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/*
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* @Author: xiewenji 527774126@qq.com
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* @Date: 2025-09-23 18:06:58
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* @LastEditors: xiewenji 527774126@qq.com
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* @LastEditTime: 2025-09-26 10:10:28
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* @FilePath: /BOE_POL_ET_Detect/AlgorithmModule/src/CameraCheckAnalysisy.cpp
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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/*
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* @Author: your name
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* @Date: 2022-04-20 15:50:00
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* @LastEditTime: 2025-09-25 18:03:34
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* @LastEditors: xiewenji 527774126@qq.com
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* @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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* @FilePath: /ZCXD_MonitorPlatform/src/CoreLogicModule/src/CamDeal.cpp
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*/
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#include "CameraCheckAnalysisy.hpp"
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#include "CheckUtil.hpp"
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#include "Define.h"
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#include <fstream>
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#include <dirent.h>
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#include <sys/stat.h>
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#include <atomic>
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#include <future>
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#include <vector>
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#include <mutex>
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#include <algorithm>
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static std::mutex g_ngImgSave_mutex;
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static std::vector<std::future<void>> g_ngImgSave_futures;
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CameraCheckAnalysisy::CameraCheckAnalysisy()
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{
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m_nErrorCode = 0; // 错误代码
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m_bInitSucc = false; // 初始化状态
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m_bExit = false; // 是否退出检测
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m_bHaveImgeDet = false;
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m_strcameraName = "";
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nLastCheckAnalysisyThreadIdx = 0;
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m_pChannelFuntion = &m_AnalysisyConfig.checkFunction;
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m_pbaseCheckFunction = &m_AnalysisyConfig.baseFunction;
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m_nConfigIdx = -1;
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m_pdetlog = std::make_shared<DetLog>();
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m_pCommonAnalysisyConfig = NULL;
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m_imageResultJudge.SetAnalysisyConfig(&m_AnalysisyConfig);
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m_strRootPath_MergeImg = "/home/aidlux/BOE/FOG/MergeImg/";
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CheckUtil::CreateDir(m_strRootPath_MergeImg);
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// m_pQX_Merge_Analysis = QX_Merge_Analysis::GetInstance();
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}
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CameraCheckAnalysisy::~CameraCheckAnalysisy()
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{
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}
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int CameraCheckAnalysisy::set_cpu_id(const std::vector<int> &cpu_set_vec)
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{
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// for cpu affinity
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int nRet = 0;
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#ifdef __linux
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cpu_set_t _cur_cpu_set;
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CPU_ZERO(&_cur_cpu_set);
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for (auto _id : cpu_set_vec)
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{
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CPU_SET(_id, &_cur_cpu_set);
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}
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if (0 > pthread_setaffinity_np(pthread_self(), sizeof(cpu_set_t), &_cur_cpu_set))
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{
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perror("set cpu affinity failed: ");
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printf("Warning: set cpu affinity failed ... ...\n");
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nRet = -1;
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}
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#endif //__linux
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return nRet;
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}
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int CameraCheckAnalysisy::WaitDetImg()
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{
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std::unique_lock<std::mutex> lk(mtx_WaiteImg);
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cond_WaiteImg.wait(lk, [this]()
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{ return m_bHaveImgeDet; });
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lk.unlock();
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return 0;
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}
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int CameraCheckAnalysisy::Detect_Pre()
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{
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//==========解密图片
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long ts = CheckUtil::getcurTime();
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std::string strlog;
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std::string strSN;
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std::string strBasic;
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strSN = m_pCheck_Result->productBaseResult->strproductName;
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strBasic = ">>" + strSN + " cam:" + m_strcameraName;
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s ==================start",
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strBasic.c_str());
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// printf( "%s ==================Detect_Pre start\n", strBasic.c_str());
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std::shared_ptr<ImageAllResult> L255 = m_pCheck_Result->GetL255DetImg();
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if (L255 == NULL || L255->result->in_shareImage->img.empty())
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{
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if (L255 && L255->result->in_shareImage->img.empty())
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --L255 Img is empty ", strBasic.c_str());
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}
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else
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --L255 NULL ", strBasic.c_str());
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}
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return 1;
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}
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ChannelCheckFunction *pFuntion_L255 = GetChannelFuntion("L255");
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if (!pFuntion_L255)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --L255 function is error ", strBasic.c_str());
