改为一次拍摄，增加品类配置，最后根据品类来进行拍摄和识别

Point.py

@@ -2,7 +2,6 @@ import numpy as np
 from PIL import Image
 import math
 
-import SimpleView_SaveImage
 import config
 from cat import clip_and_rotate_point_cloud, merge_point_clouds
 from image import detect_large_holes
@@ -126,6 +125,85 @@ def tiff_depth_to_point_cloud(tiff_path,sn,  dedup=True):
 
     return points
 
+
+# 新增点云数据转换函数
+def convert_sdk_points(sValue, width, height):
+    """
+    将 SDK 原始点云数据转换为 NumPy 点云数组
+
+    :param sValue: tuple(float), SDK 输出的扁平化点云数据
+    :param width: int, 点云宽度
+    :param height: int, 点云高度
+    :return: np.ndarray(shape=(N,3)), 三维点云数组
+    """
+    points = np.array(sValue).reshape(-1, 3)  # 形状转换 (N,3)
+    # 剔除无效点（X/Y/Z 任一为 NaN 或 Inf）
+    mask = np.all(np.isfinite(points), axis=1)
+    return points[mask]
+
+
+def process_point_cloud(points, sn, dedup=True):
+    """
+    对原始点云应用旋转、裁剪和去重
+
+    :param points: np.ndarray(shape=(N,3)), 原始点云数据
+    :param sn: str, 设备序列号（用于加载配置）
+    :param dedup: bool, 是否启用去重
+    :return: list of [x, y, z], 处理后的点云列表
+    """
+    # 加载配置参数
+    clip_config = config.CUT_CONFIG_MAP.get(sn)
+    if clip_config:
+        min_pt = np.array(clip_config.get("min_pt", [-np.inf] * 3))
+        max_pt = np.array(clip_config.get("max_pt", [np.inf] * 3))
+        rotation = np.array(clip_config.get("rotation", [1, 0, 0, 0, 1, 0, 0, 0, 1])).reshape(3, 3)
+    else:
+        min_pt = max_pt = rotation = None
+
+    processed_points = []
+    seen_xy = set()
+
+    for point in points:
+        x, y, z = point
+
+        # 无效点过滤（Z ≤ 0 或超出最大距离）
+        if z <= 0 or z > config.CAMERA_CONFIG_MAP[sn].get("max_z", np.inf):
+            continue
+
+        # 应用旋转矩阵
+        if clip_config:
+            rotated = rotation @ point
+            if not np.all(rotated >= min_pt) or not np.all(rotated <= max_pt):
+                continue
+            x_final, y_final, z_final = rotated
+        else:
+            x_final, y_final, z_final = x, y, z
+
+        # 去重逻辑（保留浮点精度）
+        if dedup:
+            # 使用浮点哈希避免离散化损失
+            key = (round(x_final, 3), round(y_final, 3))
+            if key in seen_xy:
+                continue
+            seen_xy.add(key)
+
+        processed_points.append([x_final, y_final, z_final])
+
+    return processed_points
+
+
+def sValue_to_pcd(sValue,stPointCloudImage,sn):
+    # 数据格式转换
+    points = convert_sdk_points(sValue, stPointCloudImage.nWidth, stPointCloudImage.nHeight)
+
+    # 应用旋转、裁剪、去重（假设设备序列号已知）
+    processed_points = process_point_cloud(points, sn, dedup=True)
+
+    output_ply_path = config.save_path("pcd", sn + ".pcd")
+    # 保存结果
+    write_pcd(output_ply_path, processed_points)
+
+
 def write_pcd(filename, points):
     """
     将点云写入 PCD 文件
@@ -155,8 +233,4 @@ def write_pcd(filename, points):
 
 
 if __name__ == '__main__':
-    paths = SimpleView_SaveImage.pic("00DA6823936")
-    tiff_depth_to_point_clouds(paths, "00DA6823936")
-    # tiff_depth_to_point_clouds(["D:/PycharmProjects/Hik3D/image/2025-06-24/depth/145209062_-Depth.tiff"
-    #                                ,"D:/PycharmProjects/Hik3D/image/2025-06-24/depth/145209062_-Depth.tiff"
-    #                                ,"D:/PycharmProjects/Hik3D/image/2025-06-24/depth/145209062_-Depth.tiff"], "00DA6823936")
+    tiff_depth_to_point_cloud("D:/git/test/hik3d-python/image/2025-06-26/depth/191330147_-Depth.tiff", "00DA6823936")

