From 6ae5aba12fba9162879450e3a5400b1ab3283f4c Mon Sep 17 00:00:00 2001 From: "zhou.mengjia" Date: Thu, 11 Jan 2024 22:07:43 +0800 Subject: [PATCH] =?UTF-8?q?=E6=89=93=E9=80=9A=E6=95=B0=E6=8D=AE=E6=B5=81?= =?UTF-8?q?=E8=B5=B0=E5=90=91?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- runner17/Release/Cache/1.pcd | 100932 +++++++-------- .../Release/config/{right.calib => 1.calib} | 0 runner17/Release/config/{right.ini => 1.ini} | 0 runner17/Release/config/camera.json | 17 +- runner17/Release/smokeBox.exe | Bin 474112 -> 484352 bytes .../Release/templateImg/310103/310103-21.bmp | Bin 0 -> 17826 bytes src/CameraControl.cpp | 18 +- src/CategoryMatcher.cpp | 130 +- src/CategoryMatcher.h | 8 +- src/SmokeBoxIdentification.cpp | 23 +- 10 files changed, 49977 insertions(+), 51151 deletions(-) rename runner17/Release/config/{right.calib => 1.calib} (100%) rename runner17/Release/config/{right.ini => 1.ini} (100%) create mode 100644 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169.122 1940 -555.3 169.078 1939 -559.973 169.12 1939 -563.776 168.902 1936 -566.394 168.334 1929 -563.948 166.283 1905 -896.072 254.17 2908 -903.128 254.239 2908 -910.19 254.309 2908 -912.842 253.154 2894 -899.766 244.087 2788 -900.386 242.493 2769 -900.263 240.723 2748 -904.003 240.004 2739 -909.368 239.723 2735 -913.713 239.179 2728 -919.38 238.987 2725 -925.717 238.97 2724 -932.055 238.954 2723 -938.05 238.851 2721 -944.387 238.836 2720 -950.725 238.821 2719 -957.064 238.806 2718 -963.759 238.881 2718 -970.459 238.955 2718 -977.525 239.118 2719 -983.878 239.106 2718 -990.961 239.27 2719 -998.055 239.435 2720 -1004.79 239.512 2720 -1011.16 239.502 2719 -1018.34 239.684 2720 +532.532 169.044 1941 +536.917 168.998 1940 +541.579 169.039 1940 +546.245 169.08 1940 +550.63 169.035 1939 +555.013 168.99 1938 +559.684 169.033 1938 +564.067 168.989 1937 +567.568 168.683 1933 +570.757 168.291 1928 +570.344 166.85 1911 +892.976 249.499 2853 +914.419 253.592 2899 +917.02 252.437 2885 +916.996 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1940 513.833 214.228 1939 518.482 214.278 1939 -523.672 214.549 1941 +523.402 214.439 1940 528.059 214.489 1940 532.17 214.32 1938 -536.828 214.371 1938 -541.49 214.423 1938 +536.274 214.15 1936 +540.931 214.202 1936 545.31 214.144 1935 -549.971 214.197 1935 +549.687 214.086 1934 554.349 214.139 1934 -558.147 213.861 1931 -561.642 213.472 1927 -563.653 212.529 1918 -560.883 209.813 1893 -904.254 325.402 2932 -905.469 323.38 2913 -910.356 322.691 2906 -911.742 320.781 2888 -906.366 316.536 2849 -899.843 311.957 2807 -900.55 309.932 2788 -900.519 307.685 2767 -902.359 306.104 2752 -904.131 304.523 2737 +558.436 213.972 1932 +562.517 213.804 1930 +566.298 213.527 1927 +567.697 212.363 1916 +564.865 209.646 1891 +894.9 319.606 2879 +908.79 322.136 2901 +917.425 322.78 2906 +920.364 321.425 2893 +918.436 318.403 2865 +908.625 312.712 2813 +905.401 309.353 2782 +904.982 306.994 2760 +906.113 305.191 2743 908.497 303.832 2730 -913.169 303.253 2724 +914.175 303.587 2727 919.507 303.231 2723 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305.239 2715 -1118.91 305.236 2714 -1125.76 305.347 2714 -1132.2 305.346 2713 -1138.64 305.345 2712 -1145.51 305.458 2712 -1151.95 305.459 2711 +1112.07 305.126 2714 +1118.09 305.011 2712 +1125.35 305.235 2713 +1131.78 305.233 2712 +1139.06 305.458 2713 +1145.93 305.571 2713 +1152.8 305.684 2713 1158.83 305.573 2711 -1165.72 305.688 2711 -1173.47 306.029 2713 -1181.68 306.484 2716 -1190.79 307.165 2721 -1200.37 307.961 2727 +1165.29 305.575 2710 +1171.74 305.578 2709 +1179.07 305.807 2710 +1186.85 306.149 2712 +1195.97 306.832 2717 1206.89 307.967 2726 -1210.3 307.183 2718 -1428.29 286.021 2475 -1447.79 288.708 2497 -1458.09 289.548 2503 -1456.73 288.074 2489 -1450.01 285.557 2466 --2452.08 368.864 2966 --2445.31 368.986 2969 --2435.26 368.613 2968 --2417.88 367.123 2958 --720.165 298.157 2639 --717.065 299.441 2651 +1212.53 307.748 2723 +1216.36 307.077 2716 +1441.41 287.437 2486 +1454.01 288.738 2496 +1462 289.116 2498 +1462.95 288.104 2488 +1466.22 287.556 2482 +-2439.68 366.998 2951 +-2437.08 367.744 2959 +-2431.98 368.116 2964 +-2426.05 368.364 2968 +-713.819 298.085 2639 -710.425 299.256 2650 --701.404 298.056 2640 -378.929 214.186 1909 -389.456 217.59 1939 -395.047 218.19 1944 -400.663 218.79 1949 -405.266 218.829 1949 -410.082 218.981 1950 +-704.061 299.185 2650 +-695.068 297.985 2640 +392.608 216.843 1932 +399.635 218.229 1944 +405.058 218.717 1948 +409.872 218.869 1949 414.479 218.91 1949 419.09 218.95 1949 -423.485 218.879 1948 -427.879 218.809 1947 -432.27 218.738 1946 -436.883 218.781 1946 -441.499 218.824 1946 -445.889 218.755 1945 -450.508 218.799 1945 -455.13 218.843 1945 -459.518 218.776 1944 -464.143 218.821 1944 -469.012 218.98 1945 -473.888 219.139 1946 -478.281 219.073 1945 -482.919 219.12 1945 +423.268 218.767 1947 +427.659 