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return 1;
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}
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// 用L255 检测图片边缘
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int re = ImgEdge(L255, pFuntion_L255);
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if (re != 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --ImgEdge error ", strBasic.c_str());
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return 1;
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}
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if (m_pCheck_Result->cameraBaseResult->pEdgeDetResult->nresult != 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --ImgEdge result error = %d ",
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strBasic.c_str(), m_pCheck_Result->cameraBaseResult->pEdgeDetResult->nresult);
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return 1;
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}
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// 如果是 边缘检测模式，则停止后面检测，直接退出
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if (L255->result->in_shareImage->Det_Mode == DET_MODE_EDGE)
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{
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return 9;
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}
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cv::Rect Det_CropRoi = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->cutRoi;
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if (!CheckUtil::RoiInImg(Det_CropRoi, L255->result->in_shareImage->img))
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{
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return 0;
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}
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cv::Mat L255CutImg = L255->result->in_shareImage->img(Det_CropRoi).clone();
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re = Det_MarkLine(L255CutImg, L255, &m_pbaseCheckFunction->markLine);
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if (re != 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --Det_MarkLine error ", strBasic.c_str());
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}
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if (DET_MODE_MarkLine == L255->result->in_shareImage->Det_Mode)
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{
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return 1;
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}
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re = preDet_ZF(L255CutImg, L255);
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if (re != 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --preDet_ZF error ", strBasic.c_str());
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}
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if (DET_MODE_ZF == L255->result->in_shareImage->Det_Mode)
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{
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return 1;
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}
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long te = CheckUtil::getcurTime();
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m_pdetlog->AddCheckstr(PrintLevel_0, "Detect_Pre", "==================End time %ld ms ", te - ts);
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re = preDet_BQ(L255CutImg, L255);
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if (re != 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Pre", "%s --preDet_BQ error ", strBasic.c_str());
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}
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// getchar();
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// return 1;
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// printf("Cam image channle %s ==================send start \n", pL255ImageResult->strChannel.c_str());
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// getchar();
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return 0;
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}
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// 对该相机下的每一张图片进行处理
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int CameraCheckAnalysisy::Detect_Images()
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{
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std::string strlog;
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std::string strSN;
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std::string strBasic;
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strSN = m_pCheck_Result->productBaseResult->strproductName;
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strBasic = ">>" + strSN + " cam:" + m_strcameraName;
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m_pdetlog->AddCheckstr(PrintLevel_0, "Detect_Images", "Cam %s ==================start", strBasic.c_str());
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// // 循环处理每个图片
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bool bcomplete = false;
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long time_No_CheckAnalysisy = 30 * 1000;
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long ts = CheckUtil::getcurTime();
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while (!bcomplete)
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{
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std::this_thread::sleep_for(std::chrono::milliseconds(20));
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ImgCheckBase *pImgCheckAnalysisy = NULL;
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long t1 = CheckUtil::getcurTime();
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// 拿到计算资源
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while (true)
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{
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pImgCheckAnalysisy = GetDealResult(-1);
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if (pImgCheckAnalysisy != NULL)
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{
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break;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(20)); //
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long t2 = CheckUtil::getcurTime();
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// 如果 超过秒XX都没有拿到处理资源，则直接退出
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if (t2 - t1 > time_No_CheckAnalysisy)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Images", "Error %ld ms No pImgCheckAnalysisy", time_No_CheckAnalysisy);
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break;
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}
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}
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// 没有分析检测资源，直接退出
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if (pImgCheckAnalysisy == NULL)
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{
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continue;
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}
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UpdateConfigStatus();
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// 1、把每张图都进行AI 推理 获得 blob 结果
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std::shared_ptr<ImageAllResult> pImageResult = m_pCheck_Result->GetNoDetImg();
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bool bHaveNotdetImg = false;
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// 没有未检测的图片了。
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if (pImageResult)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "Detect_Images", "strSN %s channel %s send det %s",
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strSN.c_str(), pImageResult->strChannel.c_str(), CheckUtil::getCurTimeHMS().c_str());
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bHaveNotdetImg = true;
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{
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pImgCheckAnalysisy->SetDataRun_SharePtr(pImageResult);
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}
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}
