BOE_ZB_BACKPLATE/AlgorithmModule/src/ImgCheckAnalysisy.cpp

/*
 * @Author: your name
 * @Date: 2022-04-20 15:50:00
 * @LastEditTime: 2025-09-23 11:34:53
 * @LastEditors: xiewenji 527774126@qq.com
 * @Description: 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
 * @FilePath: /ZCXD_MonitorPlatform/src/CoreLogicModule/src/CamDeal.cpp
 */
#include "ImgCheckAnalysisy.hpp"
#include "CheckUtil.hpp"
#include "Define.h"
#include <omp.h>
#include "AICommonDefine.h"
#include "AlignShare.h"
#include <algorithm>
#include <cctype>

// 把手判定参数：
// 每个非空的"把手区域"附近都应该有一个把手：凸起宽高与该区域外接矩形宽高的比值落在下面范围内才算匹配
#define HANDLE_SIZE_MIN_RATIO 0.8f
#define HANDLE_SIZE_MAX_RATIO 1.2f
// "附近"的搜索范围：把手区域外接矩形在宽/高方向各外扩该比例
#define HANDLE_NEAR_EXPAND_RATIO 5
// 把手缺失检测开关见 Function_Support_Det::bDetHandle（CheckConfigDefine.h）

// 用于排序轮廓的比较函数
static bool compareContourAreas(const vector<Point> &contour1, const vector<Point> &contour2)
{
	double i = contourArea(contour1);
	double j = contourArea(contour2);
	return (i > j);
}

// 2x3 仿射矩阵小工具：变换点、矩形外接、组合矩阵(检测图摆正用)
static cv::Point2f MatAffinePoint(const cv::Mat &mat32, const cv::Point2f &pt)
{
	if (mat32.empty() || mat32.rows != 2 || mat32.cols != 3)
	{
		return pt;
	}
	const double *m = mat32.ptr<double>(0);
	return cv::Point2f((float)(m[0] * pt.x + m[1] * pt.y + m[2]),
					   (float)(m[3] * pt.x + m[4] * pt.y + m[5]));
}

// 矩形四角经仿射变换后取外接矩形
static cv::Rect MatAffineRect(const cv::Mat &mat32, const cv::Rect &roi)
{
	std::vector<cv::Point2f> pts(4);
	pts[0] = MatAffinePoint(mat32, cv::Point2f((float)roi.x, (float)roi.y));
	pts[1] = MatAffinePoint(mat32, cv::Point2f((float)(roi.x + roi.width), (float)roi.y));
	pts[2] = MatAffinePoint(mat32, cv::Point2f((float)(roi.x + roi.width), (float)(roi.y + roi.height)));
	pts[3] = MatAffinePoint(mat32, cv::Point2f((float)roi.x, (float)(roi.y + roi.height)));

	float fminX = pts[0].x, fmaxX = pts[0].x, fminY = pts[0].y, fmaxY = pts[0].y;
	for (int i = 1; i < 4; i++)
	{
		if (pts[i].x < fminX)
			fminX = pts[i].x;
		if (pts[i].x > fmaxX)
			fmaxX = pts[i].x;
		if (pts[i].y < fminY)
			fminY = pts[i].y;
		if (pts[i].y > fmaxY)
			fmaxY = pts[i].y;
	}
	int x0 = cvFloor(fminX);
	int y0 = cvFloor(fminY);
	int x1 = cvCeil(fmaxX);
	int y1 = cvCeil(fmaxY);
	return cv::Rect(x0, y0, x1 - x0, y1 - y0);
}

// 组合仿射：先应用 mB 再应用 mA，即 mA ∘ mB，结果仍为 2x3
static cv::Mat MatAffineCompose(const cv::Mat &mA, const cv::Mat &mB)
{
	if (mA.empty() || mA.rows != 2 || mA.cols != 3)
	{
		return mB.clone();
	}
	if (mB.empty() || mB.rows != 2 || mB.cols != 3)
	{
		return mA.clone();
	}
	cv::Mat hA = cv::Mat::eye(3, 3, CV_64F);
	cv::Mat hB = cv::Mat::eye(3, 3, CV_64F);
	mA.copyTo(hA(cv::Rect(0, 0, 3, 2)));
	mB.copyTo(hB(cv::Rect(0, 0, 3, 2)));
	cv::Mat hC = hA * hB;
	return hC(cv::Rect(0, 0, 3, 2)).clone();
}

ImgCheckAnalysisy::ImgCheckAnalysisy()
	: m_pAI_Edge_Algin(m_pdetlog)
{

	m_nErrorCode = CHECK_OK;
	m_nThreadIdx = -1;
	m_bInitSucc = false;
	m_bExit = false;
	m_nRun_Status = CHECK_THREAD_STATUS_IDLE;

	m_fImgage_Scale_X = 0.03f;
	m_fImgage_Scale_Y = 0.03f;
	m_pBasicConfig = NULL;

	m_strCurDetChannel = "";
	m_bupdateconfig = false;
	m_pbaseCheckFunction = &m_AnalysisyConfig.baseFunction;

	m_strLastDate = "";
	m_strRootPath_TA_cls = "/home/aidlux/BOE/Cls/TA/";
	m_strRootPath_CA_cls = "/home/aidlux/BOE/Cls/CA/";
	creatsavedir();
	m_pImageStorage = ImageStorage::getInstance();
	m_nConfigIdx = -1;
	m_ImgBlobHFlagData = NULL;
}

ImgCheckAnalysisy::~ImgCheckAnalysisy()
{
	ExitSystem();
	if (m_ImgBlobHFlagData)
	{
		delete[] m_ImgBlobHFlagData;
		m_ImgBlobHFlagData = NULL;
	}
}
int ImgCheckAnalysisy::UpdateConfig(void *pconfig, int nConfigType)
{
	int re = 0;
	switch (nConfigType)
	{
	case CHECK_CONFIG_Run:
		re = LoadRunConfig(pconfig);
		if (re == 0)
		{
			// printf("---> LoadRunConfig  Succ\n");
		}
		else
		{
			printf("---> LoadRunConfig  Fail\n");
		}
		break;
	case CHECK_CONFIG_Module:
		re = LoadCheckConfig(pconfig);
		if (re == 0)
		{
			// printf("---> LoadAnalysisConfig  Succ\n");
		}
		else
		{
			printf("---> LoadAnalysisConfig  Fail\n");
		}
		break;
	default:
		break;
	}
	return re;
}
int ImgCheckAnalysisy::RunStart(void *pconfig1)
{

	// 1 、更新参数 并判断参数是否合法
	int re = CHECK_OK;
	re = SetNewConfig();
	if (CHECK_OK != re)
	{
		m_nErrorCode = re;
		return m_nErrorCode;
	}
	// printf("---> RunStart  Start m_RunConfig.nThreadIdx %d  \n", m_RunConfig.nThreadIdx);

	m_nThreadIdx = m_RunConfig.nThreadIdx;

	re = InitRun(m_RunConfig.nCpu_start_Idx);
	if (CHECK_OK != re)
	{
		m_nErrorCode = re;
		return m_nErrorCode;
	}
	runner = std::make_shared<AIMulThreadRunBase>();
	runner->Start();

	m_nErrorCode = CHECK_OK;
	// printf("ImgCheckAnalysisy >>>> ImgCheckThread %d Start Succ \n", m_nThreadIdx);
	return m_nErrorCode;
}

int ImgCheckAnalysisy::SetDataRun_SharePtr(std::shared_ptr<ImageAllResult> p)
{
	// 设置正在检测

	m_pImageAllResult = p;
	DetImgInfo_shareP = p->result->in_shareImage;
	m_CheckResult_shareP = p->result;
	m_pImageAllResult->setStep(ImageAllResult::DetStep_Deting);
	m_pdetlog = p->detlog;
	m_pDetResult = p->pDetResult;
	StartCheck();
	m_nErrorCode = CHECK_OK;
	return m_nErrorCode;
}

int ImgCheckAnalysisy::GetCheckReuslt(std::shared_ptr<ImageDetResult> &pResult)
{

	m_CheckResult_shareP.reset();
	DetImgInfo_shareP.reset();
	SetIDLE();
	// m_nErrorCode = CHECK_OK;
	// printf("4 DetImgInfo_shareP count %ld   m_nCheckResultErrorCode %d \n", DetImgInfo_shareP.use_count(), m_nCheckResultErrorCode);
	return m_nCheckResultErrorCode;
}

int ImgCheckAnalysisy::CheckImg(std::shared_ptr<ImageDetconfig> p, std::shared_ptr<ImageDetResult> &pResult)
{

	return 0;
}

int ImgCheckAnalysisy::ReJsonResul(std::shared_ptr<ImageDetconfig> p, std::shared_ptr<ImageDetResult> &pResult)
{

	return 0;
}

int ImgCheckAnalysisy::InitRun(int nId)
{

	int re = CHECK_OK;
	if (m_bInitSucc)
	{
		return CHECK_OK;
	}
	InitModel();
	AI_Factory = AIFactory::GetInstance();

	m_nRun_Status = CHECK_THREAD_STATUS_IDLE;
	re = StartThread(nId);
	if (CHECK_OK != re)
	{
		return re;
	}
	m_bInitSucc = true;
	return re;
}

int ImgCheckAnalysisy::GetStatus()
{
	return m_nRun_Status;
}

std::string ImgCheckAnalysisy::GetVersion()
{
	return std::string("BOE_1.7.91");
}

std::string ImgCheckAnalysisy::GetErrorInfo()
{
	std::string str = GetErrorCodeInfo(m_nErrorCode);
	printf("%s\n", str.c_str());
	return str;
}

int ImgCheckAnalysisy::creatsavedir()
{
	std::string curDate = CheckUtil::getCurrentDate();
	if (curDate == m_strLastDate)
	{
		return 0;
	}
	m_strLastDate = curDate;
	m_strRootPath_TA_cls += m_strLastDate + "/";
	m_strRootPath_CA_cls += m_strLastDate + "/";
	for (int i = 0; i < AI_CLass_QX_NAME_count; i++)
	{
		CheckUtil::CreateDir(m_strRootPath_TA_cls + std::to_string(i) + "/");
		CheckUtil::CreateDir(m_strRootPath_CA_cls + std::to_string(i) + "/");
	}
	return 0;
}

void ImgCheckAnalysisy::SetTplInfo(const cv::RotatedRect &outerRect)
{
	m_tplOuterRect = outerRect;
}

int ImgCheckAnalysisy::LoadRunConfig(void *p)
{
	if (p == NULL)
	{
		m_nErrorCode = CHECK_ERROR_Config_Null;
		return m_nErrorCode;
	}
	RunInfoST *pconfig = (RunInfoST *)p;
	m_RunConfig.copy(*pconfig);

	return CHECK_OK;
}

int ImgCheckAnalysisy::LoadCheckConfig(void *p)
{
	if (p == NULL)
	{
		m_nErrorCode = CHECK_ERROR_Config_Null;
		return m_nErrorCode;
	}
	m_pConfig = (ConfigBase *)p;
	m_nConfigIdx = m_pConfig->GetConfigIdx();
	m_nErrorCode = CHECK_OK;
	return m_nErrorCode;
}

// 开启检测
int ImgCheckAnalysisy::StartCheck()
{
	m_nRun_Status = CHECK_THREAD_STATUS_READY;
	return 0;
}

int ImgCheckAnalysisy::SetIDLE()
{
	// 更新参数
	SetNewConfig();
	m_nRun_Status = CHECK_THREAD_STATUS_IDLE;
	return 0;
}

int ImgCheckAnalysisy::StartThread(int nId)
{
	// 开启检测线程
	ptr_thread_Run = std::make_shared<std::thread>(std::bind(&ImgCheckAnalysisy::Run, this, nId));
	if (!m_RunConfig.bRetest)
	{
		ptr_thread_AI = std::make_shared<std::thread>(std::bind(&ImgCheckAnalysisy::ThreadTask, this, nId + 1));
	}

	return 0;
}

int ImgCheckAnalysisy::StopThread()
{
	m_bExit = true;
	if (ptr_thread_Run != nullptr)
	{
		if (ptr_thread_Run->joinable())
		{
			ptr_thread_Run->join();
		}
	}
	if (ptr_thread_AI != nullptr)
	{
		if (ptr_thread_AI->joinable())
		{
			ptr_thread_AI->join();
		}
	}
	return 0;
}

int ImgCheckAnalysisy::ExitSystem()
{
	StopThread();
	return 0;
}

int ImgCheckAnalysisy::InitModel()
{

	// 获取当前gpu号确定的 AI处理线程

	m_OtherDet_Config.nDeviceId = m_RunConfig.nDeviceId;

	m_pAI_Edge_Algin.Init(&m_OtherDet_Config);
	m_pAI_Edge_Algin.InitModel_ALL();

	return 0;
}

cv::Scalar ImgCheckAnalysisy::calc_blob_info_withstats(cv::Mat &img, const cv::Mat &mask, cv::Rect &stats, cv::Size k_size, int expand, double threshold)
{

	// 解包 stats（x, y, w, h, area）
	int x = stats.x, y = stats.y, w = stats.width, h = stats.height;

	// 将图像转换为灰度图像

	// 计算感兴趣区域 (ROI)
	cv::Rect roi(x - expand, y - expand, w + 2 * expand, h + 2 * expand);
	roi &= cv::Rect(0, 0, img.cols, img.rows); // 确保ROI在图像内

	cv::Mat cimg = img(roi);

	// cv::cvtColor(cimg, cimg, cv::COLOR_BGR2GRAY);
	// return cv::Scalar(0, 0, 0);

	cv::Mat cmask = mask(roi);
	// getchar();
	// 扩张掩膜

	cv::Scalar mean_bk = cv::mean(cimg, ~cmask);
	double fbk = mean_bk[0];

	cv::Scalar mean_det = cv::mean(cimg, cmask);
	double fdet = mean_det[0];

	// 计算差异图像
	cv::Mat diff = cv::abs(cimg - fbk);

	// cv::imwrite("cimg.png",cimg);
	// cv::imwrite("cmask.png",cmask);
	// printf("%f  %f  - %f \n",fbk,fdet,fbk-fdet);
	// getchar();

	// diff = diff.mul(cmask > 0);
	cv::Mat masked_image;
	diff.copyTo(masked_image, cmask);
	// 计算能量
	double energy = cv::sum(masked_image)[0];

