,7 @@ import time
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import cv2
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from core.edge_component import action, EdgeComponent, service
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from util import get_system_and_library_suffix,imgProcess
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from util import get_system_and_library_suffix, imgProcess
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# 给回调函数使用
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@ -32,8 +32,10 @@ class _SubRoiData_(Structure):
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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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@ -47,14 +49,16 @@ class _CallbackInfo_(Structure):
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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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# 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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MSG_ONLY_RECORD = -1
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MSG_LOCATION_RECORD = 0
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MSG_DETECTION_RECORD = 1
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class Msg:
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def __init__(self, msg_type, record, im2D):
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@ -63,7 +67,7 @@ class Msg:
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self.im2D = im2D
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TO_CLIENT_NOTIFY_BASE = 1000
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TO_CLIENT_NOTIFY_BASE = 1000
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SYS_BASE = 1000
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CAL_2D3D_BASE = 2000
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CAMERA_BASE = 4000
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@ -72,55 +76,55 @@ SYS_OK = 0
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CAL_OK = 0
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LIDAR_OK = 0
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MSG_LIST = [
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{ 1 + TO_CLIENT_NOTIFY_BASE : "开始相机拍摄" },
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{ 2 + TO_CLIENT_NOTIFY_BASE : "相机拍摄已完成" },
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{ 3 + TO_CLIENT_NOTIFY_BASE : "开始雷达采集数据" },
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{ 4 + TO_CLIENT_NOTIFY_BASE : "雷达采集数据已完成" },
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{ 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
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{ 6 + TO_CLIENT_NOTIFY_BASE : "定位检测已完成" },
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{ 7 + TO_CLIENT_NOTIFY_BASE : "开始角点2D检测" },
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{ 8 + TO_CLIENT_NOTIFY_BASE : "角点2D检测已完成" },
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{ 9 + TO_CLIENT_NOTIFY_BASE : "开始角点3D检测" },
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{ 10 + TO_CLIENT_NOTIFY_BASE : "角点3D检测已完成" },
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{ 11 + TO_CLIENT_NOTIFY_BASE : "开始计算预埋件尺寸" },
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{ 12 + TO_CLIENT_NOTIFY_BASE : "预埋件尺寸计算已完成" },
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{1 + TO_CLIENT_NOTIFY_BASE: "开始相机拍摄"},
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{2 + TO_CLIENT_NOTIFY_BASE: "相机拍摄已完成"},
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{3 + TO_CLIENT_NOTIFY_BASE: "开始雷达采集数据"},
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{4 + TO_CLIENT_NOTIFY_BASE: "雷达采集数据已完成"},
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{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
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{6 + TO_CLIENT_NOTIFY_BASE: "定位检测已完成"},
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{7 + TO_CLIENT_NOTIFY_BASE: "开始角点2D检测"},
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{8 + TO_CLIENT_NOTIFY_BASE: "角点2D检测已完成"},
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{9 + TO_CLIENT_NOTIFY_BASE: "开始角点3D检测"},
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{10 + TO_CLIENT_NOTIFY_BASE: "角点3D检测已完成"},
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{11 + TO_CLIENT_NOTIFY_BASE: "开始计算预埋件尺寸"},
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{12 + TO_CLIENT_NOTIFY_BASE: "预埋件尺寸计算已完成"},
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{ 1 - SYS_BASE : "驱动初始化错误" },
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{ 2 - SYS_BASE : "NPU计算单元初始化错误" },
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{ 3 - SYS_BASE : "系统错误" },
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{ 4 - SYS_BASE : "相机初始化错误" },
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{ 5 - SYS_BASE : "当前没有可以读取的高清相片"},
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{1 - SYS_BASE: "驱动初始化错误"},
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{2 - SYS_BASE: "NPU计算单元初始化错误"},
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{3 - SYS_BASE: "系统错误"},
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{4 - SYS_BASE: "相机初始化错误"},
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{5 - SYS_BASE: "当前没有可以读取的高清相片"},
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{ 1 - CAL_2D3D_BASE : "读取图片文件错误" },
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{ 2 - CAL_2D3D_BASE : "写图片文件错误" },
