handleaiuinew/HanddleAI/HandleAiUi-new/algo/CISCO_APEXSMALL.hpp

#include <detData.h>
#include <handleAiModel.h>
#include <Inspection_apexSmall.hpp>
#include <simpleAlgo.h>
//输入det切出的连接器图片
static void apexSmallHalconPaint(cv::Mat& out, std::vector<startAndEndPoints>xLines, const std::vector<cv::Rect>& AllPinsPos, const std::vector<rectAndResult>& AllPos, double& maxRange)
{
    std::vector<std::vector<rectAndResult>> groupedRectangles = groupRectanglesByX(AllPos, 40);//编组
    for (auto& vec : groupedRectangles)//排序
        sortRectanglesByY(vec);
    std::vector<std::vector<cv::Rect>> PinGroupedRectangles = groupRectanglesByX(AllPinsPos, 40);//编组
    for (auto& vec : PinGroupedRectangles)//排序
        sortRectanglesByY(vec);
    std::sort(xLines.begin(), xLines.end(), compareByStartX);
    for (auto& linex : xLines)//画竖线
    {
        cv::line(out,
            cv::Point(linex.start.x, linex.start.y),
            cv::Point(linex.end.x, linex.end.y),
            cv::Scalar(0, 255, 0), 3);
    }

    for (int i = 0; i < xLines.size(); i++)
    {
        if (groupedRectangles.size() > i)
            for (auto& rectIn : groupedRectangles[i])
            {
                cv::Point mid(rectIn.rect.x, rectIn.rect.y);
                double range = pointToLineDistance(mid, xLines[i].start, xLines[i].end) * pixACC;
                maxRange = max(maxRange, range);
                cv::Rect rect(rectIn.rect.x - rectIn.rect.width / 2, rectIn.rect.y - rectIn.rect.height / 2, rectIn.rect.width, rectIn.rect.height);
                cv::Scalar scolor;
                if (rectIn.isOK == false)
                    scolor = cv::Scalar(0, 0, 255);
                else
                    scolor = cv::Scalar(0, 255, 0);
                cv::rectangle(out, rect, scolor, 5); //画pin针
                //cv::putText(out,
                //    std::to_string(range),
                //    cv::Point(mid.x, mid.y - 5), 4, 1,
                //    scolor);
            }
    }
    for (int i = 0; i < xLines.size(); i++)
    {
        if (PinGroupedRectangles.size() > i)
            for (auto& rectIn : PinGroupedRectangles[i])
            {
                cv::Point mid(rectIn.x, rectIn.y);
                double range = pointToLineDistance(mid, xLines[i].start, xLines[i].end) * pixACC;
                maxRange = max(maxRange, range);
                cv::Rect rect(rectIn.x - rectIn.width / 2, rectIn.y - rectIn.height / 2, rectIn.width, rectIn.height);
                cv::Scalar scolor = cv::Scalar(0, 255, 0);
                cv::rectangle(out, rect, scolor, 3); //画pin针
                cv::putText(out,
                    std::to_string(range),
                    cv::Point(mid.x, mid.y - 5), 4, 1,
                    scolor);
            }
    }
}
static cv::Mat apexSmallHalconAlgo(std::shared_ptr<detData>data, cv::Mat& src)
{
    cv::Mat halconImg;
    src.copyTo(halconImg);
    HTuple hv_out_OK_Pings;
    HTuple hv_out_NG_Pings;
    HTuple hv_out_Flag_INS;
    HTuple hv_out_Line;
    HTuple hv_pin_number;
    HTuple hv_out_Pings;
    HObject ho_in_Image = MatToHObject(halconImg);
    cv::Mat r = HObject2Mat(ho_in_Image);
    sk2_APEXSMALL_Pin(ho_in_Image, &hv_out_OK_Pings, &hv_out_NG_Pings,
        &hv_out_Line, &hv_pin_number, &hv_out_Pings, &hv_out_Flag_INS);
    int flag = hv_out_Flag_INS.D();
    if (halconImg.channels() == 1)
        cv::cvtColor(halconImg, halconImg, cv::COLOR_GRAY2BGR);
    int hv_out_OK_PingsSize = hv_out_OK_Pings.Length(),
        hv_out_NG_PingsSize = hv_out_NG_Pings.Length();
    int lineSize = hv_out_Line.Length();
    int hv_out_PingsSize = hv_out_Pings.Length();
    int hv_pin_numberSize = hv_pin_number.Length();
    std::cout << "OKSize" << hv_out_OK_PingsSize << "NGSize" << hv_out_NG_PingsSize << std::endl;
    std::vector<rectAndResult> AllBaseRects;
    std::vector<cv::Rect> AllPoints;
    std::vector<cv::Rect>okPos;
    for (int i = 0; i < hv_out_OK_PingsSize / 4; i++)
    {
        cv::Rect rect(
            hv_out_OK_Pings[i * 4].D(),
            hv_out_OK_Pings[i * 4 + 1].D(),
            hv_out_OK_Pings[i * 4 + 2].D(),
            hv_out_OK_Pings[i * 4 + 3].D());
        okPos.push_back(rect);
        AllBaseRects.push_back(rectAndResult(rect, true));
    }
    std::vector<cv::Rect>ngPos;
    for (int i = 0; i < hv_out_NG_PingsSize / 4; i++)
    {
        cv::Rect rect(
            hv_out_NG_Pings[i * 4].D(),
            hv_out_NG_Pings[i * 4 + 1].D(),
            hv_out_NG_Pings[i * 4 + 2].D(),
            hv_out_NG_Pings[i * 4 + 3].D());
        ngPos.push_back(rect);
        AllBaseRects.push_back(rectAndResult(rect, false));
    }