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else
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{
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// printf("Cam Detect_Images %s =======nnnnnnnnnnnnnnnnnnnnnnnnnnn===========send end \n", strBasic.c_str());
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// 图片都已经送完了。
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if (m_pCheck_Result->getImgPushComplate())
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{
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// printf("Cam Detect_Images %s ===========PushComplate=======send end \n", strBasic.c_str());
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// 没有图在进行 检测了。
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bool bhavedet = false;
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for (int i = 0; i < IMGCHECKANALYSISY_NUM; i++)
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{
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if (CHECK_THREAD_STATUS_IDLE != m_pImgCheckAnalysisy[i]->GetStatus())
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{
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bhavedet = true;
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break;
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}
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}
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// printf("Cam Detect_Images %s ==================bhavedet %d\n", strBasic.c_str(), bhavedet);
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if (!bhavedet)
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{
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bcomplete = true;
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}
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}
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else
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{
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// printf("Cam Detect_Images %s ==================No send end\n", strBasic.c_str());
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}
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}
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}
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long te = CheckUtil::getcurTime();
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m_pdetlog->AddCheckstr(PrintLevel_0, "Detect_Images", "Cam %s =====ALL image det complate time %ld ms=============End", strBasic.c_str(), te - ts);
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// getchar();
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// printf("Cam %s =====ALL image det complate time %ld ms=============End \n", strBasic.c_str(), te - ts);
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return 0;
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}
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int CameraCheckAnalysisy::ResultParamJudge()
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{
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//==================================================
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//======= 适用于 单相机或多相机，每个相机之间的图相互没关系。
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//=======
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//=======
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//=======
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//==================================================
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std::string strSN;
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std::string strBasic;
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strSN = m_pCheck_Result->productBaseResult->strproductName;
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strBasic = ">>" + strSN + " cam:" + m_strcameraName;
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m_pdetlog->AddCheckstr(PrintLevel_0, "ResultParamJudge", "Cam %s ==================start", strBasic.c_str());
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std::string strlog;
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long ts = CheckUtil::getcurTime();
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int ImageNum = m_pCheck_Result->ImageALLDetResultList.size();
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if (ImageNum <= 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "Error ImageNum <=0");
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return 1;
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}
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// 如果 参数是空，直接返回。
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if (m_pCommonAnalysisyConfig == NULL)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "Error m_pCommonAnalysisyConfig == NULL");
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return 1;
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}
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int regionNum = m_pCommonAnalysisyConfig->regionConfigArr.size();
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if (regionNum <= 0)
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{
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "Error Config region num = 0");
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}
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "==================start image Num %d region num %d %s",
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ImageNum, regionNum, CheckUtil::getCurTimeHMS().c_str());
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m_pQX_Merge_Analysis = m_pCheck_Result->productBaseResult->pQX_Merge_Analysis;
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m_pQX_Merge_Analysis->SetbaseCheckFunction(m_strcameraName, m_pChannelFuntion, m_pbaseCheckFunction);
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m_pQX_Merge_Analysis->setSendStatus(m_strcameraName, QX_Merge_Analysis::RUN_STATUS_NULL);
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m_imageResultJudge.UpdateMergedet(m_pCheck_Result);
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// 对每个图片通道进行单独分析
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for (int imgidx = 0; imgidx < ImageNum; imgidx++)
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{
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long t1 = CheckUtil::getcurTime();
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int re = m_imageResultJudge.ResultJudge(m_pCheck_Result->ImageALLDetResultList.at(imgidx));
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long t2 = CheckUtil::getcurTime();
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}
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m_pQX_Merge_Analysis->setSendStatus(m_strcameraName, QX_Merge_Analysis::RUN_STATUS_READY);
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "===============QX_Merge_Analysis===start %s", CheckUtil::getCurTimeHMS().c_str());
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// 等待所有 个数 和距离的分析完成。
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m_pQX_Merge_Analysis->waitComplete();
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for (auto log : m_pQX_Merge_Analysis->m_pMergedetlog->logList)
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{
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m_pdetlog->logList.push_back(log);
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}
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QX_Analysis_Result_List *ptemre;
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m_pQX_Merge_Analysis->GetReusult(ptemre);
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "===============QX_Merge_Analysis===end %s", CheckUtil::getCurTimeHMS().c_str());
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// 对每个图片通道进行单独分析
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for (int imgidx = 0; imgidx < ImageNum; imgidx++)
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{
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long t1 = CheckUtil::getcurTime();
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int re = m_imageResultJudge.MergeResult(m_pCheck_Result->ImageALLDetResultList.at(imgidx), ptemre);
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long t2 = CheckUtil::getcurTime();
