init

2024-03-06 14:54:30 +08:00
commit edac2715f0
1525 changed files with 809982 additions and 0 deletions
--- a/device/ui/specificareaswidget.cpp
+++ b/device/ui/specificareaswidget.cpp
@@ -0,0 +1,333 @@
+#include "specificareaswidget.h"
+#include "ui_specificareaswidget.h"
+
+#include "deviceproxy.h"
+#include "deviceinfo.h"
+
+#include <QFile>
+#include <QFileDialog>
+#include <QMessageBox>
+#include <QMouseEvent>
+#include <QPainter>
+#include <QPixmap>
+#include <QDataStream>
+#include <QBuffer>
+
+#include <QTcpServer>
+#include <QTcpSocket>
+#include <QVector3D>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc/imgproc.hpp>
+#include <dirent.h>
+#include <string>
+#include <vector>
+#include <algorithm>
+#include <QtCore/QDebug>
+#include <QtGui/QImage>
+#include "opencv2/core/core.hpp"
+#include "opencv2/opencv.hpp"
+#include "rs_settings.h"
+#define NUMBER 3
+QImage* img=new QImage;
+cv::Mat imgcv;//拼接完成的图片
+QImage* qimgRecv;//从python返回的img转化为qimage
+cv::Mat imgRecv;//从python返回的img
+
+
+SpecificAreasWidget::SpecificAreasWidget(QWidget *parent) :
+    QDialog(parent),
+    ui(new Ui::SpecificAreasWidget)
+{
+    ui->setupUi(this);
+    this->setMouseTracking(true);
+    ui->lbImage->setMouseTracking(true);
+
+    connect(DEV,SIGNAL(ShowMergeSGL()),this,SLOT(ShowMergeSlots()));
+//    Sleep(50);
+//    if (DEV->srcImgs.size() > 0)
+//    {
+//        imgcv = DEV->Func_merge(200,500);
+//        *img = QImage(imgcv.data, imgcv.cols, imgcv.rows, QImage::Format_RGB888);
+//        //调用完成之后把img显示在窗口上
+
+//        if((double)img->width()/(double)ui->lbImage->width() >= (double)img->height()/(double)ui->lbImage->height())
+//            Mul=(double)img->width()/(double)ui->lbImage->width();
+//        else
+//            Mul=(double)img->height()/(double)ui->lbImage->height();
+
+//        ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));
+
+//        *scaledimg=img->scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
+//        *scaledimgInit = scaledimg->copy();
+//        ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+//    }
+
+
+
+}
+
+SpecificAreasWidget::~SpecificAreasWidget()
+{
+    delete ui;
+}
+
+
+
+//显示窗口上的坐标
+void SpecificAreasWidget::mouseMoveEvent(QMouseEvent *e)
+{
+
+    if(        e->x() >= ui->lbImage->pos().x()
+            && e->y() >= ui->lbImage->pos().y()
+            && e->x() <= ui->lbImage->pos().x() + scaledimg->width()
+            && e->y() <= ui->lbImage->pos().y() + scaledimg->height() )
+    {
+        int x = (e->x()-ui->lbImage->pos().x()) * Mul;
+        int y = (e->y()-ui->lbImage->pos().y()) * Mul;
+        QString strX;
+        QString strY;
+
+        strX = QString::number(x,10);
+        strY = QString::number(y,10);
+
+        QString strCoordinate = "坐标: ( " + strX + ", " + strY + " )";
+        //ui->labCoordinate->setText(strCoordinate);
+    }
+}
+////点击绘制坐标点
+void SpecificAreasWidget::mousePressEvent(QMouseEvent *e)
+{
+    int lx = ui->lbImage->pos().x();
+    int ly = ui->lbImage->pos().y();
+
+    if(        e->x() >= ui->lbImage->pos().x()
+            && e->y() >= ui->lbImage->pos().y()
+            && e->x() <= ui->lbImage->pos().x() + scaledimg->width()
+            && e->y() <= ui->lbImage->pos().y() + scaledimg->height() )
+    {
+        int x = (e->x()-ui->lbImage->pos().x()) * Mul;
+        int y = (e->y()-ui->lbImage->pos().y()) * Mul;
+        QString strX;
+        QString strY;
+
+        strX = QString::number(x,10);
+        strY = QString::number(y,10);
+        QString strCoordinate;
+
+        QVector<int> vec;
+        vec.append(x);
+        vec.append(y);
+