SimpleView_SaveImage.py

@@ -7,7 +7,7 @@ import os
 import struct
 from ctypes import *
 from datetime import datetime
-
+import Point as point
 from Mv3dRgbdImport.Mv3dRgbdDefine import *
 from Mv3dRgbdImport.Mv3dRgbdApi import *
 from Mv3dRgbdImport.Mv3dRgbdDefine import DeviceType_Ethernet, DeviceType_USB, DeviceType_Ethernet_Vir, DeviceType_USB_Vir, MV3D_RGBD_FLOAT_EXPOSURETIME, \
@@ -15,7 +15,6 @@ from Mv3dRgbdImport.Mv3dRgbdDefine import DeviceType_Ethernet, DeviceType_USB, D
     FileType_BMP,FileType_TIFF,ImageType_Depth, ImageType_RGB8_Planar, ImageType_YUV420SP_NV12  ,ImageType_YUV420SP_NV21 , ImageType_YUV422, ImageType_Mono8
 
 import config as configMap
-
 # 全局变量
 SN_MAP = {}  # {sn: camera_instance}
 
@@ -52,7 +51,6 @@ def initialize_devices():
         SN_MAP[serial_number] = camera
         print(f"Successfully added device {serial_number} to SN_MAP")
 
-
 def pic(sn):
     camera = SN_MAP.get(sn)
 
@@ -65,19 +63,15 @@ def pic(sn):
         print(f"No config found for SN: {sn}")
         return
 
-    time_on = config.get("time_on", 0)     # 延时开始（毫秒）
-    time_off = config.get("time_off", 0)   # 拍照总时长（毫秒）
-    time_hop = config.get("time_hop", 0)   # 每次拍照间隔（毫秒）
-
-    end_time = time.time() + (time_off / 1000.0)
+    time_on = config.get("time_on", 0)  # 延时开始（毫秒）
     print(f"Delaying start by {time_on}ms...")
     time.sleep(time_on / 1000.0)  # 转成秒
 
-
-    frame_count = 0
-
-    saved_tiff_files = []  # 用于存储保存的 TIFF 文件路径
-    print(f"Start continuous capturing for {time_off}ms...")
+    saved_files = {
+        "depth": [],
+        "color": [],
+        "pcd": []
+    }
 