	// 计算 hj（差异图像大于0的像素均值）
	// double hj = std::abs(fbk - fdet);
	// double hj = CheckUtil::CalHj(cimg, cmask, mean_bk.val[0]);
	double hj = CheckUtil::CalHjWeighted(cimg, cmask, mean_bk.val[0], 2.0f);

	int worb = 0;
	if (fdet >= fbk)
	{
		worb = 1;
	}
	// cv::imwrite("cimg.png", cimg);
	// cv::imwrite("cmask.png", cmask);
	// cv::imwrite("diff.png", diff);
	// cv::imwrite("masked_image.png", masked_image);
	// printf("fbk %f fdet %f  energy  %f\n", fbk, fdet, energy);
	// getchar();

	return cv::Scalar(worb, energy, hj);
}

int ImgCheckAnalysisy::Adapt_Config(RotatedRect tplOuterRect, RotatedRect curOuterRect, Mat& det_img){
	vector<cv::Point2f> cur_vertices = CheckUtil::sort_vertices(curOuterRect);
	vector<cv::Point2f> tpl_vertices = CheckUtil::sort_vertices(tplOuterRect);
	
	cv::Point2f src_pts[3] = {
		cur_vertices[0],  // 对应左上
		cur_vertices[1],  // 对应右上
		cur_vertices[2]   // 对应左下
	};
	cv::Point2f dst_pts[3] = {
		tpl_vertices[0],  // 左上
		tpl_vertices[1],  // 右上
		tpl_vertices[2]   // 左下
	};
	cv::Mat affine_mat = cv::getAffineTransform(src_pts, dst_pts);

	// 仿射变换
	cv::warpAffine(det_img, det_img, affine_mat, det_img.size());

	// 将m_outer_rroi和m_inner_rroi变换到模板图像坐标系下
	auto transformRotatedRect = [&affine_mat](cv::RotatedRect &rrect)
	{
		const double *M = affine_mat.ptr<double>(0);

		cv::Point2f pts[4];
		rrect.points(pts);

		std::vector<cv::Point2f> transformed_pts(4);
		for (int i = 0; i < 4; i++)
		{
			float x = static_cast<float>(M[0] * pts[i].x + M[1] * pts[i].y + M[2]);
			float y = static_cast<float>(M[3] * pts[i].x + M[4] * pts[i].y + M[5]);
			transformed_pts[i] = cv::Point2f(x, y);
		}
		rrect = cv::minAreaRect(transformed_pts);
	};

	transformRotatedRect(m_outer_rroi);
	transformRotatedRect(m_inner_rroi);

	return 0;
}

// 应用内 OpenCV 线程池随首个调用线程(通常为先绑核的检测线程)初始化成单线程，parallel_for 实际串行，
// 全分辨率 warp 要 150~200ms；这里把输出按行切条、用独立线程并行 warp，
// 结果与整图 warpAffine 逐像素一致(已离线验证 maxdiff=0)，耗时降到约 1/3
static void WarpAffineBandParallel(const cv::Mat &src, cv::Mat &dst, const cv::Mat &affine,
								   const cv::Size &size, int nThreads = 8, int interp = cv::INTER_LINEAR,
								   int borderType = cv::BORDER_REPLICATE)
{
	dst.create(size, src.type());
	nThreads = std::max(1, std::min(nThreads, size.height));
	int bandH = (size.height + nThreads - 1) / nThreads;
	int nBands = (size.height + bandH - 1) / bandH;

	auto warpBand = [&](int b)
	{
		// 新建线程默认继承调用线程的 CPU 亲和性(检测线程已绑单核)，这里放开到全核，让条带真正并行
		cpu_set_t cpus;
		CPU_ZERO(&cpus);
		long ncpu = sysconf(_SC_NPROCESSORS_ONLN);
		for (long i = 0; i < ncpu; i++)
		{
			CPU_SET(i, &cpus);
		}
		pthread_setaffinity_np(pthread_self(), sizeof(cpus), &cpus);

		int y0 = b * bandH;
		int h = std::min(bandH, size.height - y0);
		// warpAffine 默认接收正向矩阵(src->dst)并内部求逆；条带只把输出平移项减去 y0
		cv::Mat matBand = affine.clone();
		matBand.at<double>(1, 2) -= y0;
		cv::warpAffine(src, dst(cv::Rect(0, y0, size.width, h)), matBand,
					   cv::Size(size.width, h), interp, borderType);
	};

	std::vector<std::thread> threads;
	threads.reserve(nBands);
	int b = 0;
	try
	{
		for (; b < nBands; b++)
		{
			threads.emplace_back(warpBand, b);
		}
	}
	catch (const std::system_error &)
	{
		// 线程资源不足:剩余条带留在本线程串行补完
	}
	for (auto &t : threads)
	{
		t.join();
	}
	for (; b < nBands; b++)
	{
		warpBand(b);
	}
}

// 暗场复用明场定位：把字符串里的 "dark"(大小写不敏感)替换为 "bright"；未命中返回空串
static std::string ReplaceDarkWithBright(const std::string &strIn)
{
	const std::string strKey = ALIGN_REUSE_FOLLOWER_KEY; // "dark"
	const std::string strSrc = ALIGN_REUSE_SOURCE_KEY;	 // "bright"
	if (strIn.size() < strKey.size())
	{
		return "";
	}
	for (size_t i = 0; i + strKey.size() <= strIn.size(); i++)
	{
		size_t k = 0;
		for (; k < strKey.size(); k++)
		{
			if (::tolower((unsigned char)strIn[i + k]) != (unsigned char)strKey[k])
			{
				break;
			}
		}
		if (k == strKey.size())
		{
			std::string strOut = strIn;
			strOut.replace(i, strKey.size(), strSrc);
			return strOut;
		}
	}
	return "";
}

// ===== 暗场复用明场定位结果(ALIGN_REUSE_* 配置) =====
// 取当前图的产品ID/相机名：优先用 ImageAllResult 关联的基础结果，兕底用送图信息
void ImgCheckAnalysisy::GetProductCameraStr(std::string &strProduct, std::string &strCamera)
{
	strProduct = "";
	strCamera = "";
	if (m_pImageAllResult)
	{
		if (m_pImageAllResult->productBaseResult)
		{
			strProduct = m_pImageAllResult->productBaseResult->strproductName;
		}
		if (m_pImageAllResult->cameraBaseResult)
		{
			strCamera = m_pImageAllResult->cameraBaseResult->strCameraName;
		}
	}
	if (m_CheckResult_shareP && m_CheckResult_shareP->in_shareImage)
	{
		if (strProduct.empty())
		{
			strProduct = m_CheckResult_shareP->in_shareImage->strImgProductID;
		}
		if (strCamera.empty())
		{
			strCamera = m_CheckResult_shareP->in_shareImage->strCameraName;
		}
	}
}

// 发布本图定位结果(成功)或失败标记(供同产品其它相机复用)
void ImgCheckAnalysisy::PublishAlignShare(bool bSucc)
{
	std::string strProduct;
	std::string strCamera;
	GetProductCameraStr(strProduct, strCamera);
	if (strProduct.empty() || strCamera.empty())
	{
		return;
	}
	if (bSucc)
	{
		if (!m_pEdge_Align_Result)
		{
			return;
		}
		cv::Size sz(0, 0);
		if (m_CheckResult_shareP && m_CheckResult_shareP->in_shareImage)
		{
			sz = m_CheckResult_shareP->in_shareImage->img.size();
		}
		AlignShare::GetInstance().PublishSuccess(strProduct, strCamera, m_strCurDetChannel, m_pEdge_Align_Result, sz);
	}
	else
	{
		AlignShare::GetInstance().PublishFailed(strProduct, strCamera, m_strCurDetChannel);
	}
}

// 暗场相机不做定位模型：等待并复用明场相机的定位结果
// 返回 true 时：m_pEdge_Align_Result / m_outer_rroi / m_inner_rroi 已用明场结果填充(标签检测独立执行)
// 返回 false：非复用相机，或复用失败(超时/源失败/无源图/尺寸不一致)，调用方走自有定位
bool ImgCheckAnalysisy::TryReuseAlignFromSource(std::string &strSrcCamera, std::string &strSrcChannel, int &nWaitMs)
{
	nWaitMs = -1;
#if !ALIGN_REUSE_ENABLE
	return false;
#else
	std::string strProduct;
	std::string strCamera;
	GetProductCameraStr(strProduct, strCamera);

	// 是否复用由相机名决定(明/暗场是相机属性)：相机名必须能按 dark->bright 替换
	std::string strSrcCam = ReplaceDarkWithBright(strCamera);
	if (strSrcCam.empty())
	{
		return false;
	}
	// 通道名可能不带 dark/bright(同一面的明/暗场相机共用一个通道名)，此时沿用本相机通道名；
	// 若带 dark 则同样替换，保证与源相机发布结果时的 key 一致
	std::string strSrcChn = ReplaceDarkWithBright(m_strCurDetChannel);
	if (strSrcChn.empty())
	{
		strSrcChn = m_strCurDetChannel;
	}
	strSrcCamera = strSrcCam;
	strSrcChannel = strSrcChn;

	if (!m_pImageAllResult || !m_pImageAllResult->productBaseResult || !m_pImageAllResult->productBaseResult->alignPushState)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Align reuse", "reuse from %s|%s failed(no push state), do align by self", strSrcCam.c_str(), strSrcChn.c_str());
		return false;
	}

	m_pdetlog->AddCheckstr(PrintLevel_0, "Align reuse", "wait %s|%s (timeout %d ms)", strSrcCam.c_str(), strSrcChn.c_str(), ALIGN_REUSE_WAIT_TIMEOUT_MS);

	AlignShare &alignShare = AlignShare::GetInstance();
	std::shared_ptr<AI_Edge_Algin::Edge_AI_Result> pSrc;
	cv::Size srcSize;
	const long t1 = CheckUtil::getcurTime();
	bool bGot = false;
	bool bSucc = false;
	std::string strFailReason = "timeout";
	while (true)
	{
		if (alignShare.TryGet(strProduct, strSrcCam, strSrcChn, bSucc, pSrc, srcSize))
		{
			bGot = true;
			if (!bSucc)
			{
				strFailReason = "source align failed";
			}
			break;
		}
		// 源图不会再来了(送图已结束，且源相机没有图)：立即回退，不干等超时
		if (!m_pImageAllResult->productBaseResult->alignPushState->MayStillCome(strSrcCam))
		{
			strFailReason = "no source image";
			break;
		}
		if (CheckUtil::getcurTime() - t1 > ALIGN_REUSE_WAIT_TIMEOUT_MS)
		{
			break;
		}
		std::this_thread::sleep_for(std::chrono::milliseconds(ALIGN_REUSE_POLL_MS));
	}
	nWaitMs = (int)(CheckUtil::getcurTime() - t1);

	if (!bGot || !bSucc)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Align reuse", "reuse from %s|%s failed(wait %d ms, %s), do align by self",
							   strSrcCam.c_str(), strSrcChn.c_str(), nWaitMs, strFailReason.c_str());
		return false;
	}
	if (!pSrc || pSrc->bigroi.empty())
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Align reuse", "reuse from %s|%s failed(wait %d ms, src roi empty), do align by self",
							   strSrcCam.c_str(), strSrcChn.c_str(), nWaitMs);
		return false;
	}
	// 图像尺寸必须与源图一致，否则源坐标系不可用
	if (srcSize.width > 0 && srcSize.height > 0 && m_CheckResult_shareP && m_CheckResult_shareP->in_shareImage)
	{
		const cv::Mat &img = m_CheckResult_shareP->in_shareImage->img;
		if (img.cols != srcSize.width || img.rows != srcSize.height)
		{
			m_pdetlog->AddCheckstr(PrintLevel_0, "Align reuse", "reuse from %s|%s failed, size %dx%d != cur %dx%d, do align by self",
								   strSrcCam.c_str(), strSrcChn.c_str(), srcSize.width, srcSize.height, img.cols, img.rows);
			return false;
		}
	}

	// 复用明场定位结果：ROI/掩码/映射都用明场的(标签检测由 CheckTagByBigMask 独立执行，不用明场的标签)
	m_pEdge_Align_Result = pSrc;
	m_outer_rroi = pSrc->bigroi[0];
	if (!pSrc->smallroi.empty())
	{
		m_inner_rroi = pSrc->smallroi[0];
	}
	return true;
#endif
}

int ImgCheckAnalysisy::CheckRun()
{

	// printf(">>>%s ================start \n", m_pImageAllResult->strBaseInfo.c_str());

	long t1, t2, t3, t4, t5, t6, t7;
	SetNewConfig();
	t1 = CheckUtil::getcurTime();

	CheckImgInit();
	if (DetImgInfo_shareP->bsaveProcessImg)
	{
		m_pdetlog->bPrintStr = true;
	}
	// m_pdetlog->bPrintStr = true;
	
	m_pdetlog->AddCheckstr(PrintLevel_0, "1、basic Info", "---------------------------1、basic Info---------------------------------");
	m_pdetlog->AddCheckstr(PrintLevel_0, "Version", "%s", GetVersion().c_str());
	m_pdetlog->AddCheckstr(PrintLevel_0, "Updateconfig", "%d", m_bupdateconfig);
	m_pdetlog->AddCheckstr(PrintLevel_0, "Start", "%s", m_pImageAllResult->strBaseInfo.c_str());
	m_pdetlog->AddCheckstr(PrintLevel_0, "ImgageScale", "Scale_X = %f  Scale_Y = %f", m_fImgage_Scale_X, m_fImgage_Scale_Y);
	m_bupdateconfig = false;
	// 返回结果状态初始化
	m_CheckResult_shareP->checkStatus = 1;
	m_CheckResult_shareP->nresult = -1;

	m_CheckResult_shareP->basicResult.img_id = m_CheckResult_shareP->in_shareImage->img_id;
	m_CheckResult_shareP->basicResult.imgtype = m_CheckResult_shareP->in_shareImage->imgtype;
	m_CheckResult_shareP->basicResult.imgstr = m_CheckResult_shareP->in_shareImage->imgstr;
	m_CheckResult_shareP->basicResult.strChannel = m_CheckResult_shareP->in_shareImage->strChannel;
	m_strCurDetChannel = m_CheckResult_shareP->basicResult.strChannel;

	/*参数检查*/
	int rec = ConfigCheck(DetImgInfo_shareP->img);
	if (rec != CHECK_OK)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "ConfigCheck is error type = %d", rec);
		PublishAlignShare(false); // 本图不会产出定位结果，通知可能的等待方(暗场复用)
		m_nErrorCode = rec;
		m_nCheckResultErrorCode = m_nErrorCode;
		return m_nErrorCode;
	}
	long time_edge_s = CheckUtil::getcurTime();

	m_pFuntion = GetChannelFuntion(m_strCurDetChannel);
	int nfunction = 0;
	if (m_pFuntion != NULL)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Detect function", "%s",
							   m_pFuntion->GetInfo("").c_str());
	}
	else
	{
		nfunction = 1;
		m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "m_pFuntion is NULL");
		PublishAlignShare(false); // 本图不会产出定位结果，通知可能的等待方(暗场复用)
		m_nErrorCode = 22;
		m_nCheckResultErrorCode = m_nErrorCode;
		return m_nErrorCode;
	}