218.696 1946 +432.048 218.626 1945 +436.659 218.669 1945 +441.046 218.599 1944 +445.66 218.643 1944 +450.276 218.687 1944 +454.662 218.618 1943 +459.045 218.551 1942 +463.904 218.709 1943 +468.53 218.754 1943 +473.401 218.913 1944 +478.035 218.96 1944 +482.671 219.007 1944 487.31 219.055 1944 491.699 218.99 1943 495.831 218.814 1941 @@ -37598,5399 +36506,5419 @@ DATA ascii 504.596 218.687 1939 509.501 218.849 1940 514.149 218.9 1940 -518.799 218.951 1940 +518.532 218.838 1939 523.184 218.889 1939 527.839 218.941 1939 531.947 218.767 1937 -536.604 218.82 1937 -541.543 218.986 1938 -545.645 218.814 1936 +536.327 218.707 1936 +541.264 218.873 1937 +545.363 218.701 1935 549.74 218.642 1934 -554.403 218.696 1934 -558.201 218.412 1931 -561.406 217.901 1926 -563.708 217.052 1918 -904.342 332.326 2932 -912.086 332.642 2934 -907.939 328.65 2898 -912.147 327.719 2889 -901.682 321.569 2834 -898.008 317.914 2801 -901.608 316.868 2791 -902.235 314.799 2772 -902.775 312.731 2753 -904.88 311.23 2739 -908.919 310.411 2731 -913.594 309.819 2725 -919.597 309.682 2723 -925.936 309.66 2722 -932.275 309.639 2721 -938.271 309.504 2719 -944.609 309.483 2718 -950.949 309.464 2717 -957.642 309.558 2717 +554.116 218.583 1933 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2962 --721.603 304.949 2644 --717.949 306.028 2654 --711.302 305.839 2653 --702.273 304.614 2643 -380.753 219.682 1918 -389.494 222.126 1939 -395.492 222.967 1946 -400.703 223.35 1949 -405.306 223.391 1949 +1158.09 311.843 2709 +1164.54 311.845 2708 +1171.43 311.962 2708 +1178.76 312.196 2709 +1186.97 312.661 2712 +1195.65 313.243 2716 +1207.46 314.633 2727 +1212.65 314.294 2723 +1216.48 313.608 2716 +1439.24 293.075 2482 +1453.58 294.758 2495 +1461.56 295.144 2497 +1463.1 294.229 2488 +1460.46 292.486 2472 +-2437.45 374.249 2948 +-2438.15 375.517 2960 +-2433.87 376.024 2966 +-2427.94 376.277 2970 +-2416.29 375.644 2967 +-714.432 304.529 2641 +-711.034 305.724 2652 +-704.664 305.651 2652 +-695.929 304.542 2643 +393.257 221.707 1935 +399.675 222.777 1944 +405.098 223.276 1948 409.912 223.431 1949 414.52 223.473 1949 -419.131 223.514 1949 -423.527 223.442 1948 -428.141 223.484 1948 -432.313 223.298 1946 -437.151 223.456 1947 -441.77 223.5 1947 -446.162 223.43 1946 -450.784 223.474 1946 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318.221 2710 -1151.76 318.339 2710 +1152.19 318.456 2711 1158.64 318.458 2710 -1165.52 318.577 2710 -1173.28 318.933 2712 -1181.49 319.407 2715 -1190.59 320.117 2720 -1201.06 321.182 2728 +1165.09 318.46 2709 +1171.55 318.462 2708 +1179.31 318.818 2710 +1186.66 319.058 2711 +1196.21 319.887 2717 1207.14 321.07 2726 -1211.43 320.488 2720 -1433.2 299.149 2483 -1447.5 300.866 2496 -1456.06 301.379 2499 -1454.1 299.721 2484 -1449.72 297.579 2465 --2451.76 384.077 2965 --2445.82 384.334 2969 --2437.41 384.204 2970 --2422.47 383.04 2963 --722.497 311.53 2647 --718.565 312.513 2656 --711.644 312.203 2654 --702.877 311.07 2645 -381.784 224.753 1923 -389.534 226.663 1939 -395.532 227.521 1946 -400.743 227.912 1949 -405.347 227.953 1949 -409.953 227.995 1949 +1213.22 320.96 2724 +1216.6 320.142 2716 +1437.06 298.696 2478 +1453.73 300.896 2495 +1461.71 301.29 2497 +1460.9 299.873 2484 +1461.79 298.818 2474 +-2439.36 382.134 2950 +-2435.11 382.652 2956 +-2433.31 383.557 2965 +-2427.37 383.816 2969 +-2416.54 383.299 2967 +-715.048 310.984 2643 +-711.376 312.085 2653 +-705.003 312.011 2653 +-696.265 310.879 2644 +393.093 226.118 1934 +399.715 227.328 1944 +405.139 227.836 1948 +409.743 227.878 1948 414.562 228.037 1949 419.174 228.079 1949 -423.57 228.005 1948 +423.787 228.122 1949 427.964 227.932 1947 432.356 227.858 1946 -436.971 227.903 1946 -441.588 227.948 1946 +436.746 227.786 1945 +441.134 227.713 1944 445.978 227.876 1945 450.367 227.804 1944 -455.221 227.968 1945 -459.61 227.897 1944 -463.997 227.827 1943 -468.624 227.875 1943 -473.253 227.923 1943 -477.639 227.854 1942 -482.52 228.021 1943 -487.157 228.071 1943 -491.292 227.886 1941 -495.42 227.702 1939 -500.057 227.753 1939 +454.987 227.851 1944 +459.374 227.78 1943 +463.758 227.71 1942 +468.141 227.64 1941 +472.766 227.689 1941 +477.147 227.62 1940 +482.271 227.904 1942 +486.907 227.953 1942 +491.545 228.003 1942 +495.676 227.819 1940 +499.799 227.635 1938 504.437 227.686 1938 509.078 227.738 1938 -514.252 228.026 1940 -519.172 228.196 1941 -523.559 228.132 1940 -528.217 228.186 1940 +513.987 227.908 1939 +518.637 227.961 1939 +523.289 228.015 1939 +527.673 227.951 1938 532.329 228.005 1938 -536.712 227.943 1937 -541.652 228.116 1938 +536.158 227.707 1935 +541.093 227.88 1936 545.755 227.936 1936 550.135 227.875 1935 -554.801 227.931 1935 +554.228 227.696 1933 558.892 227.753 1933 -561.811 227.103 1927 -564.704 226.454 1921 -893.11 341.811 2895 -902.942 342.966 2904 -908.749 342.587 2900 -909.49 340.318 2880 -899.319 334.029 2826 -902.358 332.703 2814 -898.559 