合成3D部分，调整返回的msg

3rdparty/include/tobaccoAlgorithm.h

@@ -0,0 +1,16 @@
+#pragma once
+
+#include <iostream>
+
+#ifndef EXPORT
+#ifdef _WIN32
+#define EXPORT _declspec(dllexport)
+#else 
+#define EXPORT
+#endif
+#endif // !EXPORT
+
+//通过比较路径 cloudPath1 和 cloudPath2 指向的点云来判断烟垛是否发生明显变化
+//paramPath 为算法参数路径（json 文件）
+//返回 true 表示无变化（烟垛基本一致），返回 false 表示发生明显变化
+EXPORT bool compare(const std::string& cloudPath1, const std::string& cloudPath2, const std::string& paramPath);

runner17/Release/config/param3d.json

@@ -0,0 +1,16 @@
+{
+  "rotation": [
+    -1.19209e-07,
+    1,
+    0,
+    -0.945519,
+    -1.19209e-07,
+    0.325568,
+    0.325568,
+    0,
+    0.945519
+  ],
+  "min_pt": [-520, 150, 1050],
+  "max_pt": [680, 2020, 1550],
+  "floorHeight": 300
+}

src/SmokeBoxIdentification.cpp

@@ -168,8 +168,8 @@ QString SmokeBoxIdentification::saveImage(ILImagePtr image, const cv::Mat& imgMa
 	{
 		cv::imwrite(filePath.toStdString(), imgMat3D);
 		int lastPos = filePath.lastIndexOf('.');
-		QString pclPath = filePath.left(lastPos);
+		QString prePath = filePath.left(lastPos);
-		pclPath.append(".pcd");
+		QString pclPath = prePath + ".pcd";
 		if (QFile(pclPath).exists())
 		{
 			QFile::remove(pclPath);
@@ -180,7 +180,7 @@ QString SmokeBoxIdentification::saveImage(ILImagePtr image, const cv::Mat& imgMa
 		QFile::rename(".\\Cache\\1.pcd", pclPath);
 
 		qDebug() << "Save 3D image: " << pclPath;
-		return pclPath;
+		return prePath + ".PNG";
 
 	}
 	else // 2D相机数据
@@ -196,9 +196,9 @@ void SmokeBoxIdentification::saveImage(const QVector<ImageInfo>& vecImageInfo, i
 	QString dataSaveFolderPath;
 
 #if IMAGEDRAWING==LPV
-	if (m_currtIntoStockInfo.taskNum == '0')
+	if (m_currtIntoStockInfo.taskNum == "0")
 	{
-		dataSaveFolderPath = QString("%1\\%2\\%3").arg(FILE_INPUTSTORE_PATH)
+		dataSaveFolderPath = QString("%1\\%2\\%3\\%4").arg(FILE_INPUTSTORE_PATH)
 			.arg(m_currtIntoStockInfo.streetName).arg(m_currtIntoStockInfo.Floor).arg(m_currtIntoStockInfo.row);
 	}
 	else
@@ -246,8 +246,8 @@ void SmokeBoxIdentification::saveImage(const QVector<ImageInfo>& vecImageInfo, i
 #if IMAGEDRAWING == LPV
 		QString filePath = QString("%1\\%2").arg(dataSaveFolderPath).arg(fileInfo.name);
 		QString imgPath = saveImage(vecImageInfo.at(i).imageOrigin, vecImageInfo.at(i).image3D, filePath);
-
+		m_currtIntoStockInfo.correctness = 1;
-		if (workMode == WorkMode::IntoStock && imgPath!="")
+		if (!vecImageInfo.at(i).image3D.empty())
 		{
 			m_currtIntoStockInfo.imagesPathList.push_back(imgPath);
 		}
@@ -406,7 +406,7 @@ Q_SLOT void SmokeBoxIdentification::onDecodeMsg(const QString& msg)
 				