+        if(e->buttons() == Qt::LeftButton)
+        {
+            vec.append(1);
+            strCoordinate = "添加坐标: ( " + strX + ", " + strY + ", 1" + " )";
+
+            QPainter painter(scaledimg); // 创建一个QPainter对象，用于绘制图形
+            painter.setRenderHint(QPainter::Antialiasing); // 设置抗锯齿
+            QPen pen(Qt::red, 2); // 创建画笔对象，颜色为黑色，线宽为2像素
+            painter.setPen(pen);
+            painter.drawLine(e->x()-lx-5, e->y()-ly-5,e->x()-lx+5, e->y()-ly+5);
+            painter.drawLine(e->x()-lx-5, e->y()-ly+5,e->x()-lx+5, e->y()-ly-5);
+            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+        }
+        else if(e->buttons() == Qt::RightButton)
+        {
+            vec.append(0);
+            strCoordinate = "添加坐标: ( " + strX + ", " + strY + ", 0" + " )";
+
+            QPainter painter(scaledimg); // 创建一个QPainter对象，用于绘制图形
+            painter.setRenderHint(QPainter::Antialiasing); // 设置抗锯齿
+            QPen pen(Qt::blue, 2); // 创建画笔对象，颜色为黑色，线宽为2像素
+            painter.setPen(pen);
+            painter.drawLine(e->x()-lx-5, e->y()-ly-5,e->x()-lx+5, e->y()-ly+5);
+            painter.drawLine(e->x()-lx-5, e->y()-ly+5,e->x()-lx+5, e->y()-ly-5);
+            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+        }
+        All.append(vec);
+        ui->edLog->append(strCoordinate);
+    }
+}
+
+void SpecificAreasWidget::on_pbOk_clicked()
+{
+    DEVICE_INFO->printDeviceSystemInfo("手动加工继续！");
+    DEV->DataCheckFlag = true;
+    this->close();
+
+
+
+
+    //调用完成之后把img显示在窗口上
+
+
+
+//    filename = QFileDialog::getOpenFileName();
+//    if(filename.isEmpty())
+//        return;
+
+//    if(! ( img->load(filename) ) ) //加载图像
+//    {
+//        QMessageBox::information(this,
+//                                 tr("打开图像失败"),
+//                                 tr("打开图像失败!"));
+//        delete img;
+//        return;
+//    }
+
+
+//    if((double)img->width()/(double)ui->lbImage->width() >= (double)img->height()/(double)ui->lbImage->height())
+//        Mul=(double)img->width()/(double)ui->lbImage->width();
+//    else
+//        Mul=(double)img->height()/(double)ui->lbImage->height();
+
+//    ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));
+
+//    *scaledimg=img->scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
+//    *scaledimgInit = scaledimg->copy();
+//    ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+}
+
+void SpecificAreasWidget::on_pbCancel_clicked()
+{
+    DEVICE_INFO->printDeviceSystemInfo("手动加工取消！");
+    //emit DEV->MsgLogInSuccess(false);
+    DEV->DataCheckFlag = false;
+    this->close();
+}
+
+void SpecificAreasWidget::on_rbSrcImg_clicked()
+{
+    if (ui->rbSrcImg->isChecked())
+    {
+        //if (DEV->srcImgs[0].data != nullptr)
+        {
+            RS_SETTINGS->beginGroup("device/Rposition");
+
+            double GlobalPix = RS_SETTINGS->readNumDEntry("/GlobalPix");
+            int StartPos = RS_SETTINGS->readNumDEntry("/StartPos");
+            RS_SETTINGS->endGroup();
+
+            //imgcv = DEV->Func_merge(StartPos,StartPos+(int)GlobalPix*10);
+            cv::cvtColor(imgcv, imgcv, cv::COLOR_BGR2RGB);
+            *img = QImage(imgcv.data, imgcv.cols, imgcv.rows, QImage::Format_RGB888);
+            //调用完成之后把img显示在窗口上
+
+            if((double)img->width()/(double)ui->lbImage->width() >= (double)img->height()/(double)ui->lbImage->height())
+                Mul=(double)img->width()/(double)ui->lbImage->width();
+            else
+                Mul=(double)img->height()/(double)ui->lbImage->height();
+
+            ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));
+