328.894 2781 -899.488 326.858 2763 -901.646 325.294 2749 -905.064 324.204 2739 -908.77 323.232 2730 -913.109 322.497 2723 -919.446 322.473 2722 -925.443 322.331 2720 +563.268 227.693 1932 +566.761 227.279 1928 +568.46 226.159 1918 +561.15 221.5 1878 +158.885 60.3498 511 +907.496 342.115 2896 +914.227 342.09 2895 +919.049 341.357 2888 +914.223 337.078 2851 +909.222 332.797 2814 +906.65 329.46 2785 +908.534 327.779 2770 +909.359 325.743 2752 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-891.527 642.11 2848 -892.507 638 2829 -894.035 634.34 2812 -893.884 629.551 2790 -892.339 623.858 2764 -891.647 618.841 2741 -892.159 614.725 2722 -896.215 613.093 2714 -901.569 612.365 2710 -907.578 612.09 2708 -913.583 611.816 2706 +1155.24 611.166 2700 +1161.71 611.166 2699 +1169.05 611.62 2700 +1176.83 612.302 2702 +1184.2 612.76 2703 +1193.78 614.353 2709 +1205.17 616.856 2719 +1210.38 616.185 2715 +1213.33 614.379 2706 +1430.97 573.956 2474 +1442.97 576.328 2483 +1452.7 577.774 2488 +1454.25 575.971 2479 +1450.46 572.074 2461 +1795.75 548.411 2267 +1802.67 548.758 2267 +1815.99 551.045 2275 +1822.96 551.395 2275 +1829.94 551.747 2275 +1833.7 551.129 2271 +1838.26 550.754 2268 +1841.18 549.893 2263 +1846.53 549.76 2261 +-2431.95 721.568 2921 +-2428.61 722.817 2928 +-2426.07 724.313 2936 +-2425.96 726.547 2947 +-2423.33 728.04 2955 +-2419.04 729.039 2961 +-2411.47 729.053 2963 +-718.301 592.319 2637 +-714.078 593.974 2645 +-709.553 595.405 2652 +-701.023 593.47 2644 +-693.585 592.434 2640 +871.809 642.457 2852 +890.483 651.189 2890 +898.225 651.854 2892 +902.484 650.001 2883 +904.811 646.795 2868 +906.435 643.138 2851 +907.02 638.803 2831 +908.804 635.37 2815 +907.912 630.129 2791 +905.597 623.984 2763 +904.471 618.74 2739 +906.559 615.754 2725 +910.259 613.898 2716 +914.259 612.268 2708 919.925 611.77 2705 926.266 611.724 2704 -932.609 611.68 2703 -939.3 611.864 2703 -945.647 611.822 2702 -951.995 611.781 2701 -958.344 611.742 2700 +933.299 612.133 2705 +938.953 611.637 2702 +945.997 612.048 2703 +952.348 612.008 2702 +958.699 611.969 2701 965.409 612.158 2701 -972.125 612.348 2701 -978.847 612.539 2701 -985.94 612.959 2702 +972.485 612.574 2702 +979.209 612.766 2702 +985.575 612.732 2701 992.309 612.926 2701 -998.68 612.895 2700 -1004.31 612.411 2697 -1011.05 612.609 2697 +999.05 613.122 2701 +1005.42 613.092 2700 +1012.17 613.29 2700 1018.55 613.262 2699 1025.69 613.691 2700 1032.46 613.893 2700 1038.86 613.869 2699 -1045.64 614.074 2699 -1051.64 613.826 2697 -1058.82 614.261 2698 -1064.83 614.015 2696 -1071.63 614.225 2696 -1078.04 614.209 2695 +1044.86 613.619 2697 +1052.03 614.053 2698 +1058.04 613.806 2696 +1064.44 613.787 2695 +1072.03 614.453 2697 +1078.84 614.665 2697 1085.65 614.878 2697 -1092.07 614.865 2696 -1098.89 615.081 2696 -1105.73 615.298 2696 -1112.57 615.517 2696 -1119 615.509 2695 -1126.27 615.959 2696 -1133.55 616.41 2697 -1140.42 616.634 2697 -1147.3 616.86 2697 -1154.61 617.316 2698 -1161.94 617.774 2699 +1092.88 615.321 2698 +1099.71 615.537 2698 +1106.14 615.526 2697 +1112.98 615.745 2697 +1119.83 615.965 2697 +1127.1 616.415 2698 +1134.39 616.867 2699 +1141.27 617.092 2699 +1148.15 617.318 2699 +1155.47 617.774 2700 +1162.37 618.003 2700 1169.28 618.233 2700 -1179.24 620.068 2707 -1190.13 622.364 2716 -1196.22 622.142 2714 -1200.97 621.232 2709 -1411.42 577.016 2463 -1426.21 580.58 2477 -1435.88 582.037 2482 -1440.35 581.385 2478 -1438.39 578.152 2463 -1817.1 551.93 2250 -1814.29 549.338 2238 --2448.26 734.025 2940 --2444.86 735.285 2947 --2442.25 736.793 2955 --2436.32 737.304 2959 --2432.02 738.313 2965 --2421.16 737.331 2963 --732.334 599.856 2641 --728.13 601.527 2649 --723.348 602.744 2655 --714.76 600.785 2647 --705.145 597.92 2635 -376.271 429.519 1905 -382.592 431.622 1914 -387.744 432.374 1917 -393.118 433.352 1921 -397.892 433.654 1922 -402.883 434.183 1924 -407.886 434.713 1926 -412.044 434.341 1924 -416.628 434.422 1924 -420.996 434.278 1923 -425.14 433.908 1921 -429.5 433.765 1920 -434.085 433.849 1920 -439.358 434.612 1923 -443.493 434.246 1921 -448.788 435.011 1924 -453.865 435.551 1926 -458.715 435.866 1927 -463.092 435.73 1926 -467.71 435.821 1926 -471.841 435.46 1924 -475.965 435.099 1922 -479.832 434.513 1919 -484.949 435.06 1921 -489.06 434.702 1919 -493.422 434.572 1918 -498.56 435.122 1920 -503.187 435.219 1920 -506.759 434.411 1916 -511.383 434.511 1916 -515.74 434.384 1915 -519.824 434.032 1913 -524.45 434.134 1913 -529.356 434.464 1914 -534.269 434.795 1915 -538.628 434.672 1914 -542.418 434.097 1911 -545.051 432.613 1904 -864.379 653.772 2873 -874.42 656.218 2883 -883.903 658.211 2891 -886.706 655.239 2877 -888.15 651.313 2859 -891.076 648.527 2846 -892.998 645.057 2830 -894.211 641.13 2812 -893.739 636.062 2789 -892.514 630.536 2764 -891.172 625.008 2739 -892.007 621.076 2721 -896.061 619.427 2713 -901.413 618.691 2709 -907.757 618.641 