diff --git a/VisualRobot/VisualRobot.pro b/VisualRobot/VisualRobot.pro index 418bc1ceace4b81aa976150da8497e4e87b66d9a..30267899c4ce50616dc58531e4bf3986a90daf00 100644 --- a/VisualRobot/VisualRobot.pro +++ b/VisualRobot/VisualRobot.pro @@ -79,7 +79,7 @@ orangepi5_rk3588s { LIBS += -L/home/orangepi/Desktop/VisualRobot_Local/onnxruntime-linux-aarch64-1.23.2/lib -lonnxruntime LIBS += -L/usr/local/lib/ -lopencv_calib3d -lopencv_core -lopencv_dnn -lopencv_features2d \ - -lopencv_flann -lopencv_gapi -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc \ + -lopencv_flann -lopencv_highgui -lopencv_imgcodecs -lopencv_imgproc \ -lopencv_ml -lopencv_objdetect -lopencv_photo -lopencv_stitching -lopencv_video \ -lopencv_videoio diff --git a/VisualRobot/VisualRobot.pro.user b/VisualRobot/VisualRobot.pro.user index 211a8de2014ec20b0dd2482fa64c0998f3df971a..300c29726fdf8ff033847b655dc522c7fa16d9d4 100644 --- a/VisualRobot/VisualRobot.pro.user +++ b/VisualRobot/VisualRobot.pro.user @@ -1,10 +1,10 @@ - + EnvironmentId - {042a1d5e-ef63-494d-a962-42ba9d1929df} + {5c8e3531-70c8-4185-ad43-f27c93413379} ProjectExplorer.Project.ActiveTarget @@ -89,16 +89,16 @@ ProjectExplorer.Project.Target.0 Desktop - QT5 - QT5 - {eeaaf89f-d433-42d2-9e9f-9e0a6f8ca51f} + 桌面 + 桌面 + {be83c90d-b94a-4216-a559-57b5f2c2a1a7} 0 0 0 0 - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Debug - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Debug + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Debug + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Debug true @@ -136,8 +136,8 @@ 2 - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Release - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Release + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Release + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Release true @@ -176,8 +176,8 @@ 0 - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Profile - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Profile + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Profile + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Profile true @@ -243,7 +243,7 @@ true false true - /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Debug + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-unknown-Debug 1 diff --git a/VisualRobot/VisualRobot.pro.user.042a1d5 b/VisualRobot/VisualRobot.pro.user.042a1d5 new file mode 100644 index 0000000000000000000000000000000000000000..211a8de2014ec20b0dd2482fa64c0998f3df971a --- /dev/null +++ b/VisualRobot/VisualRobot.pro.user.042a1d5 @@ -0,0 +1,263 @@ + + + + + + EnvironmentId + {042a1d5e-ef63-494d-a962-42ba9d1929df} + + + ProjectExplorer.Project.ActiveTarget + 0 + + + ProjectExplorer.Project.EditorSettings + + true + false + true + + Cpp + + CppGlobal + + + + QmlJS + + QmlJSGlobal + + + 2 + UTF-8 + false + 4 + false + 80 + true + true + 1 + false + true + false + 0 + true + true + 0 + 8 + true + false + 1 + true + true + true + *.md, *.MD, Makefile + false + true + + + + ProjectExplorer.Project.PluginSettings + + + true + false + true + true + true + true + + + 0 + true + + true + Builtin.BuildSystem + + true + true + Builtin.DefaultTidyAndClazy + 4 + + + + true + + + + + ProjectExplorer.Project.Target.0 + + Desktop + QT5 + QT5 + {eeaaf89f-d433-42d2-9e9f-9e0a6f8ca51f} + 0 + 0 + 0 + + 0 + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Debug + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Debug + + + true + QtProjectManager.QMakeBuildStep + false + + + + true + Qt4ProjectManager.MakeStep + + 2 + Build + Build + ProjectExplorer.BuildSteps.Build + + + + true + Qt4ProjectManager.MakeStep + clean + + 1 + Clean + Clean + ProjectExplorer.BuildSteps.Clean + + 2 + false + + false + + Debug + Qt4ProjectManager.Qt4BuildConfiguration + 2 + + + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Release + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Release + + + true + QtProjectManager.QMakeBuildStep + false + + + + true + Qt4ProjectManager.MakeStep + + 2 + Build + Build + ProjectExplorer.BuildSteps.Build + + + + true + Qt4ProjectManager.MakeStep + clean + + 1 + Clean + Clean + ProjectExplorer.BuildSteps.Clean + + 2 + false + + false + + Release + Qt4ProjectManager.Qt4BuildConfiguration + 0 + + + 0 + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Profile + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Profile + + + true + QtProjectManager.QMakeBuildStep + false + + + + true + Qt4ProjectManager.MakeStep + + 2 + Build + Build + ProjectExplorer.BuildSteps.Build + + + + true + Qt4ProjectManager.MakeStep + clean + + 1 + Clean + Clean + ProjectExplorer.BuildSteps.Clean + + 2 + false + + false + + Profile + Qt4ProjectManager.Qt4BuildConfiguration + 0 + 0 + + 3 + + + 0 + Deploy + Deploy + ProjectExplorer.BuildSteps.Deploy + + 1 + + false + ProjectExplorer.DefaultDeployConfiguration + + 1 + + true + true + true + + 2 + + Qt4ProjectManager.Qt4RunConfiguration:/home/orangepi/Desktop/VisualRobot_Local/VisualRobot/VisualRobot.pro + /home/orangepi/Desktop/VisualRobot_Local/VisualRobot/VisualRobot.pro + false + true + true + false + true + /home/orangepi/Desktop/VisualRobot_Local/build-VisualRobot-QT5-Debug + + 1 + + + + ProjectExplorer.Project.TargetCount + 1 + + + ProjectExplorer.Project.Updater.FileVersion + 22 + + + Version + 22 + + diff --git a/VisualRobot/mainwindow.cpp b/VisualRobot/mainwindow.cpp index ca7843cdaefaad47a4f4472d972d8567f50ebc1d..ac91902c7dee2608feed8583d718774326e5c769 100644 --- a/VisualRobot/mainwindow.cpp +++ b/VisualRobot/mainwindow.cpp @@ -58,13 +58,13 @@ MainWindow::MainWindow(QWidget *parent) : // 自动创建log文件夹 QDir logDir("../log"); - if (!logDir.exists()) + if (!logDir.exists()) { - if (logDir.mkpath(".")) + if (logDir.mkpath(".")) { AppendLog("log文件夹创建成功", INFO); - } - else + } + else { AppendLog("log文件夹创建失败", ERROR); } @@ -75,20 +75,20 @@ MainWindow::MainWindow(QWidget *parent) : m_pcMyCamera = NULL; m_bGrabbing = false; m_hWnd = (void*)ui->widgetDisplay->winId(); - + // 初始化设备热拔插自动枚举相关变量 m_deviceEnumTimer = new QTimer(this); m_lastDeviceCount = 0; - + // 连接定时器信号到槽函数 connect(m_deviceEnumTimer, &QTimer::timeout, this, &MainWindow::autoEnumDevices); - + // 启动定时器，每2秒自动枚举一次设备 m_deviceEnumTimer->start(2000); // 初始化系统监控 m_sysMonitor = new SystemMonitor(this); - + // 创建系统信息标签 m_cpuLabel = new QLabel(this); m_memLabel = new QLabel(this); @@ -97,41 +97,41 @@ MainWindow::MainWindow(QWidget *parent) : // 初始化缺陷检测库 m_defectDetection = new DefectDetection(); - + // 初始化YOLO处理器 m_yoloProcessor = new YOLOProcessorORT(this); m_yoloDetectionRunning = false; m_yoloDetectionThread = nullptr; m_yoloFrameCount = 0; m_yoloTotalProcessingTime = 0.0; - + // 初始化YOLO显示线程相关 m_yoloDisplayRunning = false; m_yoloDisplayThread = nullptr; m_displayUpdateInterval = 333; // 显示更新间隔333ms，3FPS - + // 初始化双缓冲 m_writeBufferIndex = 0; m_readBufferIndex = 1; m_yoloBuffers[0].newDataAvailable = false; m_yoloBuffers[1].newDataAvailable = false; - + // 初始化YOLO统计信息定时器，每1分钟触发一次 m_yoloStatsTimer = new QTimer(this); connect(m_yoloStatsTimer, &QTimer::timeout, this, &MainWindow::UpdateYoloStats); - + // 加载缺陷分类模板库 - if (m_defectDetection->LoadTemplateLibrary("../Img/Templates")) + if (m_defectDetection->LoadTemplateLibrary("../Img/Templates")) { AppendLog("缺陷分类模板库加载成功", INFO); auto templateNames = m_defectDetection->GetTemplateNames(); AppendLog(QString("加载的模板类型: %1").arg(templateNames.size()), INFO); - for (const auto& name : templateNames) + for (const auto& name : templateNames) { AppendLog(QString("模板: %1").arg(QString::fromStdString(name)), INFO); } - } - else + } + else { AppendLog("缺陷分类模板库加载失败", WARNNING); } @@ -159,41 +159,41 @@ MainWindow::MainWindow(QWidget *parent) : // 连接清晰度信号 connect(this, &MainWindow::sharpnessValueUpdated, this, &MainWindow::updateSharpnessDisplay); - + // 初始化多边形绘制功能 SetupPolygonDrawing(); - + // 日志优化相关初始化 m_lastDefectCount = -1; // -1 表示首次运行 m_lastLogTime = QTime::currentTime(); m_stableStateStartTime = QTime::currentTime(); m_isStableState = false; - + // 初始时执行一次设备枚举 on_bnEnum_clicked(); } MainWindow::~MainWindow() { - if (m_sysMonitor) + if (m_sysMonitor) { m_sysMonitor->stopMonitoring(); } - + // 释放YOLO处理器 if (m_yoloProcessor) { delete m_yoloProcessor; m_yoloProcessor = nullptr; } - + // 释放YOLO统计信息定时器 if (m_yoloStatsTimer) { delete m_yoloStatsTimer; m_yoloStatsTimer = nullptr; } - + delete ui; } @@ -202,7 +202,7 @@ void MainWindow::closeEvent(QCloseEvent *event) { // 停止YOLO实时检测 StopYoloRealTimeDetection(); - + // 变量定义 QString logContent; // 日志内容 QString logFileName; // 日志文件名 @@ -213,8 +213,8 @@ void MainWindow::closeEvent(QCloseEvent *event) // 获取displayLogMsg中的所有文本内容 logContent = ui->displayLogMsg->toPlainText(); - - if (logContent.isEmpty()) + + if (logContent.isEmpty()) { // 如果没有日志内容, 直接关闭 event->accept(); @@ -228,7 +228,7 @@ void MainWindow::closeEvent(QCloseEvent *event) // 打开文件进行写入 logFile.setFileName(logFilePath); - if (!logFile.open(QIODevice::WriteOnly | QIODevice::Text)) + if (!logFile.open(QIODevice::WriteOnly | QIODevice::Text)) { AppendLog("无法创建日志文件", ERROR); event->accept(); @@ -243,7 +243,7 @@ void MainWindow::closeEvent(QCloseEvent *event) out << logContent; logFile.close(); - + // 接受关闭事件 event->accept(); } @@ -287,63 +287,73 @@ void MainWindow::ShowErrorMsg(QString csMessage, unsigned int nErrorNum) void __stdcall MainWindow::ImageCallBack(unsigned char * pData, MV_FRAME_OUT_INFO_EX* pFrameInfo, void* pUser) { - if (!pUser) return; - - MainWindow* pMainWindow = static_cast(pUser); + if (pUser) + { + MainWindow* pMainWindow = static_cast(pUser); // 将 pUser 强制转换为 MainWindow 指针 + pMainWindow->ImageCallBackInner(pData, pFrameInfo); // 调用内部处理函数 + } - // 1. 显示图像（统一处理，避免重复显示） - MV_DISPLAY_FRAME_INFO disp{}; - disp.hWnd = pMainWindow->m_hWnd; - disp.pData = pData; - disp.nDataLen = pFrameInfo->nFrameLen; - disp.nWidth = pFrameInfo->nWidth; - disp.nHeight = pFrameInfo->nHeight; - disp.enPixelType = pFrameInfo->enPixelType; - if (pMainWindow->m_pcMyCamera) - { - pMainWindow->m_pcMyCamera->DisplayOneFrame(&disp); + // 1) 可选: 仍然显示 + if (pUser) + { + MainWindow* pMainWindow = static_cast(pUser); // 确保pUser非空后再访问 + MV_DISPLAY_FRAME_INFO disp{}; + disp.hWnd = pMainWindow->m_hWnd; + disp.pData = pData; + disp.nDataLen = pFrameInfo->nFrameLen; + disp.nWidth = pFrameInfo->nWidth; + disp.nHeight = pFrameInfo->nHeight; + disp.enPixelType = pFrameInfo->enPixelType; + if (pMainWindow->m_pcMyCamera) + { + pMainWindow->m_pcMyCamera->DisplayOneFrame(&disp); + } } - // 2. 缓存最新一帧（使用锁保护，避免竞争） + // 2) 缓存: 深拷贝最新一帧到成员变量 + vector tempFrame; // 临时变量用于清晰度计算 + if (pUser) { + MainWindow* pMainWindow = static_cast(pUser); // 再次获取 MainWindow 指针 lock_guard lk(pMainWindow->m_frameMtx); pMainWindow->m_lastFrame.resize(pFrameInfo->nFrameLen); memcpy(pMainWindow->m_lastFrame.data(), pData, pFrameInfo->nFrameLen); - pMainWindow->m_lastInfo = *pFrameInfo; + pMainWindow->m_lastInfo = *pFrameInfo; // 结构体按值拷贝 pMainWindow->m_hasFrame = true; + + // 拷贝一份到临时变量, 用于清晰度计算 + tempFrame = pMainWindow->m_lastFrame; } - // 3. 异步计算清晰度（避免阻塞回调，使用临时引用而非拷贝） - // 注意：为简化，这里仍使用同步计算，但移除了不必要的tempFrame拷贝 - // 实际优化中应移到独立线程 - Mat grayImage; - bool needSharpness = false; - switch(pFrameInfo->enPixelType) + // 3) 计算清晰度并发射信号 + if (pUser && !tempFrame.empty()) { - case PixelType_Gvsp_Mono8: - { - // 直接使用m_lastFrame数据（锁已释放） - lock_guard lk(pMainWindow->m_frameMtx); - grayImage = Mat(pFrameInfo->nHeight, pFrameInfo->nWidth, CV_8UC1, pMainWindow->m_lastFrame.data()); - needSharpness = true; - break; - } - case PixelType_Gvsp_RGB8_Packed: - case PixelType_Gvsp_BGR8_Packed: + MainWindow* pMainWindow = static_cast(pUser); + Mat grayImage; + // 根据像素类型转换到灰度图 + switch(pFrameInfo->enPixelType) { - // 对于彩色图像，延迟计算或异步处理以减少阻塞 - // 这里简化：跳过实时清晰度计算，或使用子采样 - needSharpness = false; // 临时禁用彩色清晰度计算以提高性能 - break; + case PixelType_Gvsp_Mono8: + { + grayImage = Mat(pFrameInfo->nHeight, pFrameInfo->nWidth, CV_8UC1, tempFrame.data()); + break; + } + case PixelType_Gvsp_RGB8_Packed: + { + Mat colorImage = Mat(pFrameInfo->nHeight, pFrameInfo->nWidth, CV_8UC3, tempFrame.data()); + cvtColor(colorImage, grayImage, COLOR_RGB2GRAY); + break; + } + case PixelType_Gvsp_BGR8_Packed: + { + Mat colorImage = Mat(pFrameInfo->nHeight, pFrameInfo->nWidth, CV_8UC3, tempFrame.data()); + cvtColor(colorImage, grayImage, COLOR_BGR2GRAY); + break; + } + default: return; } - default: - needSharpness = false; - break; - } - - if (needSharpness && !grayImage.empty()) - { double sharpness = pMainWindow->CalculateTenengradSharpness(grayImage); + // 发射信号 emit pMainWindow->sharpnessValueUpdated(sharpness); } } @@ -375,14 +385,14 @@ void MainWindow::on_bnEnum_clicked() ui->ComboDevices->clear(); QTextCodec::setCodecForLocale(QTextCodec::codecForName("GBK")); ui->ComboDevices->setStyle(QStyleFactory::create("Windows")); - + // 记录总设备数量 int totalDeviceCount = 0; - + // ch:枚举子网内所有MvCamera设备 | en:Enumerate all MvCamera devices within subnet memset(&m_stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST)); nRet = CMvCamera::EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE | MV_GENTL_CAMERALINK_DEVICE | MV_GENTL_CXP_DEVICE | MV_GENTL_XOF_DEVICE, &m_stDevList); - + if (MV_OK == nRet) { AppendLog(QString("枚举到 %1 个MvCamera设备").arg(m_stDevList.nDeviceNum), INFO); @@ -480,7 +490,7 @@ void