 				//m_workMode = WorkMode::Capture;
 				m_currtIntoStockInfo.taskNum = strList.at(3);
-				if (m_currtIntoStockInfo.taskNum == '0')
+				if (m_currtIntoStockInfo.taskNum == "0")
 				{
 					qDebug() << "入库取图开始";
 				}
@@ -433,6 +433,8 @@ Q_SLOT void SmokeBoxIdentification::onDecodeMsg(const QString& msg)
 				QStringList streetInfo = strList.at(1).split("/");
 				m_currtStockCheckInfo.streetName = streetInfo.at(0);
 				m_currtStockCheckInfo.Floor = streetInfo.at(1).toInt();
+				m_currtStockCheckInfo.row = streetInfo.at(2).toInt();
+
 				m_currtStockCheckInfo.id = strList.at(2);
 				m_currtStockCheckInfo.taskNum = strList.at(3);
 				m_currtStockCheckInfo.stockLocation = strList.at(4);
@@ -457,6 +459,7 @@ void SmokeBoxIdentification::calculate(int stocketID)
 	QtConcurrent::run([=] {
 
 		bool bRlt = false;
+		bool bRlt3D = false;
 		StockCheckInfo stocket = m_stocketList.value(stocketID);
 		if (!m_stocketList.contains(stocketID))
 		{
@@ -529,41 +532,71 @@ void SmokeBoxIdentification::calculate(int stocketID)
 
 					FileInfo fileInfo = imgInfo.saveImgInfo;
 					//根据相机编号，对应找到3D基准文件去计算层高
-					pclPath.append(QString("*.pcd").arg(fileInfo.strId));
+					pclPath.append("\\");
+					pclPath.append(imgInfo.saveImgInfo.name);
 
-					QDir dir(pclPath);
+					QString pclPath2 = QString("%1\\%2\\%3\\%4").arg(FILE_INPUTSTORE_PATH)
-					QFileInfoList fileList = dir.entryInfoList(QStringList() << "*.pcd", QDir::Files | QDir::NoDotAndDotDot);
+						.arg(m_currtIntoStockInfo.streetName).arg(m_currtIntoStockInfo.Floor).arg(m_currtIntoStockInfo.row);
-					if (fileList.length() > 0)
+					pclPath2.append("\\");
-					{
+					pclPath2.append(imgInfo.saveImgInfo.name);
-						//盘点时候的点云地址pclPath
-						pclPath = fileList[0].absolutePath();
 
-						//入库时的点云地址：.\\storeData\\巷道号\\层高\\列数\\*.pcd
-						// FILE_INPUTSTORE_PATH \\ m_stocketList[stocketID].streetName\\m_stocketList[stocketID].Floor\\m_stocketList[stocketID].row\\ *.pcd;
 
-						str = QString("[%1]:3DCamera %2 -- PointCould = %3").arg(stocket.id)
+					QFile pclFile(pclPath);
-							.arg(imgInfo.cameraSn).arg(pclPath);
+					QFile pclFile2(pclPath);
-						qInfo() << str;
 
+					if (pclFile.exists())
+					{
 						int lastPos = pclPath.lastIndexOf('.');
 						QString depthImagePath = pclPath.left(lastPos);
 
 						depthImagePath.append(".PNG");
-						m_stocketList[stocketID].imagesPathList.append(depthImagePath.right(depthImagePath.length() - 1));
+						m_stocketList[stocketID].imagesPathList.append(depthImagePath);
 						m_stocketList[stocketID].pcdSrc = pclPath;
 					}
+
+					if (pclFile.exists() && pclFile2.exists())
+					{
+
+						str = QString("[%1]:3DCamera %2 -- PointCould = %3; Store PointCloud = %4").arg(stocket.id)
+							.arg(imgInfo.cameraSn).arg(pclPath).arg(pclPath2);
+						qInfo() << str;
+	
+						//入库时的点云地址：.\\storeData\\巷道号\\层高\\列数\\*.pcd
+						// FILE_INPUTSTORE_PATH \\ m_stocketList[stocketID].streetName\\m_stocketList[stocketID].Floor\\m_stocketList[stocketID].row\\ *.pcd;
+
+						QString jsonPath = QCoreApplication::applicationDirPath() + "\\config\\param3d.json";
+						try
+						{
+							bRlt3D = compare(pclPath2.toStdString(), pclPath.toStdString(), jsonPath.toStdString());
+							str = QString("[%1]:3DCamera %2 -- 3D compare Result = %3").arg(stocket.id)
+								.arg(imgInfo.cameraSn).arg(QString::number(bRlt3D));
+							qInfo() << str;
+						}
+						catch (const std::exception& e)
+						{
+							qWarning() << e.what();
+						}
+					}
 					else
+					{
+						if (pclFile.exists())
+						{
+							str = QString("[%1]:3DCamera %2 -- PointCould[%3] can't Find!").arg(stocket.id)
+								.arg(imgInfo.cameraSn).arg(pclPath2);
+						}
+						else if(pclFile2.exists())
 						{
 							str = QString("[%1]:3DCamera %2 -- PointCould[%3] can't Find!").arg(stocket.id)
 								.arg(imgInfo.cameraSn).arg(pclPath);
-						qWarning() << str;
+						}
+						else
+						{
+							str = QString("[%1]:3DCamera %2 -- PointCould[%3; %4] can't Find!").arg(stocket.id)
+								.arg(imgInfo.cameraSn).arg(pclPath).arg(pclPath2);
 						}
 