2708 -913.763 618.365 2706 +1177.06 618.923 2702 +1184.87 619.615 2704 +1194.01 620.996 2709 +1205.85 623.755 2720 +1209.73 622.388 2713 +1212.68 620.563 2704 +1430.67 579.927 2473 +1443.84 582.793 2484 +1452.99 584.021 2488 +1454.54 582.198 2479 +1451.34 578.494 2462 +1794.71 555.695 2274 +1797.68 554.823 2269 +1808.59 556.398 2274 +1817.94 557.485 2277 +1823.32 557.35 2275 +1825.47 556.235 2269 +1830.02 555.854 2266 +1832.13 554.738 2260 +1836.65 554.357 2257 +1841.17 553.977 2254 +-2433.27 729.531 2922 +-2428.27 730.295 2927 +-2424.9 731.557 2934 +-2426.44 734.314 2947 +-2423.82 735.823 2955 +-2419.52 736.833 2961 +-2411.95 736.848 2963 +-2388.16 731.893 2945 +-718.171 598.431 2636 +-714.22 600.331 2645 +-709.427 601.55 2651 +-701.162 599.821 2644 +-692.147 597.414 2634 +888.183 661.399 2905 +892.253 659.338 2895 +898.401 658.831 2892 +902.035 656.503 2881 +904.042 653.034 2865 +905.341 649.11 2847 +907.198 645.64 2831 +909.305 642.398 2816 +908.741 637.33 2793 +904.464 629.75 2759 +903.988 624.906 2737 +906.072 621.888 2723 +910.103 620.24 2715 +914.101 618.593 2707 920.106 618.318 2705 926.449 618.272 2704 -932.793 618.227 2703 +933.138 618.456 2704 939.138 618.184 2702 -945.484 618.141 2701 +946.184 618.599 2703 952.183 618.329 2701 -958.179 618.061 2699 -964.527 618.022 2698 -971.597 618.443 2699 -978.678 618.866 2700 +958.534 618.29 2700 +965.242 618.481 2700 +972.317 618.902 2701 +979.403 619.325 2702 985.77 619.29 2701 -992.138 619.257 2700 +992.506 619.487 2701 998.877 619.455 2700 1005.25 619.424 2699 1011.63 619.395 2698 @@ -42999,4016 +41927,4116 @@ DATA ascii 1031.9 620.004 2698 1038.29 619.98 2697 1045.07 620.187 2697 -1051.85 620.396 2697 -1058.64 620.606 2697 +1051.46 620.166 2696 +1058.25 620.375 2696 1064.65 620.357 2695 -1071.44 620.569 2695 -1078.25 620.783 2695 +1071.84 620.799 2696 +1078.65 621.013 2696 1085.46 621.229 2696 -1091.47 620.985 2694 -1098.7 621.434 2695 -1105.54 621.653 2695 -1112.38 621.874 2695 +1092.28 621.446 2696 +1099.11 621.664 2696 +1105.95 621.884 2696 +1112.79 622.105 2696 1119.22 622.097 2695 1126.49 622.551 2696 -1133.36 622.777 2696 -1140.65 623.234 2697 -1147.1 623.232 2696 -1154.42 623.692 2697 +1134.2 623.239 2698 +1141.07 623.466 2698 +1147.95 623.694 2698 +1155.7 624.386 2700 1162.17 624.386 2699 -1169.94 625.082 2701 -1179.04 626.474 2706 -1190.36 629.026 2716 -1195.57 628.337 2712 -1199.44 626.955 2705 -1414 584.138 2467 -1428.22 587.503 2480 -1437.32 588.74 2484 -1440.64 587.607 2478 -1438.68 584.34 2463 -1824.47 563.556 2276 -1826.63 562.429 2270 -1840.07 564.771 2278 -1840.6 563.149 2270 -1839.45 561.028 2260 -1835.81 558.159 2247 --2448.75 741.793 2940 --2446.18 743.319 2948 --2443.57 744.843 2956 --2438.46 745.611 2961 --2431.69 745.876 2964 --2419.19 744.381 2960 --732.204 605.982 2640 --727.452 607.212 2646 --722.948 608.672 2653 --714.364 606.691 2645 --705.287 604.255 2635 -409.995 431.951 1893 -414.509 432.032 1893 -419.025 432.114 1893 -423.544 432.197 1893 -429.874 434.107 1901 -434.874 434.649 1903 -439.655 434.963 1904 -445.143 435.964 1908 -450.654 436.966 1912 -455.71 437.513 1914 -459.816 437.146 1912 -464.645 437.465 1913 -469.235 437.557 1913 -473.581 437.421 1912 -477.925 437.286 1911 -482.267 437.152 1910 -486.607 437.019 1909 -490.688 436.657 1907 -495.541 436.983 1908 -500.141 437.082 1908 -504.214 436.722 1906 -508.547 436.593 1905 -512.879 436.465 1904 -517.481 436.566 1904 -521.811 436.44 1903 -526.97 437.002 1905 -531.584 437.107 1905 -536.201 437.212 1905 -539.118 435.941 1899 -864.55 660.698 2873 -875.806 664.091 2887 -884.132 665.227 2891 -887.19 662.412 2878 -889.879 659.366 2864 -891.253 655.399 2846 -893.176 651.892 2830 -894.389 647.923 2812 -893.276 642.34 2787 -893.015 637.447 2765 -890.698 631.169 2737 -891.856 627.427 2720 -895.909 625.759 2712 -901.926 625.477 2710 -907.602 624.966 2707 -914.283 625.148 2707 -920.629 625.1 2706 -926.634 624.823 2704 +1169.51 624.85 2700 +1177.3 625.547 2702 +1184.67 626.015 2703 +1193.37 627.179 2707 +1204.32 629.504 2716 +1209.97 629.05 2713 +1212.92 627.205 2704 +1432.69 586.844 2476 +1443.55 588.793 2483 +1453.28 590.271 2488 +1454.83 588.428 2479 +1451.04 584.447 2461 +1786.57 560.789 2272 +1791.91 560.648 2270 +1802 561.991 2274 +1808.95 562.346 2274 +1815.1 562.456 2273 +1818.86 561.823 2269 +1822.61 561.19 2265 +1826.34 560.557 2261 +1829.24 559.675 2256 +1832.13 558.793 2251 +1834.99 557.911 2246 +-2430.42 736.242 2918 +-2427.09 737.519 2925 +-2424.56 739.048 2933 +-2424.46 741.331 2944 +-2423.48 743.359 2954 +-2418.37 744.129 2959 +-2412.43 744.647 2963 +-718.316 604.771 2636 +-714.634 606.921 2646 +-709.57 607.924 2651 +-701.038 605.947 2643 +-690.972 602.597 2629 +884.906 670.991 2917 +887.19 667.528 2901 +894.589 667.936 2902 +897.958 665.352 2890 +900.961 662.538 2877 +903.275 659.263 2862 +904.567 655.296 2844 +907.058 652.251 2830 +909.163 