     # 开始取流
     ret = camera.MV3D_RGBD_Start()
@@ -86,56 +80,67 @@ def pic(sn):
         return
 
     try:
-        while time.time() < end_time:
-            stFrameData = MV3D_RGBD_FRAME_DATA()
-
-            # 获取帧数据
-            ret = camera.MV3D_RGBD_FetchFrame(pointer(stFrameData), 5000)
-            if ret == MV3D_RGBD_OK:
-                frame_count += 1
-
-                for i in range(stFrameData.nImageCount):
-                    image_info = stFrameData.stImageData[i]
-
-                    # 保存深度图
-                    if image_info.enImageType == ImageType_Depth:
-                        file_name = configMap.save_path("depth","-Depth")
-                        ret_save = camera.MV3D_RGBD_SaveImage(pointer(image_info), FileType_TIFF, file_name)
-                        print("Saved depth image." if ret_save == MV3D_RGBD_OK else "Failed to save depth image.")
-                        if ret_save == MV3D_RGBD_OK:
-                            saved_tiff_files.append(file_name)  # 记录保存的 TIFF 文件路径
-                            # print(f"Saved depth image: {file_name}")
-                        else:
-                            print("Failed to save depth image.")
-
-                    # 保存彩色图
-                    elif image_info.enImageType in (
+        stFrameData = MV3D_RGBD_FRAME_DATA()
+
+        # 获取单帧数据
+        ret = camera.MV3D_RGBD_FetchFrame(pointer(stFrameData), 5000)
+        if ret == MV3D_RGBD_OK:
+
+            for i in range(stFrameData.nImageCount):
+                image_info = stFrameData.stImageData[i]
+
+                # 保存深度图
+                if image_info.enImageType == ImageType_Depth:
+                    file_name = configMap.save_path("depth", "-Depth")
+                    ret_save = camera.MV3D_RGBD_SaveImage(pointer(image_info), FileType_TIFF, file_name)
+                    print("Saved depth image." if ret_save == MV3D_RGBD_OK else "Failed to save depth image.")
+                    if ret_save == MV3D_RGBD_OK:
+                        saved_files["depth"].append(file_name)
+
+                    # 点云转换与保存
+                    stPointCloudImage = MV3D_RGBD_IMAGE_DATA()
+                    ret = camera.MV3D_RGBD_MapDepthToPointCloud(pointer(stFrameData.stImageData[i]), pointer(stPointCloudImage))
+                    if MV3D_RGBD_OK != ret:
+                        print("_MapDepthToPointCloud() Run failed...")
+                    else:
+                        print(
+                            "_MapDepthToPointCloud() Run Succeed: framenum (%d) height(%d) width(%d)  len (%d)!" % (
+                                stPointCloudImage.nFrameNum,
+                                stPointCloudImage.nHeight, stPointCloudImage.nWidth, stPointCloudImage.nDataLen))
+                        strMode = string_at(stPointCloudImage.pData, stPointCloudImage.nDataLen)
+                        sValue = struct.unpack('f' * int(stPointCloudImage.nHeight * stPointCloudImage.nWidth * 3),
+                                               strMode)
+                        pcd_file = point.sValue_to_pcd(sValue, stPointCloudImage, sn)
+                        if pcd_file:
+                            saved_files["pcd"].append(pcd_file)
+
+                # 保存彩色图
+                elif image_info.enImageType in (
                         ImageType_RGB8_Planar, ImageType_YUV420SP_NV12,
                         ImageType_YUV420SP_NV21, ImageType_YUV422
-                    ):
-                        file_name = configMap.save_path("color","-_Color")
-                        ret_save = camera.MV3D_RGBD_SaveImage(pointer(image_info), FileType_BMP, file_name)
-                        print("Saved color image." if ret_save == MV3D_RGBD_OK else "Failed to save color image.")
+                ):
+                    file_name = configMap.save_path("color", "-_Color")
+                    ret_save = camera.MV3D_RGBD_SaveImage(pointer(image_info), FileType_BMP, file_name)
+                    print("Saved color image." if ret_save == MV3D_RGBD_OK else "Failed to save color image.")
+                    if ret_save == MV3D_RGBD_OK:
+                        saved_files["color"].append(file_name)
 
-                    # 保存灰度图
-                    elif image_info.enImageType == ImageType_Mono8:
-                        file_name = configMap.save_path("Mono","-_Mono")
-                        ret_save = camera.MV3D_RGBD_SaveImage(pointer(image_info), FileType_BMP, file_name)
-                        print("Saved mono image." if ret_save == MV3D_RGBD_OK else "Failed to save mono image.")
-
-                    else:
-                        print(f"Unknown image type: {image_info.enImageType}")
-
-            else:
-                print("Failed to fetch frame.")
-
-            time.sleep(time_hop / 1000.0)  # 控制采集频率
+        else:
+            print("Failed to fetch frame.")
 