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#ifdef AI_Time
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m_imageResultJudge.DrawResult(m_pCheck_Result->ImageALLDetResultList.at(imgidx));
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#endif
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long t3 = CheckUtil::getcurTime();
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// m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", " det time %ld ms judge %ld draw %ld", t3 - t1, t2 - t1, t3 - t2);
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// 把结果转成 json 保存。 用以复测
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// std::shared_ptr<CheckResult> m_CheckResult_shareP = m_pCheck_Result->ImageALLDetResultList.at(imgidx)->result;
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// m_CheckResult_shareP->strResultJson = m_CheckResultJson.GetResultString(m_pCheck_Result->ImageALLDetResultList.at(imgidx)->pDetResult);
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}
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long te = CheckUtil::getcurTime();
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m_pdetlog->AddCheckstr(PrintLevel_1, "ResultParamJudge", "==================End time %ld ms ", te - ts);
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// m_pdetlog->printLog(m_strcameraName);
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return 0;
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}
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int CameraCheckAnalysisy::MergeResultAnalysisy()
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{
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return 0;
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}
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|
int CameraCheckAnalysisy::UpdateConfigStatus()
|
|
|
{
|
|
|
std::string strBasic;
|
|
|
|
|
|
for (int i = 0; i < m_pCheck_Result->ImageALLDetResultList.size(); i++)
|
|
|
{
|
|
|
std::shared_ptr<ImageAllResult> pImageResult = m_pCheck_Result->ImageALLDetResultList.at(i);
|
|
|
|
|
|
if (pImageResult->config_update.bUpdate)
|
|
|
{
|
|
|
continue;
|
|
|
}
|
|
|
std::string strChannel = m_pCheck_Result->ImageALLDetResultList.at(i)->strChannel;
|
|
|
ChannelCheckFunction *pFuntion = GetChannelFuntion(strChannel);
|
|
|
|
|
|
if (pFuntion != NULL)
|
|
|
{
|
|
|
pImageResult->config_update.wait_UP = pFuntion->function.f_UseUpQX.bOpen;
|
|
|
}
|
|
|
bool bUseDpResult = false;
|
|
|
if (pFuntion != NULL)
|
|
|
{
|
|
|
// 亮点检测 开启
|
|
|
if (pFuntion->function.f_LDConfig.bOpen)
|
|
|
{
|
|
|
// 需要dp
|
|
|
bUseDpResult = pFuntion->function.f_LDConfig.bUseDP;
|
|
|
}
|
|
|
if (pFuntion->function.f_AIQX.bPOLToWhitePOL && pFuntion->function.f_AIQX.b127WhitePOl_UseDP)
|
|
|
{
|
|
|
bUseDpResult = true;
|
|
|
}
|
|
|
}
|
|
|
pImageResult->config_update.wait_DP = bUseDpResult;
|
|
|
|
|
|
pImageResult->config_update.bUpdate = true;
|
|
|
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_2, "config_update", " %s wait_UP %d wait_DP %d", pImageResult->strBaseInfo.c_str(), pImageResult->config_update.wait_UP, pImageResult->config_update.wait_DP);
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::ResultParamJudge_New()
|
|
|
{
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::ImgEdge(std::shared_ptr<ImageAllResult> L255, ChannelCheckFunction *pFuntion_L255)
|
|
|
{
|
|
|
long ts = CheckUtil::getcurTime();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "ImgEdge", "==================start %s ", m_strcameraName.c_str());
|
|
|
Function_EdgeROI *pEdgeROI;
|
|
|
pEdgeROI = &pFuntion_L255->function.f_EdgeROI;
|
|
|
// pEdgeROI->print("pEdgeROI");
|
|
|
|
|
|
Function_Image_Align *pAlign;
|
|
|
pAlign = &pFuntion_L255->function.f_Image_Align;
|
|
|
|
|
|
Edge_Search::DetConfigResult detConfigResult;
|
|
|
detConfigResult.pEdgeROI = pEdgeROI;
|
|
|
detConfigResult.pAlign = pAlign;
|
|
|
detConfigResult.strCamName = m_strcameraName;
|
|
|
detConfigResult.pdetlog = m_pdetlog;
|
|
|
if (L255->result->in_shareImage->Det_Mode == DET_MODE_EDGE)
|
|
|
{
|
|
|
detConfigResult.bMode_Edge_test = true;
|
|
|
}
|
|
|
detConfigResult.bDebugsaveImg = L255->result->in_shareImage->bDebugsaveImg;
|
|
|
|
|
|
m_pCheck_Result->cameraBaseResult->pEdgeDetResult = std::make_shared<EdgeDetResult>();
|
|
|
|
|
|
int re = m_Edge_Search.Detect(L255->result->in_shareImage->img, &detConfigResult, m_pCheck_Result->cameraBaseResult->pEdgeDetResult);
|
|
|
long te = CheckUtil::getcurTime();
|
|
|
|
|
|
if (!m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask_Src.empty())
|
|
|
{
|
|
|
cv::Mat kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(40, 40));
|
|
|
|
|
|
// 对掩膜图像进行膨胀
|
|
|
cv::dilate(m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask_Src,
|
|
|
m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask_Src, kernel);
|
|
|
|
|
|
cv::Rect Det_CropRoi = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->cutRoi;
|
|
|
if (CheckUtil::RoiInImg(Det_CropRoi, m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask_Src))
|
|
|
{
|
|
|
|
|
|
m_pCheck_Result->cameraBaseResult->pEdgeDetResult->edge_cutMask =
|
|
|
~m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask_Src(Det_CropRoi).clone();
|
|
|
if (L255->result->in_shareImage->bDebugsaveImg)
|
|
|
{
|
|
|
cv::imwrite("edge_cutMask.png", m_pCheck_Result->cameraBaseResult->pEdgeDetResult->edge_cutMask);
|
|
|
cv::imwrite("edge_shieldMask_Src.png", m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask_Src);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "ImgEdge", "==================End re = %d time %ld ms edge qx roi %ld ",
|
|
|
re, te - ts, m_pCheck_Result->cameraBaseResult->pEdgeDetResult->pEdgeDet_roiList->size());
|
|
|
// getchar();
|
|
|
|
|
|
return re;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::Det_MarkLine(const cv::Mat &L255CutImg, std::shared_ptr<ImageAllResult> L255, Base_Function_MarkLine *pFuntion)
|
|
|
{
|
|
|
|
|
|
m_pCheck_Result->cameraBaseResult->pMarkLineResult = std::make_shared<MakeLine_Result>();
|
|
|
if (pFuntion && !pFuntion->bOpen)
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "Det_MarkLine", "Error pFuntion == NULL or bOpen == false");
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
std::shared_ptr<MakeLine_Result> pMarkLineResult = m_pCheck_Result->cameraBaseResult->pMarkLineResult; // MarkLine检测结果
|
|
|
|
|
|
cv::Rect Det_CropRoi = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->cutRoi;
|
|
|
|
|
|
AI_Mark_Det::DetConfigResult detresult;
|
|
|
detresult.strCamName = m_strcameraName;
|
|
|
detresult.searchroi = pFuntion->searchRoi;
|
|
|
detresult.bDebugsaveimg = L255->result->in_shareImage->bDebugsaveImg;
|
|
|
detresult.pdetlog = m_pdetlog;
|
|
|
if (DET_MODE_MarkLine == L255->result->in_shareImage->Det_Mode)
|
|
|
{
|
|
|
detresult.bDetSaveImg = true;
|
|
|
}
|
|
|
|
|
|
detresult.searchroi.x -= Det_CropRoi.x;
|
|
|
detresult.searchroi.y -= Det_CropRoi.y;
|
|
|
// if (true)
|
|
|
// {
|
|
|
// detresult.bsaveprocessimg = true;
|
|
|
// }
|
|
|
|
|
|
cv::Mat detImg_mask = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask;
|
|
|
|
|
|
cv::Mat detimg = L255CutImg;
|
|
|
int re = m_MarkDet.Detect(detimg, &detresult);
|
|
|
|
|
|
if (re != 0)
|
|
|
{
|
|
|
return re;
|
|
|
}
|
|
|
if (detresult.nresult != 0)
|
|
|
{
|
|
|
return -1;
|
|
|
}
|
|
|
// printf("-------------------22222 \n");
|
|
|
// detresult.markRoi.x -= Det_CropRoi.x;
|
|
|
// detresult.markRoi.y -= Det_CropRoi.y;
|
|
|
|
|
|
int sheild_h = detresult.markRoi.height;
|
|
|
|
|
|
if (sheild_h < pFuntion->x_sheild_width)
|
|
|
{
|
|
|
sheild_h = pFuntion->x_sheild_width;
|
|
|
}
|
|
|
|
|
|
int sheild_w = detresult.markRoi.width;
|
|
|
|
|
|
if (sheild_w < pFuntion->y_sheild_width)
|
|
|
{
|
|
|
sheild_w = pFuntion->y_sheild_width;
|
|
|
}
|
|
|
|
|
|
int pc_x = detresult.markRoi.x + detresult.markRoi.width * 0.5;
|
|
|
int pc_y = detresult.markRoi.y + detresult.markRoi.height * 0.5;
|
|
|
|
|
|
cv::Rect sheildRoi;
|
|
|
sheildRoi.x = pc_x - sheild_w * .5;
|
|
|
sheildRoi.y = pc_y - sheild_h * .5;
|
|
|
sheildRoi.width = sheild_w;
|
|
|
sheildRoi.height = sheild_h;
|
|
|
|
|
|
if (CheckUtil::RoiInImg(sheildRoi, detImg_mask))
|
|
|
{
|
|
|
detImg_mask(sheildRoi).setTo(255);
|
|
|
}
|
|
|
|
|
|