MainWindow::on_bnEnum_clicked() { AppendLog("枚举MvCamera设备错误", ERROR); } - + AppendLog(QString("共枚举到 %1 个设备").arg(totalDeviceCount), INFO); if (totalDeviceCount == 0) @@ -556,23 +566,9 @@ void MainWindow::on_bnOpen_clicked() } } - // 优化SDK配置参数 - // 设置图像缓冲区数量（提高稳定性） - m_pcMyCamera->SetIntValue("GvspImageNodeCount", 10); // 图像缓冲区数量 - m_pcMyCamera->SetIntValue("GvspImageNodeBufferSize", 1024 * 1024 * 10); // 每个缓冲区10MB - - // 设置传输缓冲区大小 - m_pcMyCamera->SetIntValue("GvspStreamBufferCount", 5); // 传输缓冲区数量 - m_pcMyCamera->SetIntValue("GvspStreamBufferSize", 1024 * 1024 * 5); // 每个缓冲区5MB - - // 设置显示相关参数 - m_pcMyCamera->SetIntValue("GvspStreamDisplayMode", 1); // 1=自动显示，0=手动显示 - - // 设置采集模式和触发模式 m_pcMyCamera->SetEnumValue("AcquisitionMode", MV_ACQ_MODE_CONTINUOUS); m_pcMyCamera->SetEnumValue("TriggerMode", MV_TRIGGER_MODE_OFF); - // 获取当前参数 on_bnGetParam_clicked(); // ch:获取参数 | en:Get Parameter ui->bnOpen->setEnabled(false); @@ -590,8 +586,6 @@ void MainWindow::on_bnOpen_clicked() ui->tbFrameRate->setEnabled(true); ui->bnSetParam->setEnabled(true); ui->bnGetParam->setEnabled(true); - - AppendLog("SDK配置优化完成", INFO); } void MainWindow::on_bnClose_clicked() @@ -686,45 +680,16 @@ void MainWindow::on_bnStop_clicked() { // 变量定义 int nRet; // 返回值 - int retryCount = 0; - const int maxRetries = 3; - if (!m_pcMyCamera) { - AppendLog("相机对象无效", ERROR); - m_bGrabbing = false; - ui->bnStart->setEnabled(true); - ui->bnStop->setEnabled(false); - ui->bnTriggerExec->setEnabled(false); - ui->pushButton->setEnabled(false); - ui->GetLength->setEnabled(false); + nRet = m_pcMyCamera->StopGrabbing(); + if (MV_OK != nRet) + { + ShowErrorMsg("Stop grabbing fail", nRet); + AppendLog("停止抓图失败", ERROR); return; } - - // 重试机制：尝试停止采集，最多重试3次 - while (retryCount < maxRetries) { - nRet = m_pcMyCamera->StopGrabbing(); - if (MV_OK == nRet) { - AppendLog("停止抓图成功", INFO); - break; - } else { - AppendLog(QString("停止抓图失败（第%1次尝试，错误码: %2）").arg(retryCount + 1).arg(nRet), ERROR); - retryCount++; - if (retryCount < maxRetries) { - QThread::msleep(100); // 等待100ms后重试 - } - } - } - - // 如果所有重试都失败，强制重置状态 - if (nRet != MV_OK) { - AppendLog("停止抓图多次失败，强制重置采集状态", WARNNING); - // 尝试注销回调（如果存在） - m_pcMyCamera->RegisterImageCallBack(nullptr, nullptr); - } - - // 统一状态重置 + AppendLog("停止抓图成功", INFO); m_bGrabbing = false; - m_hasFrame = false; // 清空帧缓存标志 ui->bnStart->setEnabled(true); ui->bnStop->setEnabled(false); @@ -891,17 +856,17 @@ void MainWindow::on_pushButton_clicked() cornerButton = msgBox.addButton("角点检测模式", QMessageBox::ActionRole); circleButton = msgBox.addButton("最小外接矩形检测模式", QMessageBox::ActionRole); cancelButton = msgBox.addButton(QMessageBox::Cancel); - + msgBox.exec(); clicked = msgBox.clickedButton(); - if (clicked == cancelButton) + if (clicked == cancelButton) { return; } needDetection = ((clicked == cornerButton) || (clicked != circleButton)); - + // 取出一份缓存快照 lock_guard lk(m_frameMtx); @@ -914,7 +879,7 @@ void MainWindow::on_pushButton_clicked() frame = m_lastFrame; // 拷贝到本地变量, 避免持锁编码 info = m_lastInfo; - // 预分配编码缓冲 (给足空间) + // 预分配编码缓冲 (给足空间) dstMax = info.nWidth * info.nHeight * 3 + 4096; pDst = make_unique(dstMax); if (!pDst) @@ -924,9 +889,9 @@ void MainWindow::on_pushButton_clicked() return; } - // 让 SDK 负责像素转换 + JPEG/PNG 编码 (与头文件一致) + // 让 SDK 负责像素转换 + JPEG/PNG 编码 (与头文件一致) save.enImageType = MV_Image_Jpeg; // 也可 MV_Image_Png - save.enPixelType = info.enPixelType; // 源像素格式 (SDK内部转) + save.enPixelType = info.enPixelType; // 源像素格式 (SDK内部转) save.nWidth = info.nWidth; save.nHeight = info.nHeight; save.nDataLen = info.nFrameLen; @@ -999,7 +964,7 @@ void MainWindow::on_pushButton_clicked() m_polygonCompleted = false; // 如果选择了角点检测, 才执行检测算法 - if (needDetection) + if (needDetection) { //OpenCV版本 ProcessedOK = DetectRectangleOpenCV(fpath.toStdString(), Row, Col); @@ -1047,7 +1012,7 @@ void MainWindow::on_pushButton_clicked() // 加载图片 pixmap = QPixmap(imagePath); - if (pixmap.isNull()) + if (pixmap.isNull()) { QMessageBox::warning(this, "加载图片失败", "无法加载保存的图片！"); return; @@ -1081,7 +1046,7 @@ void MainWindow::on_pushButton_clicked() } } -// 调试信息打印函数 (输入: 调试信息 (QString) +宏定义调试信息等级) +// 调试信息打印函数 (输入: 调试信息 (QString) +宏定义调试信息等级) void MainWindow::AppendLog(const QString &message, int logType, double value) { // 变量定义 @@ -1097,8 +1062,8 @@ void MainWindow::AppendLog(const QString &message, int logType, double value) // 检查value是否为有效值 (非零或非默认值) , 您可以根据需要调整条件 // 这里使用了一个简单的检查: 如果value不是0.0, 则追加它 - // 注意: 这可能不适用于所有情况, 您可能需要更精确的检查 (例如与NaN比较) - if (value != 0.0) + // 注意: 这可能不适用于所有情况, 您可能需要更精确的检查 (例如与NaN比较) + if (value != 0.0) { fullMessage += " " + QString::number(value); } @@ -1121,7 +1086,7 @@ void MainWindow::AppendLog(const QString &message, int logType, double value) // 滚动条设置 scrollbar = ui->displayLogMsg->verticalScrollBar(); - if (scrollbar) + if (scrollbar) { scrollbar->setValue(scrollbar->maximum()); } @@ -1148,21 +1113,21 @@ void MainWindow::on_GetLength_clicked() if (!m_hasCroppedImage) { ClearPolygonDisplay(); - + inputPath = "/home/orangepi/Desktop/VisualRobot_Local/Img/capture.jpg"; outputPath = "../detectedImg.jpg"; output = "../detectedImg.jpg"; // 读取输入图像 inputImage = imread(inputPath); - if (inputImage.empty()) + if (inputImage.empty()) { cerr << "无法读取输入图像: " << inputPath << endl; AppendLog("无法读取输入图像", ERROR); return; } - // 设置参数 (可根据需要修改) + // 设置参数 (可根据需要修改) params.thresh = 127; params.maxval = 255; params.blurK = 5; @@ -1173,7 +1138,7 @@ void MainWindow::on_GetLength_clicked() importCoeff = QMessageBox::question(this, "导入几何参数", "是否导入新几何参数变换系数？", QMessageBox::Yes | QMessageBox::No, QMessageBox::No); // 处理图像 - 使用多目标检长算法 - if (importCoeff == QMessageBox::Yes) + if (importCoeff == QMessageBox::Yes) { // 首先用bias=1.0计算得到像素数据 bias = 1.0; @@ -1185,10 +1150,10 @@ void MainWindow::on_GetLength_clicked() AppendLog(QString("图像处理时间 (毫秒) : %1").arg(elapsed), INFO); // 如果有检测到目标，计算统计平均值 - if (!result.heights.empty() && !result.widths.empty()) + if (!result.heights.empty() && !result.widths.empty()) { double avgHeight = 0.0, avgWidth = 0.0; - for (size_t i = 0; i < result.heights.size(); i++) + for (size_t i = 0; i < result.heights.size(); i++) { avgHeight += result.heights[i]; avgWidth += result.widths[i]; @@ -1200,24 +1165,24 @@ void MainWindow::on_GetLength_clicked() bool okLength, okWidth; double idealLength = QInputDialog::getDouble(this, "输入理想长度", "请输入理想目标长度 (μm):", 100.0, 0.0, 10000.0, 2, &okLength); double idealWidth = 0.0; - if (okLength) + if (okLength) { idealWidth = QInputDialog::getDouble(this, "输入理想宽度", "请输入理想目标宽度 (μm):", 100.0, 0.0, 10000.0, 2, &okWidth); } // 计算并更新变换系数 - if (okLength && okWidth && avgHeight > 0 && avgWidth > 0) + if (okLength && okWidth && avgHeight > 0 && avgWidth > 0) { m_biasLength = idealLength / avgHeight; m_biasWidth = idealWidth / avgWidth; AppendLog(QString("已更新几何参数变换系数 - 长度系数: %1, 宽度系数: %2").arg(m_biasLength).arg(m_biasWidth), INFO); } } - } - else + } + else { // 如果不导入新系数，先判断是否已有系数 - if (m_biasLength > 0 && m_biasWidth > 0) + if (m_biasLength > 0 && m_biasWidth > 0) { // 已有系数，直接使用bias=1.0计算像素数据，后续手动转换 bias = 1.0; @@ -1227,8 +1192,8 @@ void MainWindow::on_GetLength_clicked() result = CalculateLength(inputImage, params, bias); qint64 elapsed = timer.elapsed(); // 获取经过的时间 (毫秒) AppendLog(QString("图像处理时间 (毫秒) : %1").arg(elapsed), INFO); - } - else + } + else { // 没有系数，使用bias=1.0计算并输出像素数据 bias = 1.0; @@ -1242,20 +1207,20 @@ void MainWindow::on_GetLength_clicked() } // 保存输出图像 - if (!result.image.empty()) + if (!result.image.empty()) { success = imwrite(outputPath, result.image); - if (success) + if (success) { cout << "输出图像已保存到: " << outputPath << endl; - } - else + } + else { cerr << "保存输出图像失败: " << outputPath << endl; return; } - } - else + } + else { cerr << "处理后的图像为空, 无法保存" << endl; return; @@ -1263,7 +1228,7 @@ void MainWindow::on_GetLength_clicked() // 加载图片 pixmap = QPixmap(output); - if (pixmap.isNull()) + if (pixmap.isNull()) { QMessageBox::warning(this, "加载图片失败", "无法加载保存的图片！"); return; @@ -1276,12 +1241,12 @@ void MainWindow::on_GetLength_clicked() AppendLog("检测后图像显示成功", INFO); AppendLog("基于连通域的多目标检长算法执行完成", INFO); - + // 输出所有目标的检长结果到日志 - for (size_t i = 0; i < result.heights.size(); i++) + for (size_t i = 0; i < result.heights.size(); i++) { // 判断是否有有效的变换系数 - if (m_biasLength > 0 && m_biasWidth > 0) + if (m_biasLength > 0 && m_biasWidth > 0) { // 使用变换系数计算真实尺寸 double realLength = result.heights[i] * m_biasLength; @@ -1289,8 +1254,8 @@ void MainWindow::on_GetLength_clicked() AppendLog(QString("目标%1 - 长度 (μm) : %2").arg(i+1).arg(realLength), INFO); AppendLog(QString("目标%1 - 宽度 (μm) : %2").arg(i+1).arg(realWidth), INFO); AppendLog(QString("目标%1 - 倾角 (°) : %2").arg(i+1).arg((double)result.angles[i]), INFO); - } - else + } + else { // 没有变换系数，输出像素数据 AppendLog(QString("目标%1 - 长度 (pixs) : %2").arg(i+1).arg((double)result.heights[i]), INFO); @@ -1306,11 +1271,11 @@ void MainWindow::on_GetLength_clicked() timer.start(); // 开始计时 AppendLog("检测到多边形区域, 将处理裁剪后的图像", INFO); - + // 如果之前 CropImageToRectangle/CropImageToPolygon 已经保存了裁剪图像到 ../Img/cropped_polygon.jpg QString tempCroppedPath = "../Img/cropped_polygon.jpg"; // 尝试保存当前 m_croppedPixmap（如果未保存）以确保文件存在 - if (!m_croppedPixmap.isNull()) + if (!m_croppedPixmap.isNull()) { m_croppedPixmap.save(tempCroppedPath); } @@ -1321,27 +1286,27 @@ void MainWindow::on_GetLength_clicked() // 读取裁剪后的图像 inputImage = imread(inputPath); - if (inputImage.empty()) + if (inputImage.empty()) { cerr << "无法读取裁剪后的图像: " << inputPath << endl; AppendLog("无法读取裁剪后的图像", ERROR); return; } - // 设置参数 (可根据需要修改) + // 设置参数 (可根据需要修改) params.thresh = 127; params.maxval = 255; params.blurK = 5; params.areaMin = 100.0; // 对于裁剪区域的处理，同样支持几何参数变换 - if (m_biasLength > 0 && m_biasWidth > 0) + if (m_biasLength > 0 && m_biasWidth > 0) { // 已有系数，直接使用bias=1.0计算像素数据，后续手动转换 bias = 1.0; result = CalculateLength(inputImage, params, bias); - } - else + } + else { // 没有系数，使用bias=1.0计算 bias = 1.0; @@ -1349,31 +1314,31 @@ void MainWindow::on_GetLength_clicked() } // 保存输出图像 - if (!result.image.empty()) + if (!result.image.empty()) { success = imwrite(outputPath, result.image); - if (success) + if (success) { cout << "输出图像已保存到: " << outputPath << endl; - } - else + } + else { cerr << "保存输出图像失败: " << outputPath << endl; return; } - } - else + } + else { cerr << "处理后的图像为空, 无法保存" << endl; return; } - qint64 elapsed = timer.elapsed(); // 获取经过的时间 (毫秒) + qint64 elapsed = timer.elapsed(); // 获取经过的时间 (毫秒) AppendLog(QString("裁剪区域图像处理时间 (毫秒) : %1").arg(elapsed), INFO); // 加载图片 pixmap = QPixmap(output); - if (pixmap.isNull()) + if (pixmap.isNull()) { QMessageBox::warning(this, "加载图片失败", "无法加载保存的图片！"); return; @@ -1386,9 +1351,9 @@ void MainWindow::on_GetLength_clicked() AppendLog("裁剪区域检测后图像显示成功", INFO); AppendLog("裁剪区域检长算法执行完成", INFO); - + // 判断是否有有效的变换系数 - if (m_biasLength > 0 && m_biasWidth > 0) + if (m_biasLength > 0 && m_biasWidth > 0) { // 使用变换系数计算真实尺寸 double realLength = result.heights[0] * m_biasLength; @@ -1396,8 +1361,8 @@ void MainWindow::on_GetLength_clicked() AppendLog(QString("裁剪区域物件长度 (μm) : %1").arg(realLength), INFO); AppendLog(QString("裁剪区域物件宽度 (μm) : %1").arg(realWidth), INFO); AppendLog(QString("裁剪区域物件倾角 (°) : %1").arg((double)result.angles[0]), INFO); - } - else + } + else { // 没有变换系数，输出像素数据 AppendLog(QString("裁剪区域物件长度 (pixs) : %1").arg((double)result.heights[0]), INFO); @@ -1499,10 +1464,10 @@ void MainWindow::on_genMatrix_clicked() // // 首先显示变换矩阵 // matrixStr = "变换矩阵:\n"; -// for (int i = 0; i < 3; i++) +// for (int i = 0; i < 3; i++) // { // matrixStr += "| "; -// for (int j = 0; j < 3; j++) +// for (int j = 0; j < 3; j++) // { // matrixStr += QString::number(transformationMatrix(i, j), 'g', 15) + " "; // } @@ -1511,7 +1476,7 @@ void MainWindow::on_genMatrix_clicked() // AppendLog(matrixStr, INFO); // // 然后显示误差结果 -// for (i = 0; i < PixelCoord.size(); i++) +// for (i = 0; i < PixelCoord.size(); i++) // { // // 将像素坐标转换为齐次坐标 (x, y, 1) // pixelHomogeneous = Vector3d(PixelCoord[i].x(), PixelCoord[i].y(), 1.0); @@ -1639,10 +1604,10 @@ void MainWindow::on_btnOpenManual_clicked() // 构建PDF文件的路径 pdfPath = QDir(QCoreApplication::applicationDirPath()).filePath("../Doc/调试信息手册.pdf"); - + // 尝试使用系统默认程序打开PDF QDesktopServices::openUrl(QUrl::fromLocalFile(pdfPath)); - + AppendLog("已尝试打开调试信息手册", INFO); } @@ -1662,7 +1627,7 @@ void MainWindow::DrawOverlayOnDisplay2(double length, double width, double angle // 使用value方式获取pixmap src = ui->widgetDisplay_2->pixmap(Qt::ReturnByValue); - if (src.isNull()) + if (src.isNull()) { AppendLog("没有可叠加的图像 (widgetDisplay_2 为空) ", WARNNING); return; @@ -1674,20 +1639,20 @@ void MainWindow::DrawOverlayOnDisplay2(double length, double width, double angle p.setRenderHint(QPainter::TextAntialiasing, true); // 根据是否有有效的变换系数选择显示单位 - if (m_biasLength > 0 && m_biasWidth > 0) + if (m_biasLength > 0 && m_biasWidth > 0) { // 使用变换系数计算真实尺寸并显示μm单位 double realLength = length * m_biasLength; double realWidth = width * m_biasWidth; text = QString("长: %1 μm\n宽: %2 μm\n角度: %3 °").arg(realLength, 0, 'f', 3).arg(realWidth, 0, 'f', 3).arg(angle, 0, 'f', 3); - } - else + } + else { // 没有变换系数，显示像素数据 text = QString("长: %1 pixs\n宽: %2 pixs\n角度: %3 °").arg(length, 0, 'f', 3).arg(width, 0, 'f', 3).arg(angle, 0, 'f', 3); } - font.setPointSize(12); + font.setPointSize(12); font.setBold(true); p.setFont(font); @@ -1744,21 +1709,21 @@ double MainWindow::CalculateTenengradSharpness(const Mat& image) double meanValue; // 平均值 // 转换为灰度图 - if (image.channels() == 3) + if (image.channels() == 3) { cvtColor(image, imageGrey, COLOR_BGR2GRAY); - } - else + } + else { imageGrey = image.clone(); } - + // 计算Sobel梯度 Sobel(imageGrey, imageSobel, CV_16U, 1, 1); - + // 计算梯度的平方和 meanValue = mean(imageSobel)[0]; - + return meanValue; } @@ -1769,7 +1734,7 @@ void MainWindow::updateSharpnessDisplay(double sharpness) QString sharpnessText; // 清晰度文本 // 更新状态栏的清晰度标签 - if (m_sharpnessLabel) + if (m_sharpnessLabel) { sharpnessText = QString("清晰度: %1").arg(sharpness, 0, 'f', 2); m_sharpnessLabel->setText(sharpnessText); @@ -1784,17 +1749,17 @@ void MainWindow::SetupPolygonDrawing() m_isImageLoaded = false; m_polygonCompleted = false; m_hasCroppedImage = false; - + // 初始化矩形拖动选取变量 m_isDragging = false; m_rectCompleted = false; m_useRectangleMode = false; // 默认使用多边形模式 - + // 设置widgetDisplay_2接受鼠标和键盘事件 ui->widgetDisplay_2->setMouseTracking(true); ui->widgetDisplay_2->setFocusPolicy(Qt::StrongFocus); // 允许获得焦点 ui->widgetDisplay_2->installEventFilter(this); - + AppendLog("多边形绘制和矩形拖动功能已初始化, 当前模式: 多边形点击模式", INFO); } @@ -1805,87 +1770,87 @@ bool MainWindow::eventFilter(QObject* obj, QEvent* event) QMouseEvent* mouseEvent; // 鼠标事件 QKeyEvent* keyEvent; // 键盘事件 - if (obj == ui->widgetDisplay_2) + if (obj == ui->widgetDisplay_2) { - if (event->type() == QEvent::MouseButtonPress) + if (event->type() == QEvent::MouseButtonPress) { mouseEvent = static_cast(event); - if (mouseEvent->button() == Qt::LeftButton) + if (mouseEvent->button() == Qt::LeftButton) { // 根据当前模式选择处理方式 - if (m_useRectangleMode) + if (m_useRectangleMode) { HandleMousePressOnDisplay2(mouseEvent->pos()); } - else + else { HandleMouseClickOnDisplay2(mouseEvent->pos()); } return true; } } - else if (event->type() == QEvent::MouseMove) + else if (event->type() == QEvent::MouseMove) { mouseEvent = static_cast(event); - if (m_useRectangleMode && m_isDragging) + if (m_useRectangleMode && m_isDragging) { HandleMouseMoveOnDisplay2(mouseEvent->pos()); return true; } } - else if (event->type() == QEvent::MouseButtonRelease) + else if (event->type() == QEvent::MouseButtonRelease) { mouseEvent = static_cast(event); - if (m_useRectangleMode && mouseEvent->button() == Qt::LeftButton && m_isDragging) + if (m_useRectangleMode && mouseEvent->button() == Qt::LeftButton && m_isDragging) { HandleMouseReleaseOnDisplay2(mouseEvent->pos()); return true; } } - else if (event->type() == QEvent::KeyPress) + else if (event->type() == QEvent::KeyPress) { QKeyEvent* keyEvent = static_cast(event); - if (keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) + if (keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) { HandleEnterKeyPress(); return true; } - else if (keyEvent->key() == Qt::Key_Escape) + else if (keyEvent->key() == Qt::Key_Escape) { HandleEscKeyPress(); return true; } - else if (keyEvent->key() == Qt::Key_Space) + else if (keyEvent->key() == Qt::Key_Space) { HandleSpaceKeyPress(); return true; } } } - + // 如果widgetDisplay_2有焦点, 也捕获主窗口的Enter键事件 - if (ui->widgetDisplay_2->hasFocus() && event->type() == QEvent::KeyPress) + if (ui->widgetDisplay_2->hasFocus() && event->type() == QEvent::KeyPress) { keyEvent = static_cast(event); - if (keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) + if (keyEvent->key() == Qt::Key_Return || keyEvent->key() == Qt::Key_Enter) { HandleEnterKeyPress(); return true; } - else if (keyEvent->key() == Qt::Key_Space) + else if (keyEvent->key() == Qt::Key_Space) { HandleSpaceKeyPress(); return true; } } - + return QMainWindow::eventFilter(obj, event); } // 主窗口键盘事件处理 void MainWindow::keyPressEvent(QKeyEvent *event) { - if (event->key() == Qt::Key_Space) + if (event->key() == Qt::Key_Space) { // 处理空格键, 切换选择模式 HandleSpaceKeyPress(); @@ -1897,7 +1862,7 @@ void MainWindow::keyPressEvent(QKeyEvent *event) HandleQKeyPress(); event->accept(); // 标记事件已处理, 阻止传播 } - else + else { // 其他按键交给父类处理 QMainWindow::keyPressEvent(event); @@ -1914,63 +1879,63 @@ void MainWindow::HandleMouseClickOnDisplay2(const QPoint& pos) int i; // 循环索引 // 检查是否有图片加载 - if (!ui->widgetDisplay_2->pixmap() || ui->widgetDisplay_2->pixmap()->isNull()) + if (!ui->widgetDisplay_2->pixmap() || ui->widgetDisplay_2->pixmap()->isNull()) { AppendLog("请在widgetDisplay_2上显示图片后再进行点击", WARNNING); return; } - + // 让widgetDisplay_2获得焦点, 以便接收键盘事件 ui->widgetDisplay_2->setFocus(); - - // 保存原始图片 (如果尚未保存) - if (!m_isImageLoaded) + + // 保存原始图片 (如果尚未保存) + if (!m_isImageLoaded) { m_originalPixmap = ui->widgetDisplay_2->pixmap(Qt::ReturnByValue); m_isImageLoaded = true; } - + // 将控件坐标转换为图像坐标 imagePoint = ConvertToImageCoordinates(pos); - + // 添加点到多边形点列表 m_polygonPoints.append(imagePoint); - + // 在图片上显示点击点 currentPixmap = m_originalPixmap.copy(); painter.begin(¤tPixmap); painter.setRenderHint(QPainter::Antialiasing, true); - + // 绘制点击点 painter.setPen(QPen(Qt::red, 3)); painter.setBrush(QBrush(Qt::red)); painter.drawEllipse(imagePoint, 5, 5); - + // 绘制点序号 painter.setPen(QPen(Qt::white, 2)); painter.setFont(QFont("Arial", 10, QFont::Bold)); painter.drawText(imagePoint + QPoint(8, -8), QString::number(m_polygonPoints.size())); - + // 如果已有多个点, 绘制连线 - if (m_polygonPoints.size() > 1) + if (m_polygonPoints.size() > 1) { painter.setPen(QPen(Qt::green, 2, Qt::DashLine)); - for (i = 1; i < m_polygonPoints.size(); ++i) + for (i = 1; i < m_polygonPoints.size(); ++i) { painter.drawLine(m_polygonPoints[i-1], m_polygonPoints[i]); } // 如果是最后一个点, 连接到第一个点形成闭合多边形预览 - if (m_polygonPoints.size() >= 3) + if (m_polygonPoints.size() >= 3) { painter.drawLine(m_polygonPoints.last(), m_polygonPoints.first()); } } - + painter.end(); - + // 更新显示 ui->widgetDisplay_2->setPixmap(currentPixmap); - + AppendLog(QString("已添加第%1个点, 坐标(%2, %3)").arg(m_polygonPoints.size()).arg(imagePoint.x()).arg(imagePoint.y()), INFO); } @@ -1988,34 +1953,34 @@ QPoint MainWindow::ConvertToImageCoordinates(const QPoint& widgetPoint) int imageX; // 图像X坐标 int imageY; // 图像Y坐标 - if (!ui->widgetDisplay_2->pixmap() || ui->widgetDisplay_2->pixmap()->isNull()) + if (!ui->widgetDisplay_2->pixmap() || ui->widgetDisplay_2->pixmap()->isNull()) { return widgetPoint; } - + // 获取原始图像尺寸 originalSize = m_originalPixmap.size(); - if (originalSize.isEmpty()) + if (originalSize.isEmpty()) { originalSize = ui->widgetDisplay_2->pixmap(Qt::ReturnByValue).size(); } - + // 获取控件尺寸 widgetSize = ui->widgetDisplay_2->size(); - - // 计算图像在控件中的显示区域 (保持宽高比居中显示) + + // 计算图像在控件中的显示区域 (保持宽高比居中显示) widgetAspect = static_cast(widgetSize.width()) / widgetSize.height(); imageAspect = static_cast(originalSize.width()) / originalSize.height(); - - if (widgetAspect > imageAspect) + + if (widgetAspect > imageAspect) { // 控件更宽, 图像在垂直方向填充 int displayHeight = widgetSize.height(); int displayWidth = static_cast(displayHeight * imageAspect); int offsetX = (widgetSize.width() - displayWidth) / 2; displayRect = QRect(offsetX, 0, displayWidth, displayHeight); - } - else + } + else { // 控件更高, 图像在水平方向填充 int displayWidth = widgetSize.width(); @@ -2023,26 +1988,26 @@ QPoint MainWindow::ConvertToImageCoordinates(const QPoint& widgetPoint) int offsetY = (widgetSize.height() - displayHeight) / 2; displayRect = QRect(0, offsetY, displayWidth, displayHeight); } - + // 检查点击是否在图像显示区域内 - if (!displayRect.contains(widgetPoint)) + if (!displayRect.contains(widgetPoint)) { // 如果点击在图像区域外, 返回无效点 return QPoint(-1, -1); } - + // 计算相对位置比例 relX = static_cast(widgetPoint.x() - displayRect.x()) / displayRect.width(); relY = static_cast(widgetPoint.y() - displayRect.y()) / displayRect.height(); - + // 映射到原始图像坐标 imageX = static_cast(relX * originalSize.width()); imageY = static_cast(relY * originalSize.height()); - + // 确保坐标在图像范围内 imageX = qMax(0, qMin(imageX, originalSize.width() - 1)); imageY = qMax(0, qMin(imageY, originalSize.height() - 1)); - + return QPoint(imageX, imageY); } @@ -2056,31 +2021,31 @@ void MainWindow::DrawPolygonOnImage() QString infoText; // 信息文本 int i; // 循环索引 - if (m_polygonPoints.size() < 3) + if (m_polygonPoints.size() < 3) { AppendLog("需要至少3个点才能绘制多边形", WARNNING); return; } - + // 恢复原始图片 currentPixmap = m_originalPixmap.copy(); painter.begin(¤tPixmap); painter.setRenderHint(QPainter::Antialiasing, true); - + // 绘制多边形 painter.setPen(QPen(Qt::blue, 3)); painter.setBrush(QBrush(QColor(0, 0, 255, 50))); // 半透明蓝色填充 - - for (const QPoint& point : m_polygonPoints) + + for (const QPoint& point : m_polygonPoints) { polygon << point; } painter.drawPolygon(polygon); - + // 绘制顶点和序号 painter.setPen(QPen(Qt::red, 3)); painter.setBrush(QBrush(Qt::red)); - for (i = 0; i < m_polygonPoints.size(); ++i) + for (i = 0; i < m_polygonPoints.size(); ++i) { painter.drawEllipse(m_polygonPoints[i], 5, 5); painter.setPen(QPen(Qt::white, 2)); @@ -2088,29 +2053,29 @@ void MainWindow::DrawPolygonOnImage() painter.drawText(m_polygonPoints[i] + QPoint(8, -8), QString::number(i+1)); painter.setPen(QPen(Qt::red, 3)); } - + // 在图像上显示多边形信息 infoText = QString("多边形: %1个顶点").arg(m_polygonPoints.size()); painter.setPen(QPen(Qt::white, 2)); painter.setFont(QFont("Arial", 12, QFont::Bold)); painter.drawText(10, 30, infoText); - + painter.end(); - + // 更新显示 ui->widgetDisplay_2->setPixmap(currentPixmap); - + // 在日志中显示所有点的坐标 AppendLog("多边形绘制完成, 顶点坐标: ", INFO); - for (i = 0; i < m_polygonPoints.size(); ++i) + for (i = 0; i < m_polygonPoints.size(); ++i) { AppendLog(QString("顶点%1: (%2, %3)").arg(i+1).arg(m_polygonPoints[i].x()).arg(m_polygonPoints[i].y()), INFO); } - + // 标记多边形完成并裁剪图像 m_polygonCompleted = true; CropImageToPolygon(); - + // 清空点列表, 准备下一次绘制 m_polygonPoints.clear(); m_isImageLoaded = false; @@ -2131,7 +2096,7 @@ void MainWindow::CropImageToPolygon() QPolygon relativePolygon; // 相对多边形 QPainterPath clipPath; // 裁剪路径 - if (m_polygonPoints.size() < 3) + if (m_polygonPoints.size() < 3) { AppendLog("需要至少3个点才能裁剪图像", WARNNING); return; @@ -2141,7 +2106,7 @@ void MainWindow::CropImageToPolygon() originalImage = m_originalPixmap.toImage(); // 计算多边形的边界框 - for (const QPoint& point : m_polygonPoints) + for (const QPoint& point : m_polygonPoints) { polygon << point; } @@ -2151,7 +2116,7 @@ void MainWindow::CropImageToPolygon() // 确保边界框在图像范围内 boundingRect = boundingRect.intersected(QRect(0, 0, originalImage.width(), originalImage.height())); - if (boundingRect.isEmpty()) + if (boundingRect.isEmpty()) { AppendLog("多边形区域超出图像范围", WARNNING); return; @@ -2162,19 +2127,19 @@ void MainWindow::CropImageToPolygon() squareRect = QRect(boundingRect.x(), boundingRect.y(), maxSize, maxSize); // 调整正方形区域确保在图像范围内 - if (squareRect.right() >= originalImage.width()) + if (squareRect.right() >= originalImage.width()) { squareRect.moveLeft(originalImage.width() - maxSize); } - if (squareRect.bottom() >= originalImage.height()) + if (squareRect.bottom() >= originalImage.height()) { squareRect.moveTop(originalImage.height() - maxSize); } - if (squareRect.left() < 0) + if (squareRect.left() < 0) { squareRect.moveLeft(0); } - if (squareRect.top() < 0) + if (squareRect.top() < 0) { squareRect.moveTop(0); } @@ -2192,8 +2157,8 @@ void MainWindow::CropImageToPolygon() painter.begin(&croppedImage); painter.setRenderHint(QPainter::Antialiasing, true); - // 设置剪裁路径为多边形 (相对于正方形区域的坐标) - for (const QPoint& point : m_polygonPoints) + // 设置剪裁路径为多边形 (相对于正方形区域的坐标) + for (const QPoint& point : m_polygonPoints) { relativePolygon << QPoint(point.x() - squareRect.x(), point.y() - squareRect.y()); } @@ -2212,7 +2177,7 @@ void MainWindow::CropImageToPolygon() m_hasCroppedImage = true; // 将裁剪后的图像显示到widgetDisplay_2上 - if (!m_croppedPixmap.isNull()) + if (!m_croppedPixmap.isNull()) { // 缩放图片以适应widgetDisplay_2大小, 保持宽高比 QPixmap scaledPixmap = m_croppedPixmap.scaled(ui->widgetDisplay->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); @@ -2245,58 +2210,58 @@ QColor MainWindow::SampleBorderColor(const QImage& image, const QPolygon& polygo borderPixels = QVector(); sampleCount = 0; - + // 在多边形边缘取样像素颜色 - for (i = 0; i < polygon.size(); ++i) + for (i = 0; i < polygon.size(); ++i) { p1 = polygon[i]; p2 = polygon[(i + 1) % polygon.size()]; - + // 沿着边缘取样 steps = qMax(qAbs(p2.x() - p1.x()), qAbs(p2.y() - p1.y())); - if (steps > 0) + if (steps > 0) { - for (j = 0; j <= steps; ++j) + for (j = 0; j <= steps; ++j) { t = (float)j / steps; samplePoint = QPoint(qRound(p1.x() * (1 - t) + p2.x() * t), qRound(p1.y() * (1 - t) + p2.y() * t)); - + // 确保采样点在图像范围内 - if (samplePoint.x() >= 0 && samplePoint.x() < image.width() && samplePoint.y() >= 0 && samplePoint.y() < image.height()) - { + if (samplePoint.x() >= 0 && samplePoint.x() < image.width() && samplePoint.y() >= 0 && samplePoint.y() < image.height()) + { borderPixels.append(image.pixel(samplePoint)); sampleCount++; - + // 限制采样数量以提高性能 - if (sampleCount >= 100) + if (sampleCount >= 100) { break; } } } } - if (sampleCount >= 100) + if (sampleCount >= 100) { break; } } - - if (borderPixels.isEmpty()) + + if (borderPixels.isEmpty()) { return Qt::white; // 默认背景色 } - + // 计算平均颜色 r = 0; g = 0; b = 0; - for (QRgb pixel : borderPixels) + for (QRgb pixel : borderPixels) { r += qRed(pixel); g += qGreen(pixel); b += qBlue(pixel); } - + return QColor(r / borderPixels.size(), g / borderPixels.size(), b / borderPixels.size()); } @@ -2304,17 +2269,17 @@ QColor MainWindow::SampleBorderColor(const