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{ 3 - CAL_2D3D_BASE : "空指针" },
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{ 4 - CAL_2D3D_BASE : "空参数" },
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{ 5 - CAL_2D3D_BASE : "读取图像错误" },
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{ 6 - CAL_2D3D_BASE : "NPU加载数据错误" },
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{ 7 - CAL_2D3D_BASE : "NPU模型执行错误" },
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{ 8 - CAL_2D3D_BASE : "NPU获取结果错误" },
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{ 9 - CAL_2D3D_BASE : "NPU卸载数据错误" },
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{ 10 - CAL_2D3D_BASE : "YOLO推理无可信ROI区域" },
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{ 11 - CAL_2D3D_BASE : "ROI处理线程错误" },
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{ 12 - CAL_2D3D_BASE : "H计算错误" },
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{ 13 - CAL_2D3D_BASE : "3D角点检测错误" },
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{ 14 - CAL_2D3D_BASE : "2D角点定位错误" },
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{ 15 - CAL_2D3D_BASE : "3D投影计算错误" },
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{ 16 - CAL_2D3D_BASE : "3D点云为空" },
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{ 17 - CAL_2D3D_BASE : "未检测到2D角点" },
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{ 18 - CAL_2D3D_BASE : "未检测到预埋件" },
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{ 19 - CAL_2D3D_BASE : "相机捕获图像失败" },
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{1 - CAL_2D3D_BASE: "读取图片文件错误"},
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{2 - CAL_2D3D_BASE: "写图片文件错误"},
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{3 - CAL_2D3D_BASE: "空指针"},
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{4 - CAL_2D3D_BASE: "空参数"},
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{5 - CAL_2D3D_BASE: "读取图像错误"},
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{6 - CAL_2D3D_BASE: "NPU加载数据错误"},
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{7 - CAL_2D3D_BASE: "NPU模型执行错误"},
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{8 - CAL_2D3D_BASE: "NPU获取结果错误"},
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{9 - CAL_2D3D_BASE: "NPU卸载数据错误"},
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{10 - CAL_2D3D_BASE: "YOLO推理无可信ROI区域"},
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{11 - CAL_2D3D_BASE: "ROI处理线程错误"},
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{12 - CAL_2D3D_BASE: "H计算错误"},
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{13 - CAL_2D3D_BASE: "3D角点检测错误"},
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{14 - CAL_2D3D_BASE: "2D角点定位错误"},
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{15 - CAL_2D3D_BASE: "3D投影计算错误"},
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{16 - CAL_2D3D_BASE: "3D点云为空"},
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{17 - CAL_2D3D_BASE: "未检测到2D角点"},
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{18 - CAL_2D3D_BASE: "未检测到预埋件"},
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{19 - CAL_2D3D_BASE: "相机捕获图像失败"},
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{ 1 - CAMERA_BASE : "相机DLL初始化失败" },
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{1 - CAMERA_BASE: "相机DLL初始化失败"},
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{ 1 - LIDAR_BASE : "雷达初始化SDK失败" },
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{ 2 - LIDAR_BASE : "雷达SO初始化失败" },
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{ 3 - LIDAR_BASE : "雷达广播失败" },
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{ 5 - LIDAR_BASE : "雷达开始采样失败" },
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{ 6 - LIDAR_BASE : "雷达结束采样失败" },
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{1 - LIDAR_BASE: "雷达初始化SDK失败"},
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{2 - LIDAR_BASE: "雷达SO初始化失败"},
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{3 - LIDAR_BASE: "雷达广播失败"},
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{5 - LIDAR_BASE: "雷达开始采样失败"},
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{6 - LIDAR_BASE: "雷达结束采样失败"},
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{ -10001 : "已经在检测模式中"},
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{ -10002 : "定位模式不支持执行该操作"}
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{-10001: "已经在检测模式中"},
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{-10002: "定位模式不支持执行该操作"}
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]
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####################################################################################
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@ -134,16 +138,17 @@ g_msg_cache = []
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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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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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####################################################################################
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####################################################################################
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# 内部接口定义
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####################################################################################
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# 获取消息
