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@ -22,6 +22,7 @@ Down_Angle_Detect::Down_Angle_Detect()
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}
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Down_Angle_Detect::~Down_Angle_Detect()
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{
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printf("----------------~Down_Angle_Detect \n");
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}
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int Down_Angle_Detect::RunStart(void *pconfig1)
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@ -316,6 +317,11 @@ int Down_Angle_Detect::CheckRun()
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Base_Function_DetConfig *pdetConfig = &m_CheckBaseConfig->baseCheckFunction.detconfig;
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bool openFlag = pdetConfig->bOpen;
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if (DetImgInfo_shareP->bdebugSaveImg)
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{
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bwriteImg = true;
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}
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// cv::Rect detROI = pdetConfig->cropROI;//检测ROI
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// 获取产品ROI区域
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auto t110 = CheckUtil::getcurTime();
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@ -407,80 +413,21 @@ int Down_Angle_Detect::CheckRun()
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// getchar();
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}
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// if ((LeftDownP.x < 0) || (LeftDownP.x > inputROIimg.cols - 1))
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// {
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// re = 1;
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// }
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// if ((LeftDownP.y < 0) || (LeftDownP.y > inputROIimg.rows - 1))
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// {
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// re = 2; // 1104-add
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// }
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cv::Point2f detROi2f{detROI.x, detROI.y};
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cv::Point2f BigImgChipCenter = CenterP + detROi2f; // 1105
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cv::Point2f CenterOffsetP = BigImgChipCenter - LabelCenterP;
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std::cout << "OffsetXOut=" << CenterOffsetP.x << std::endl;
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std::cout << "OffsetYOut=" << CenterOffsetP.y << std::endl;
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// float offsetAngle=abs(angleOut-InputBaseAngle);//这里选择从界面读取的angle-可能不准
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float offsetAngle = angleOut - LabelAngle; // //角度偏差
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std::cout << "Offsetangle=" << offsetAngle << std::endl; // 1027-add
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m_CheckResult_shareP->CenterOffsetX = CenterOffsetP.x; // 最终结果输出
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m_CheckResult_shareP->CenterOffsetY = CenterOffsetP.y; // 最终结果输出
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m_CheckResult_shareP->OffsetAngle = offsetAngle; // 最终结果输出 -此时取绝对值，到下面来纠正正负1105
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if (0 != re)
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{
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// 1013-添加画ERROR--
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if (bwriteImg)
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{
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std::string str = "1after_DetImgInfo_shareP-img.png";
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cv::imwrite(str, DetImgInfo_shareP->img);
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}
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// GetShowSrcImg(detimg, m_CheckResult_shareP->resultImg); //这样结果图在打开存图开关时会有红色矩形框
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GetShowSrcImg(DetImgInfo_shareP->img, m_CheckResult_shareP->resultImg); // 这样也有
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// 这里可以根据返回的int数字来决定返回的是"ERROR"还是"Param_ERROR"还是"Image_mohu"----
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AddResultErrorImg(m_CheckResult_shareP->resultImg); // 画ERROR -1013-add 拿到外面来
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// AddResultErrorImg(m_CheckResult_shareP->resultImg,"ERROR"); //1014-add
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if (bwriteImg)
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{
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std::string str = "2after_DetImgInfo_shareP-img2.png";
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cv::imwrite(str, DetImgInfo_shareP->img);
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}
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std::cout << "AddResultError-----------------Img------ERROR" << std::endl; // 1013-add
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return re;
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}
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// cv::Point s2offsetPoint = LeftDownP - s2_LabelLineP1;
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// cv::Point s2LabelOffsetRightDownP = s2_LabelLineP2 + s2offsetPoint; // 标记的点-相对右边偏移后的点
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// // 此时标记的底边线段1和求得的底边线段2在左下角重合形成角度，可以根据两线段右端点纵坐标Y的值来判断角度正负-1105
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// // 如果s2RightDownP_out.y<s2LabelOffsetRightDownP.y,说明计算的标记点线段在上面，角度为负，
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// // 如果大于，则角度为正，angle-90也可以计算得到旋转的角度，保证旋转角度范围在(-90,0]之间
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// if (RightDownP.y < s2LabelOffsetRightDownP.y)
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// {
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// m_CheckResult_shareP->OffsetAngle = -offsetAngle; // 负角度 顺时针
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// std::cout << "up--------------------------------up" << std::endl;
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// //std::cout << "m_CheckResult_shareP->Angle=" << m_CheckResult_shareP->Angle << std::endl;
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// }
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// else if (RightDownP.y > s2LabelOffsetRightDownP.y)
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// {
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// // m_CheckResult_shareP->Angle = offsetAngle - 90;
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// m_CheckResult_shareP->OffsetAngle = offsetAngle; // 正角度 逆时针
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// std::cout << "down--------------------------------down" << std::endl;
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// //std::cout << "m_CheckResult_shareP->Angle=" << m_CheckResult_shareP->Angle << std::endl;
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// }
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bool drawLabelLineFlag = false;
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re = Draw3(m_resultImg, m_CheckResult_shareP->resultImg, s2StartP, CenterP,
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LabelCenterP, s2_LabelLineP1, s2_LabelLineP2, LeftDownP, RightDownP, drawLabelLineFlag);
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double x_coeff = pdetConfig->calibration_coeff_x; // 1107-add
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double y_coeff = pdetConfig->calibration_coeff_y; // 1107-add
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m_CheckResult_shareP->CenterOffsetX = CenterOffsetP.x * x_coeff; // 最终结果输出
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m_CheckResult_shareP->CenterOffsetY = CenterOffsetP.y * y_coeff; // 最终结果输出