    for (int i = 0; i < hv_out_PingsSize / 4; i++)
    {
        cv::Rect rect(
            hv_out_Pings[i * 4].D(),
            hv_out_Pings[i * 4 + 1].D(),
            hv_out_Pings[i * 4 + 2].D(),
            hv_out_Pings[i * 4 + 3].D());
        //okPos.push_back(rect);
        AllPoints.push_back(rect);
    }
    std::vector<startAndEndPoints>xLines;
    for (int i = 0; i < lineSize / 4; i++)
    {
        startAndEndPoints p;
        p.start.x = hv_out_Line[i * 4 + 1].D();
        p.start.y = hv_out_Line[i * 4].D();
        p.end.x = hv_out_Line[i * 4 + 3].D();
        p.end.y = hv_out_Line[i * 4 + 2].D();
        xLines.push_back(p);
    }
    //画线
    double maxRange = 0;
    apexSmallHalconPaint(halconImg, xLines, AllPoints, AllBaseRects, maxRange);
    data->maxPinDetValue = maxRange;
    return halconImg;
}

//输入det切出的连接器图片
static cv::Mat apexSmallHandleAiAlgo(std::shared_ptr<detData>data, cv::Mat& src, handleAiModelManager* _handleAiModelManager)
{
    data->segOriginImgs.push_back(src);
    return src;
}
static cv::Mat apexSmallBackHalconAlgo(std::shared_ptr<detData>data, cv::Mat& src)
{
    cv::Mat dst;
    cv::rotate(src, dst, cv::ROTATE_90_COUNTERCLOCKWISE);
    return apexSmallHalconAlgo(data, dst);
}
static cv::Mat apexSmalllBackHandleAiAlgo(std::shared_ptr<detData>data, cv::Mat& src, handleAiModelManager* _handleAiModelManager)
{
    cv::Mat dst;
    cv::rotate(src, dst, cv::ROTATE_90_COUNTERCLOCKWISE);
    return apexSmallHandleAiAlgo(data, dst, _handleAiModelManager);
}