	/*AI 边缘定位(内外边缘)*/
	// 暗场相机不做定位模型，等待复用明场相机的定位结果(见 ALIGN_REUSE_* 配置)；
	// 非复用相机、或复用失败(源超时/源失败/无源图/尺寸不一致)时，仍走原有定位流程
	int reedge = 0;
	int nAlignReuseWaitMs = -1;
	std::string strAlignSrcCamera;
	std::string strAlignSrcChannel;
	long time_edge_e;
	if (TryReuseAlignFromSource(strAlignSrcCamera, strAlignSrcChannel, nAlignReuseWaitMs))
	{
		// 复用成功：m_pEdge_Align_Result / m_outer_rroi / m_inner_rroi 已用明场结果填充(标签检测独立执行，不复用明场标签)
		PublishAlignShare(true);
		time_edge_e = CheckUtil::getcurTime();
		m_pdetlog->AddCheckstr(PrintLevel_0, "2、pre detect",
							   "-------------------AI_Edge reuse from %s|%s--wait %d ms----succ---time %ld----\n",
							   strAlignSrcCamera.c_str(), strAlignSrcChannel.c_str(), nAlignReuseWaitMs, time_edge_e - time_edge_s);
		// 定位模型不跑，但把手检测仍要执行：暗场图像 + 明场 bigmask
		{
			long handle_s = CheckUtil::getcurTime();
			CheckHandleByBigMask(m_pEdge_Align_Result->bigmask);
			long handle_e = CheckUtil::getcurTime();
			m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle", "handle detect use time %ld", handle_e - handle_s);
		}
		// 标签检测(独立步骤)：暗场图像 + 明场 bigmask(不再沿用明场检出的标签)
		{
			long tag_s = CheckUtil::getcurTime();
			int reTag = CheckTagByBigMask(m_CheckResult_shareP->in_shareImage->img, m_pEdge_Align_Result->bigmask);
			long tag_e = CheckUtil::getcurTime();
			m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Tag", "tag detect use time %ld", tag_e - tag_s);
			if (reTag != 0)
			{
				m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "CheckTagByBigMask is error type = %d", reTag);
				m_nErrorCode = reTag;
				m_nCheckResultErrorCode = m_nErrorCode;
				return m_nErrorCode;
			}
		}
	}
	else
	{
		reedge = AI_Edge(m_CheckResult_shareP->in_shareImage->img, m_outer_rroi, m_inner_rroi, m_tag_roiList);
		if (reedge != 0)
		{
			m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "AI_Edge is error type = %d", reedge);
			PublishAlignShare(false); // 定位失败：通知可能的等待方(暗场复用)，让其回退自行定位
			m_nErrorCode = reedge;
			m_nCheckResultErrorCode = m_nErrorCode;
			return m_nErrorCode;
		}
		PublishAlignShare(true);
		time_edge_e = CheckUtil::getcurTime();
		m_pdetlog->AddCheckstr(PrintLevel_0, "2、pre detect", "-------------------------AI_Edge------------succ---time %ld----\n", time_edge_e - time_edge_s);
	}

	/*生成检测图：用 m_outer_rroi(旋转矩形)确定产品区域，并把该区域旋转摆正后输出；
	  原图坐标 -> 检测图坐标 的映射存入 m_matSrc2Det / m_matDet2Src，后续坐标换算都走这对矩阵*/
	cv::Mat image = m_CheckResult_shareP->in_shareImage->img;
	cv::Rect imgRect(0, 0, image.cols, image.rows);

	// 1、旋转矩形四角 -> 轴对齐矩形四角 的仿射(把产品摆正；用顶点计算，避开 RotatedRect 角度约定的歧义)
	std::vector<cv::Point2f> vtx = CheckUtil::sort_vertices(m_outer_rroi); // 近似 左上/右上/左下/右下
	int detW = std::max(1, cvRound(cv::norm(vtx[1] - vtx[0])));
	int detH = std::max(1, cvRound(cv::norm(vtx[2] - vtx[0])));
	cv::Point2f srcTri[3] = {vtx[0], vtx[1], vtx[2]};
	cv::Point2f dstTri[3] = {cv::Point2f(0, 0), cv::Point2f((float)detW, 0), cv::Point2f(0, (float)detH)};
	m_matSrc2Det = cv::getAffineTransform(srcTri, dstTri);
	cv::invertAffineTransform(m_matSrc2Det, m_matDet2Src);

	// 2、只对旋转矩形附近区域做 warp，提高效率；先裁到该区域，warp 矩阵同步做平移补偿
	cv::Rect padRoi = m_outer_rroi.boundingRect() & imgRect;
	if (padRoi.width <= 0 || padRoi.height <= 0)
	{
		m_pdetlog->AddCheckstr(PrintLevel_1, "Error", "deskew roi error [%d %d %d %d]", padRoi.x, padRoi.y, padRoi.width, padRoi.height);
		m_nErrorCode = CHECK_ERROR_CheckImg_Empty;
		m_nCheckResultErrorCode = m_nErrorCode;
		return m_nErrorCode;
	}
	cv::Mat matPad = m_matSrc2Det.clone();
	matPad.at<double>(0, 2) += matPad.at<double>(0, 0) * padRoi.x + matPad.at<double>(0, 1) * padRoi.y;
	matPad.at<double>(1, 2) += matPad.at<double>(1, 0) * padRoi.x + matPad.at<double>(1, 1) * padRoi.y;

	// 3、检测图：单通道灰度(彩色原图按 BGR 顺序转灰度,与 imread(path,0) 的亮度一致)，按摆正矩阵重采样；
	//    彩色结果图在 ResizeImg 里按显示尺寸直接 warp(比全分辨率彩色 warp 省很多)
	m_deskewPadRoi = padRoi;
	cv::Mat colorPatch = image(padRoi);
	cv::Mat grayPatch;
	if (colorPatch.channels() == 1)
	{
		grayPatch = colorPatch;
	}
	else if (colorPatch.channels() == 3)
	{
		cv::cvtColor(colorPatch, grayPatch, cv::COLOR_BGR2GRAY);
	}
	else
	{
		cv::cvtColor(colorPatch, grayPatch, cv::COLOR_BGRA2GRAY);
	}
	WarpAffineBandParallel(grayPatch, m_pImageAllResult->detImg, matPad, cv::Size(detW, detH));

	// 彩色原图时再输出一张同样摆正的彩色检测图：供裁剪图(_RE_CutImg)保存时保留原图通道
	// (检测算法仍只用灰度 detImg)
	if (colorPatch.channels() == 3 || colorPatch.channels() == 4)
	{
		WarpAffineBandParallel(colorPatch, m_pImageAllResult->detColorImg, matPad, cv::Size(detW, detH));
	}
	else
	{
		m_pImageAllResult->detColorImg.release();
	}

	// 4、检测图坐标系下 m_outer_roi 即整张检测图；原图坐标系下 CutRoi 仍取旋转矩形外接区域(兼容旧语义/JSON)
	m_outer_roi = cv::Rect(0, 0, detW, detH);
	m_Crop_Roi_paramImg = m_outer_rroi.boundingRect() & imgRect;
	m_pImageAllResult->pDetResult->CutRoi = m_Crop_Roi_paramImg;
	m_pImageAllResult->pDetResult->Param_CropRoi = m_Crop_Roi_paramImg;
	// 检测图坐标 -> 原图坐标 的映射，供结果解析时取回缺陷小图/换算坐标
	m_pImageAllResult->pDetResult->detToSrcMat = m_matDet2Src.clone();

	// 5、参数(模板)坐标 -> 检测图坐标 的映射：
	//    有对齐时先把参数点映射到原图再摆正；无对齐时参数按产品坐标系处理(与摆正后的检测图同向)，
	//    直接按旋转矩形中心平移(θ=0 时与旧的裁剪平移完全一致，旋转/平移变化时区域跟随产品)
	{
		cv::RotatedRect &rroi = m_outer_rroi;
		if (m_pEdge_Align_Result && m_pEdge_Align_Result->buseOfft)
		{
			if (!m_pEdge_Align_Result->H.empty())
			{
				m_matParam2Det = MatAffineCompose(m_matSrc2Det, m_pEdge_Align_Result->H);
			}
			else
			{
				cv::Mat matOfft = (cv::Mat_<double>(2, 3) << 1, 0, (double)m_pEdge_Align_Result->offt_x, 0, 1, (double)m_pEdge_Align_Result->offt_y);
				m_matParam2Det = MatAffineCompose(m_matSrc2Det, matOfft);
			}
		}
		else
		{
			m_matParam2Det = (cv::Mat_<double>(2, 3) << 1, 0, -rroi.center.x + detW * 0.5, 0, 1, -rroi.center.y + detH * 0.5);
		}
	}
	long time_calan_e = CheckUtil::getcurTime();
	m_pdetlog->AddCheckstr(PrintLevel_0, "2.1、pre detect", "-------------------------deskew--------------succ--- det [%d %d] src bbox [%d %d %d %d] time %ld----\n",
						   detW, detH, m_Crop_Roi_paramImg.x, m_Crop_Roi_paramImg.y, m_Crop_Roi_paramImg.width, m_Crop_Roi_paramImg.height,
						   time_calan_e - time_edge_s);
	/*多线程开启 AI 推理检测*/
	long time_AI_s = CheckUtil::getcurTime();
	m_AItask = std::make_shared<TaskInfo>();
	m_AItask->taskname = Task_AI;
	m_task.sendTask(m_AItask);

	ImgPreDet();
	/*更新检测区域*/
	Update_DetRoiList();

	m_pdetlog->AddCheckstr(PrintLevel_0, "3、pre detect", "-------------------------pre Det---------------  \n");

	/* 检测支架偏移 */
	{
		Function_Support_Det &supportDet = m_pFuntion->function.f_supportDet;
		if (supportDet.bOpen && supportDet.supportRect.size.width > 0 && supportDet.supportRect.size.height > 0)
		{
			cv::RotatedRect &inner = m_inner_rroi;
			cv::RotatedRect &support = supportDet.supportRect;

			// x、y 中心偏移
			float dx = fabs(inner.center.x - support.center.x);
			float dy = fabs(inner.center.y - support.center.y);
			// 旋转偏移（矩形旋转 90 度等价，角度取最小差）
			float dangle = fabs(inner.angle - support.angle);
			if (dangle > 45.0f)
			{
				dangle = fabs(dangle - 90.0f);
			}

			bool bOffset = (dx > supportDet.x_offset) || (dy > supportDet.y_offset) || (dangle > supportDet.r_offset);

			// 缺失判定：内边缘面积小于支架模板面积的 75%
			float innerArea = inner.size.width * inner.size.height;
			float supportArea = support.size.width * support.size.height;
			bool bLoss = (supportArea > 0.0f) && (innerArea < supportArea * 0.75f);

			if (bOffset || bLoss)
			{
				QX_ERROR_INFO_ temerror;
				temerror.Idx = m_pDetResult->pQx_ErrorList->size();

				// roi 在原图坐标系，按摆正仿射转换到检测图(detImg)坐标系
				cv::Rect roi = MatAffineRect(m_matSrc2Det, inner.boundingRect());
				roi &= cv::Rect(0, 0, m_pImageAllResult->detImg.cols, m_pImageAllResult->detImg.rows);
				temerror.roi = roi;
				temerror.area = roi.width * roi.height;
				temerror.JudgArea = roi.width * m_fImgage_Scale_X * roi.height * m_fImgage_Scale_Y;
				temerror.JudgArea_second = temerror.JudgArea;
				float w = inner.size.width;
				float h = inner.size.height;
				temerror.flen = (w > h ? w : h) * m_fImgage_Scale_X;
				temerror.fbreadth = (w > h ? h : w) * m_fImgage_Scale_Y;

				if (bLoss)
				{
					temerror.nconfig_qx_type = CONFIG_QX_NAME_support_loss;
				}
				else
				{
					temerror.nconfig_qx_type = CONFIG_QX_NAME_support_offset;
				}
				temerror.qx_name = CONFIG_QX_NAME_Names[temerror.nconfig_qx_type];
				temerror.result = QX_RESULT_TYPE_NG;
				temerror.result_name = QX_RESULT_TYPE_Names[QX_RESULT_TYPE_NG];

				// 计算支架中心所在的检测区域
				cv::Point pCenter;
				pCenter.x = roi.x + roi.width * 0.5;
				pCenter.y = roi.y + roi.height * 0.5;
				int nmaxregionIdx = 0;
				for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
				{
					const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
					double result = cv::pointPolygonTest(polygon, pCenter, false);
					if (result < 0)
					{
						continue;
					}
					nmaxregionIdx = iregion;
				}
				temerror.detRegionidxList.push_back(nmaxregionIdx);

				m_pDetResult->pQx_ErrorList->push_back(temerror);

				m_pdetlog->AddCheckstr(PrintLevel_0, "支架检测", "%s %d roi [%d %d %d %d] dx %f dy %f dangle %f",
									   temerror.qx_name.c_str(), temerror.Idx, roi.x, roi.y, roi.width, roi.height, dx, dy, dangle);
			}
		}
	}

	/* 把手缺失检测：bigmask 的凸起本身不算 NG，只有"参数里的某个把手区域附近找不到把手"才算 NG（每个缺失区域报一条） */
	{
		if (m_bHandleDetSucc && m_bHandleExpect && !m_bHandleFound)
		{
			for (size_t iRegion = 0; iRegion < m_HandleRegionResultList.size(); iRegion++)
			{
				Handle_Region_Result_ &regionResult = m_HandleRegionResultList[iRegion];
				if (regionResult.bFound)
				{
					continue;
				}

				// 上报该把手区域的位置：参数(模板)坐标 -> 检测图(detImg)坐标
				cv::Rect roi = MatAffineRect(m_matParam2Det, regionResult.boxRegion);
				roi &= cv::Rect(0, 0, m_pImageAllResult->detImg.cols, m_pImageAllResult->detImg.rows);
				if (roi.width <= 0 || roi.height <= 0)
				{
					continue;
				}

				QX_ERROR_INFO_ temerror;
				temerror.Idx = m_pDetResult->pQx_ErrorList->size();
				temerror.roi = roi;
				temerror.area = roi.width * roi.height;
				temerror.JudgArea = roi.width * m_fImgage_Scale_X * roi.height * m_fImgage_Scale_Y;
				temerror.JudgArea_second = temerror.JudgArea;
				float w = roi.width;
				float h = roi.height;
				temerror.flen = (w > h ? w : h) * m_fImgage_Scale_X;
				temerror.fbreadth = (w > h ? h : w) * m_fImgage_Scale_Y;
				temerror.nconfig_qx_type = CONFIG_QX_NAME_handle_loss;
				temerror.qx_name = CONFIG_QX_NAME_Names[CONFIG_QX_NAME_handle_loss];
				temerror.result = QX_RESULT_TYPE_NG;
				temerror.result_name = QX_RESULT_TYPE_Names[QX_RESULT_TYPE_NG];