648.974 2815 +908.597 643.853 2792 +904.972 636.653 2760 +902.847 630.605 2733 +905.919 628.247 2722 +909.614 626.351 2713 +913.945 624.917 2706 +920.289 624.869 2705 +926.291 624.592 2703 932.634 624.547 2702 -939.325 624.734 2702 -945.322 624.46 2700 -951.668 624.419 2699 -958.015 624.379 2698 -965.077 624.803 2699 -971.431 624.765 2698 -978.511 625.192 2699 -984.872 625.157 2698 -991.601 625.355 2698 -998.337 625.555 2698 +938.978 624.503 2701 +946.023 624.923 2702 +952.373 624.881 2701 +958.725 624.841 2700 +965.793 625.266 2701 +972.511 625.46 2701 +979.236 625.655 2701 +985.602 625.621 2700 +992.336 625.819 2700 +998.707 625.787 2699 1005.08 625.756 2698 -1011.45 625.726 2697 +1011.83 625.958 2698 1018.58 626.162 2698 1025.72 626.599 2699 -1032.49 626.806 2699 -1038.5 626.55 2697 +1032.11 626.574 2698 +1038.88 626.782 2698 1045.28 626.759 2697 1052.06 626.97 2697 -1059.25 627.414 2698 -1065.26 627.163 2696 -1072.45 627.61 2697 -1078.87 627.594 2696 -1085.68 627.812 2696 +1058.46 626.949 2696 +1064.86 626.93 2695 +1072.06 627.378 2696 +1078.07 627.128 2694 +1084.88 627.346 2694 1092.1 627.798 2695 -1099.33 628.251 2696 +1098.93 628.018 2695 1105.76 628.24 2695 1112.6 628.464 2695 -1119.86 628.922 2696 +1119.45 628.688 2695 1126.72 629.148 2696 -1133.58 629.376 2696 -1139.61 629.138 2694 -1146.91 629.602 2695 -1154.22 630.068 2696 +1134 629.609 2697 +1140.88 629.838 2697 +1148.18 630.303 2698 +1155.5 630.769 2699 1161.97 630.768 2698 -1170.61 631.939 2702 -1179.28 633.112 2706 -1190.6 635.691 2716 -1196.7 635.464 2714 -1200.12 633.832 2706 -1417.72 591.763 2473 -1429.09 593.967 2481 -1437.61 594.978 2484 -1440.35 593.593 2477 -1438.39 590.291 2462 -1817.86 569.159 2276 -1828.04 570.521 2280 -1835.84 571.135 2281 -1842.86 571.5 2281 -1845.01 570.362 2275 -1846.33 568.972 2268 -1846.8 567.329 2260 --2448.41 749.31 2939 --2445.84 750.853 2947 --2443.24 752.394 2955 --2438.95 753.425 2961 --2432.18 753.692 2964 +1169.31 631.237 2699 +1176.66 631.708 2700 +1184.47 632.414 2702 +1193.17 633.591 2706 +1204.56 636.174 2716 +1210.21 635.715 2713 +1208.67 631.507 2694 +1430.67 592.103 2472 +1443.26 594.792 2482 +1451.24 595.566 2484 +1452.78 593.703 2475 +1450.74 590.399 2460 +1764.34 561.384 2252 +1787.71 566.975 2273 +1795.42 567.581 2274 +1802.36 567.939 2274 +1806.12 567.299 2270 +1811.47 567.158 2268 +1812.81 565.767 2261 +1817.33 565.376 2258 +1819.43 564.234 2252 +1822.31 563.342 2247 +1825.98 562.7 2243 +1830.45 562.309 2240 +-2430.08 743.701 2917 +-2425.09 744.483 2922 +-2423.39 746.283 2931 +-2424.95 749.099 2944 +-2423.15 750.895 2953 -2419.68 752.181 2960 --2396.64 747.372 2943 --732.353 612.339 2640 --727.875 613.814 2647 --723.913 615.752 2656 +-2412.92 752.451 2963 +-2399.67 750.691 2958 +-717.916 610.652 2634 -714.779 613.288 2646 --707.037 611.984 2641 -446.971 437.855 1896 -453.657 440.023 1905 -457.983 439.883 1904 -869.839 671.58 2890 -879.318 673.614 2898 -886.144 673.601 2897 -888.293 670.059 2881 -890.058 666.284 2864 -892.059 662.74 2848 -893.039 658.498 2829 -894.25 654.488 2811 -893.776 649.312 2788 -892.548 643.669 2763 -890.877 637.791 2737 -891.707 633.776 2719 -896.089 632.324 2712 -901.441 631.573 2708 -908.12 631.756 2708 -914.129 631.473 2706 -920.474 631.425 2705 -926.478 631.145 2703 +-709.714 614.301 2651 +-700.65 611.84 2641 +-691.112 608.919 2629 +886.995 684.825 2947 +888.42 680.587 2928 +892.568 678.484 2918 +896.31 676.106 2907 +899.381 673.263 2894 +901.455 669.721 2878 +903.772 666.412 2863 +904.43 661.938 2843 +906.279 658.395 2827 +906.115 653.453 2805 +906.826 649.209 2786 +903.842 642.4 2756 +902.698 636.988 2732 +906.102 634.838 2722 +909.462 632.689 2712 +913.791 631.24 2705 +920.134 631.192 2704 +926.135 630.911 2702 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2664 +1029.25 1618.13 2661 +1035.85 1618.03 2660 +1041.68 1616.73 2657 +1048.68 1617.25 2657 +1056.08 1618.38 2658 +1063.89 1620.13 2660 +1071.72 1621.88 2662 +1080.82 1625.52 2667 +1087.06 1624.85 2665 +1094.94 1626.61 2667 +1101.6 1626.55 2666 +1108.26 1626.49 2665 +1114.92 1626.44 2664 +1122.01 1627 2664 +1128.25 1626.34 2662 +1134.92 1626.29 2661 +1141.58 1626.25 2660 +1145.66 1622.54 2653 +1147.97 1616.38 2642 diff --git a/runner17/Release/config/right.calib b/runner17/Release/config/1.calib similarity index 100% rename from runner17/Release/config/right.calib rename to runner17/Release/config/1.calib diff --git a/runner17/Release/config/right.ini b/runner17/Release/config/1.ini similarity index 100% rename from runner17/Release/config/right.ini rename to runner17/Release/config/1.ini diff --git a/runner17/Release/config/camera.json b/runner17/Release/config/camera.json index d8842df..2445347 100644 --- a/runner17/Release/config/camera.json +++ b/runner17/Release/config/camera.json @@ -27,7 +27,7 @@ "param_policy": 2, "rely_on_camera": "", "rotation_angle": 0, - "calib_file": ".