+            *scaledimg=img->scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
+            *scaledimgInit = scaledimg->copy();
+            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+        }
+    }
+}
+
+void SpecificAreasWidget::on_rbDstImg_clicked()
+{
+    if (ui->rbDstImg->isChecked())
+    {
+        if (!imgRecv.empty())
+        {
+            const uchar *pSrc = (const uchar*)imgRecv.data;
+            QImage qimgRecv(pSrc, imgRecv.cols, imgRecv.rows, imgRecv.step, QImage::Format_RGB888);
+            //调用完成之后把img显示在窗口上
+
+            if((double)qimgRecv.width()/(double)ui->lbImage->width() >= (double)qimgRecv.height()/(double)ui->lbImage->height())
+                Mul=(double)qimgRecv.width()/(double)ui->lbImage->width();
+            else
+                Mul=(double)qimgRecv.height()/(double)ui->lbImage->height();
+
+            ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));
+
+            *scaledimg=qimgRecv.scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
+            *scaledimgInit = scaledimg->copy();
+            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+        }
+
+    }
+}
+void SpecificAreasWidget::ShowMergeSlots()
+{
+    ui->rbDstImg->setChecked(true);
+    {
+        if (!imgRecv.empty())
+        {
+            const uchar *pSrc = (const uchar*)imgRecv.data;
+            /***************************************************************
+             * 修改码：1008610010
+             * 日期：
+             *      2024.3.1
+             * 功能：
+             *      小面识别功能的图片显示bug修改
+             * 描述：
+             *      Format_Grayscale8改为Format_RGB888
+             **************************************************************/
+            QImage qimgRecv(pSrc, imgRecv.cols, imgRecv.rows, imgRecv.step, QImage::Format_RGB888);
+            //调用完成之后把img显示在窗口上
+
+            if((double)qimgRecv.width()/(double)ui->lbImage->width() >= (double)qimgRecv.height()/(double)ui->lbImage->height())
+                Mul=(double)qimgRecv.width()/(double)ui->lbImage->width();
+            else
+                Mul=(double)qimgRecv.height()/(double)ui->lbImage->height();
+
+            ui->edLog->append("缩放倍数：" + QString::number(Mul,'f',3));
+
+            *scaledimg=qimgRecv.scaled(ui->lbImage->width(),ui->lbImage->height(),Qt::KeepAspectRatio);
+            *scaledimgInit = scaledimg->copy();
+            ui->lbImage->setPixmap(QPixmap::fromImage(*scaledimg));
+        }
+
+    }
+}
+void SpecificAreasWidget::on_pbGetRetImg_clicked()
+{
+
+
+
+    //图片
+    std::vector<uchar> buf;
+    cv::imencode(".jpg", imgcv, buf);
+    QByteArray data(reinterpret_cast<char*>(buf.data()), buf.size());
+
+    QDataStream stream(DEV->socket);
+    stream.setByteOrder(QDataStream::BigEndian);
+    quint32 size = data.size();
+    stream << size;
+    ui->edLog->append("size = " + QString::number(size,10));
+
+    DEV->socket->write(data);
+    ui->edLog->append("finish");
+
+
+    // 定义要发送的坐标点
+    QVector<QVector3D> points;
+    for(int i = 0;i < All.size();i++)
+    {
+        QVector3D point111(All[i][0],All[i][1],All[i][2]);
+        points.append(point111);
+    }
+    QDataStream out(DEV->socket);
+    out.setByteOrder(QDataStream::BigEndian);
+    // 发送坐标点的数量
+    quint32 num_points = points.size();
+    out << num_points;
+    DEV->socket->waitForBytesWritten();
+
+    ui->edLog->append(QString::number(num_points,10));
+
+    for (const QVector3D& point : points)
+    {
+        quint32 x = point.x();
+        quint32 y = point.y();
+        quint32 z = point.z();
+        out << x << y << z;
+        DEV->socket->waitForBytesWritten();
+    }
+
+
+}