				// 计算把手区域中心所在的检测区域
				cv::Point pCenter;
				pCenter.x = roi.x + roi.width * 0.5;
				pCenter.y = roi.y + roi.height * 0.5;
				int nmaxregionIdx = 0;
				for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
				{
					const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
					double result = cv::pointPolygonTest(polygon, pCenter, false);
					if (result < 0)
					{
						continue;
					}
					nmaxregionIdx = iregion;
				}
				temerror.detRegionidxList.push_back(nmaxregionIdx);

				m_pDetResult->pQx_ErrorList->push_back(temerror);

				m_pdetlog->AddCheckstr(PrintLevel_0, "把手检测", "%s %d region %d roi [%d %d %d %d]",
									   temerror.qx_name.c_str(), temerror.Idx, regionResult.nIdx,
									   roi.x, roi.y, roi.width, roi.height);
			}
		}
	}

	/* Tag检测 */
	{
		for (const auto &tagRoi : m_tag_roiList)
		{
			// tag roi 在原图坐标系，按摆正仿射转换到检测图(detImg)坐标系
			cv::Rect roi = MatAffineRect(m_matSrc2Det, tagRoi.boundingRect());
			roi &= cv::Rect(0, 0, m_pImageAllResult->detImg.cols, m_pImageAllResult->detImg.rows);
			if (roi.width <= 0 || roi.height <= 0)
			{
				continue;
			}

			QX_ERROR_INFO_ temerror;
			temerror.Idx = m_pDetResult->pQx_ErrorList->size();
			temerror.roi = roi;
			temerror.area = roi.width * roi.height;
			temerror.JudgArea = roi.width * m_fImgage_Scale_X * roi.height * m_fImgage_Scale_Y;
			temerror.JudgArea_second = temerror.JudgArea;
			float tw = tagRoi.size.width;
			float th = tagRoi.size.height;
			temerror.flen = (tw > th ? tw : th) * m_fImgage_Scale_X;
			temerror.fbreadth = (tw > th ? th : tw) * m_fImgage_Scale_Y;
			temerror.nconfig_qx_type = CONFIG_QX_NAME_cell_tag;
			temerror.qx_name = CONFIG_QX_NAME_Names[CONFIG_QX_NAME_cell_tag];
			temerror.result = QX_RESULT_TYPE_NG;
			temerror.result_name = QX_RESULT_TYPE_Names[QX_RESULT_TYPE_NG];

			// 计算标签中心所在的检测区域
			cv::Point pCenter;
			pCenter.x = roi.x + roi.width * 0.5;
			pCenter.y = roi.y + roi.height * 0.5;
			int nmaxregionIdx = 0;
			for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
			{
				const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
				double result = cv::pointPolygonTest(polygon, pCenter, false);
				if (result < 0)
				{
					continue;
				}
				nmaxregionIdx = iregion;
			}
			temerror.detRegionidxList.push_back(nmaxregionIdx);

			m_pDetResult->pQx_ErrorList->push_back(temerror);

			m_pdetlog->AddCheckstr(PrintLevel_0, "Tag检测", "tag %d roi [%d %d %d %d] -> NG", temerror.Idx, roi.x, roi.y, roi.width, roi.height);
		}
	}

	m_CheckResult_shareP->nresult = 0;

	/*把临时可以绘制的结果都绘制出来。*/
	DrawResult_Step_1();
	long time_AI_e;
	/*AI 推理生成*/
	{
		long t211 = CheckUtil::getcurTime();
		// 对AI的结果进行 处理，等待 AI 推理全部完成。
		rec = AIMaskDet();
		if (rec != CHECK_OK)
		{
			m_nErrorCode = rec;
			m_nCheckResultErrorCode = m_nErrorCode;
			return m_nErrorCode;
		}
		time_AI_e = CheckUtil::getcurTime();
		m_pdetlog->AddCheckstr(PrintLevel_0, "4、detect", "-------------------------2、AI Detect--------%ld wait AI complate %ld-------\n", time_AI_e - time_AI_s, time_AI_e - t211);

		m_CheckResult_shareP->resultMaskImg = m_pImageAllResult->AIMaskImg;
	}

	{

		t4 = CheckUtil::getcurTime();
		rec = GetCheckResultBLob();
		if (rec != CHECK_OK)
		{
			m_nErrorCode = rec;
			m_nCheckResultErrorCode = m_nErrorCode;
			return m_nErrorCode;
		}
		t5 = CheckUtil::getcurTime();
		m_pdetlog->AddCheckstr(PrintLevel_0, "5、BLob ", "------------------------ --------%ld  -------\n", t5 - t4);
	}
	// m_pdetlog->printLog(m_strCurDetChannel);

	long te = CheckUtil::getcurTime();
	m_pdetlog->bPrintStr = true;
	m_pdetlog->AddCheckstr(PrintLevel_1, "result", "  ALL use Time %ld  edge %ld  AI %ld blob %ld",
						   te - t1, time_edge_e - time_edge_s, time_AI_e - time_AI_s, t5 - t4);

	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, "End", " Check Run");

	return 0;
}

int ImgCheckAnalysisy::SetNewConfig()
{
	if (m_nConfigIdx < 0)
	{
		return 1;
		/* code */
	}

	if (m_pConfig->GetConfigUpdataStatus(ConfigType_Analysisy_Common_XL, m_nConfigIdx))
	{
		m_bupdateconfig = true;
		// printf("**************  ImgCheckAnalysisy::SetNewConfig    m_nConfigIdx %d\n", m_nConfigIdx);
		m_old_productROI = cv::Rect(0, 0, 0, 0);
		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_pBasicConfig = &m_AnalysisyConfig.commonCheckConfig.baseConfig;
			m_pRegionAnalysisyParam = &m_pCommonAnalysisyConfig->regionConfigArr.at(0);

			UpdateImgageScale();
			if (false)
			{
				printf("SetNewConfig m_nConfigIdx %d m_CheckConfig.strSkuName %s \n", m_nConfigIdx, m_AnalysisyConfig.strSkuName.c_str());
			}
		}
		else
		{
			printf("m_AnalysisyConfig.commonCheckConfig.nodeConfigArr == 0  \n");
		}
	}
	else
	{
		// printf("ConfigType_Analysisy_Common_XL no Update  \n");
	}
	m_nErrorCode = CHECK_OK;
	return CHECK_OK;
}

ChannelCheckFunction *ImgCheckAnalysisy::GetChannelFuntion(std::string strChannelName)
{
	ChannelCheckFunction *p = NULL;
	for (int i = 0; i < m_AnalysisyConfig.checkFunction.channelFunctionArr.size(); i++)
	{
		if (CheckUtil::compareIgnoreCase(m_AnalysisyConfig.checkFunction.channelFunctionArr[i].strChannelName, strChannelName))
		{
			p = &m_AnalysisyConfig.checkFunction.channelFunctionArr[i];
		}
	}

	return p;
}
int ImgCheckAnalysisy::Run(int nId)
{
	std::vector<int> vi;
	vi.push_back(nId);
	auto nRet = set_cpu_id(vi);
	// printf("Check So %d bind cpu ret %d, %d\n", m_nThreadIdx, nRet, nId);
	while (!m_bExit)
	{
		// 数据准备完成，开启检测
		if (m_nRun_Status == CHECK_THREAD_STATUS_READY)
		{
			m_nRun_Status = CHECK_THREAD_STATUS_BUSY;
			/* 检测 */
			CheckRun();
			m_nRun_Status = CHECK_THREAD_STATUS_COMPLETE;
			m_pImageAllResult->setStep(ImageAllResult::DetStep_Complet);
			m_nRun_Status = CHECK_THREAD_STATUS_IDLE;
			// printf("*--------%d\n", m_nRun_Status);
		}
		else
		{

			usleep(1000);
		}
		// printf("*-");
		usleep(1000);
	}
	return 0;
}
int ImgCheckAnalysisy::set_cpu_id(const std::vector<int> &cpu_set_vec)
{
	// for cpu affinity
	int nRet = 0;
#ifdef __linux
	cpu_set_t _cur_cpu_set;
	CPU_ZERO(&_cur_cpu_set);
	for (auto _id : cpu_set_vec)
	{
		CPU_SET(_id, &_cur_cpu_set);
	}
	if (0 > pthread_setaffinity_np(pthread_self(), sizeof(cpu_set_t), &_cur_cpu_set))
	{
		perror("set cpu affinity failed: ");
		printf("Warning: set cpu affinity failed ... ...\n");
		nRet = -1;
	}
#endif //__linux
	return nRet;
}

int ImgCheckAnalysisy::CalBlob_Other()
{

	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "CalBlob_Other", " Start");

	float fs_x = m_fImgage_Scale_X;
	float fs_y = m_fImgage_Scale_Y;

	float fs_resize_x = m_pImageAllResult->fscale_detToresult_x;
	float fs_resize_y = m_pImageAllResult->fscale_detToresult_y;
	// 遍历每个检测blob
	for (int i = 0; i < blobs.blobCount; i++)
	{

		// m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Blob", "%d/%d   start", i, blobs.blobCount);

		cv::Rect roi;
		roi.x = blobs.blobTab[i].minx;
		roi.y = blobs.blobTab[i].miny;
		roi.width = blobs.blobTab[i].maxx - blobs.blobTab[i].minx + 1;
		roi.height = blobs.blobTab[i].maxy - blobs.blobTab[i].miny + 1;

		cv::Scalar result = calc_blob_info_withstats(m_pImageAllResult->detImg, m_pImageAllResult->AIMaskImg, roi);

		int QX_whiteBLACK = CONFIG_QX_BLACK;
		if (result[0] > 0)
		{
			QX_whiteBLACK = CONFIG_QX_WHITE;
		}

		double hj = result[2];
		double energe = result[1];
		blobs.blobTab[i].energy = energe;
		blobs.blobTab[i].grayDis = hj;

		float JudgArea = blobs.blobTab[i].area * fs_x * fs_y;
		blobs.blobTab[i].JudgArea = JudgArea;
		float flen = roi.width * fs_x;
		float fwid = roi.height * fs_x;
		if (roi.height * fs_y > flen)
		{
			flen = roi.height * fs_y;
			fwid = roi.width * fs_y;
		}
		blobs.blobTab[i].len = flen;
		blobs.blobTab[i].breadth = fwid;

		int nerrortype = 0;
		int checkFlage = 0;

		float fmaxScore = 0;
		int config_qx_type = 0;

		if (blobs.blobTab[i].ErrType == ERR_TYPE_2)
		{
			QX_whiteBLACK = CONFIG_QX_BLACK; // 强制为 黑色
		}
		blobs.blobTab[i].whiteOrblack = QX_whiteBLACK;

		//  精确计算长度
		vector<float> re_len = Cal_QXLen(m_pImageAllResult->detImg(roi), config_qx_type, fs_x, fs_y);

		if (re_len.size() > 2)
		{
			if(re_len[0] >= 0){
				flen = re_len[0];
				blobs.blobTab[i].len = flen;
			}
			if(re_len[1] >= 0){
				fwid = re_len[1];
				blobs.blobTab[i].breadth = fwid;
			}

		}
	}
	return 0;
}

int ImgCheckAnalysisy::GetClassImg(const cv::Mat &img, cv::Mat &AIdetImg, cv::Rect qx_roi, int detwidth, int detheight)
{

	cv::Rect cutroi;
	cv::Rect roi = qx_roi;
	bool bresize = false;
	{

		int pc_x = roi.x + roi.width * 0.5;
		int pc_y = roi.y + roi.height * 0.5;

		if (roi.width < detwidth && roi.height < detheight)
		{
			cutroi.width = detwidth;
			cutroi.x = pc_x - detwidth * 0.5;
			cutroi.height = detheight;
			cutroi.y = pc_y - detheight * 0.5;
		}
		else
		{
			// 宽 高
			if (roi.width > roi.height)
			{
				cutroi.width = roi.width + 20;
				cutroi.x = roi.x - 10;

				float fsx = detheight * 1.0f / detwidth;
				cutroi.height = cutroi.width * fsx;
				cutroi.y = pc_y - cutroi.height * 0.5;
			}
			else
			{
				cutroi.height = roi.height + 20;
				cutroi.y = roi.y - 10;

				float fsy = detwidth * 1.0f / detheight;
				cutroi.width = cutroi.height * fsy;
				cutroi.x = pc_x - cutroi.width * 0.5;
			}

			bresize = true;
		}

		if (cutroi.x < 0)
		{
			cutroi.x = 0;
		}
		if (cutroi.y < 0)
		{
			cutroi.y = 0;
		}
		if (cutroi.x + cutroi.width >= img.cols)
		{
			cutroi.x = img.cols - cutroi.width;
			if (cutroi.x < 0)
			{
				cutroi.x = 0;
				if (cutroi.x + cutroi.width >= img.cols)
				{
					cutroi.width = img.cols;
				}
			}
		}
		if (cutroi.y + cutroi.height >= img.rows)
		{
			cutroi.y = img.rows - cutroi.height;
			if (cutroi.y < 0)
			{
				cutroi.y = 0;
				if (cutroi.y + cutroi.height >= img.rows)
				{
					cutroi.height = img.rows;
				}
			}
		}
	}
	if (!CheckUtil::RoiInImg(cutroi, img))
	{
		return 1;
	}
	cv::Size sz;
	sz.width = detwidth;
	sz.height = detheight;
	if (cutroi.width != sz.width || cutroi.height != sz.height)
	{
		cv::resize(img(cutroi), AIdetImg, sz);
	}
	else
	{
		AIdetImg = img(cutroi).clone();
	}

	if (1 != AIdetImg.channels())
	{
		cv::cvtColor(AIdetImg, AIdetImg, cv::COLOR_BGR2GRAY);
	}
	return 0;
}

vector<float> ImgCheckAnalysisy::Cal_QXLen(cv::Mat qx_maskImg, int qx_type, float fsc_x, float fsc_y)
{
	vector<float> resLen(3);

	float nlen = -1;
	cv::Mat detimg = qx_maskImg;

	resLen[0] = nlen;
	// 寻找轮廓
	vector<vector<Point>> contours;
	cv::findContours(detimg, contours, RETR_EXTERNAL, CHAIN_APPROX_SIMPLE);

	// 找到最大面积的轮廓
	double maxArea = -1;
	int maxAreaIdx = -1;
	for (size_t i = 0; i < contours.size(); ++i)
	{
		double area = contourArea(contours[i]);
		if (area > maxArea)
		{
			maxArea = area;
			maxAreaIdx = i;
		}
	}

	// 如果找到了最大面积的轮廓
	if (maxAreaIdx >= 0)
	{

		// 使用minAreaRect找到最小外接矩形
		cv::RotatedRect rect = cv::minAreaRect(contours[maxAreaIdx]);