\\config\\right.calib", + "calib_file": ".\\config\\1.calib", "save": 1, "save_img_suffix": ".BMP", "savefile_rgb_swapped": false, @@ -64,7 +64,7 @@ "param_policy": 2, "rely_on_camera": "", "rotation_angle": 0, - "calib_file": ".\\config\\right.calib", + "calib_file": ".\\config\\1.calib", "save": 1, "save_img_suffix": ".BMP", "savefile_rgb_swapped": false, @@ -82,7 +82,18 @@ "height": 3072, "width": 2048, "type": 210 + }, + + "Eagle-M4 F83A01121310": { + "id": 4, + "exposure": 10000, + "location": 2, + "save_img_suffix": ".BMP", + "height": 3072, + "width": 2048, + "type": 210 } + }, "top": { "startID": 0, @@ -90,6 +101,6 @@ }, "side": { "startID": 1, - "endID": 3 + "endID": 4 } } diff --git a/runner17/Release/smokeBox.exe b/runner17/Release/smokeBox.exe index 002c9e0f2520d0ffd8e289538647dca33e0f061e..748f031a4c568aa3d44649782ffb8b268d3afb54 100644 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zH>v)|WRl!`nBBYwc+(#MM{GhYh!2m1BXEdP+4uz&L2}?M#UE#?e-9_TZ+OHaG8I)P K)@ISF%l`wqLUNM; literal 0 HcmV?d00001 diff --git a/src/CameraControl.cpp b/src/CameraControl.cpp index 6e9bfcf..a1d6afd 100644 --- a/src/CameraControl.cpp +++ b/src/CameraControl.cpp @@ -475,7 +475,7 @@ Q_SLOT void CameraControl::onCapture(int cameraLocation,int location) #if IMAGEDRAWING == LPV for (auto iter = m_mapSerialNumberIdTop.begin(); iter != m_mapSerialNumberIdTop.end(); iter++) { - if (m_cameraStockLocation.contains(iter.key())) + if (m_cameraStockLocation[iter.key()] == location) { serialNumList << iter.key(); } @@ -489,7 +489,7 @@ Q_SLOT void CameraControl::onCapture(int cameraLocation,int location) #if IMAGEDRAWING == LPV for (auto iter = m_mapSerialNumberIdSide.begin(); iter != m_mapSerialNumberIdSide.end(); iter++) { - if (m_cameraStockLocation.contains(iter.key())) + if (m_cameraStockLocation[iter.key()] == location) { serialNumList << iter.key(); } @@ -498,7 +498,6 @@ Q_SLOT void CameraControl::onCapture(int cameraLocation,int location) serialNumList = m_mapSerialNumberIdSide.keys(); #endif // IMAGEDRAWING == LPV - break; default: break; @@ -506,6 +505,7 @@ Q_SLOT void CameraControl::onCapture(int cameraLocation,int location) if (serialNumList.length() != 0) { + qInfo() << "Captured SerialNumList = " << serialNumList; capture(serialNumList); } } @@ -551,13 +551,13 @@ void CameraControl::capture(const QStringList& serialNumberList) imgInfo.imageOrigin = ILImagePtr(__uuidof(LImage)); imgInfo.imageFixed = ILImagePtr(__uuidof(LImage)); } - //imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); + imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); - if (serialNumber == "00787720450") { imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/310102.bmp"); } else if (serialNumber == "00J49540865") { imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/320111.bmp"); } - else - { - imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); - } + //if (serialNumber == "00787720450") //{ // imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/310102.bmp"); //} //else if (serialNumber == "00J49540865") //{ // imgInfo.imageOrigin->Load("C:/Users/LENOVO/Downloads/0108/320111.bmp"); //} + //else + //{ + // imgInfo.imageOrigin->SetImageData(imgInfo.image.cols, imgInfo.image.rows, (void*)imgInfo.image.data, imgInfo.image.step, 0); + //} if (m_calib->IsCalibrated()) { diff --git a/src/CategoryMatcher.cpp b/src/CategoryMatcher.cpp index d963acf..0cce98a 100644 --- a/src/CategoryMatcher.cpp +++ b/src/CategoryMatcher.cpp @@ -7,9 +7,18 @@ CategoryMatcher::CategoryMatcher(QObject *parent) m_ilmatch = ILMatchPtr(__uuidof(LMatch)); m_ilmatchF = ILMatchPtr(__uuidof(LMatch)); m_display = ILDisplayPtr(__uuidof(LDisplay)); + m_text = ILTextPtr(__uuidof(LText)); + m_textSys= ILSystemPtr(__uuidof(LSystem)); initILMatchParam(QCoreApplication::applicationDirPath() + MATCHER_CONFIG); setILMatch(m_matchParam); qDebug() << "init CategoryMatcher successed"; + + m_text->Alignment = LPVAlignment::LPVAlignLeft; // 设置文本绘制时的对齐方式 + m_textSys->SetFontColor(m_text, m_textSys->GetColorRef(0, 255, 0)); // 设置文本的颜色 + m_textSys->SetFontHeight(m_text, 80); // 设置字体高度 + m_textSys->SetFontFamily(m_text, "Microsoft YaHei"); // 设置字体类型 + m_text->PosX = 100; + m_text->PosY = 100; // 设置文本绘制时的位置 } CategoryMatcher::~CategoryMatcher() @@ -76,33 +85,14 @@ void CategoryMatcher::setILMatch(const MatchParam& matchParam) bool CategoryMatcher::smokeMatch(const QString& typeNo, ILImagePtr image, int id) { - std::pair> templateLevelAndvecMatchRltPtr; - bool bRlt = smokeMatch(typeNo, image, templateLevelAndvecMatchRltPtr,id); - drawImage(image, templateLevelAndvecMatchRltPtr); - return bRlt; -} - -bool CategoryMatcher::smokeMatch(const QString& typeNo, const cv::Mat& inputMat, cv::Mat& rltMat) -{ - if (inputMat.empty()) - { - qWarning() << "inputMat is empty"; - return false; - } - ILImagePtr ilImgGray(__uuidof(LImage)); - cv::Mat