cv::Rect sheild_x_roi;
|
|
|
sheild_x_roi.x = 0;
|
|
|
sheild_x_roi.y = pc_y - sheild_h * .5;
|
|
|
sheild_x_roi.width = detImg_mask.cols;
|
|
|
sheild_x_roi.height = sheild_h;
|
|
|
pMarkLineResult->markLine_Roi_X = sheild_x_roi;
|
|
|
if (CheckUtil::RoiInImg(sheild_x_roi, detImg_mask) && pFuntion->bUse_Roi_Sheild)
|
|
|
{
|
|
|
detImg_mask(sheild_x_roi).setTo(255);
|
|
|
}
|
|
|
|
|
|
cv::Rect sheild_y_roi;
|
|
|
sheild_y_roi.x = pc_x - sheild_w * 0.5;
|
|
|
sheild_y_roi.y = 0;
|
|
|
sheild_y_roi.width = sheild_w;
|
|
|
sheild_y_roi.height = detImg_mask.rows;
|
|
|
pMarkLineResult->markLine_Roi_Y = sheild_y_roi;
|
|
|
if (CheckUtil::RoiInImg(sheild_y_roi, detImg_mask) && pFuntion->bUse_Roi_Sheild)
|
|
|
{
|
|
|
detImg_mask(sheild_y_roi).setTo(255);
|
|
|
}
|
|
|
pMarkLineResult->nresult = 1;
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
int BQ_Det(cv::Mat detimg, shared_ptr<BQ_Result> pBQ_Result)
|
|
|
{
|
|
|
cv::resize(detimg, detimg, cv::Size(), 0.1, 0.1);
|
|
|
cv::Mat detimg_bin;
|
|
|
cv::GaussianBlur(detimg, detimg, cv::Size(3, 3), 0);
|
|
|
cv::threshold(detimg, detimg_bin, 25, 255, cv::THRESH_BINARY_INV);
|
|
|
vector<vector<Point>> contours;
|
|
|
cv::Rect result_roi;
|
|
|
findContours(detimg_bin, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);
|
|
|
// 找到最大轮廓
|
|
|
double max_area = 0;
|
|
|
int max_contour_index = 0;
|
|
|
for (int i = 0; i < contours.size(); i++)
|
|
|
{
|
|
|
double area = contourArea(contours[i]);
|
|
|
if (area > max_area)
|
|
|
{
|
|
|
max_area = area;
|
|
|
max_contour_index = i;
|
|
|
}
|
|
|
}
|
|
|
if (max_contour_index < 0)
|
|
|
{
|
|
|
cerr << "No contours found!" << endl;
|
|
|
return 7;
|
|
|
}
|
|
|
cv::Rect r_rect = boundingRect(contours[max_contour_index]);
|
|
|
cv::Rect rect(r_rect.x*10, r_rect.y*10, r_rect.width*10, r_rect.height*10);
|
|
|
if (max_contour_index >= 0)
|
|
|
{
|
|
|
pBQ_Result->pBQ_roiList.push_back(rect);
|
|
|
}
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::preDet_ZF(const cv::Mat &L255CutImg, std::shared_ptr<ImageAllResult> L255)
|
|
|
{
|
|
|
long ts = CheckUtil::getcurTime();
|
|
|
m_pCheck_Result->cameraBaseResult->pZF_Result = std::make_shared<ZF_Result>();
|
|
|
m_pCheck_Result->cameraBaseResult->pZF_Result->bShield_ZF = m_AnalysisyConfig.commonCheckConfig.baseConfig.bShield_ZF;
|
|
|
|
|
|
cv::Rect Det_CropRoi = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->cutRoi;
|
|
|
|
|
|
AI_ZF_Det::DetConfigResult detresult;
|
|
|
detresult.strCamName = m_strcameraName;
|
|
|
detresult.bDebugsaveimg = L255->result->in_shareImage->bDebugsaveImg;
|
|
|
detresult.pdetlog = m_pdetlog;
|
|
|
if (DET_MODE_ZF == L255->result->in_shareImage->Det_Mode)
|
|
|
{
|
|
|
detresult.bDetSaveImg = true;
|
|
|
}
|
|
|
detresult.pZF_Result = m_pCheck_Result->cameraBaseResult->pZF_Result;
|
|
|
|
|
|
cv::Mat detimg = L255CutImg;
|
|
|
int re = m_ZF_Det.Detect(detimg, &detresult);
|
|
|
if (re != 0)
|
|
|
{
|
|
|
return re;
|
|
|
}
|
|
|
|
|
|
// 如果要屏蔽字符
|
|
|
if (m_pCheck_Result->cameraBaseResult->pZF_Result->bShield_ZF)
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_2, "preDet_ZF", "shieldZF is Open");
|
|
|
cv::Mat detImg_mask = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask;
|
|
|
for (int i = 0; i < m_pCheck_Result->cameraBaseResult->pZF_Result->pZF_roiList.size(); i++)
|
|
|
{
|
|
|
cv::Rect boundingRect = m_pCheck_Result->cameraBaseResult->pZF_Result->pZF_roiList.at(i);
|
|
|
detImg_mask(boundingRect).setTo(255);
|
|
|
}
|
|
|
if (L255->result->in_shareImage->bDebugsaveImg)
|
|
|
{
|
|
|
cv::imwrite("sheildImg.png", m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_2, "preDet_ZF", "shieldZF is false");
|
|
|
}
|
|
|
std::shared_ptr<ZF_Result> pZF_Result = m_pCheck_Result->cameraBaseResult->pZF_Result; // zf 检测结果
|
|
|
pZF_Result->ZF_centerPoint.erase(pZF_Result->ZF_centerPoint.begin(), pZF_Result->ZF_centerPoint.end());
|
|
|
for (int i = 0; i < pZF_Result->pZF_roiList.size(); i++)
|
|
|
{
|
|
|
// 获取当前轮廓的边界矩形
|
|
|
cv::Rect boundingRect = pZF_Result->pZF_roiList.at(i);
|
|
|
cv::Point p;
|
|
|
p.x = boundingRect.x + boundingRect.width * 0.5f;
|
|
|
p.y = boundingRect.y + boundingRect.height * 0.5f;
|
|
|
// printf("--- zf %d %d %d %d \n", boundingRect.x, boundingRect.y, boundingRect.width, boundingRect.height);
|
|
|
pZF_Result->ZF_centerPoint.push_back(p);
|
|
|
}
|
|
|
|
|
|
if (L255->result->in_shareImage->bDebugsaveImg)
|
|
|
{
|
|
|
cv::Mat showimg = detimg.clone();
|
|
|
for (int i = 0; i < m_pCheck_Result->cameraBaseResult->pZF_Result->pZF_roiList.size(); i++)
|
|
|
{
|
|
|
cv::Rect boundingRect = m_pCheck_Result->cameraBaseResult->pZF_Result->pZF_roiList.at(i);
|
|
|
|
|
|
cv::rectangle(showimg, boundingRect, cv::Scalar(200), 5);
|
|
|
}
|
|
|
cv::imwrite("zf_result.png", showimg);
|
|
|
}
|
|
|
m_pCheck_Result->cameraBaseResult->pZF_Result->nresult = 0;
|
|
|
long te = CheckUtil::getcurTime();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "preDet_ZF", "==================End zf num %ld re = %d time %ld ms ", m_pCheck_Result->cameraBaseResult->pZF_Result->pZF_roiList.size(), re, te - ts);
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::preDet_BQ(const cv::Mat &L255CutImg, std::shared_ptr<ImageAllResult> L255)
|
|
|
{
|
|
|
long ts = CheckUtil::getcurTime();
|
|
|
m_pCheck_Result->cameraBaseResult->pBQ_Result = std::make_shared<BQ_Result>();
|
|
|
m_pCheck_Result->cameraBaseResult->pBQ_Result->bShield_BQ = m_AnalysisyConfig.commonCheckConfig.baseConfig.bShield_BQ;
|
|
|
|
|
|
cv::Rect Det_CropRoi = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->cutRoi;
|
|
|
|
|
|
AI_BQ_Det::DetConfigResult detresult;
|
|
|
detresult.strCamName = m_strcameraName;
|
|
|
detresult.bDebugsaveimg = L255->result->in_shareImage->bDebugsaveImg;
|
|
|
detresult.pdetlog = m_pdetlog;
|
|
|
if (DET_MODE_ZF == L255->result->in_shareImage->Det_Mode)
|
|
|
{
|
|
|
detresult.bDetSaveImg = true;
|
|
|
}
|
|
|
detresult.pBQ_Result = m_pCheck_Result->cameraBaseResult->pBQ_Result;
|
|
|
|
|
|
cv::Mat detimg = L255CutImg;
|
|
|
int re = m_BQ_Det.Detect(detimg, &detresult);
|
|
|
if (re != 0)
|
|
|
{
|
|
|
return re;
|
|
|
}
|
|
|
|
|
|
// 如果要屏蔽标签
|
|
|
if (m_pCheck_Result->cameraBaseResult->pBQ_Result->bShield_BQ)
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_2, "preDet_BQ", "shieldBQ is Open");
|
|
|
cv::Mat detImg_mask = m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask;
|
|
|
for (int i = 0; i < m_pCheck_Result->cameraBaseResult->pBQ_Result->pBQ_roiList.size(); i++)
|
|
|
{
|
|
|
cv::Rect boundingRect = m_pCheck_Result->cameraBaseResult->pBQ_Result->pBQ_roiList.at(i);
|
|
|
boundingRect.x -= 5;
|
|
|
boundingRect.y -= 5;
|
|
|
boundingRect.width += 10;
|
|
|
boundingRect.height += 10;
|
|
|
detImg_mask(boundingRect).setTo(255);
|
|
|
}
|
|
|
if (L255->result->in_shareImage->bDebugsaveImg)
|
|
|
{
|
|
|
cv::imwrite("sheildImg.png", m_pCheck_Result->cameraBaseResult->pEdgeDetResult->shieldMask);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_2, "preDet_BQ", "shieldBQ is false");
|
|
|
}
|
|
|
std::shared_ptr<BQ_Result> pBQ_Result = m_pCheck_Result->cameraBaseResult->pBQ_Result; // BQ 检测结果
|
|
|
pBQ_Result->BQ_centerPoint.erase(pBQ_Result->BQ_centerPoint.begin(), pBQ_Result->BQ_centerPoint.end());
|
|
|
for (int i = 0; i < pBQ_Result->pBQ_roiList.size(); i++)
|
|
|
{
|
|
|
// 获取当前轮廓的边界矩形
|
|
|
cv::Rect boundingRect = pBQ_Result->pBQ_roiList.at(i);
|
|
|
cv::Point p;
|
|
|
p.x = boundingRect.x + boundingRect.width * 0.5f;
|
|
|
p.y = boundingRect.y + boundingRect.height * 0.5f;
|
|
|
// printf("--- zf %d %d %d %d \n", boundingRect.x, boundingRect.y, boundingRect.width, boundingRect.height);
|
|
|
pBQ_Result->BQ_centerPoint.push_back(p);
|
|
|
}
|
|
|
|
|
|
if (L255->result->in_shareImage->bDebugsaveImg)
|
|
|
{
|
|
|
cv::Mat showimg = detimg.clone();
|
|
|
for (int i = 0; i < m_pCheck_Result->cameraBaseResult->pBQ_Result->pBQ_roiList.size(); i++)
|
|
|
{
|
|
|
cv::Rect boundingRect = m_pCheck_Result->cameraBaseResult->pBQ_Result->pBQ_roiList.at(i);
|
|
|
|
|
|
cv::rectangle(showimg, boundingRect, cv::Scalar(200), 5);
|
|
|
}
|
|
|
cv::imwrite("bq_result.png", showimg);
|
|
|
}
|
|
|
m_pCheck_Result->cameraBaseResult->pBQ_Result->nresult = 0;
|
|
|