		// // 绘制最小外接矩形
		// Point2f vertices[4];
		// rect.points(vertices);
		// for (int i = 0; i < 4; ++i)
		// {
		// 	line(detimg, vertices[i], vertices[(i + 1) % 4], Scalar(128, 255, 0), 2); // 绿色线
		// }
		// 输出结果

		// 获取最小外接矩形的尺寸
		float width = rect.size.width;
		float height = rect.size.height;

		// std::cout << "1 Width: " << width << ", Height: " << height << std::endl;
		Point2f vertices[4];
		rect.points(vertices);

		vector<Point2f> newcont;
		for (int i = 0; i < 4; ++i)
		{
			Point2f p;
			p.x = vertices[i].x * fsc_x;
			p.y = vertices[i].y * fsc_y;
			newcont.push_back(p);
		}
		vector<vector<Point2f>> contours_New;
		contours_New.push_back(newcont);
		// Recreate the rotated rectangle with scaled vertices
		RotatedRect scaledRect = minAreaRect(contours_New[0]);

		// Calculate scaled width and height
		width = scaledRect.size.width;
		height = scaledRect.size.height;
		// std::cout << "2 width: " << width << ", height: " << height << std::endl;
		//  float scale = 0.5; // 缩放比例
		//  rect.size.width *= fsc_x;
		//  rect.size.height *= fsc_y;
		//  std::cout << "fsc_x: " << fsc_x << ", fsc_y: " << fsc_y << std::endl;
		//  std::cout << "Width: " << width << ", Height: " << height << std::endl;
		//  获取最小外接矩形的尺寸
		//  width = rect.size.width;
		//  height = rect.size.height;
		if (width > height)
		{
			nlen = width;
			resLen[0] = width;
			resLen[1] = height;
			/* code */
		}
		else
		{
			nlen = height;
			resLen[0] = height;
			resLen[1] = width;
		}
	}

	// getchar();
	return resLen;
}

int ImgCheckAnalysisy::GetCheckResultBLob()
{
	long t1, t2, t3, t4, t5, t6, t7;
	t1 = CheckUtil::getcurTime();
	int re = GetALLBlob();
	if (re != 0)
	{
		return re;
	}

	// 缺陷分类 多线程 实现。
	long t11 = CheckUtil::getcurTime();
	m_Classtask = std::make_shared<TaskInfo>();
	m_Classtask->taskname = Task_Class;
	m_task.sendTask(m_Classtask);

	re = CalBlob_Other();
	if (re != 0)
	{
		return re;
	}
	long t12 = CheckUtil::getcurTime();
	// 等待分类 完成。
	m_Classtask->waitComplate();
	long t13 = CheckUtil::getcurTime();
	// printf("=========== cls time %ld  waite time %ld\n", t13 - t11, t13 - t12);

	BLobToDetResult();

	return 0;
}

void worker(const unsigned char *img, int w, int startRow, int endRow, unsigned char *rowFlags)
{
	for (int y = startRow; y < endRow; y++)
	{
		const unsigned char *p = img + (size_t)y * w;
		rowFlags[y] = 0;
		for (int x = 0; x < w; x++)
		{
			if (p[x] != 0)
			{
				rowFlags[y] = 1;
				break;
			}
		}
	}
}
int ImgCheckAnalysisy::GetALLBlob()
{

	std::string strBaseLog = "Blob";
	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "image Blob Analysis  Start");
	if (m_pImageAllResult->AIMaskImg.empty())
	{
		return 1;
	}
	unsigned char *pGrayErrordata = (unsigned char *)m_pImageAllResult->AIMaskImg.data;
	int width = m_pImageAllResult->AIMaskImg.cols;
	int height = m_pImageAllResult->AIMaskImg.rows;

	long t1 = CheckUtil::getcurTime();

	memset(&blobs, 0x00, sizeof(ERROR_DOTS_BLOBS));

	ERROR_DOTS_BLOBS blobs_v1;
	memset(&blobs_v1, 0x00, sizeof(ERROR_DOTS_BLOBS));
	ERROR_DOTS_BLOBS blobs_big;
	memset(&blobs_big, 0x00, sizeof(ERROR_DOTS_BLOBS));
	ERROR_DOTS_BLOBS blobs_big_2;
	memset(&blobs_big_2, 0x00, sizeof(ERROR_DOTS_BLOBS));
	printf("=====>>>> GetALLBlob m_strCurDetChannel %s \n", m_strCurDetChannel.c_str());
	if (m_strCurDetChannel == "CA")
	{
		printf("=====>>>>GetALLBlob USE CA %s \n", m_strCurDetChannel.c_str());
		GetBlobs_ALL_New(&blobs_v1, pGrayErrordata, m_ImgBlobHFlagData, width, height, 15);
		m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob 1 num  %d", blobs_v1.blobCount);

		if (blobs_v1.srcBlobCount >= _MAX_ERROR_DOT_BLOB)
		{

			GetBlobs_ALL_New(&blobs_big, pGrayErrordata, m_ImgBlobHFlagData, width, height, 200);
			m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob 2 num  %d", blobs_big.blobCount);

			if (blobs_big.srcBlobCount >= _MAX_ERROR_DOT_BLOB)
			{

				m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob 3 num  %d", blobs_big_2.blobCount);
				GetBlobs_ALL_New(&blobs_big_2, pGrayErrordata, m_ImgBlobHFlagData, width, height, 500);
			}
		}
	}
	else
	{
		GetBlobs_oneLabe(&blobs_v1, pGrayErrordata, m_ImgBlobHFlagData, width, height, 15);
		m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob 1 num  %d", blobs_v1.blobCount);

		if (blobs_v1.srcBlobCount >= _MAX_ERROR_DOT_BLOB)
		{

			GetBlobs_oneLabe(&blobs_big, pGrayErrordata, m_ImgBlobHFlagData, width, height, 200);
			m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob 2 num  %d", blobs_big.blobCount);

			if (blobs_big.srcBlobCount >= _MAX_ERROR_DOT_BLOB)
			{

				m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob 3 num  %d", blobs_big_2.blobCount);
				GetBlobs_oneLabe(&blobs_big_2, pGrayErrordata, m_ImgBlobHFlagData, width, height, 500);
			}
		}
	}

	long t2 = CheckUtil::getcurTime();
	PushBlob(&blobs, &blobs_big_2);
	PushBlob(&blobs, &blobs_big);
	PushBlob(&blobs, &blobs_v1);

	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "blob ALL num  %d", blobs.blobCount);
	// long t2 = CheckUtil::getcurTime();
	// printf("  BLob time %ld \n", t2 - t1);

	if (false || DetImgInfo_shareP->bsaveProcessImg)
	{
		int font_face = cv::FONT_HERSHEY_SIMPLEX;
		double font_scale = 0.5;
		int thickness = 1;

		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, strBaseLog, "Save Tem Img");
		cv::Mat tm = m_pImageAllResult->AIMaskImg.clone(); // 保持 mask 单通道,不再灰度转假彩
		for (int i = 0; i < blobs.blobCount; i++)
		{
			cv::Rect roi;
			roi.x = blobs.blobTab[i].minx;
			roi.y = blobs.blobTab[i].miny;
			roi.width = blobs.blobTab[i].maxx - blobs.blobTab[i].minx + 1;
			roi.height = blobs.blobTab[i].maxy - blobs.blobTab[i].miny + 1;

			if (blobs.blobTab[i].ErrType == 0)
			{
				cv::rectangle(tm, roi, CheckUtil::GetDrawColor(tm, cv::Scalar(0, 0, 255)));
			}
			else
			{
				cv::rectangle(tm, roi, CheckUtil::GetDrawColor(tm, cv::Scalar(0, 255, 255)));
			}

			char buffer[128];
			sprintf(buffer, "id:%d type:%d m %0.1f",  i,blobs.blobTab[i].ErrType, blobs.blobTab[i].density);
			std::string text = buffer;
			cv::Point origin = cv::Point(roi.x, roi.y);
			cv::putText(tm, text, origin, font_face, font_scale, CheckUtil::GetDrawColor(tm, cv::Scalar(0, 255, 0)), thickness, 1, 0);

			// printf("type: %d   %d  %d   %d %d %d %d\n", blobs.blobTab[i].ErrType, blobs.blobTab[i].area, blobs.blobTab[i].energy, roi.x, roi.y, roi.width, roi.height);
		}
		cv::imwrite(m_CheckResult_shareP->in_shareImage->strChannel + "_image_resize_blob.png", tm);
	}

	long te = CheckUtil::getcurTime();
	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "image Blob Analysis  End use time %ld blob %ld ms", te - t1, t2 - t1);

	// getchar();
	return 0;
}

int ImgCheckAnalysisy::AIMaskDet()
{

	// 计算 mask 图片的一行 是否有 残点，用以加速 Blob的计算。
	if (m_ImgBlobHFlagData)
	{
		delete[] m_ImgBlobHFlagData;
		m_ImgBlobHFlagData = NULL;
	}
	m_ImgBlobHFlagData = new unsigned char[m_pImageAllResult->detImg.rows];
	memset(m_ImgBlobHFlagData, 0, sizeof(unsigned char) * m_pImageAllResult->detImg.rows);

	while (true)
	{
		std::this_thread::sleep_for(std::chrono::milliseconds(1));
		std::shared_ptr<AIMulThreadRunBase::AITask> AImaskResult;
		{
			std::lock_guard<std::mutex> lock(mtx_AIMaskImgBLobQueue);
			if (m_AIMaskImgBLobQueue.size() > 0)
			{
				AImaskResult = std::move(m_AIMaskImgBLobQueue.front());
				m_AIMaskImgBLobQueue.pop();
				// printf("size  ============== %ld\n", m_AIMaskImgBLobQueue.size());
			}
		}

		// 有AI mask 的结果
		if (AImaskResult)
		{
			// static int ss = 0;
			cv::Mat &outimg = *(AImaskResult->output);
			// cv::imwrite(std::to_string(ss++) + ".png", outimg);

			unsigned char *pGrayErrordata = (unsigned char *)outimg.data;
			int width = outimg.cols;
			int height = outimg.rows;
			int start_Y = AImaskResult->roi.y;
			if (cv::countNonZero(outimg != 0) != 0)
			{
				// #pragma omp parallel for
				for (int y = 0; y < height; y++)
				{
					if (m_ImgBlobHFlagData[y + start_Y] == 0)
					{
						unsigned char *p = pGrayErrordata + y * width;
						for (int x = 0; x < width; x++)
						{
							if (p[x] != 0)
							{
								m_ImgBlobHFlagData[y + start_Y] = 1;
								break;
							}
						}
					}
				}
			}
		}
		else
		{
			/* code */

			if (m_AItask->isComplate())
			{
				break;
			}
		}
	}
	// printf("===========================================1 \n");
	m_AItask->waitComplate();
	int rec = m_AItask->nresult;
	if (rec != CHECK_OK)
	{
		return rec;
	}
	// printf("===========================================2 \n");
	return 0;
}

int ImgCheckAnalysisy::Contours()
{
	// std::string strBaseLog = "Contours";
	// // m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "Contours  Start");
	// cv::Mat detimg;
	// {
	// 	// 膨胀
	// 	cv::Mat se = getStructuringElement(0, Size(5, 5)); // 构造矩形结构元素
	// 	cv::dilate(m_pdetlog->temImgList[TEM_IMG_IDX_AImask], detimg, se);
	// }

	// std::vector<std::vector<cv::Point>> contours;
	// std::vector<cv::Vec4i> hierarchy;
	// cv::findContours(detimg, contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_NONE); // 只找最外层轮廓

	// // cv::cvtColor(m_pdetlog->temImgList[TEM_IMG_IDX_SrcCrop], m_pdetlog->temImgList[TEM_IMG_IDX_DrawSrc], cv::COLOR_GRAY2BGR);

	// for (int i = 0; i < contours.size(); ++i)
	// {																										// 绘制所有轮廓
	// 	cv::drawContours(m_pdetlog->temImgList[TEM_IMG_IDX_DrawSrc], contours, i, cv::Scalar(255, 0, 255)); // thickness为-1时为填充整个轮廓
	// }

	// float fx = m_pdetlog->temImgList[TEM_IMG_IDX_Result].cols * 1.0f / m_pdetlog->temImgList[TEM_IMG_IDX_SrcCrop].cols;
	// float fy = m_pdetlog->temImgList[TEM_IMG_IDX_Result].rows * 1.0f / m_pdetlog->temImgList[TEM_IMG_IDX_SrcCrop].rows;
	// for (int i = 0; i < contours.size(); ++i)
	// {
	// 	for (int j = 0; j < contours.at(i).size(); ++j)
	// 	{
	// 		contours.at(i).at(j).x *= fx;
	// 		contours.at(i).at(j).y *= fy;
	// 	}
	// }
	// // cv::cvtColor(m_pdetlog->temImgList[TEM_IMG_IDX_Result], m_pdetlog->temImgList[TEM_IMG_IDX_Result], cv::COLOR_GRAY2BGR);

	// for (int i = 0; i < contours.size(); ++i)
	// {																									   // 绘制所有轮廓
	// 	cv::drawContours(m_pdetlog->temImgList[TEM_IMG_IDX_Result], contours, i, cv::Scalar(255, 0, 255)); // thickness为-1时为填充整个轮廓
	// }
	// cv::imwrite("TEM_IMG_IDX_Result.png", m_pdetlog->temImgList[TEM_IMG_IDX_Result]);
	// cv::imwrite("deeeee.png", m_pdetlog->temImgList[TEM_IMG_IDX_Drawmask]);
	// getchar();
	// m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "Contours  End");
	return 0;
}

int ImgCheckAnalysisy::CheckImgInit()
{
	// 1、初始化

	m_pDetResult->pQx_ErrorList = std::make_shared<std::vector<QX_ERROR_INFO_>>();
	m_pdetlog->Init();
	m_pdetlog->addLogLevel = DET_LOG_LEVEL_3;
	memset(&blobs, 0, sizeof(ERROR_DOTS_BLOBS));
	m_nCheckResultErrorCode = 0;

	m_Draw_qxImageResult.erase(m_Draw_qxImageResult.begin(), m_Draw_qxImageResult.end());

	m_DetRoiList.Init();

	return 0;
}

int ImgCheckAnalysisy::ConfigCheck(cv::Mat img)
{

	m_pdetlog->AddCheckstr(PrintLevel_0, "start", "Config Check");
	int re = CHECK_OK;
	if (img.empty())
	{
		m_nErrorCode = CHECK_ERROR_CheckImg_Empty;
		m_pdetlog->AddCheckstr(PrintLevel_1, "Error", "check Img empty");
		return m_nErrorCode;
	}