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def _get_msg_info(code) -> str:
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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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@ -151,19 +156,23 @@ def _get_msg_info(code) -> str:
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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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get_msg_info = _get_msg_info
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# 加工检测图像
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def _update_location_image(frame):
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global needHandle, recordCache, ckinfoCache
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def switch(choice):
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if ckinfoCache.code == 1006: #TO_CLIENT_NOTIFY_DETECTION_END: 1006
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if ckinfoCache.code == 1006: # TO_CLIENT_NOTIFY_DETECTION_END: 1006
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for i in range(recordCache.roi_size):
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subRois = recordCache.subRois[i]
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s = ""
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for j in range(8):
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s += str(subRois.mRoiPoints[j])+ " "
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s += str(subRois.mRoiPoints[j]) + " "
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else:
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print("default Case")
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# 在回调函数中将 record 数据拷贝出来
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def _copy_record(record):
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new_record = CallbackInfo()
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@ -217,7 +226,8 @@ class ImageFramework(EdgeComponent):
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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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(arch, suffix) = get_system_and_library_suffix()
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self.image_framework_sdk = CDLL(os.path.join(current_file_dir, f'../vendors/image-framework/{arch}/image_framework.{suffix}'))
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self.image_framework_sdk = CDLL(
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os.path.join(current_file_dir, f'../vendors/image-framework/{arch}/image_framework.{suffix}'))
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# 设置回调函数
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self.init_callback()
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except Exception as e:
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@ -234,7 +244,7 @@ class ImageFramework(EdgeComponent):
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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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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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@ -247,8 +257,8 @@ class ImageFramework(EdgeComponent):
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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 (g_running_mode == RUNNING_MODE_DETECTION and record.code == (8 + TO_CLIENT_NOTIFY_BASE)) or\
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(g_running_mode == RUNNING_MODE_DETECTION and record.code == (12 + TO_CLIENT_NOTIFY_BASE)):
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elif (g_running_mode == RUNNING_MODE_DETECTION and record.code == (8 + TO_CLIENT_NOTIFY_BASE)) or \
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(g_running_mode == RUNNING_MODE_DETECTION and record.code == (12 + TO_CLIENT_NOTIFY_BASE)):
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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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@ -257,6 +267,7 @@ class ImageFramework(EdgeComponent):
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ret = self.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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@ -303,25 +314,26 @@ class ImageFramework(EdgeComponent):
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def start_location(self):
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global g_running_mode
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self.logger.info("start_location")
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if g_running_mode != RUNNING_MODE_LOCATION:
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g_running_mode = RUNNING_MODE_LOCATION # 切换为定位模式
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if g_running_mode != RUNNING_MODE_LOCATION:
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g_running_mode = RUNNING_MODE_LOCATION # 切换为定位模式
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@service()
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def stop_all(self):
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global g_running_mode
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if g_running_mode != RUNNING_MODE_NONE:
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g_running_mode = RUNNING_MODE_NONE # 切换为静默模式
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if g_running_mode != RUNNING_MODE_NONE:
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g_running_mode = RUNNING_MODE_NONE # 切换为静默模式
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@service()
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def start_adjust(self):
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global g_running_mode
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record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
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if g_running_mode != RUNNING_MODE_DETECTION:
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g_running_mode = RUNNING_MODE_DETECTION # 切换为检测模式
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else:
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if g_running_mode != RUNNING_MODE_DETECTION:
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g_running_mode = RUNNING_MODE_DETECTION # 切换为检测模式
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else:
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record.code = -10001
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record.errorInfo = _get_msg_info(-10001)
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return record
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ret = self.image_framework_sdk.LibapiStartDetection()
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if ret != SYS_OK:
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record = CallbackInfo()
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@ -334,9 +346,9 @@ class ImageFramework(EdgeComponent):
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def start_check(self):
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global g_running_mode
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record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
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if g_running_mode == RUNNING_MODE_LOCATION: # 如果在定位任务模式下，该接口不执行
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if g_running_mode == RUNNING_MODE_LOCATION: # 如果在定位任务模式下，该接口不执行
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record.code = -10002
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record.errorInfo = _get_msg_info( -10002)
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record.errorInfo = _get_msg_info(-10002)
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return MSG_DETECTION_RECORD
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ret = self.image_framework_sdk.LibapiContinuetDetection()
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if ret != SYS_OK:
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@ -349,16 +361,16 @@ class ImageFramework(EdgeComponent):
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def stop_check(self):
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global g_running_mode
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record = CallbackInfo(code=SYS_OK, errorInfo=b"", bGetData=False)
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if g_running_mode == RUNNING_MODE_LOCATION: # 如果在定位任务模式下，该接口不执行
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if g_running_mode == RUNNING_MODE_LOCATION: # 如果在定位任务模式下，该接口不执行
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record.code = -10002
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record.errorInfo = _get_msg_info(-10002)
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return record
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ret = self.image_framework_sdk.LibapiStopDetection()
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ret = self.image_framework_sdk.LibapStopDetection()
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if ret != SYS_OK:
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record.code = ret
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record.errorInfo = _get_msg_info(ret)
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return record
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g_running_mode = RUNNING_MODE_NONE # 切换为无模式
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g_running_mode = RUNNING_MODE_LOCATION # 切换为无模式
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return record
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# 广角相机运行定位处理线程
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@ -371,7 +383,13 @@ class ImageFramework(EdgeComponent):
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# 如果当前不是定位模式，不处理任何事务
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if g_running_mode != RUNNING_MODE_LOCATION:
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time.sleep(0.5)
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g_frame_cache = []
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continue
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# 上一帧还未处理完毕
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if len(g_frame_cache) > 0:
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continue
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# 获取一帧图像
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_, frame = capture.read()
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# 如果图像为空，等待一秒，上报消息
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@ -380,6 +398,8 @@ class ImageFramework(EdgeComponent):
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self.logger.error("[ERROR] 广角相机未捕获到图像")
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continue
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print("location run")
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if self.times % 3 == 0:
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src_frame_ptr = c_char_p(frame.data.tobytes())
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ret = self.image_framework_sdk.LibapiCameraSendMsgWithImage(
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@ -285,3 +285,10 @@ QMessageBox QPushButton:pressed {
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QMessageBox QDialogButtonBox#qt_msgbox_buttonbox { /* buttonBox */
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button-layout: 0; /* 设置QPushButton布局好像没啥作用 */
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}
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QPlainTextEdit#logText {
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border: none;
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background-color: #222222;
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font-size: 14px;
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color: #bbbbbb;
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}
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@ -1,10 +1,10 @@
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import cv2
|
||||
from PyQt5.QtCore import Qt
|
||||
from PyQt5.QtGui import QPixmap, QImage
|
||||
from PyQt5.QtGui import QPixmap, QImage, QTextCursor
|
||||
from PyQt5.QtWidgets import QDialog, QWidget, QVBoxLayout, QHBoxLayout, QGridLayout, QScrollArea, QPushButton, \
|
||||
QSpacerItem, QSizePolicy, QLabel, QMessageBox
|
||||
QSpacerItem, QSizePolicy, QLabel, QMessageBox, QPlainTextEdit
|
||||
|
||||
from components.image_framework import MSG_LOCATION_RECORD, MSG_DETECTION_RECORD
|
||||
from components.image_framework import MSG_LOCATION_RECORD, MSG_DETECTION_RECORD, get_msg_info
|
||||
from core.context import AppContext
|
||||
from widget.embed_item import EmbedItem
|
||||
|
||||
@ -29,6 +29,7 @@ class TaskRunDialog(QDialog):
|
||||
self.view_widget = None
|
||||
self.view_label = None
|
||||
self.picture_label = None
|
||||
self.log_text = None
|
||||
|
||||
self.start_adjust_button = None
|
||||
self.start_check_button = None
|
||||
@ -62,6 +63,9 @@ class TaskRunDialog(QDialog):
|
||||
except Exception as e:
|
||||
dd = 0
|
||||
elif msg.msg_type == MSG_DETECTION_RECORD:
|
||||
# 显示日志
|
||||
self.log_text.appendPlainText(get_msg_info(msg.record.code).decode('utf-8'))
|
||||
|
||||
if msg.record.code < 0:
|
||||
QMessageBox.warning(self, '错误信息', msg.record.errorInfo.decode('utf-8'))
|
||||
self.set_button_default()
|
||||
@ -173,37 +177,30 @@ class TaskRunDialog(QDialog):
|
||||
|
||||
self.picture_label = QLabel()
|
||||
self.picture_label.setObjectName("pictureWidget")
|
||||
self.picture_label.setFixedWidth(450)
|
||||
self.picture_label.setFixedWidth(930 * 450 / 700)
|
||||
self.picture_label.setFixedHeight(450)
|
||||
self.picture_label.setScaledContents(True)
|
||||
# picture_pixmap = QPixmap("assets/img2.png")
|
||||
# self.picture_label.setPixmap(picture_pixmap)
|
||||
self.picture_label.setStyleSheet("background: #222222;")
|
||||
|
||||
self.view_widget = QWidget()
|
||||
self.view_widget.setObjectName("viewWidget")
|
||||
self.view_widget.setFixedWidth(1920 * 450 / 1080)
|
||||
self.view_widget.setFixedHeight(450)
|
||||
|
||||
self.view_label = QLabel(self.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
|
||||
# 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())
|
||||
self.view_label.setStyleSheet("background: #222222;")
|
||||
|
||||
view_check_widget = QWidget(self.view_widget)
|
||||
view_check_widget.setObjectName("viewCheckWidget")
|
||||
view_check_widget.setGeometry(self.view_label.geometry().x() + 145, 170, 240, 240)
|
||||
|
||||
# view_widget = QWidget()
|
||||
# view_widget.setObjectName("viewWidget")
|
||||
# view_widget.setFixedWidth(1000)
|
||||
# view_widget.setFixedHeight(450)
|
||||
# picture_widget = QWidget()
|
||||
# picture_widget.setObjectName("pictureWidget")
|
||||
# picture_widget.setFixedHeight(450)
|
||||
self.log_text = QPlainTextEdit()
|
||||
self.log_text.setObjectName("logText")
|
||||
self.log_text.setFixedHeight(450)
|
||||
self.log_text.setReadOnly(True)
|
||||
|
||||
tool_widget = QWidget()
|
||||
tool_widget.setObjectName("toolWidget")
|
||||
@ -258,6 +255,8 @@ class TaskRunDialog(QDialog):
|
||||
content_layout.setSpacing(0)
|
||||
content_layout.addWidget(self.view_widget)
|
||||
content_layout.addSpacing(20)
|
||||
content_layout.addWidget(self.log_text)
|
||||
content_layout.addSpacing(20)
|
||||
content_layout.addWidget(self.picture_label)
|
||||
content_layout.addSpacing(20)
|
||||
content_layout.addWidget(tool_widget)
|
||||
@ -293,6 +292,9 @@ class TaskRunDialog(QDialog):
|
||||
self.stop_check_button.setEnabled(False)
|
||||
self.stop_task_button.setEnabled(False)
|
||||
|
||||
self.log_text.setPlainText("")
|
||||
self.picture_label.setPixmap(QPixmap(""))
|
||||
|
||||
result = AppContext.get_edge_context().get_component('image-framework').start_adjust()
|
||||
if result.code < 0:
|
||||
self.set_button_default()
|
||||
@ -316,8 +318,8 @@ class TaskRunDialog(QDialog):
|
||||
self.stop_task_button.setEnabled(False)
|
||||
result = AppContext.get_edge_context().get_component('image-framework').stop_check()
|
||||
if result.code < 0:
|
||||
self.set_button_default()
|
||||
QMessageBox.warning(self, '检测停止失败', result.errorInfo)
|
||||
self.set_button_default()
|
||||
|
||||
def stop_task(self):
|
||||
AppContext.get_edge_context().get_component('image-framework').stop_all()
|
||||
|
||||
Loading…
Reference in New Issue
Block a user