long te = CheckUtil::getcurTime();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "preDet_BQ", "==================End bq num %ld re = %d time %ld ms ", m_pCheck_Result->cameraBaseResult->pBQ_Result->pBQ_roiList.size(), re, te - ts);
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int CameraCheckAnalysisy::Init(std::string strcameraName)
|
|
|
{
|
|
|
m_strcameraName = strcameraName;
|
|
|
printf("CameraCheckAnalysisy::Init start \n");
|
|
|
SetNewConfig();
|
|
|
int re = 0;
|
|
|
re = InitCheckAnalysisy();
|
|
|
if (CHECK_OK != re)
|
|
|
{
|
|
|
printf("InitCheckAnalysisy error\n");
|
|
|
return -1;
|
|
|
}
|
|
|
|
|
|
re = InitRun();
|
|
|
if (CHECK_OK != re)
|
|
|
{
|
|
|
printf("InitRun error\n");
|
|
|
m_nErrorCode = re;
|
|
|
return m_nErrorCode;
|
|
|
}
|
|
|
|
|
|
// m_pQX_Merge_Analysis->SetbaseCheckFunction(m_strcameraName, m_pChannelFuntion, m_pbaseCheckFunction);
|
|
|
|
|
|
printf("CameraCheckAnalysisy::Init end \n");
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int CameraCheckAnalysisy::StartCheck(std::shared_ptr<CameraResult> pCamera_Check_Result)
|
|
|
{
|
|
|
if (m_bHaveImgeDet)
|
|
|
{
|
|
|
return -1;
|
|
|
}
|
|
|
{
|
|
|
std::lock_guard<std::mutex> lock(mtx_WaiteImg);
|
|
|
m_pCheck_Result = pCamera_Check_Result;
|
|
|
if (m_pCheck_Result->bJson)
|
|
|
{
|
|
|
// 如果是 复测 直接进入 参数判断阶段。
|
|
|
m_pCheck_Result->SetCheckStep(Check_Step_ResultParamJudg); // 进入预处理阶段
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
// m_pCheck_Result->SetCheckStep(Check_Step_PreDet); // 进入预处理阶段
|
|
|
}
|
|
|
|
|
|
m_bHaveImgeDet = true;
|
|
|
m_pdetlog = m_pCheck_Result->detlog;
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "Camera StartCheck", "==================start %s", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
}
|
|
|
cond_WaiteImg.notify_all();
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::StartThread()
|
|
|
{
|
|
|
m_bExit = false;
|
|
|
// 开启检测线程
|
|
|
ptr_thread_Run = std::make_shared<std::thread>(std::bind(&CameraCheckAnalysisy::Run, this));
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::StopThread()
|
|
|
{
|
|
|
m_bExit = true;
|
|
|
if (ptr_thread_Run != nullptr)
|
|
|
{
|
|
|
if (ptr_thread_Run->joinable())
|
|
|
{
|
|
|
ptr_thread_Run->join();
|
|
|
}
|
|
|
}
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::InitRun()
|
|
|
{
|
|
|
int re;
|
|
|
re = StartThread();
|
|
|
if (CHECK_OK != re)
|
|
|
{
|
|
|
return re;
|
|
|
}
|
|
|
m_bInitSucc = true;
|
|
|
// 检测前更新参数
|
|
|
SetNewConfig();
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::InitCheckAnalysisy()
|
|
|
{
|
|
|
int re = 0;
|
|
|
for (int i = 0; i < IMGCHECKANALYSISY_NUM; i++)
|
|
|
{
|
|
|
RunInfoST RunConfig;
|
|
|
RunConfig.nThreadIdx = i;
|
|
|
|
|
|
m_pImgCheckAnalysisy[i] = ImgCheckBase::GetInstance();
|
|
|
re = m_pImgCheckAnalysisy[i]->UpdateConfig((void *)&RunConfig, CHECK_CONFIG_Run);
|
|
|
if (re != 0)
|
|
|
{
|
|
|
printf("UpdateConfig %d Fail %s\n", CHECK_CONFIG_Run, m_pImgCheckAnalysisy[i]->GetErrorInfo().c_str());
|
|
|
return re;
|
|
|
}
|
|
|
re = m_pImgCheckAnalysisy[i]->UpdateConfig((void *)m_pConfig.get(), CHECK_CONFIG_Module);
|
|
|
if (re != 0)
|
|
|
{
|
|
|
printf("UpdateConfig %d Fail %s\n", CHECK_CONFIG_Module, m_pImgCheckAnalysisy[i]->GetErrorInfo().c_str());
|
|
|
return re;
|
|
|
}
|
|
|
|
|
|
re = m_pImgCheckAnalysisy[i]->RunStart();
|
|
|
if (re != 0)
|
|
|
{
|
|
|
printf("cami %s RunStart Fail ==%d\n", m_strcameraName.c_str(), re);
|
|
|
return re;
|
|
|
}
|
|
|
printf(">>>>cami %s InitCheckAnalysisy: ImgCheckThread %d / %d Start Succ \n", m_strcameraName.c_str(), i, IMGCHECKANALYSISY_NUM);
|
|
|
|
|
|
if (re != 0)
|
|
|
{
|
|
|
return re;
|
|
|
}
|
|
|
}
|
|
|
return 0;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::CheckImgRun()
|
|
|
{
|
|
|
std::string strCameraName = m_pCheck_Result->cameraBaseResult->strCameraName;
|
|
|
int re = 0;
|
|
|
Check_Step curcheckStep = m_pCheck_Result->GetCheckStep();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "CheckImgRun", "Cam %s ------Product_Off_X_mm %f ",
|
|
|
m_strcameraName.c_str(), m_AnalysisyConfig.commonCheckConfig.baseConfig.fProduct_Off_X_mm);
|
|
|
// 如果是未检测状态，则开始预处理
|
|
|
if (curcheckStep == Check_Step_NODet)
|
|
|
{
|
|
|
std::string strconfigchannel = m_pbaseCheckFunction->edgeChannel.strChannel;
|
|
|
|
|
|
if (strconfigchannel == "")
|
|
|
{
|
|
|
strconfigchannel = "L255";
|
|
|
}
|
|
|
if (m_pCheck_Result->IsHaveL255())
|
|
|
{
|
|
|
curcheckStep = Check_Step_PreDet; // 进入到预图片检测阶段
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "CheckImgRun", "cam %s : Have L255 Img Start Check_Step_PreDet", strCameraName.c_str());
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (!m_pCheck_Result->getImgPushComplate())
|
|
|
{
|
|
|
return 1;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "Error cam %s : NO L255 Img", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
curcheckStep = Check_Step_ImgeDet_End; // 图片送图完成， 没有 L255 强制 结束
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "CheckImgRun", "Cam %s ------------curcheckStep:%d ",
|
|
|
m_strcameraName.c_str(), curcheckStep);
|
|
|
// getchar();
|
|
|
// 检测前更新参数
|
|
|
SetNewConfig();
|
|
|
// 预处理
|
|
|
if (curcheckStep == Check_Step_PreDet)
|
|
|
{
|
|
|
// m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "cam %s : Check_Step_PreDet", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
int re = Detect_Pre();
|
|
|
if (re != 0)
|
|
|
{
|
|
|
// 图片 送图没有完成，则继续等待。
|
|
|
if (!m_pCheck_Result->getImgPushComplate())
|
|
|
{
|
|
|
return 1;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "Error cam %s : Detect_Pre error", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
curcheckStep = Check_Step_ImgeDet_End; // Detect_Pre error
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
if (re == 9)
|
|
|
{
|
|
|
curcheckStep = Check_Step_ImgeDet_End; // 边缘检测模式，直接退出
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
curcheckStep = Check_Step_ImgeDet; // 进入检测
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// 检测每张图片
|
|
|
if (curcheckStep == Check_Step_ImgeDet)
|
|
|
{
|
|
|
// m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "cam %s : Check_Step_ImgeDet", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
// 检测每张图片
|
|
|
re = Detect_Images();
|
|
|
|
|
|
if (re != 0)
|
|
|
{
|
|
|
// 图片 送图没有完成，则继续等待。
|
|
|
if (!m_pCheck_Result->getImgPushComplate())
|
|
|
{
|
|
|
return 1;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "Error cam %s : Detect_Images error", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
curcheckStep = Check_Step_ImgeDet_End; // Detect_Images error
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
curcheckStep = Check_Step_ResultParamJudg; // 进入到测结果进行参数判断
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// 对检测结果进行参数判断，判断是否NG.
|
|
|
if (curcheckStep == Check_Step_ResultParamJudg)
|
|
|
{
|
|
|
// m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "cam %s : Check_Step_ResultParamJudg", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
// 检测每张图片
|
|
|
re = ResultParamJudge();
|
|
|
// 如果有异常
|
|
|
if (re != 0)
|
|
|
{
|
|
|
// 图片 送图没有完成，则继续等待。
|
|
|
if (!m_pCheck_Result->getImgPushComplate())
|
|
|
{
|
|
|
return 1;
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "Error cam %s : ResultParamJudge error", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
curcheckStep = Check_Step_ImgeDet_End; // ResultParamJudge error
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
curcheckStep = Check_Step_ImgeDet_End; // 检测结束
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// 图片检测完成
|
|
|
if (curcheckStep == Check_Step_ImgeDet_End)
|
|
|
{
|
|
|
// m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "cam %s : Check_Step_ImgeDet_End", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
|
|
|
// 所有图片都送完了。
|
|
|
if (m_pCheck_Result->getImgPushComplate())
|
|
|
{
|
|
|
curcheckStep = Check_Step_Complete;
|
|
|
m_pCheck_Result->SetCheckStep(curcheckStep);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
// printf("========came %s wait img send end \n", m_strcameraName.c_str());
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// 处理完成
|
|
|
if (curcheckStep == Check_Step_Complete)
|
|
|
{
|
|
|
long tend = CheckUtil::getcurTime();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "cam %s : Check_Step_Complete", m_pCheck_Result->cameraBaseResult->strCameraName.c_str());
|
|
|