	// if (m_pCommonAnalysisyConfig->regionConfigArr.size() <= 0)
	// {
	// 	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Error", "regionConfig Num  = 0");
	// 	m_nErrorCode = CHECK_ERROR_Config_Value;
	// 	return m_nErrorCode;
	// }

	m_pdetlog->AddCheckstr(PrintLevel_0, "Succ", "Config Check Succ");
	return re;
}

int ImgCheckAnalysisy::AI_Detect_Thread(const cv::Mat &img, cv::Mat &ResultImg)
{
	std::shared_ptr<AIModel_Base> pAIDet;
	// printf("=====>>>>AI_Detect_Thread m_strCurDetChannel %s \n", m_strCurDetChannel.c_str());
	{
		// printf("=====>>>>AI_Detect_Thread USE CA %s \n", m_strCurDetChannel.c_str());
		pAIDet = AI_Factory->Defect;
	}


	std::string strBaseLog = "AI_Detect";
	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "AI_Detect  Start");
	long t1, t2, t3;
	t1 = CheckUtil::getcurTime();

	SmallRoiList.clear();
	SmallRoiList.erase(SmallRoiList.begin(), SmallRoiList.end());
	cv::Rect cutRoi;
	cutRoi.x = 0;
	cutRoi.y = 0;
	cutRoi.width = img.cols - 0;
	cutRoi.height = img.rows - 0;

	int deal_image_width = pAIDet->input_0.width;
	int deal_image_height = pAIDet->input_0.height;

	int re = CheckUtil::cutSmallImg(img, SmallRoiList, cutRoi, deal_image_width, deal_image_height, 0, 0);

	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, strBaseLog, " cutSmallImg  Num %d", SmallRoiList.size());
	if (re != 0 || SmallRoiList.size() <= 0)
	{
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, strBaseLog, " cutSmallImg error  %d", re);
		m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "AI_Detect  End");
		return re;
		/* code */
	}

	// 临时存图
	if (DetImgInfo_shareP->bsaveProcessImg)
	{

		cv::Mat imshow = img.clone(); // 保持输入通道,不再灰度转假彩
		for (int i = 0; i < SmallRoiList.size(); i++)
		{
			cv::rectangle(imshow, SmallRoiList.at(i), CheckUtil::GetDrawColor(imshow, cv::Scalar(0, 0, 255)), 3);
		}
		cv::imwrite(DetImgInfo_shareP->strChannel + "_AI_Det_ROI.jpg", imshow);
	}

	ResultImg = cv::Mat::zeros(img.size(), CV_8UC1);

	const int totalTasks = SmallRoiList.size();
	int submitted = 0;
	int completed = 0;

	// std::string str_Root = m_strRootPath + pDetConfig->strProductID + "_" + pDetConfig->strchannel + "_";
	t2 = CheckUtil::getcurTime();
	while (completed < totalTasks)
	{
		// 如果任务还没提交完，且当前处理任务数 < 2，提交新任务
		if (submitted < totalTasks && runner->GetProcessingCount() < 10)
		{

			std::shared_ptr<AIMulThreadRunBase::AITask> task = std::make_shared<AIMulThreadRunBase::AITask>();
			task->id = completed;
			task->roi = SmallRoiList.at(submitted);
			task->input = img(SmallRoiList.at(submitted)).clone();
			task->output = std::make_shared<cv::Mat>();
			task->engine = pAIDet;

			runner->SubmitTask(task);
			submitted++;
		}

		// 尝试取结果
		std::shared_ptr<AIMulThreadRunBase::AITask> result;
		if (runner->PopResult(result))
		{

			{
				std::lock_guard<std::mutex> lock(mtx_AIMaskImgBLobQueue);
				m_AIMaskImgBLobQueue.push(result);
			}

			cv::Mat &outimg = *(result->output);
			if (!outimg.empty())
			{
				outimg.copyTo(ResultImg(result->roi), outimg);
			}
			{
				std::shared_ptr<ImageAllResult::AI_Det_MaskImg> temAIresult = std::make_shared<ImageAllResult::AI_Det_MaskImg>();
				temAIresult->roi = result->roi;
				temAIresult->AI_inImg = result->input;
				temAIresult->AI_mask = outimg;
				m_pImageAllResult->AI_Qx_MaskList.push_back(temAIresult);
			}
			completed++;
		}
		else
		{
			std::this_thread::sleep_for(std::chrono::milliseconds(1));
		}
	}

	t3 = CheckUtil::getcurTime();
	float mean_AI = (t3 - t2) / SmallRoiList.size();
	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, strBaseLog, " AI Run Time: sum  %ld  pre %ld Run %ld mean One Small Img %f", t3 - t1, t2 - t1, t3 - t2, mean_AI);

	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, strBaseLog, "AI_Detect  End");

	// 临时存图
	if (DetImgInfo_shareP->bsaveProcessImg)
	{
		cv::imwrite(DetImgInfo_shareP->strChannel + "_AI_mask.png", ResultImg);
	}

	// getchar();
	return 0;
}

int ImgCheckAnalysisy::AI_QX_Class_Thread()
{

	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "QX_Class", " Start");

	std::shared_ptr<AIModel_Base> pAIDet;
	// printf("=====>>>>AI_QX_Class_Thread m_strCurDetChannel %s \n", m_strCurDetChannel.c_str());
	{
		// printf("=====>>>>AI_QX_Class_Thread USE CA %s \n", m_strCurDetChannel.c_str());
		pAIDet = AI_Factory->Class;
	}

	int deal_image_width = pAIDet->input_0.width;
	int deal_image_height = pAIDet->input_0.height;

	const int totalTasks = blobs.blobCount;
	int submitted = 0;
	int completed = 0;
	int detblobIdx = 0;
	int clsnum = 0;
	// std::string str_Root = m_strRootPath + pDetConfig->strProductID + "_" + pDetConfig->strchannel + "_";
	long t2 = CheckUtil::getcurTime();
	while (completed < totalTasks)
	{
		// std::this_thread::sleep_for(std::chrono::milliseconds(1));
		if (submitted < totalTasks)
		{
			ERROR_DOTS_BLOB_DATA *pblob = &blobs.blobTab[submitted];
			if (pblob->ErrType == ERR_TYPE_2)
			{
				pblob->AIclasstype = CONFIG_QX_NAME_cell_ymhs;
				submitted++;
				completed++;
				continue;
			}
			else
			{
				// 如果任务还没提交完，且当前处理任务数 < 2，提交新任务
				if (runner->GetProcessingCount() < 10)
				{
					clsnum++;
					cv::Rect roi;
					roi.x = pblob->minx;
					roi.y = pblob->miny;
					roi.width = pblob->maxx - pblob->minx + 1;
					roi.height = pblob->maxy - pblob->miny + 1;

					std::shared_ptr<AIMulThreadRunBase::AITask> task = std::make_shared<AIMulThreadRunBase::AITask>();
					task->id = submitted;
					int re = GetClassImg(m_pImageAllResult->detImg, task->input, roi, deal_image_width, deal_image_height);
					if (re == 0)
					{
						task->bclass = true;
						task->engine = pAIDet;
						runner->SubmitTask(task);
					}
					else
					{
						completed++;
					}

					submitted++;
				}
			}
		}

		// 尝试取结果
		std::shared_ptr<AIMulThreadRunBase::AITask> result;
		if (runner->PopResult(result))
		{

			int temClass = result->cls_label;
			int cls_num = 0;

			switch (temClass)
			{
			case 0:
				cls_num = AI_CLass_QX_NAME_aotudian;
				break;

			case 1:
				cls_num = AI_CLass_QX_NAME_other;
				break;

			case 2:
				cls_num = AI_CLass_QX_NAME_line;
				break;

			case 3:
				cls_num = AI_CLass_QX_NAME_zangwu;
				break;

			case 4:
				cls_num = AI_CLass_QX_NAME_dianzhuang;
				break;

			case 5:
				cls_num = AI_CLass_QX_NAME_posun;
				break;

			case 6:
				cls_num = AI_CLass_QX_NAME_xianwei;
				break;

			case 7:
				cls_num = AI_CLass_QX_NAME_shuizi;
				break;

			case 8:
				cls_num = AI_CLass_QX_NAME_danban;					
				break;

			case 9:
				cls_num = AI_CLass_QX_NAME_fuchen;				
				break;

			default:
				cls_num = AI_CLass_QX_NAME_zangwu;
				break;
			}

			// std::string strclassName = AI_CLass_QX_NAME_Names[cls_num];
			// printf("AI Class num %d = %s  %f\n", cls_num, strclassName.c_str(), result->cls_score);

			// 分类存图 开启。
			if (m_pbaseCheckFunction->saveImg.bSaveAlginImg)
			{

				std::string saveimgpaht = "";

				if (m_strCurDetChannel == "TA")
				{
					saveimgpaht = m_strRootPath_TA_cls + std::to_string(cls_num) + "/" + std::to_string(CheckUtil::getcurTime()) + "_" + std::to_string(result->cls_score) + ".png";
				}
				else
				{
					saveimgpaht = m_strRootPath_CA_cls + std::to_string(cls_num) + "/" + std::to_string(CheckUtil::getcurTime()) + "_" + std::to_string(result->cls_score) + ".png";
				}

				{
					m_pImageStorage->addImage(saveimgpaht, result->input);
				}
			}

			int configqx = AIClassTypeToConfigType(cls_num);

			ERROR_DOTS_BLOB_DATA *pblob = &blobs.blobTab[result->id];
			pblob->AIclasstype = configqx;

			completed++;
		}
		else
		{
			std::this_thread::sleep_for(std::chrono::milliseconds(1));
		}
	}
	// printf("=====>>>>AI_QX_Class_Thread clsnum %d \n", clsnum);
	return 0;
}

int ImgCheckAnalysisy::ThreadTask(int nId)
{

	while (!m_bExit)
	{
		std::this_thread::sleep_for(std::chrono::milliseconds(20));
		// 等待是否有任务
		std::shared_ptr<TaskInfo> task = m_task.GetTask();

		// 把任务发送给对应的任务处理函数进行处理
		switch (task->taskname)
		{
		case Task_AI:
			TaskFun_AIDet(task);
			break;
		case Task_Class:
			TaskFun_QxClass(task);
			break;
		default:
			break;
		}
	}
	return 0;
}

int ImgCheckAnalysisy::ResizeImg()
{

	cv::Size sz;
	sz.width = RESIZE_IMAGE_WIDTH;

	float fw = RESIZE_IMAGE_WIDTH * 1.0f / m_pImageAllResult->detImg.cols;
	sz.height = int(m_pImageAllResult->detImg.rows * fw);

	// 结果图画布在显示尺寸上按摆正矩阵直接从原图重采样(保持原图通道 -> 真实彩色,不再灰度转假彩);
	// 异常情况(如未走摆正流程)直接用检测图兜底
	const cv::Mat &srcImg = m_CheckResult_shareP->in_shareImage->img;
	if (m_CheckResult_shareP->in_shareImage->Det_Mode != DET_MODE_ReJson &&
		!srcImg.empty() && !m_matSrc2Det.empty() &&
		m_deskewPadRoi.width > 0 && m_deskewPadRoi.height > 0 &&
		CheckUtil::RoiInImg(m_deskewPadRoi, srcImg))
	{
		// M_disp = 显示缩放 ∘ M_src2det，并把输入平移到原图裁剪区(padRoi)的局部坐标
		cv::Mat matDisp = m_matSrc2Det.clone();
		double fsx = sz.width * 1.0 / m_pImageAllResult->detImg.cols;
		double fsy = sz.height * 1.0 / m_pImageAllResult->detImg.rows;
		matDisp.at<double>(0, 0) *= fsx;
		matDisp.at<double>(0, 1) *= fsx;
		matDisp.at<double>(0, 2) *= fsx;
		matDisp.at<double>(1, 0) *= fsy;
		matDisp.at<double>(1, 1) *= fsy;
		matDisp.at<double>(1, 2) *= fsy;
		matDisp.at<double>(0, 2) += matDisp.at<double>(0, 0) * m_deskewPadRoi.x + matDisp.at<double>(0, 1) * m_deskewPadRoi.y;
		matDisp.at<double>(1, 2) += matDisp.at<double>(1, 0) * m_deskewPadRoi.x + matDisp.at<double>(1, 1) * m_deskewPadRoi.y;
		cv::warpAffine(srcImg(m_deskewPadRoi), m_pImageAllResult->resultImg, matDisp, sz, cv::INTER_LINEAR, cv::BORDER_REPLICATE);
	}
	else
	{
		cv::resize(m_pImageAllResult->detImg, m_pImageAllResult->resultImg, sz);
	}
	m_CheckResult_shareP->resultimg = m_pImageAllResult->resultImg;
	m_pdetlog->AddCheckstr(PrintLevel_1, "showImg size", " [w %d,h %d]-> show img [w %d,h %d] ",
						   m_outer_roi.width, m_outer_roi.height, sz.width, sz.height);
	return 0;
}

void ImgCheckAnalysisy::TaskFun_AIDet(std::shared_ptr<TaskInfo> task)
{
	task->SetStatus(TaskStep_run);
	long t1, t2;
	// AI 推理生成
	{
		t1 = CheckUtil::getcurTime();

		int rec = AI_Detect_Thread(m_pImageAllResult->detImg, m_pImageAllResult->AIMaskImg);

		t2 = CheckUtil::getcurTime();
		task->nresult = rec;
	}
	task->SetStatus(TaskStep_compate);
}

void ImgCheckAnalysisy::TaskFun_QxClass(std::shared_ptr<TaskInfo> task)
{
	task->SetStatus(TaskStep_run);
	long t1, t2;
	// AI 推理生成
	{
		t1 = CheckUtil::getcurTime();

		int rec = AI_QX_Class_Thread();

		t2 = CheckUtil::getcurTime();
		task->nresult = rec;
	}
	task->SetStatus(TaskStep_compate);
}

int ImgCheckAnalysisy::Update_DetRoiList()
{
	float fx = m_pImageAllResult->fscale_detToresult_x;
	float fy = m_pImageAllResult->fscale_detToresult_y;

	// 参数多边形 -> 检测图(摆正坐标系) 的映射在摆正时已算好(m_matParam2Det)
	for (const auto &region : m_pCommonAnalysisyConfig->regionConfigArr)
	{
		m_DetRoiList.Update_Mat(region.basicInfo.pointArry, m_matParam2Det, fx, fy);
	}

	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "info", "roiList_Src roi num %ld", m_DetRoiList.roiList_Src.size());
	// m_DetRoiList.print("m_DetRoiList");
	return 0;
}

int ImgCheckAnalysisy::DrawResult_Step_1()
{

	// std::cout << m_pBasicConfig->bDrawPreRoi << std::endl;
	if (m_pBasicConfig->bDrawPreRoi)
	{
		int n = 0;
		// std::cout << m_DetRoiList.roiList_Show.size() << std::endl;
		for (const auto &polygon : m_DetRoiList.roiList_Show)
		{
			// n++;
			// if (n == 1)
			// {
			// 	continue;
			// }