QImage& image, const QPolygon& polygo void MainWindow::ClearPolygonDisplay() { // 恢复原始图片显示 - if (!m_originalPixmap.isNull()) + if (!m_originalPixmap.isNull()) { ui->widgetDisplay_2->setPixmap(m_originalPixmap); } - + // 重置状态 m_polygonPoints.clear(); m_polygonCompleted = false; m_hasCroppedImage = false; m_isImageLoaded = false; - + AppendLog("已清除多边形显示", INFO); } @@ -2322,7 +2287,7 @@ void MainWindow::ClearPolygonDisplay() void MainWindow::HandleEscKeyPress() { // 检查是否有鼠标点击产生的点或矩形框 - if (!m_polygonPoints.isEmpty() || m_rectCompleted) + if (!m_polygonPoints.isEmpty() || m_rectCompleted) { // 清空所有点并还原状态 m_polygonPoints.clear(); @@ -2331,16 +2296,16 @@ void MainWindow::HandleEscKeyPress() m_hasCroppedImage = false; m_rectCompleted = false; m_isDragging = false; - + // 恢复原始图片显示 - if (!m_originalPixmap.isNull()) + if (!m_originalPixmap.isNull()) { ui->widgetDisplay_2->setPixmap(m_originalPixmap); } - + AppendLog("已清空所有已选点和矩形框", INFO); } - else + else { // 如果没有选点, 显示警告信息 AppendLog("无ROI选点", WARNNING); @@ -2357,7 +2322,7 @@ void MainWindow::HandleSpaceKeyPress() void MainWindow::HandleQKeyPress() { bool isInAnyDetectionMode = false; - + // 检查并停止传统实时检测 { QMutexLocker locker(&m_realTimeDetectionMutex); @@ -2366,17 +2331,17 @@ void MainWindow::HandleQKeyPress() // 停止实时检测 m_realTimeDetectionRunning = false; AppendLog("已按Q键退出实时检测模式", INFO); - + // 清空widgetDisplay_2内容 QMetaObject::invokeMethod(this, [this]() { ui->widgetDisplay_2->clear(); AppendLog("已清空实时检测显示", INFO); }, Qt::QueuedConnection); - + isInAnyDetectionMode = true; } } - + // 检查并停止YOLO实时检测 { QMutexLocker locker(&m_yoloDetectionMutex); @@ -2385,17 +2350,17 @@ void MainWindow::HandleQKeyPress() // 停止YOLO实时检测 m_yoloDetectionRunning = false; AppendLog("已按Q键退出YOLO实时检测模式", INFO); - + // 清空widgetDisplay_2内容 QMetaObject::invokeMethod(this, [this]() { ui->widgetDisplay_2->clear(); AppendLog("已清空YOLO实时检测显示", INFO); }, Qt::QueuedConnection); - + isInAnyDetectionMode = true; } } - + // 如果不在任何检测模式中 if (!isInAnyDetectionMode) { @@ -2408,24 +2373,24 @@ void MainWindow::SwitchSelectionMode() { // 切换模式 m_useRectangleMode = !m_useRectangleMode; - + // 清空当前状态 m_polygonPoints.clear(); m_rectCompleted = false; m_isDragging = false; - + // 恢复原始图片显示 - if (!m_originalPixmap.isNull()) + if (!m_originalPixmap.isNull()) { ui->widgetDisplay_2->setPixmap(m_originalPixmap); } - + // 记录模式切换 - if (m_useRectangleMode) + if (m_useRectangleMode) { AppendLog("已切换到矩形拖动模式", INFO); } - else + else { AppendLog("已切换到多边形点击模式", INFO); } @@ -2435,67 +2400,67 @@ void MainWindow::SwitchSelectionMode() void MainWindow::HandleMousePressOnDisplay2(const QPoint& pos) { // 检查是否有图片加载 - if (!ui->widgetDisplay_2->pixmap() || ui->widgetDisplay_2->pixmap()->isNull()) + if (!ui->widgetDisplay_2->pixmap() || ui->widgetDisplay_2->pixmap()->isNull()) { AppendLog("请在widgetDisplay_2上显示图片后再进行拖动", WARNNING); return; } - + // 让widgetDisplay_2获得焦点, 以便接收键盘事件 ui->widgetDisplay_2->setFocus(); - + // 保存原始图片（如果尚未保存） - if (!m_isImageLoaded) + if (!m_isImageLoaded) { m_originalPixmap = ui->widgetDisplay_2->pixmap(Qt::ReturnByValue); m_isImageLoaded = true; } - + // 开始拖动 m_isDragging = true; m_dragStartPoint = pos; m_dragEndPoint = pos; - + AppendLog("开始矩形拖动选取", INFO); } // 处理鼠标移动事件（矩形拖动预览） void MainWindow::HandleMouseMoveOnDisplay2(const QPoint& pos) { - if (!m_isDragging) + if (!m_isDragging) { return; } - + m_dragEndPoint = pos; - + // 显示矩形预览 QPixmap currentPixmap = m_originalPixmap.copy(); QPainter painter(¤tPixmap); painter.setRenderHint(QPainter::Antialiasing, true); - + // 计算矩形区域 QRect dragRect = QRect(m_dragStartPoint, m_dragEndPoint).normalized(); - + // 绘制半透明矩形 painter.setPen(QPen(Qt::red, 2)); painter.setBrush(QBrush(QColor(255, 0, 0, 50))); // 半透明红色填充 painter.drawRect(dragRect); - + // 显示矩形尺寸信息 painter.setPen(QPen(Qt::white, 2)); painter.setFont(QFont("Arial", 12, QFont::Bold)); - + // 将控件坐标转换为图像坐标 QPoint startImagePoint = ConvertToImageCoordinates(m_dragStartPoint); QPoint endImagePoint = ConvertToImageCoordinates(m_dragEndPoint); QRect imageRect = QRect(startImagePoint, endImagePoint).normalized(); - + QString sizeText = QString("%1 x %2 像素").arg(imageRect.width()).arg(imageRect.height()); painter.drawText(dragRect.bottomRight() + QPoint(5, 15), sizeText); - + painter.end(); - + // 更新显示 ui->widgetDisplay_2->setPixmap(currentPixmap); } @@ -2503,32 +2468,32 @@ void MainWindow::HandleMouseMoveOnDisplay2(const QPoint& pos) // 处理鼠标释放事件（完成矩形选择） void MainWindow::HandleMouseReleaseOnDisplay2(const QPoint& pos) { - if (!m_isDragging) + if (!m_isDragging) { return; } - + m_dragEndPoint = pos; m_isDragging = false; - + // 将控件坐标转换为图像坐标 QPoint startImagePoint = ConvertToImageCoordinates(m_dragStartPoint); QPoint endImagePoint = ConvertToImageCoordinates(m_dragEndPoint); - + // 计算选中的矩形区域 m_selectedRect = QRect(startImagePoint, endImagePoint).normalized(); - + // 确保矩形区域有效 - if (m_selectedRect.width() < 10 || m_selectedRect.height() < 10) + if (m_selectedRect.width() < 10 || m_selectedRect.height() < 10) { AppendLog("选择的矩形区域太小, 请重新选择", WARNNING); // 恢复原始图片 ui->widgetDisplay_2->setPixmap(m_originalPixmap); return; } - + AppendLog(QString("矩形选择完成, 区域: %1x%2 像素").arg(m_selectedRect.width()).arg(m_selectedRect.height()), INFO); - + // 绘制最终矩形并裁剪图像 DrawRectangleOnImage(); } @@ -2536,34 +2501,34 @@ void MainWindow::HandleMouseReleaseOnDisplay2(const QPoint& pos) // 绘制矩形区域 void MainWindow::DrawRectangleOnImage() { - if (m_selectedRect.isEmpty()) + if (m_selectedRect.isEmpty()) { AppendLog("无效的矩形区域", WARNNING); return; } - + // 恢复原始图片 QPixmap currentPixmap = m_originalPixmap.copy(); QPainter painter(¤tPixmap); painter.setRenderHint(QPainter::Antialiasing, true); - + // 绘制矩形边框 painter.setPen(QPen(Qt::blue, 3)); painter.setBrush(QBrush(QColor(0, 0, 255, 30))); // 半透明蓝色填充 painter.drawRect(m_selectedRect); - + // 绘制矩形信息 painter.setPen(QPen(Qt::white, 2)); painter.setFont(QFont("Arial", 12, QFont::Bold)); - + QString infoText = QString("矩形区域: %1x%2").arg(m_selectedRect.width()).arg(m_selectedRect.height()); painter.drawText(m_selectedRect.topLeft() + QPoint(5, -5), infoText); - + painter.end(); - + // 更新显示 ui->widgetDisplay_2->setPixmap(currentPixmap); - + // 标记矩形完成 m_rectCompleted = true; AppendLog("矩形区域已绘制完成, 按Enter键确认裁剪", INFO); @@ -2576,46 +2541,46 @@ void MainWindow::CropImageToRectangle() QString savePath; // 保存路径 bool saveSuccess; // 保存成功标志 - if (m_selectedRect.isEmpty()) + if (m_selectedRect.isEmpty()) { AppendLog("无效的矩形区域", WARNNING); return; } - + // 将QPixmap转换为QImage QImage originalImage = m_originalPixmap.toImage(); - + // 确保矩形区域在图像范围内 QRect validRect = m_selectedRect.intersected(QRect(0, 