     finally:
-        # 停止取流
         camera.MV3D_RGBD_Stop()
-        print("Continuous capture completed.")
-    return saved_tiff_files
+        print("Single capture completed.")
+
+    # 输出结果路径
+    print("Saved files:")
+    for key, paths in saved_files.items():
+        if paths:
+            print(f"  {key.upper()}:")
+            for path in paths:
+                print(f"    - {path}")
+
+    return saved_files
 
 
 initialize_devices()

config.py

@@ -6,6 +6,7 @@ from datetime import datetime
 CAMERA_CONFIG_MAP = {}  # {sn: config_dict}
 CUT_CONFIG_MAP = {}     # {filename_without_ext: config_dict}
 DIRECTION_CAMERA = {}
+TEMPLATE_MAP = {}
 
 def load_camera_configs(config_dir="./config/camera"):
     """
@@ -30,6 +31,32 @@ def load_camera_configs(config_dir="./config/camera"):
                         print(f"[WARN] No 'sn' found in {filename}")
             except Exception as e:
                 print(f"[ERROR] Failed to load {file_path}: {e}")
+
+
+
+def load_template_configs(config_dir="./config/template"):
+    """
+    加载 camera 配置，按 sn 建立映射
+    """
+    if not os.path.exists(config_dir):
+        print(f"[ERROR] Camera config directory does not exist: {config_dir}")
+        return
+
+    for filename in os.listdir(config_dir):
+        if filename.endswith(".json"):
+            file_path = os.path.join(config_dir, filename)
+            try:
+                with open(file_path, "r", encoding="utf-8") as f:
+                    config = json.load(f)
+                    type = config.get("type")
+                    if type:
+                        TEMPLATE_MAP[type] = config
+                        print(f"Loaded camera config: {type}")
+                    else:
+                        print(f"[WARN] No 'sn' found in {filename}")
+            except Exception as e:
+                print(f"[ERROR] Failed to load {file_path}: {e}")
+
 load_camera_configs()
 
 def load_cut_configs(config_dir="./config/cut"):
@@ -57,8 +84,10 @@ def load_configs():
     CAMERA_CONFIG_MAP = {}  # {sn: config_dict}
     CUT_CONFIG_MAP = {}  # {filename_without_ext: config_dict}
     DIRECTION_CAMERA = {}
+    TEMPLATE_MAP = {}
     load_camera_configs()
     load_cut_configs()
+    load_template_configs()
 
 load_configs()
 

config/camera/00DA6823936.json

@@ -1,13 +1,13 @@
 {
   "sn": "00DA6823936",
   "direction": "1",
-  "x_angle": 55,
-  "y_angle": 84,
+  "x_angle": 125,
+  "y_angle": 75,
   "save_pcd": true,
   "resolution": 8,
-  "max_z": 2000,
+  "max_z": 1800,
   "reverse_order": false,
-  "time_on": 300,
-  "time_off": 3500,
-  "time_hop": 500
+  "time_on": 100,
+  "time_off": 5500,
+  "time_hop": 800
 }

config/cut/00DA6823936.json

@@ -1,24 +0,0 @@
-{
-    "floorHeight": 1,
-    "max_pt": [
-        59.17729568481445,
-        -177.37328052520752,
-        823.2836303710938
-    ],
-    "min_pt": [
-        0,
-        -1263.9830322265625,
-        200.47930908203125
-    ],
-    "rotation": [
-        -0.0070345401763916016,
-        -0.9998821020126343,
-        0.013652533292770386,
-        0.4579751193523407,
-        -0.015358328819274902,
-        -0.8888324499130249,
-        0.88893723487854,
-        -2.9802322387695312e-08,
-        0.45802903175354004
-    ]
-}

config/template/45.json

@@ -0,0 +1,6 @@
+{
+  "type": "45",
+	"width":"299",
+	"length":"355",
+	"high":"314"
+}

config/配置文件说明.txt

@@ -0,0 +1,14 @@
+camera文档
+{
+  "sn": "00DA6823936",#sn
+  "direction": "1",#方向
+  "x_angle": 55,#相机的水平视场角（相机自身的）
+  "y_angle": 84,#相机的垂直视场角
+  "save_pcd": true,#是否保存pcd
+  "resolution": 8,#像素大小（可以调整来区别
+  "max_z": 2000,#最大深度（裁剪之前的
+  "reverse_order": false,#是否pcd组成的图片是否翻转
+  "time_on": 300,#开始时间
+  "time_off": 3500,#结束时间
+  "time_hop": 500#时间间隔
+}