-
+						qWarning() << str;
-
+					}
-					//数量计算
-					m_stocketList[stocketID].smokeQuantityRlt = m_stocketList[stocketID].smokeQuantity;
-
 
 				}
 				else
@@ -581,6 +614,15 @@ void SmokeBoxIdentification::calculate(int stocketID)
 
 		m_stocketList[stocketID].imagesPathList = set.toList(); // 将 QSet 转换为 QStringList
 
+		if (bRlt3D)
+		{
+			m_stocketList[stocketID].smokeQuantityRlt = m_stocketList[stocketID].smokeQuantity;
+		}
+		else
+		{
+			m_stocketList[stocketID].smokeQuantityRlt = "0";
+		}
+
 		if (!bRlt)
 		{
 			m_stocketList[stocketID].smokeTypeNumRlt = "0";
@@ -749,6 +791,7 @@ void SmokeBoxIdentification::sendResults(int mode, int id)
 				.append(m_currtIntoStockInfo.stockLocation).append(SPLIT_RULE)
 				.append(m_currtIntoStockInfo.smokeTypeNum).append(SPLIT_RULE)
 				.append(m_currtIntoStockInfo.smokeQuantity).append(SPLIT_RULE)
+				.append(QString::number(m_currtIntoStockInfo.correctness)).append(SPLIT_RULE)
 				.append(m_currtIntoStockInfo.imagesPathList.join(";")).append(END_SYMBOL);
 			break;
 		}

src/SmokeBoxIdentification.h

@@ -22,6 +22,8 @@
 #include "HeightCalculate.h"
 #include "ui_SmokeBoxIdentification.h"
 
+#include "tobaccoAlgorithm.h"
+
 
 
 enum MsgType

src/common/commonDefine.h

@@ -159,7 +159,7 @@ struct IntoStockInfo
 
 
 	QString pcdSrc; //盘点识别文件
-	bool correctness =1; //拍照成功
+	bool correctness = 0; //拍照是否成功
 };
 