			// std::cout << polygon << std::endl;

			// 绘制多边形的边界（不填充），线宽为1;颜色按画布通道自适应
			cv::polylines(m_CheckResult_shareP->resultimg, polygon, true,
						  CheckUtil::GetDrawColor(m_CheckResult_shareP->resultimg, cv::Scalar(128, 128, 255)), 1); // true表示闭合多边形
		}
		// cv::imwrite(DetImgInfo_shareP->strChannel + "roi_src.png", m_pdetlog->temImgList[TEM_IMG_IDX_DrawSrc]);
		// cv::imwrite(DetImgInfo_shareP->strChannel + "roi_ss.png", m_pdetlog->temImgList[TEM_IMG_IDX_Result]);

		// getchar();
	}

	float fs_resize_x = m_pImageAllResult->resultImg.cols * 1.0f / m_pImageAllResult->detImg.cols;
	float fs_resize_y = m_pImageAllResult->resultImg.rows * 1.0f / m_pImageAllResult->detImg.rows;


	// 绘制m_inner_rroi（蓝色）,原图坐标 -> 检测图(摆正) -> 结果图
	{
		cv::Point2f vertices[4];
		m_inner_rroi.points(vertices);
		std::vector<cv::Point> draw_pts;
		draw_pts.reserve(4);
		for (int i = 0; i < 4; i++)
		{
			cv::Point2f detPt = MatAffinePoint(m_matSrc2Det, vertices[i]);
			draw_pts.emplace_back(cvRound(detPt.x * fs_resize_x),
								  cvRound(detPt.y * fs_resize_y));
		}
		cv::polylines(m_CheckResult_shareP->resultimg, draw_pts, true,
					  CheckUtil::GetDrawColor(m_CheckResult_shareP->resultimg, cv::Scalar(255, 0, 0)), 1);
	}

	if (m_pbaseCheckFunction && m_pbaseCheckFunction->markLine.region.size() > 1)
	{
	    std::vector<cv::Point> product_roi_show;
	    for (const auto &pt : m_pbaseCheckFunction->markLine.region)
	    {
	        // 参数(模板)坐标 -> 检测图(摆正) -> 结果图
	        cv::Point2f detPt = MatAffinePoint(m_matParam2Det, cv::Point2f((float)pt.x, (float)pt.y));
	        cv::Point draw_pt;
	        draw_pt.x = cvRound(detPt.x * fs_resize_x);
	        draw_pt.y = cvRound(detPt.y * fs_resize_y);
	        product_roi_show.push_back(draw_pt);
	    }
	
	    cv::polylines(
	        m_CheckResult_shareP->resultimg,
	        product_roi_show,
	        true,
	        CheckUtil::GetDrawColor(m_CheckResult_shareP->resultimg, cv::Scalar(0, 255, 0)),
	        1);
	}
	if (m_pEdge_Align_Result.get() != NULL)
	{

		if (m_pbaseCheckFunction->markLine.bDraw)
		{
			for (size_t i = 0; i < m_pEdge_Align_Result->markresulList.size(); i++)
			{
				// if (m_pEdge_Align_Result->markresulList[i].status == Mark_Result_Status_OK)
				{
					const cv::Point &markPt = m_pEdge_Align_Result->markresulList[i].det_Local_DetImg;
					cv::Point2f detPt = MatAffinePoint(m_matSrc2Det, cv::Point2f((float)markPt.x, (float)markPt.y));
					cv::Point p;
					p.x = cvRound(detPt.x * fs_resize_x);
					p.y = cvRound(detPt.y * fs_resize_y);
					cv::circle(m_CheckResult_shareP->resultimg, p, 5,
							   CheckUtil::GetDrawColor(m_CheckResult_shareP->resultimg, cv::Scalar(0, 255, 0)));
				}
			}
		}
	}

	// cv::imwrite("sss.png", m_CheckResult_shareP->resultimg);
	return 0;
}

int ImgCheckAnalysisy::AIClassTypeToConfigType(int nAIQXType)
{

	int resultError_type = CONFIG_QX_NAME_cell_aotudian;
	switch (nAIQXType)
	{
	case AI_CLass_QX_NAME_aotudian:
		resultError_type = CONFIG_QX_NAME_cell_aotudian;
		break;
	case AI_CLass_QX_NAME_other:
		resultError_type = CONFIG_QX_NAME_cell_other;
		break;
	case AI_CLass_QX_NAME_line:
		resultError_type = CONFIG_QX_NAME_cell_line;
		break;
	case AI_CLass_QX_NAME_zangwu:
		resultError_type = CONFIG_QX_NAME_cell_zangwu;
		break;
	case AI_CLass_QX_NAME_dianzhuang:
		resultError_type = CONFIG_QX_NAME_cell_dianzhuang;
		break;
	case AI_CLass_QX_NAME_posun:
		resultError_type = CONFIG_QX_NAME_cell_posun;
		break;
	case AI_CLass_QX_NAME_xianwei:
		resultError_type = CONFIG_QX_NAME_cell_xianwei;
		break;
	case AI_CLass_QX_NAME_shuizi:
		resultError_type = CONFIG_QX_NAME_cell_shuizi;
		break;
	case AI_CLass_QX_NAME_danban:
		resultError_type = CONFIG_QX_NAME_cell_danban;
		break;
	case AI_CLass_QX_NAME_fuchen:
		resultError_type = CONFIG_QX_NAME_cell_fuchen;
		break;
	default:
		break;
	}
	return resultError_type;
}

int ImgCheckAnalysisy::UpdateImgageScale()
{

	if (m_pBasicConfig->fImage_Scale_x > 0 && m_pBasicConfig->fImage_Scale_x < 1 &&
		m_pBasicConfig->fImage_Scale_y > 0 && m_pBasicConfig->fImage_Scale_y < 1)
	{

		m_fImgage_Scale_X = m_pBasicConfig->fImage_Scale_x;
		m_fImgage_Scale_Y = m_pBasicConfig->fImage_Scale_y;
	}

	return 0;
}


int ImgCheckAnalysisy::BLobToDetResult()
{
	long t1 = CheckUtil::getcurTime();
	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "BLobToDetResult", " Start old qx num  %ld", m_pDetResult->pQx_ErrorList->size());

	// 遍历每个检测blob
	for (int i = 0; i < blobs.blobCount; i++)
	{
		cv::Rect roi;
		roi.x = blobs.blobTab[i].minx;
		roi.y = blobs.blobTab[i].miny;
		roi.width = blobs.blobTab[i].maxx - blobs.blobTab[i].minx + 1;
		roi.height = blobs.blobTab[i].maxy - blobs.blobTab[i].miny + 1;

		int config_qx_type = blobs.blobTab[i].AIclasstype;

		float JudgArea = blobs.blobTab[i].JudgArea;
		float fsecondArea = JudgArea;
		std::string qx_name = CONFIG_QX_NAME_Names[config_qx_type];

		if (true)
		{
			QX_ERROR_INFO_ temerror;
			temerror.roi = roi;
			temerror.Idx = m_pDetResult->pQx_ErrorList->size();
			temerror.area = blobs.blobTab[i].area;
			temerror.JudgArea = JudgArea;
			temerror.JudgArea_second = fsecondArea;
			temerror.energy = blobs.blobTab[i].energy;
			temerror.flen = blobs.blobTab[i].len;
			temerror.fbreadth = blobs.blobTab[i].breadth;
			temerror.nconfig_qx_type = config_qx_type;
			temerror.qx_name = qx_name;
			temerror.maxValue = blobs.blobTab[i].maxValue;
			temerror.grayDis = blobs.blobTab[i].grayDis;
			temerror.density = blobs.blobTab[i].density;
			temerror.fUpIou = 0;
			temerror.whiteOrBlack = blobs.blobTab[i].whiteOrblack;

			{
				cv::Point pCenter;
				pCenter.x = roi.x + roi.width * 0.5;
				pCenter.y = roi.y + roi.height * 0.5;
				int nmaxregionIdx = 0;
				for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
				{
					const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
					double result = cv::pointPolygonTest(polygon, pCenter, false);
					if (result < 0)
					{
						continue;
					}
					nmaxregionIdx = iregion;
				}

				temerror.detRegionidxList.push_back(nmaxregionIdx);
			}

			// {
			// 	cv::Point pCenter;
			// 	pCenter.x = roi.x + roi.width * 0.5;
			// 	pCenter.y = roi.y + roi.height * 0.5;
			// 	for (int iregion = 0; iregion < m_DetRoiList.roiList_Src.size(); iregion++)
			// 	{
			// 		const std::vector<cv::Point> &polygon = m_DetRoiList.roiList_Src[iregion];
			// 		double result = cv::pointPolygonTest(polygon, pCenter, false);
			// 		if (result < 0)
			// 		{
			// 			continue;
			// 		}
			// 		temerror.detRegionidxList.push_back(iregion);
			// 	}
			// 	if (temerror.detRegionidxList.size() <= 0)
			// 	{
			// 		temerror.detRegionidxList.push_back(0);
			// 	}
			// }

			m_pDetResult->pQx_ErrorList->push_back(temerror);

			// printf("- %s idx %d  a %f v %d h %f l %f\n", DetImgInfo_shareP->strChannel.c_str(), i, JudgArea, blobs.blobTab[i].maxValue, blobs.blobTab[i].grayDis, flen);
		}
	}
	long t2 = CheckUtil::getcurTime();
	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "BLobToDetResult", " end  qx num  %ld use time %ld", m_pDetResult->pQx_ErrorList->size(), t2 - t1);
	return 0;
}

int ImgCheckAnalysisy::AI_Edge(const cv::Mat &img, cv::RotatedRect &outerRoi, cv::RotatedRect &innerRoi,  vector<cv::RotatedRect> &tagroiList)
{
	m_pdetlog->AddCheckstr(PrintLevel_0, "AI_Edge", "-------------------start--------------");

	AI_Edge_Algin::DetConfig config;

	if (DetImgInfo_shareP->bsaveProcessImg)
	{
		config.bSaveResultImg = true;
	}
	config.strChannel = DetImgInfo_shareP->strChannel;
	config.pBaseCheckFunction = m_pbaseCheckFunction;

	/* 定位获取三个roi */
	int re = m_pAI_Edge_Algin.Detect(img, &config, m_pEdge_Align_Result);
	if (re != 0)
	{
		printf("AI_Edge Is Error = %d \n", re);
	}
	if (!m_pEdge_Align_Result->bigroi.empty())
	{
		outerRoi = m_pEdge_Align_Result->bigroi[0];
	}
	if (!m_pEdge_Align_Result->smallroi.empty())
	{
		innerRoi = m_pEdge_Align_Result->smallroi[0];
	}
	if (!m_pEdge_Align_Result->tagroi.empty())
	{
		tagroiList = m_pEdge_Align_Result->tagroi;
	}

	/*使用m_pEdge_Align_Result->bigmask检测把手是否缺失*/
	{
		long handle_s = CheckUtil::getcurTime();
		CheckHandleByBigMask(m_pEdge_Align_Result->bigmask);
		long handle_e = CheckUtil::getcurTime();
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle", "handle detect use time %ld", handle_e - handle_s);
	}
	return re;
}

// 用 bigmask 检测把手：
// 1、bigmask 主体近似矩形，把手是主体四周凸起的"类矩形块"
// 2、把主体四周的凸起抠出来（凸起在该边的边界值上表现为一次突变进入 + 一次反向突变离开）
// 3、参数里每个非空的"把手区域"附近都应该有一个把手：在区域附近找凸起，
//    凸起宽高与区域外接矩形宽高相近（HANDLE_SIZE_MIN_RATIO ~ HANDLE_SIZE_MAX_RATIO）才算匹配
// 4、凸起本身不算 NG，只有"某个把手区域附近找不到匹配的凸起"才算把手缺失（NG 由 CheckRun 上报）
int ImgCheckAnalysisy::CheckHandleByBigMask(const cv::Mat &bigmask)
{
	m_bHandleDetSucc = false;
	m_bHandleFound = false;
	m_bHandleExpect = false;
	m_HandleCandList.clear();
	m_HandleRegionResultList.clear();

	if (bigmask.empty())
	{
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle", "bigmask is empty, skip handle detect");
		return 1;
	}

	// 1、抠出 bigmask 四周凸起的矩形块
	std::vector<Mask_Protrusion_> protrusionList;
	int re = CheckUtil::GetMaskProtrusions(bigmask, protrusionList);
	if (re != 0)
	{
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle", "GetMaskProtrusions error %d", re);
		return re;
	}
	m_bHandleDetSucc = true;

	// 2、把手检测开关 + 把手区域（最多4个，非空区域表示该处应该有一个把手）
	bool bDetHandle = false;
	std::vector<cv::Rect> regionBoxList;
	if (m_pFuntion != NULL)
	{
		const Function_Support_Det &supportDet = m_pFuntion->function.f_supportDet;
		bDetHandle = supportDet.bDetHandle;
		for (size_t i = 0; i < supportDet.handleBoxes.size() && i < HANDLE_REGION_MAX_NUM; i++)
		{
			regionBoxList.push_back(supportDet.handleBoxes[i]);
		}
	}
	m_bHandleExpect = (bDetHandle && !regionBoxList.empty());
	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle", "protrusion num %ld  handle region num %ld  bDetHandle %s  expect %s",
						   protrusionList.size(), regionBoxList.size(), BOOL_TO_STR(bDetHandle), BOOL_TO_STR(m_bHandleExpect));

	// 3、凸起候选实测特征（面积/填充率，仅用于日志排查）
	for (size_t i = 0; i < protrusionList.size(); i++)
	{
		Handle_Candidate_ cand;
		cand.protr = protrusionList[i];
		// 左/右凸起：沿边为 y 方向，深度为 x 方向；上/下凸起相反
		bool bHorz = (cand.protr.nSide == 0 || cand.protr.nSide == 1);
		cand.nLen = bHorz ? cand.protr.roi.height : cand.protr.roi.width;
		cand.nDepth = bHorz ? cand.protr.roi.width : cand.protr.roi.height;
		m_HandleCandList.push_back(cand);
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle",
							   "protrusion %ld side %d roi [%d %d %d %d] len %d depth %d area %0.0f fill %0.2f",
							   i, cand.protr.nSide, cand.protr.roi.x, cand.protr.roi.y, cand.protr.roi.width, cand.protr.roi.height,
							   cand.nLen, cand.nDepth, cand.protr.fArea, cand.protr.fFillRatio);
	}