std::string strTimg = CheckUtil::getCurTimeHMS();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_0, "CheckImgRun", "========came %s Check ALL end time %ld ms %s",
|
|
|
m_pCheck_Result->cameraBaseResult->strCameraName.c_str(), tend - m_pCheck_Result->time_start, strTimg.c_str());
|
|
|
InsertCameraLog();
|
|
|
ngImgSave();
|
|
|
std::lock_guard<std::mutex> lock(mtx_WaiteImg);
|
|
|
m_bHaveImgeDet = false;
|
|
|
|
|
|
m_pCheck_Result.reset();
|
|
|
}
|
|
|
// m_pdetlog->printLog(m_strcameraName);
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int CameraCheckAnalysisy::Run()
|
|
|
{
|
|
|
|
|
|
while (!m_bExit)
|
|
|
{
|
|
|
std::this_thread::sleep_for(std::chrono::milliseconds(20));
|
|
|
WaitDetImg();
|
|
|
int re = CheckImgRun();
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int CameraCheckAnalysisy::ImgEdge(cv::Mat img, cv::Mat &detMaskImg, cv::Rect &roi, int productIdx)
|
|
|
{
|
|
|
int re = 0;
|
|
|
|
|
|
return re;
|
|
|
}
|
|
|
|
|
|
int CameraCheckAnalysisy::InsertCameraLog()
|
|
|
{
|
|
|
int ImageNum = m_pCheck_Result->ImageALLDetResultList.size();
|
|
|
for (int imgidx = 0; imgidx < ImageNum; imgidx++)
|
|
|
{
|
|
|
std::shared_ptr<ImageAllResult> pImageResult = m_pCheck_Result->ImageALLDetResultList.at(imgidx);
|
|
|
std::shared_ptr<CheckResult> m_CheckResult_shareP = pImageResult->result; // 返回结果
|
|
|
// 1、把图片的相关日志 写到 返回 日志中。
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
pImageResult->detlog->logList.begin(), pImageResult->detlog->logList.end());
|
|
|
std::string str = "";
|
|
|
char buffer[256];
|
|
|
// 2、把缺陷信息 写的 返回日志中。
|
|
|
{
|
|
|
|
|
|
std::shared_ptr<One_Image_CheckResult_> pDetResult = pImageResult->pDetResult; // 检测结果
|
|
|
int qxNum = 0;
|
|
|
if (pDetResult->pQx_ErrorList)
|
|
|
{
|
|
|
qxNum = pDetResult->pQx_ErrorList->size();
|
|
|
|
|
|
{
|
|
|
sprintf(buffer, " =====================NG num %d=============================", pImageResult->NG_num);
|
|
|
str = buffer;
|
|
|
m_CheckResult_shareP->det_LogList.push_back(str);
|
|
|
}
|
|
|
for (int qxidx = 0; qxidx < qxNum; qxidx++)
|
|
|
{
|
|
|
QX_ERROR_INFO_ *QX_info = &pDetResult->pQx_ErrorList->at(qxidx);
|
|
|
|
|
|
if (QX_info->result == QX_RESULT_TYPE_NG)
|
|
|
{
|
|
|
std::shared_ptr<DetLog> pQxLog = pDetResult->pQx_ErrorList->at(qxidx).detlog;
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
pQxLog->logList.begin(), pQxLog->logList.end());
|
|
|
}
|
|
|
}
|
|
|
|
|
|
{
|
|
|
sprintf(buffer, " =====================YS num %d=============================", pImageResult->YS_num);
|
|
|
str = buffer;
|
|
|
m_CheckResult_shareP->det_LogList.push_back(str);
|
|
|
}
|
|
|
for (int qxidx = 0; qxidx < qxNum; qxidx++)
|
|
|
{
|
|
|
QX_ERROR_INFO_ *QX_info = &pDetResult->pQx_ErrorList->at(qxidx);
|
|
|
|
|
|
if (QX_info->result == QX_RESULT_TYPE_YS)
|
|
|
{
|
|
|
std::shared_ptr<DetLog> pQxLog = pDetResult->pQx_ErrorList->at(qxidx).detlog;
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
pQxLog->logList.begin(), pQxLog->logList.end());
|
|
|
}
|
|
|
}
|
|
|
|
|
|
{
|
|
|
sprintf(buffer, " =====================OK num %d=============================", pImageResult->Ok_num);
|
|
|
str = buffer;
|
|
|
m_CheckResult_shareP->det_LogList.push_back(str);
|
|
|
}
|
|
|
for (int qxidx = 0; qxidx < qxNum; qxidx++)
|
|
|
{
|
|
|
QX_ERROR_INFO_ *QX_info = &pDetResult->pQx_ErrorList->at(qxidx);
|
|
|
|
|
|
if (QX_info->result == QX_RESULT_TYPE_OK)
|
|
|
{
|
|
|
std::shared_ptr<DetLog> pQxLog = pDetResult->pQx_ErrorList->at(qxidx).detlog;
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
pQxLog->logList.begin(), pQxLog->logList.end());
|
|
|
}
|
|
|
}
|
|
|
|
|
|
{
|
|
|
sprintf(buffer, " =====================NO Judge num %d=============================", pImageResult->NoJudge_num);
|
|
|
str = buffer;
|
|
|
m_CheckResult_shareP->det_LogList.push_back(str);
|
|
|
}
|
|
|
for (int qxidx = 0; qxidx < qxNum; qxidx++)
|
|
|
{
|
|
|
QX_ERROR_INFO_ *QX_info = &pDetResult->pQx_ErrorList->at(qxidx);
|
|
|
|
|
|
if (QX_info->result == QX_RESULT_TYPE_NoJduge)
|
|
|
{
|
|
|
std::shared_ptr<DetLog> pQxLog = pDetResult->pQx_ErrorList->at(qxidx).detlog;
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
pQxLog->logList.begin(), pQxLog->logList.end());
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
{
|
|
|
sprintf(buffer, " =====================Cam Log =============================");
|
|
|
str = buffer;
|
|
|
m_CheckResult_shareP->det_LogList.push_back(str);
|
|
|
}
|
|
|
// 3、把相机的日志 写到 返回日志中。
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
m_pCheck_Result->detlog->logList.begin(), m_pCheck_Result->detlog->logList.end());
|
|
|
|
|
|
{
|
|
|
sprintf(buffer, " =====================Product Log =============================");
|
|
|
str = buffer;
|
|
|
m_CheckResult_shareP->det_LogList.push_back(str);
|
|
|
}
|
|
|
// 4、把产品相关日志 写到 返回日志中。
|
|
|
m_CheckResult_shareP->det_LogList.insert(m_CheckResult_shareP->det_LogList.end(),
|
|
|
m_pCheck_Result->productBaseResult->detlog->logList.begin(), m_pCheck_Result->productBaseResult->detlog->logList.end());
|
|
|
}
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
int writeLog(std::string strSavePath, std::vector<std::string> logList)
|
|
|
{
|
|
|
std::string str = strSavePath + ".txt";
|
|
|
// 打开文件
|
|
|
std::ofstream outFile(str);
|
|
|
|
|
|
// 检查文件是否成功打开
|
|
|
if (!outFile)
|
|
|
{
|
|
|
std::cerr << "Failed to open file." << std::endl;
|
|
|
return 1;
|
|
|
}
|
|
|
|
|
|
// 将vector中的内容写入文件
|
|
|
for (const auto &str : logList)
|
|
|
{
|
|
|
// printf("%s \n",str.c_str());
|
|
|
outFile << str << std::endl;
|
|
|
}
|
|
|
|
|
|
// 关闭文件
|
|
|
outFile.close();
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
static std::string SanitizePathComponent(const std::string& input) {
|
|
|
std::string result;
|
|
|
result.reserve(input.size());
|
|
|
for (char ch : input) {
|
|
|
// 只允许字母、数字、下划线、点、短横线，其余替换为下划线
|
|
|
if (isalnum(static_cast<unsigned char>(ch)) || ch == '_' || ch == '.' || ch == '-') {
|
|
|
result.push_back(ch);
|
|
|
} else {
|
|
|
result.push_back('_');
|
|
|
}
|
|
|
}
|
|
|
// 防止相对路径伪装（如 ".", ".."）
|
|
|
if (result == "." || result == "..") {
|
|
|
result = "_";
|
|
|
}
|
|
|
return result;
|
|
|
}
|
|
|
|
|
|
int CameraCheckAnalysisy::ngImgSave() {
|
|
|
// 拷贝智能指针，保证在异步任务中引用计数有效
|
|
|
auto result_copy = m_pCheck_Result;
|
|
|
std::string save_path_root = "/home/aidlux/BOE/FOG/cloud/";
|
|
|
|
|
|
auto task = std::async(std::launch::async, [result_copy, save_path_root]() {
|
|
|
try {
|
|
|
if (!result_copy) return;
|
|
|
|
|
|
// ---------- 目录清理（加锁防止并发删除）----------
|
|
|
{
|
|
|
static std::mutex cleanup_mutex; // 静态锁，所有实例共享
|
|
|
std::lock_guard<std::mutex> lock(cleanup_mutex);
|
|
|
|
|
|
DIR* dir = opendir(save_path_root.c_str());
|
|
|
if (dir) {
|
|
|
std::vector<std::pair<std::string, time_t>> dirs;
|
|
|
struct dirent* entry;
|
|
|
while ((entry = readdir(dir)) != nullptr) {
|
|
|
std::string name = entry->d_name;
|
|
|
if (name == "." || name == "..") continue;
|
|
|
std::string full_path = save_path_root + name;
|
|
|
struct stat st;
|
|
|
if (stat(full_path.c_str(), &st) == 0 && S_ISDIR(st.st_mode)) {
|
|
|
struct stat lst;
|
|
|
if (lstat(full_path.c_str(), &lst) == 0 && !S_ISLNK(lst.st_mode)) {
|
|
|
dirs.emplace_back(full_path, st.st_mtime);
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
closedir(dir);
|
|
|
|
|
|
if (dirs.size() > 100) {
|
|
|
std::sort(dirs.begin(), dirs.end(),
|
|
|
[](auto& a, auto& b) { return a.second < b.second; });
|
|
|
const std::string& oldest_dir = dirs.front().first;
|
|
|
if (!oldest_dir.empty() && oldest_dir != save_path_root) {
|
|
|
CheckUtil::DeleteDir(oldest_dir);
|
|
|
}
|
|
|
}
|
|
|
} else {
|
|
|
cerr << ("ERROR: cannot open root directory for cleanup");
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// ---------- 保存NG图像 ----------
|
|
|
int ImageNum = static_cast<int>(result_copy->ImageALLDetResultList.size());
|
|
|
for (int imgidx = 0; imgidx < ImageNum; ++imgidx) {
|
|
|
auto pImageResult = result_copy->ImageALLDetResultList.at(imgidx);
|
|
|
if (!pImageResult) continue;
|
|
|
auto m_CheckResult_shareP = pImageResult->result;
|
|
|
if (!m_CheckResult_shareP) continue;
|
|
|
|
|
|
// 提取并净化路径组件
|
|
|
std::string raw_product = result_copy->productBaseResult ?
|
|
|
result_copy->productBaseResult->strproductName : "unknown";
|
|
|
std::string raw_camera = result_copy->cameraBaseResult ?