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m_CheckResult_shareP->OffsetAngle = offsetAngle;
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std::cout << "OffsetXOut=" << CenterOffsetP.x << " resultMove" << m_CheckResult_shareP->CenterOffsetX << std::endl;
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std::cout << "OffsetYOut=" << CenterOffsetP.y << " resultMove" << m_CheckResult_shareP->CenterOffsetY << std::endl;
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std::cout << "Offsetangle=" << offsetAngle << std::endl;
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if (0 != re)
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{
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// 这里其实没有返回由于画图错误导致的图像异常-返回的是ChipRoiImg -1014-add
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return re;
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}
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t2 = CheckUtil::getcurTime();
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m_CheckResult_shareP->UseTimeMS = t2 - t1;
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// printf("Check time %ld \n", t2 - t1);
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@ -767,7 +714,7 @@ int Down_Angle_Detect::AI_Run(const cv::Mat &img, cv::Point s2StartP, double Lab
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{
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continue;
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}
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//二次定位
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// 二次定位
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const int h = 360;
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cv::Point start{MaxRoi.x, MaxRoi.y + MaxRoi.height - h / 2};
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cv::Rect SecondAlignRoi{start.x, start.y, MaxRoi.width, h};
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@ -827,7 +774,7 @@ int Down_Angle_Detect::AI_Run(const cv::Mat &img, cv::Point s2StartP, double Lab
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cv::imwrite(str1, src_mask);
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}
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//取中间300宽度搜边
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// 取中间300宽度搜边
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const int w = 300;
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cv::Rect roiRect{(outimg.cols - 300) / 2, 0, w, outimg.rows};
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cv::Mat Roi_mask = outimg(roiRect);
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@ -1067,65 +1014,73 @@ int Down_Angle_Detect::Draw3(const cv::Mat &img, cv::Mat &resultimg, cv::Point s
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}
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// 计算二值图像中分割线的角度
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double Down_Angle_Detect::calculateSplitLineAngle(const cv::Mat& binaryImage) {
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double Down_Angle_Detect::calculateSplitLineAngle(const cv::Mat &binaryImage)
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{
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// 检查图像是否有效
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if (binaryImage.empty()) {
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if (binaryImage.empty())
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{
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cerr << "img is empty！" << endl;
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return 0.0;
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}
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// 获取图像尺寸
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int height = binaryImage.rows;
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int width = binaryImage.cols;
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// 存储边界点
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vector<Point> boundaryPoints;
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// 遍历每一列，找到白黑边界
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for (int x = 0; x < width; x++) {
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for (int y = 0; y < height - 1; y++) {
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for (int x = 0; x < width; x++)
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{
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for (int y = 0; y < height - 1; y++)
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{
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// 检查当前像素是白色(255)且下一个像素是黑色(0)
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if (binaryImage.at<uchar>(y, x) == 255 &&
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binaryImage.at<uchar>(y + 1, x) == 0) {
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if (binaryImage.at<uchar>(y, x) == 255 &&
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binaryImage.at<uchar>(y + 1, x) == 0)
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{
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boundaryPoints.push_back(Point(x, y));
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break; // 找到该列的边界点后跳出内层循环
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}
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}
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}
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// 检查是否找到足够的边界点
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if (boundaryPoints.size() < 2) {
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if (boundaryPoints.size() < 2)
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{
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cerr << "edge point not Enough" << endl;
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return 0.0;
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}
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// 使用最小二乘法拟合直线 y = mx + b
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double sumX = 0.0, sumY = 0.0, sumXY = 0.0, sumX2 = 0.0;
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int n = boundaryPoints.size();
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for (const auto& point : boundaryPoints) {
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for (const auto &point : boundaryPoints)
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{
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double x = point.x;
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double y = point.y;
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sumX += x;
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sumY += y;
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sumXY += x * y;
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sumX2 += x * x;
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}
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// 计算斜率 m 和截距 b
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double denominator = n * sumX2 - sumX * sumX;
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if (fabs(denominator) < 1e-10) {
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if (fabs(denominator) < 1e-10)
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{
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// 垂直线情况
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return 90.0;
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}
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double m = (n * sumXY - sumX * sumY) / denominator;
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double b = (sumY - m * sumX) / n;
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// 计算角度（弧度转角度）
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double angleRad = atan(m);
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double angleDeg = angleRad * 180.0 / CV_PI;
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return angleDeg;
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}
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xiewenji
1 week ago