imgMatGray; - ensureGrayImg(inputMat, imgMatGray); - qDebug() << "ensureGrayImg OK!"; - ilImgGray->SetImageData(imgMatGray.cols, imgMatGray.rows, (void*)imgMatGray.data, imgMatGray.step, 0); - qDebug() << "LPV SetImageData OK!"; - std::pair> templateLevelAndvecMatchRltPtr; - bool bRlt = smokeMatch(typeNo, ilImgGray, templateLevelAndvecMatchRltPtr, 0); - drawImage(imgMatGray, rltMat, templateLevelAndvecMatchRltPtr); + QMap resultsPair; + bool bRlt = smokeMatch(typeNo, image, resultsPair,id); + drawImage(image, resultsPair); return bRlt; } bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPtr, - std::pair>& templateLevelAndvecMatchRltPtr,int id) + QMap& resultsMap, int id) { TemplateObject templateObj; QString templateImgFolderPath = TYPE_TEMPLATE_PATH; @@ -123,16 +113,16 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt QVector vecMatchSroreMax; QVector vecMatchRltsMax; QList keys = templateObj.uniqueKeys(); - int templateLevel = keys.length(); - str = QString("[%1]:templateLevel =%2").arg(id).arg(templateLevel); + int templateLevelCount = keys.length(); + str = QString("[%1]:templateLevelCount =%2").arg(id).arg(templateLevelCount); qDebug() << str; - templateLevelAndvecMatchRltPtr.first = templateLevel; // 遍历不同模板级别 for each (int level in keys) { QVector vecMatchSrore; QVector vecMatchRlts; + resultsMap.insert(level, nullptr); QMap strScoreMap = templateObj.value(level); for (QMap::iterator it = strScoreMap.begin(); it != strScoreMap.end(); ++it) { @@ -149,6 +139,7 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt m_ilmatch->Learn(ilTemplatePtr, nullptr); ILImagePtr img(__uuidof(LImage)); ILImagePtr tempImage(__uuidof(LImage)); + //由于如果角度开到±180，部分匹配时间过长，故而用两次模板匹配，分别匹配模板和模板旋转180度情况 ILImageArithmPtr imgArithmF(__uuidof(LImageArithm)); imgArithmF->Flip(ilTemplatePtr, LPVFlipType::LPVFlipH, tempImage); imgArithmF->Flip(tempImage, LPVFlipType::LPVFlipV, tempImage); @@ -207,7 +198,9 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt } if (vecMatchSrore.isEmpty()) { - break; + str = QString("[%1]:Level: %1 match failed!").arg(id).arg(level); + qDebug() << str; + return false; } else { @@ -215,20 +208,10 @@ bool CategoryMatcher::smokeMatch(const QString& typeNo, const ILImagePtr ilImgPt auto maxMatchScorePos = std::max_element(vecMatchSrore.begin(), vecMatchSrore.end()); auto maxIndex = maxMatchScorePos - vecMatchSrore.begin(); vecMatchSroreMax.push_back(*maxMatchScorePos); - vecMatchRltsMax.push_back(vecMatchRlts.at(maxIndex)); + //vecMatchRltsMax.push_back(vecMatchRlts.at(maxIndex)); + resultsMap[level]=vecMatchRlts.at(maxIndex); } } - if (vecMatchSroreMax.isEmpty() || (vecMatchSroreMax.length() != templateLevel)) - { - str = QString("[%1]:Level: %1 match failed!").arg(id).arg(vecMatchSroreMax.length() + 1); - qDebug() << str; - templateLevelAndvecMatchRltPtr.second = vecMatchRltsMax; - return false; - } - else - { - templateLevelAndvecMatchRltPtr.second = vecMatchRltsMax; - } } else { @@ -288,48 +271,63 @@ bool CategoryMatcher::getTemplateImgFileInfo(const QString& folderPath, Template } -void CategoryMatcher::drawImage(ILImagePtr image, std::pair> templateLevelAndvecMatchRltPtr) +void CategoryMatcher::drawImage(ILImagePtr image, QMap resultsMap) { if (image->Void()) { return; } - int level = 1; - int templateLevel = templateLevelAndvecMatchRltPtr.first; + std::stringstream textStream(""); + //在Display上绘制图像+结果 + m_display->SetImage(image); + m_display->RemoveAllObjects(); + QString tittleStr,rltStr; - QVector vecMatchRlts = templateLevelAndvecMatchRltPtr.second; - QString rltStr; - cv::Scalar textColor(0, 255, 0); - if (!vecMatchRlts.isEmpty() && (vecMatchRlts.length() == templateLevel)) + bool bRlt = false; + for (auto iter = resultsMap.begin(); iter != resultsMap.end(); iter++) { - rltStr = QString("Match successful! Total level: %1").arg(templateLevel); - } - else - { - textColor = cv::Scalar(0, 0, 255); - rltStr = QString("Match failed! Total level: %1").arg(templateLevel); - } + ILMatchResultPtr matchRlt = iter.value(); + if (matchRlt == nullptr) + { + continue; + } + bRlt = true; + double score = matchRlt->GetScore(); + rltStr.append(QString("\n Level %1 score: %2").arg(iter.key()).arg(score)); - //在Display上绘制图像+结果 - m_display->SetImage(image); - //m_display->AddObject(rltStr,0); + if (iter.key() == 1) + { + ILRotRectRegionPtr m_rect(__uuidof(LRotRectRegion)); + m_rect->SetPlacement(matchRlt->GetCenter()->X * 2, matchRlt->GetCenter()->Y * 2 + , matchRlt->GetRect()->Width * 2, matchRlt->GetRect()->Height * 2, matchRlt->GetRect()->Angle); + m_textSys->SetPenWidth(m_rect, 3); + m_textSys->SetPenColor(m_rect, m_textSys->GetColorRef(0, 255, 0)); + m_display->AddObject(m_rect, 0); + } + else + { + m_textSys->SetPenWidth(matchRlt, 3); + m_textSys->SetPenColor(matchRlt, m_textSys->GetColorRef(0, 255, 0)); + m_display->AddObject(matchRlt, LPVPatDrawFlags::LPVPatDrawBoundingRect); + } - rltStr.clear(); - for