|
|
|
result_copy->cameraBaseResult->strCameraName : "unknown";
|
|
|
std::string raw_channel = m_CheckResult_shareP->basicResult.strChannel;
|
|
|
|
|
|
std::string safe_product = SanitizePathComponent(raw_product);
|
|
|
std::string safe_camera = SanitizePathComponent(raw_camera);
|
|
|
std::string safe_channel = SanitizePathComponent(raw_channel);
|
|
|
|
|
|
// 只保存NG结果且图像数据非空
|
|
|
if ((m_CheckResult_shareP->nresult == 1 || safe_channel == "L255") &&
|
|
|
!m_CheckResult_shareP->resultMaskImg.empty() &&
|
|
|
!m_CheckResult_shareP->resultimg.empty() &&
|
|
|
!m_CheckResult_shareP->cutSrcimg.empty()) {
|
|
|
|
|
|
// 构建保存目录（使用净化后的组件）
|
|
|
std::string save_dir = save_path_root + "/" + safe_product + "/" + safe_camera + "/";
|
|
|
if (CheckUtil::CreateDir(save_dir) != 0) {
|
|
|
cerr << ("Failed to create directory: " + save_dir);
|
|
|
continue;
|
|
|
}
|
|
|
|
|
|
// 深拷贝图像数据，避免原始数据被其他线程修改
|
|
|
cv::Mat mask_img = m_CheckResult_shareP->resultMaskImg.clone();
|
|
|
cv::Mat result_img = m_CheckResult_shareP->resultimg.clone();
|
|
|
cv::Mat cut_img = m_CheckResult_shareP->cutSrcimg.clone();
|
|
|
|
|
|
try {
|
|
|
// cv::imwrite(save_dir + safe_channel + "_AIMask.png", mask_img);
|
|
|
// cv::imwrite(save_dir + safe_channel + "_Resultimg.png", result_img);
|
|
|
// cv::imwrite(save_dir + safe_channel + "_CutImg.png", cut_img);
|
|
|
writeLog(save_dir+ safe_channel + "log", m_CheckResult_shareP->det_LogList);
|
|
|
} catch (const cv::Exception& e) {
|
|
|
cerr << ("OpenCV exception: " + std::string(e.what()));
|
|
|
} catch (const std::exception& e) {
|
|
|
cerr << ("Standard exception: " + std::string(e.what()));
|
|
|
} catch (...) {
|
|
|
cerr << ("Unknown exception during image save");
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
} catch (const std::exception& e) {
|
|
|
cerr << ("Future get exception: " + std::string(e.what()));
|
|
|
} catch (...) {
|
|
|
cerr << ("Future get unknown exception");
|
|
|
}
|
|
|
});
|
|
|
|
|
|
// ---------- 管理 future 队列（清理已完成任务）----------
|
|
|
{
|
|
|
std::lock_guard<std::mutex> lock(g_ngImgSave_mutex);
|
|
|
g_ngImgSave_futures.emplace_back(std::move(task));
|
|
|
|
|
|
size_t write_idx = 0;
|
|
|
for (size_t i = 0; i < g_ngImgSave_futures.size(); ++i) {
|
|
|
auto& f = g_ngImgSave_futures[i];
|
|
|
// 检查任务是否已就绪（非阻塞）
|
|
|
if (f.valid() && f.wait_for(std::chrono::seconds(0)) == std::future_status::ready) {
|
|
|
try {
|
|
|
f.get();
|
|
|
} catch (const std::exception& e) {
|
|
|
cerr << ("Future get exception: " + std::string(e.what()));
|
|
|
} catch (...) {
|
|
|
cerr << ("Future get unknown exception");
|
|
|
}
|
|
|
} else {
|
|
|
// 保留未完成的任务
|
|
|
if (i != write_idx) {
|
|
|
g_ngImgSave_futures[write_idx] = std::move(g_ngImgSave_futures[i]);
|
|
|
}
|
|
|
++write_idx;
|
|
|
}
|
|
|
}
|
|
|
g_ngImgSave_futures.resize(write_idx);
|
|
|
|
|
|
// 限制队列最大长度，防止无限堆积（例如超过100则丢弃最老的任务）
|
|
|
const size_t MAX_PENDING_TASKS = 20;
|
|
|
if (g_ngImgSave_futures.size() > MAX_PENDING_TASKS) {
|
|
|
// 丢弃最早未完成的任务（注意：需要确保其可被销毁，不阻塞）
|
|
|
g_ngImgSave_futures.erase(g_ngImgSave_futures.begin());
|
|
|
}
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
|
|
|
ChannelCheckFunction *CameraCheckAnalysisy::GetChannelFuntion(std::string strChannelName)
|
|
|
{
|
|
|
ChannelCheckFunction *p = NULL;
|
|
|
// printf("m_pChannelFuntion->channelFunctionArr.size() %zu\n", m_pChannelFuntion->channelFunctionArr.size());
|
|
|
for (int i = 0; i < m_pChannelFuntion->channelFunctionArr.size(); i++)
|
|
|
{
|
|
|
if (CheckUtil::compareIgnoreCase(m_pChannelFuntion->channelFunctionArr[i].strChannelName, strChannelName))
|
|
|
{
|
|
|
p = &m_pChannelFuntion->channelFunctionArr[i];
|
|
|
}
|
|
|
}
|
|
|
|
|
|
return p;
|
|
|
}
|
|
|
int CameraCheckAnalysisy::SetNewConfig()
|
|
|
{
|
|
|
|
|
|
if (m_pConfig.get() == nullptr)
|
|
|
{
|
|
|
return 1;
|
|
|
}
|
|
|
if (m_nConfigIdx < 0)
|
|
|
{
|
|
|
m_nConfigIdx = m_pConfig->GetConfigIdx();
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "update config", "CameraCheckAnalysisy:%s m_nConfigIdx %d", m_strcameraName.c_str(), m_nConfigIdx);
|
|
|
}
|
|
|
|
|
|
if (m_pConfig->GetConfigUpdataStatus(ConfigType_Analysisy_Common_XL, m_nConfigIdx))
|
|
|
{
|
|
|
m_pConfig->GetConfig(ConfigType_Analysisy_Common_XL, &m_AnalysisyConfig);
|
|
|
if (m_AnalysisyConfig.commonCheckConfig.nodeConfigArr.size() > 0)
|
|
|
{
|
|
|
m_pCommonAnalysisyConfig = &m_AnalysisyConfig.commonCheckConfig.nodeConfigArr.at(0);
|
|
|
m_imageResultJudge.UpdateConfig(m_strcameraName);
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
m_pCommonAnalysisyConfig = NULL;
|
|
|
printf("m_AnalysisyConfig.commonCheckConfig.nodeConfigArr == 0 \n");
|
|
|
}
|
|
|
m_pdetlog->AddCheckstr(PrintLevel_1, "update config", "Get New analysisy config");
|
|
|
// printf("*******ALLImgCheckAnalysisy m_pConfig*********************** Update GetConfig \n");
|
|
|
// m_AnalysisyConfig.checkFunction.print("Update GetConfig");
|
|
|
}
|
|
|
|
|
|
return 0;
|
|
|
}
|
|
|
|
|
|
ImgCheckBase *CameraCheckAnalysisy::GetDealResult(int idx)
|
|
|
{
|
|
|
|
|
|
// 特殊情况
|
|
|
if (idx >= 0 && idx < IMGCHECKANALYSISY_NUM)
|
|
|
{
|
|
|
|
|
|
if (CHECK_THREAD_STATUS_IDLE == m_pImgCheckAnalysisy[idx]->GetStatus())
|
|
|
{
|
|
|
// printf("*-*-*-*-*-*-*-*- use m_pImgCheckAnalysisy %d \n", idx);
|
|
|
return m_pImgCheckAnalysisy[idx];
|
|
|
}
|
|
|
else
|
|
|
{
|
|
|
return NULL;
|
|
|
}
|
|
|
}
|
|
|
|
|
|
int re = 0;
|
|
|
|
|
|
int nidx = nLastCheckAnalysisyThreadIdx;
|
|
|
|
|
|
for (int i = 0; i < IMGCHECKANALYSISY_NUM; i++)
|
|
|
{
|
|
|
if (nidx >= IMGCHECKANALYSISY_NUM)
|
|
|
{
|
|
|
nidx = 0;
|
|
|
}
|
|
|
if (CHECK_THREAD_STATUS_IDLE == m_pImgCheckAnalysisy[nidx]->GetStatus())
|
|
|
{
|
|
|
nLastCheckAnalysisyThreadIdx = nidx + 1;
|
|
|
// printf("*-*-*-*-*-*-*-*- use m_pImgCheckAnalysisy %d \n", nidx);
|
|
|
return m_pImgCheckAnalysisy[nidx];
|
|
|
}
|
|
|
nidx++;
|
|
|
}
|
|
|
return NULL;
|
|
|
} |