	// 4、逐个把手区域：在区域附近找宽高匹配的凸起（同一个凸起只匹配给一个区域）
	std::vector<bool> usedList(m_HandleCandList.size(), false);
	int nFound = 0;
	for (size_t ir = 0; ir < regionBoxList.size(); ir++)
	{
		Handle_Region_Result_ result;
		result.nIdx = (int)ir + 1;
		result.boxRegion = regionBoxList[ir];
		int nMatchIdx = MatchHandleRegion(m_HandleCandList, usedList, result.boxRegion, result.roiHandle);
		result.bFound = (nMatchIdx >= 0);
		if (result.bFound)
		{
			usedList[nMatchIdx] = true;
			nFound++;
		}
		m_HandleRegionResultList.push_back(result);

		std::string strResult = "handle missing !!";
		if (result.bFound)
		{
			strResult = "handle roi [" + std::to_string(result.roiHandle.x) + " " + std::to_string(result.roiHandle.y) + " " +
						std::to_string(result.roiHandle.width) + " " + std::to_string(result.roiHandle.height) + "]";
		}
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle", "handle region %d box [%d %d %d %d] -> %s",
							   result.nIdx, result.boxRegion.x, result.boxRegion.y, result.boxRegion.width, result.boxRegion.height,
							   strResult.c_str());
	}
	m_bHandleFound = (!regionBoxList.empty() && nFound == (int)regionBoxList.size());

	m_pdetlog->AddCheckstr(PrintLevel_0, DET_LOG_LEVEL_3, "Handle", "handle region num %ld  found num %d  -> %s",
						   regionBoxList.size(), nFound, m_bHandleFound ? "handle ok" : "handle missing !!");

	// 5、存过程图：凸起红框、把手区域蓝框、匹配上的把手绿框（仅调试时）
	if (DetImgInfo_shareP->bsaveProcessImg)
	{
		cv::Mat show;
		if (bigmask.channels() == 1)
		{
			cv::cvtColor(bigmask, show, cv::COLOR_GRAY2BGR);
		}
		else
		{
			show = bigmask.clone();
		}
		for (size_t i = 0; i < m_HandleCandList.size(); i++)
		{
			cv::rectangle(show, m_HandleCandList[i].protr.roi, cv::Scalar(0, 0, 255), 8);
		}
		for (size_t i = 0; i < m_HandleRegionResultList.size(); i++)
		{
			cv::rectangle(show, m_HandleRegionResultList[i].boxRegion, cv::Scalar(255, 0, 0), 8);
			if (m_HandleRegionResultList[i].bFound)
			{
				cv::rectangle(show, m_HandleRegionResultList[i].roiHandle, cv::Scalar(0, 255, 0), 12);
			}
		}
		cv::Mat showSmall;
		cv::resize(show, showSmall, cv::Size(show.cols / 4, show.rows / 4));
		std::vector<int> paramJpg = {cv::IMWRITE_JPEG_QUALITY, 90};
		cv::imwrite(DetImgInfo_shareP->strChannel + "_handle_det.jpg", showSmall, paramJpg);
	}

	return 0;
}

// 标签检测(独立步骤)：用 (图像 + 定位结果) 跑 Tag_Loc 模型
// 裁剪区域与定位流程里 Tag_Loc 的口径完全一致(定位得到的产品外接旋转矩形)：
//   明场相机用自己的定位结果；暗场相机没做定位模型，用复用明场的结果 —— 保证暗/明场对同一摆位切出同样区域。
//   注意：标签模型对裁剪尺度很敏感(裁剪差 3px 就会让检出个数变化)，不能另用 bigmask 重推裁剪框。
// bigmask 仅在定位外接矩形异常时作兜底(最大轮廓外接框)。
// 检出的标签 roi 存 m_tag_roiList(裁剪图坐标系，与定位流程 tagroi 的约定一致)，由 CheckRun 统一上报 NG。
int ImgCheckAnalysisy::CheckTagByBigMask(const cv::Mat &img, const cv::Mat &bigmask)
{
	m_tag_roiList.clear();
	if (!AI_Factory || !AI_Factory->Tag_Loc)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "Tag_Loc model is null");
		return 1;
	}
	if (img.empty())
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "tag check img is empty");
		return 2;
	}

	// 1、裁剪区域：与定位流程 Tag_Loc 的裁剪口径一致(产品外接旋转矩形，暗场为复用明场的值)
	cv::Rect roiCrop = m_outer_rroi.boundingRect() & cv::Rect(0, 0, img.cols, img.rows);
	if (roiCrop.width <= 0 || roiCrop.height <= 0)
	{
		// 异常兜底：定位外接矩形无效时，用 bigmask 最大轮廓外接框
		if (bigmask.empty())
		{
			m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "tag check roi invalid and bigmask is empty");
			return 3;
		}
		cv::Mat binMask;
		{
			cv::Mat grayMask;
			if (bigmask.channels() != 1)
			{
				cv::cvtColor(bigmask, grayMask, cv::COLOR_BGR2GRAY);
			}
			else
			{
				grayMask = bigmask;
			}
			double dMin = 0;
			double dMax = 0;
			cv::minMaxLoc(grayMask, &dMin, &dMax);
			// 兼容 0/1 与 0/255 掩膜：取半强度作阈值(重采样后的边缘取到真实边界)
			cv::threshold(grayMask, binMask, dMax > 1 ? dMax * 0.5 : 0, 255, cv::THRESH_BINARY);
		}
		bool bFound = false;
		std::vector<cv::Point> contour = CheckUtil::getLargestContourROI(binMask, bFound);
		if (!bFound || contour.size() < 3)
		{
			m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "tag check bigmask contour too few");
			return 4;
		}
		roiCrop = cv::minAreaRect(contour).boundingRect() & cv::Rect(0, 0, img.cols, img.rows);
		if (roiCrop.width <= 0 || roiCrop.height <= 0)
		{
			m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "tag check crop roi error [%d %d %d %d]", roiCrop.x, roiCrop.y, roiCrop.width, roiCrop.height);
			return 5;
		}
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Tag", "tag check use bigmask roi [%d %d %d %d]",
							   roiCrop.x, roiCrop.y, roiCrop.width, roiCrop.height);
	}

	// 2、裁剪 -> resize 到 Tag_Loc 模型输入尺寸 -> 灰度
	std::shared_ptr<AIModel_Base> pTag = AI_Factory->Tag_Loc;
	cv::Size sz(pTag->input_0.width, pTag->input_0.height);
	if (sz.width <= 0 || sz.height <= 0)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "tag check invalid model input size");
		return 6;
	}
	cv::Mat detImg;
	cv::resize(img(roiCrop), detImg, sz);
	if (detImg.channels() == 3)
	{
		cv::cvtColor(detImg, detImg, cv::COLOR_BGR2GRAY);
	}
	else if (detImg.channels() == 4)
	{
		cv::cvtColor(detImg, detImg, cv::COLOR_BGRA2GRAY);
	}

	// 3、推理
	cv::Mat mask;
	int re = pTag->AIDet(detImg, mask);
	if (re != 0)
	{
		m_pdetlog->AddCheckstr(PrintLevel_0, "Error", "Tag_Loc AIDet error %d", re);
		return 100 + re;
	}
	if (mask.empty())
	{
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Tag", "tag mask empty, no tag");
		return 0;
	}

	// 调试存图(仅 -s 时保存)
	if (DetImgInfo_shareP && DetImgInfo_shareP->bsaveProcessImg)
	{
		cv::imwrite(DetImgInfo_shareP->strChannel + "_tag_in.png", detImg);
		cv::imwrite(DetImgInfo_shareP->strChannel + "_tag_out_mask.png", mask);
	}

	// 4、mask 轮廓 -> 还原到裁剪图坐标 -> RotatedRect(与定位流程 tagroi 的坐标系一致)
	std::vector<std::vector<cv::Point>> contours;
	std::vector<cv::Vec4i> hierarchy;
	cv::findContours(mask.clone(), contours, hierarchy, cv::RETR_EXTERNAL, cv::CHAIN_APPROX_SIMPLE);
	const float scale_x = (float)roiCrop.width / (float)sz.width;
	const float scale_y = (float)roiCrop.height / (float)sz.height;
	for (size_t i = 0; i < contours.size(); i++)
	{
		if (contours[i].size() < 3 || cv::contourArea(contours[i]) <= 0)
		{
			continue;
		}
		std::vector<cv::Point2f> srcContour;
		srcContour.reserve(contours[i].size());
		for (const auto &pt : contours[i])
		{
			srcContour.emplace_back(pt.x * scale_x, pt.y * scale_y);
		}
		m_tag_roiList.emplace_back(cv::minAreaRect(srcContour));
	}
	// 面积从大到小排序(与定位流程 tagroi 的顺序一致)
	std::sort(m_tag_roiList.begin(), m_tag_roiList.end(),
			  [](const cv::RotatedRect &a, const cv::RotatedRect &b)
			  { return a.size.width * a.size.height > b.size.width * b.size.height; });

	m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Tag", "tag region num %ld  crop [%d %d %d %d]  model [%d %d]",
						   m_tag_roiList.size(), roiCrop.x, roiCrop.y, roiCrop.width, roiCrop.height, sz.width, sz.height);
	return 0;
}

// 在某个把手区域附近找宽高匹配的凸起
// 匹配条件：1、凸起中心落在把手区域附近（区域宽/高各外扩 HANDLE_NEAR_EXPAND_RATIO）
//           2、凸起宽高与该区域外接矩形宽高的比值都在 [HANDLE_SIZE_MIN_RATIO, HANDLE_SIZE_MAX_RATIO]（允许横竖互换）
// 返回凸起在 candList 中的下标，-1 表示没找到
int ImgCheckAnalysisy::MatchHandleRegion(const std::vector<Handle_Candidate_> &candList, const std::vector<bool> &usedList,
										 const cv::Rect &boxRegion, cv::Rect &roiHandle)
{
	if (boxRegion.width <= 0 || boxRegion.height <= 0)
	{
		return -1;
	}

	// 搜索范围：把手区域外扩（宽/高各外扩区域尺寸的一半），容忍产品摆放偏差
	int nx = std::max(10, (int)(boxRegion.width * HANDLE_NEAR_EXPAND_RATIO));
	int ny = std::max(10, (int)(boxRegion.height * HANDLE_NEAR_EXPAND_RATIO));
	cv::Rect searchBox(boxRegion.x - nx, boxRegion.y - ny, boxRegion.width + 2 * nx, boxRegion.height + 2 * ny);
	cv::Point pRegionCenter(boxRegion.x + boxRegion.width / 2, boxRegion.y + boxRegion.height / 2);

	int nBestIdx = -1;
	double fBestDis = 1e18;
	int nNearIdx = -1; // 区域内离区域中心最近的凸起（仅用于日志排查）
	double fNearDis = 1e18;
	for (size_t i = 0; i < candList.size(); i++)
	{
		if (i < usedList.size() && usedList[i])
		{
			continue;
		}
		const Handle_Candidate_ &cand = candList[i];
		const cv::Rect &roi = cand.protr.roi;
		if (roi.width <= 0 || roi.height <= 0)
		{
			continue;
		}

		// 位置：凸起中心要落在把手区域附近
		cv::Point pCenter(roi.x + roi.width / 2, roi.y + roi.height / 2);
		if (!searchBox.contains(pCenter))
		{
			continue;
		}
		double fDis = CheckUtil::calDis(pCenter, pRegionCenter);
		if (fDis < fNearDis)
		{
			fNearDis = fDis;
			nNearIdx = (int)i;
		}

		// 宽高：与把手区域外接矩形的宽高相近（允许横竖互换）
		float fw = (float)roi.width;
		float fh = (float)roi.height;
		bool bSizeOK = (fw >= boxRegion.width * HANDLE_SIZE_MIN_RATIO && fw <= boxRegion.width * HANDLE_SIZE_MAX_RATIO &&
						fh >= boxRegion.height * HANDLE_SIZE_MIN_RATIO && fh <= boxRegion.height * HANDLE_SIZE_MAX_RATIO);
		if (!bSizeOK)
		{
			bSizeOK = (fw >= boxRegion.height * HANDLE_SIZE_MIN_RATIO && fw <= boxRegion.height * HANDLE_SIZE_MAX_RATIO &&
					   fh >= boxRegion.width * HANDLE_SIZE_MIN_RATIO && fh <= boxRegion.width * HANDLE_SIZE_MAX_RATIO);
		}
		if (!bSizeOK)
		{
			continue;
		}

		if (fDis < fBestDis)
		{
			fBestDis = fDis;
			nBestIdx = (int)i;
		}
	}

	if (nBestIdx < 0 && nNearIdx >= 0)
	{
		// 没匹配上时打印区域内最近的凸起，便于排查阈值
		const cv::Rect &roi = candList[nNearIdx].protr.roi;
		m_pdetlog->AddCheckstr(PrintLevel_1, DET_LOG_LEVEL_3, "Handle",
							   "region box [%d %d %d %d] no match, nearest protrusion roi [%d %d %d %d] w/h ratio %0.2f %0.2f",
							   boxRegion.x, boxRegion.y, boxRegion.width, boxRegion.height,
							   roi.x, roi.y, roi.width, roi.height,
							   (float)roi.width / (float)boxRegion.width, (float)roi.height / (float)boxRegion.height);
	}

	if (nBestIdx >= 0)
	{
		roiHandle = candList[nBestIdx].protr.roi;
	}
	return nBestIdx;
}

int ImgCheckAnalysisy::CalProductSize()
{
	float fw = m_outer_roi.width * m_fImgage_Scale_X;
	float fh = m_outer_roi.height * m_fImgage_Scale_Y;
	fw = std::ceil(fw * 10) / 10;
	fh = std::ceil(fh * 10) / 10;
	m_CheckResult_shareP->productWidht_mm = fw;
	m_CheckResult_shareP->productHeight_mm = fh;

	m_pdetlog->AddCheckstr(PrintLevel_1, "Det ROI", " [w %d,h %d] (piexl) -> [w %f h %f](mm),scale %f %f",
						   m_outer_roi.width, m_outer_roi.height, fw, fh, m_fImgage_Scale_X, m_fImgage_Scale_Y);
	return 0;
}

int ImgCheckAnalysisy::ImgPreDet()
{

	// 计算产品尺寸
	CalProductSize();

	if (m_pbaseCheckFunction->saveImg.bSaveClsImg)
	{
		creatsavedir();
	}

	// 裁剪图(_RE_CutImg)保留原图通道：源图为彩色时用彩色摆正图,否则回退灰度检测图
	m_CheckResult_shareP->cutSrcimg = m_pImageAllResult->detColorImg.empty()
										  ? m_pImageAllResult->detImg
										  : m_pImageAllResult->detColorImg;
	ResizeImg();

	m_pImageAllResult->fscale_detToresult_x = m_pImageAllResult->resultImg.cols * 1.0f / m_pImageAllResult->detImg.cols;
	m_pImageAllResult->fscale_detToresult_y = m_pImageAllResult->resultImg.rows * 1.0f / m_pImageAllResult->detImg.rows;
	return 0;
}