each(ILMatchResultPtr matchRltPtr in vecMatchRlts) + } + if (bRlt) { - // 存在问题：如果不存在1级模板，直接是2级模板 - double score = matchRltPtr->GetScore(); - rltStr.append(QString(" Level %1 score: %2").arg(level++).arg(score)); - //存在的问题——大模板的时候匹配的得到的结果是放缩后的结果，需要对位置进行扩大 - m_display->AddObject(matchRltPtr, LPVPatDrawFlags::LPVPatDrawBoundingRect | LPVPatDrawFlags::LPVPatDrawCenter); + m_textSys->SetFontColor(m_text, m_textSys->GetColorRef(0, 255, 0)); + tittleStr = QString("Match successful! Total level Count: %1").arg(resultsMap.keys().length()); } - - if (!rltStr.isEmpty()) + else { - //m_display->AddObject(rltStr, 0); + m_textSys->SetFontColor(m_text, m_textSys->GetColorRef(255, 0, 0)); + tittleStr = QString("Match failed! Total level Count: %1").arg(resultsMap.keys().length()); } + textStream << tittleStr.toStdString(); + textStream << rltStr.toStdString(); + m_text->Text = textStream.str().c_str(); + m_display->AddObject(m_text,0); } void CategoryMatcher::saveResultsImage(const QString& filePath) diff --git a/src/CategoryMatcher.h b/src/CategoryMatcher.h index b4da0d6..b99a39f 100644 --- a/src/CategoryMatcher.h +++ b/src/CategoryMatcher.h @@ -48,7 +48,7 @@ public: ~CategoryMatcher(); bool smokeMatch(const QString& typeNo, ILImagePtr image, int id); void saveResultsImage(const QString& filePath); - bool smokeMatch(const QString& typeNo, const cv::Mat& inputMat, cv::Mat& rltMat); + //signals: // void sgMatchRlt(bool bRlt, cv::Mat imgRltMat); @@ -57,18 +57,20 @@ private: void setILMatch(const MatchParam& matchParam); bool getTemplateImgFileInfo(const QString& folderPath, TemplateObject& templateObject); bool smokeMatch(const QString& type, const ILImagePtr ilImgPtr, - std::pair >& templateLevelAndvecMatchRltPtr, int id); + QMap&, int id); void drawImage(const cv::Mat& imgMatSrc, cv::Mat& resulQImg, std::pair> templateLevelAndvecMatchRltPtr); - void drawImage(ILImagePtr image, std::pair> templateLevelAndvecMatchRltPtr); + void drawImage(ILImagePtr image, QMap resultsMap); MatchParam m_matchParam; ILMatchPtr m_ilmatch; ILMatchPtr m_ilmatchF; ILDisplayPtr m_display; + ILTextPtr m_text; + ILSystemPtr m_textSys; QMutex m_mutex; bool m_bUseTotalThresh{ false }; }; diff --git a/src/SmokeBoxIdentification.cpp b/src/SmokeBoxIdentification.cpp index b5a3ffb..60045dd 100644 --- a/src/SmokeBoxIdentification.cpp +++ b/src/SmokeBoxIdentification.cpp @@ -175,8 +175,8 @@ void SmokeBoxIdentification::saveImage(ILImagePtr image, const cv::Mat& imgMat3D QFile::remove(pclPath); } - QFile::copy("C:\\Users\\LENOVO\\Downloads\\30t.pcd",pclPath); - //QFile::rename(".\\Cache\\1.pcd", pclPath); + //QFile::copy("C:\\Users\\LENOVO\\Downloads\\30t.pcd",pclPath); + QFile::rename(".\\Cache\\1.pcd", pclPath); qDebug() << "Save 3D image: " << filePath; } @@ -436,6 +436,7 @@ void SmokeBoxIdentification::calculate(int stocketID) str = QString("[%1]:Camera %2 Match successful!").arg(stocket.id).arg(imgInfo.cameraSn); qDebug() << str; bRlt = true; + m_stocketList[stocketID].smokeTypeNumRlt = typeNum; FileInfo fileInfo = imgInfo.saveImgInfo; QString fileName = QString("%1_%2_rlt%3").arg(fileInfo.strId) .arg(m_currtStockCheckInfo.smokeTypeNum).arg(fileInfo.suffix); @@ -445,7 +446,7 @@ void SmokeBoxIdentification::calculate(int stocketID) //根据相机编号，对应找到3D基准文件去计算层高 - QString pclPath = filePath; + QString pclPath = dataSaveFolder; pclPath.append(QString("*.pcd").arg(fileInfo.strId)); QDir dir(pclPath); @@ -479,6 +480,9 @@ void SmokeBoxIdentification::calculate(int stocketID) { str = QString("[%1]:Camera %2 Match Failed!").arg(stocket.id).arg(imgInfo.cameraSn); qWarning() << str; + QString filePath = dataSaveFolder + QString("\\%1_error.PNG") + .arg(stocket.smokeTypeNum); + m_pCategoryMatcher->saveResultsImage(filePath); } } else @@ -489,22 +493,15 @@ void SmokeBoxIdentification::calculate(int stocketID) } if (!bRlt) { - QString filePath = dataSaveFolder + QString("\\%1_error.PNG") - .arg(stocket.smokeTypeNum); - m_pCategoryMatcher->saveResultsImage(filePath); - //saveImage(imgRltMat, filePath); + m_stocketList[stocketID].smokeTypeNumRlt = "0"; + m_stocketList[stocketID].smokeQuantityRlt = "0"; } - QString typeNumRlt = bRlt ? typeNum : "0"; - m_stocketList[stocketID].smokeTypeNumRlt = typeNumRlt; - - qInfo() << "smokeQuantity = " << m_stocketList[stocketID].smokeQuantity; if (!bRlt || m_stocketList[stocketID].smokeQuantity!= m_stocketList[stocketID].smokeQuantityRlt) { m_stocketList[stocketID].correctness = false; } sendResults(MsgType::StockCheckResult,stocketID); - //emit sgCategoryMatchFinished(typeNumRlt); }); } @@ -624,6 +621,8 @@ void SmokeBoxIdentification::sendResults(int mode, int id) .append(m_stocketList.value(id).smokeQuantityRlt).append(SPLIT_RULE) .append(QString::number(m_stocketList.value(id).correctness)).append(END_SYMBOL); m_stocketList.remove(id); + qInfo() << "m_stocketList.remove(id) = " << id <<"; Next ="<