 struct EmptyCheckInfo

tpvs17/SmokeBoxIdentification/SmokeBoxIdentification.vcxproj

@@ -55,17 +55,19 @@
     <IncludePath>D:\Qt\5.9.4\msvc2017_64\include;$(IncludePath)</IncludePath>
     <ExecutablePath>D:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Tools\MSVC\14.16.27023\lib\x64;$(ExecutablePath)</ExecutablePath>
     <LibraryPath>C:\Qt\Qt5.9.4\5.9.4\msvc2017_64\lib;D:\Qt\5.9.4\msvc2017_64\lib;$(LibraryPath)</LibraryPath>
+    <ReferencePath>$(SolutionDir)..\3rdparty\include;$(ReferencePath)</ReferencePath>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <OutDir>$(SolutionDir)..\runner17\$(Configuration)\</OutDir>
     <TargetName>smokeBox</TargetName>
     <LibraryPath>C:\Qt\Qt5.9.4\5.9.4\msvc2017_64\lib;D:\Qt\5.9.4\msvc2017_64\lib;$(LibraryPath)</LibraryPath>
     <IncludePath>$(IncludePath)</IncludePath>
+    <ReferencePath>$(SolutionDir)..\3rdparty\include;$(ReferencePath)</ReferencePath>
   </PropertyGroup>
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
     <ClCompile>
       <PreprocessorDefinitions>UNICODE;_UNICODE;WIN32;WIN64;QT_DLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>.;.\GeneratedFiles;..\..\src;..\..\src\libzkq;..\..\src\lpSerial;..\..\src\lpSerial\include;..\..\src\numStatisticAlgo;..\..\src\MVCameraDriver;..\..\src\common;..\..\src\lpv;..\..\3rdparty\opencv\include;..\..\3rdparty\opencv\include\opencv;..\..\3rdparty\opencv\include\opencv2;.\GeneratedFiles\$(ConfigurationName);%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>.;.\GeneratedFiles;..\..\src;..\..\src\libzkq;..\..\src\lpSerial;..\..\src\lpSerial\include;..\..\src\numStatisticAlgo;..\..\src\MVCameraDriver;..\..\src\common;..\..\src\lpv;..\..\3rdparty\opencv\include;..\..\3rdparty\opencv\include\opencv;..\..\3rdparty\opencv\include\opencv2;.\GeneratedFiles\$(ConfigurationName);..\..\3rdparty\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <Optimization>Disabled</Optimization>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
       <RuntimeLibrary>MultiThreadedDebugDLL</RuntimeLibrary>
@@ -98,7 +100,7 @@
   <ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
     <ClCompile>
       <PreprocessorDefinitions>UNICODE;_UNICODE;WIN32;WIN64;QT_DLL;QT_NO_DEBUG;NDEBUG;%(PreprocessorDefinitions)</PreprocessorDefinitions>
-      <AdditionalIncludeDirectories>.;.\GeneratedFiles;..\..\src;..\..\src\libzkq;..\..\src\lpSerial;..\..\src\lpSerial\include;..\..\src\numStatisticAlgo;..\..\src\MVCameraDriver;..\..\src\common;..\..\src\lpv;..\..\3rdparty\opencv\include;..\..\3rdparty\opencv\include\opencv;..\..\3rdparty\opencv\include\opencv2;.\GeneratedFiles\$(ConfigurationName);%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>.;.\GeneratedFiles;..\..\src;..\..\src\libzkq;..\..\src\lpSerial;..\..\src\lpSerial\include;..\..\src\numStatisticAlgo;..\..\src\MVCameraDriver;..\..\src\common;..\..\src\lpv;..\..\3rdparty\opencv\include;..\..\3rdparty\opencv\include\opencv;..\..\3rdparty\opencv\include\opencv2;.\GeneratedFiles\$(ConfigurationName);..\..\3rdparty\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
       <DebugInformationFormat>ProgramDatabase</DebugInformationFormat>
       <RuntimeLibrary>MultiThreadedDLL</RuntimeLibrary>
       <TreatWChar_tAsBuiltInType>true</TreatWChar_tAsBuiltInType>
@@ -109,7 +111,7 @@
       <OutputFile>$(OutDir)smokeBox.exe</OutputFile>
       <AdditionalLibraryDirectories>$(MVCAM_COMMON_RUNENV)\Libraries\win64;$(SolutionDir)..\3rdparty\lib;$(SolutionDir)$(Platform)\$(Configuration)\;$(SolutionDir)..\3rdparty\opencv\lib;$(SolutionDir)..\3rdparty\qxlsx\lib;$(SolutionDir)..\tpvs17\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <GenerateDebugInformation>true</GenerateDebugInformation>
-      <AdditionalDependencies>Qt5Xlsx.lib;opencv_world341.lib;MvCameraControl.lib;numStatisticAlgo.lib;lpSerial.lib;libzkq.lib;LxCameraApi.lib;%(AdditionalDependencies)</AdditionalDependencies>
+      <AdditionalDependencies>Qt5Xlsx.lib;opencv_world341.lib;MvCameraControl.lib;numStatisticAlgo.lib;lpSerial.lib;libzkq.lib;LxCameraApi.lib;tobaccoAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
     <QtMoc>
       <ExecutionDescription>Moc'ing %(Identity)...</ExecutionDescription>
@@ -163,6 +165,7 @@
   </ItemGroup>
   <ItemGroup>
     <QtMoc Include="..\..\src\CodeScanStation.h" />
+    <ClInclude Include="..\..\3rdparty\include\tobaccoAlgorithm.h" />
     <ClInclude Include="..\..\src\common\commonDefine.h" />
     <ClInclude Include="..\..\src\common\log.h" />
     <ClInclude Include="..\..\src\common\QZkJsonParser.h" />

tpvs17/SmokeBoxIdentification/SmokeBoxIdentification.vcxproj.filters

@@ -191,5 +191,8 @@
     <ClInclude Include="..\..\src\lxCamera\lx_camera_define.h">
       <Filter>Header Files\lxCamera</Filter>
     </ClInclude>
+    <ClInclude Include="..\..\3rdparty\include\tobaccoAlgorithm.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
 </Project>