0, originalImage.width(), originalImage.height())); - - if (validRect.isEmpty()) + + if (validRect.isEmpty()) { AppendLog("矩形区域超出图像范围", WARNNING); return; } - + // 裁剪图像 QImage croppedImage = originalImage.copy(validRect); - + // 转换为QPixmap m_croppedPixmap = QPixmap::fromImage(croppedImage); m_hasCroppedImage = true; - + // 保存裁剪后的图像到Img文件夹 savePath = "../Img/cropped_polygon.jpg"; saveSuccess = m_croppedPixmap.save(savePath); - - if (saveSuccess) + + if (saveSuccess) { AppendLog(QString("裁剪后的矩形区域图像已保存到: %1").arg(savePath), INFO); - } - else + } + else { AppendLog("保存裁剪后的矩形区域图像失败", WARNNING); } - + // 将裁剪后的图像显示到widgetDisplay_2上 - if (!m_croppedPixmap.isNull()) + if (!m_croppedPixmap.isNull()) { // 缩放图片以适应widgetDisplay_2大小, 保持宽高比 QPixmap scaledPixmap = m_croppedPixmap.scaled(ui->widgetDisplay_2->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); @@ -2623,7 +2588,7 @@ void MainWindow::CropImageToRectangle() ui->widgetDisplay_2->setAlignment(Qt::AlignCenter); AppendLog("裁剪后的矩形区域图像已显示", INFO); } - + AppendLog(QString("矩形区域图像裁剪完成, 尺寸: %1x%2 像素").arg(validRect.width()).arg(validRect.height()), INFO); ui->GetLength->setEnabled(true); } @@ -2631,27 +2596,27 @@ void MainWindow::CropImageToRectangle() // 修改Enter键处理函数以支持矩形模式 void MainWindow::HandleEnterKeyPress() { - if (m_useRectangleMode) + if (m_useRectangleMode) { // 矩形模式处理 - if (!m_rectCompleted) + if (!m_rectCompleted) { AppendLog("请先完成矩形选择", WARNNING); return; } - + AppendLog("开始裁剪矩形区域", INFO); CropImageToRectangle(); } - else + else { // 多边形模式处理 - if (m_polygonPoints.size() < 3) + if (m_polygonPoints.size() < 3) { AppendLog(QString("需要至少3个点才能绘制多边形, 当前只有%1个点").arg(m_polygonPoints.size()), WARNNING); return; } - + AppendLog(QString("开始绘制多边形, 共%1个点").arg(m_polygonPoints.size()), INFO); DrawPolygonOnImage(); } @@ -2660,7 +2625,7 @@ void MainWindow::HandleEnterKeyPress() // Mat 转 QPixmap QPixmap MainWindow::MatToQPixmap(const Mat& bgr) { - if (bgr.empty()) + if (bgr.empty()) { return QPixmap(); } @@ -2670,13 +2635,14 @@ QPixmap MainWindow::MatToQPixmap(const Mat& bgr) return QPixmap::fromImage(img.copy()); } +// 从缓存的最后一帧取图：BGR bool MainWindow::GrabLastFrameBGR(Mat& outBGR) { vector frameCopy; MV_FRAME_OUT_INFO_EX info{}; { lock_guard lk(m_frameMtx); - if (!m_hasFrame || m_lastFrame.empty()) + if (!m_hasFrame || m_lastFrame.empty()) { AppendLog("暂无可用图像，请先开始采集。", WARNNING); return false; @@ -2685,83 +2651,42 @@ bool MainWindow::GrabLastFrameBGR(Mat& outBGR) info = m_lastInfo; } - // 直接使用SDK像素格式转换到BGR8，避免JPEG编码/解码开销 - if (!m_pcMyCamera) + // 用 SDK 把原始帧编码成 JPEG，然后用 OpenCV 解码得到BGR + unsigned int dstMax = info.nWidth * info.nHeight * 3 + 4096; + unique_ptr pDst(new (nothrow) unsigned char[dstMax]); + if (!pDst) { - AppendLog("相机对象无效", ERROR); + AppendLog("抓帧转换：内存不足（编码缓冲）", ERROR); return false; } - // 分配BGR缓冲区 - size_t bgrSize = info.nWidth * info.nHeight * 3; - unique_ptr pBGR(new (nothrow) unsigned char[bgrSize]); - if (!pBGR) + MV_SAVE_IMAGE_PARAM_EX3 save{}; + save.enImageType = MV_Image_Jpeg; + save.enPixelType = info.enPixelType; + save.nWidth = info.nWidth; + save.nHeight = info.nHeight; + save.nDataLen = info.nFrameLen; + save.pData = frameCopy.data(); + save.pImageBuffer = pDst.get(); + save.nImageLen = dstMax; + save.nJpgQuality = 90; + + int nRet = m_pcMyCamera ? m_pcMyCamera->SaveImage(&save) : MV_E_HANDLE; + if (MV_OK != nRet || save.nImageLen == 0) { - AppendLog("内存不足（BGR缓冲）", ERROR); + AppendLog("抓帧转换失败（编码阶段）", ERROR); return false; } - // 设置像素转换参数 - MV_CC_PIXEL_CONVERT_PARAM stConvertParam; - memset(&stConvertParam, 0, sizeof(MV_CC_PIXEL_CONVERT_PARAM)); - stConvertParam.nWidth = info.nWidth; - stConvertParam.nHeight = info.nHeight; - stConvertParam.pSrcData = frameCopy.data(); - stConvertParam.nSrcDataLen = info.nFrameLen; - stConvertParam.enSrcPixelType = info.enPixelType; - stConvertParam.enDstPixelType = PixelType_Gvsp_BGR8_Packed; // 目标BGR8格式 - stConvertParam.pDstBuffer = pBGR.get(); - stConvertParam.nDstLen = bgrSize; - - // 执行像素转换 - int nRet = m_pcMyCamera->ConvertPixelType(&stConvertParam); - if (MV_OK != nRet) - { - // 转换失败，回退到JPEG方法 - AppendLog(QString("像素转换失败（错误码: %1），回退到JPEG方法").arg(nRet), WARNNING); - - // JPEG回退代码（原逻辑） - unsigned int dstMax = info.nWidth * info.nHeight * 3 + 4096; - unique_ptr pDst(new (nothrow) unsigned char[dstMax]); - if (!pDst) - { - AppendLog("抓帧转换：内存不足（编码缓冲）", ERROR); - return false; - } - - MV_SAVE_IMAGE_PARAM_EX3 save{}; - save.enImageType = MV_Image_Jpeg; - save.enPixelType = info.enPixelType; - save.nWidth = info.nWidth; - save.nHeight = info.nHeight; - save.nDataLen = info.nFrameLen; - save.pData = frameCopy.data(); - save.pImageBuffer = pDst.get(); - save.nImageLen = dstMax; - save.nJpgQuality = 90; - - nRet = m_pcMyCamera->SaveImage(&save); - if (MV_OK != nRet || save.nImageLen == 0) - { - AppendLog("抓帧转换失败（编码阶段）", ERROR); - return false; - } - - // OpenCV 解码 - Mat encoded(1, static_cast(save.nImageLen), CV_8U, pDst.get()); - Mat bgr = imdecode(encoded, IMREAD_COLOR); - if (bgr.empty()) - { - AppendLog("imdecode 失败", ERROR); - return false; - } - outBGR = bgr.clone(); - return true; + // OpenCV 解码 + Mat encoded(1, static_cast(save.nImageLen), CV_8U, pDst.get()); + Mat bgr = imdecode(encoded, IMREAD_COLOR); + if (bgr.empty()) + { + AppendLog("imdecode 失败", ERROR); + return false; } - - // 转换成功，直接创建Mat - outBGR = Mat(info.nHeight, info.nWidth, CV_8UC3, pBGR.get()); - outBGR = outBGR.clone(); // 深拷贝，确保数据独立 + outBGR = bgr.clone(); return true; } @@ -2818,14 +2743,14 @@ void MainWindow::on_setTemplate_clicked() msg.exec(); QAbstractButton* clicked = msg.clickedButton(); - if (clicked == btnCur) + if (clicked == btnCur) { if (SetTemplateFromCurrent()) { AppendLog("模板已更新（来自当前帧）", INFO); } } - else if (clicked == btnFile) + else if (clicked == btnFile) { QString path = QFileDialog::getOpenFileName(this, "选择模板图像", ".", "Images (*.png *.jpg *.jpeg *.bmp)"); if (!path.isEmpty() && SetTemplateFromFile(path)) @@ -2876,18 +2801,18 @@ void MainWindow::RealTimeDetectionThread() QElapsedTimer t; t.start(); Mat dbgMask; auto boxes = DetectDefects(curBGR, H, &dbgMask); - + // 绘制结果 Mat draw = curBGR.clone(); - for (size_t i = 0; i < boxes.size(); ++i) + for (size_t i = 0; i < boxes.size(); ++i) { auto& b = boxes[i]; rectangle(draw, b, Scalar(0,0,255), 2); // 红框 - + // 对缺陷区域进行分类 Mat defectROI = curBGR(b); std::string defectType = m_defectDetection->ClassifyDefect(defectROI); - + // 在缺陷框左上角显示缺陷类型 QString typeText = QString::fromStdString(defectType); int fontFace = FONT_HERSHEY_SIMPLEX; @@ -2895,19 +2820,19 @@ void MainWindow::RealTimeDetectionThread() int thickness = 2; int baseline = 0; Size textSize = getTextSize(typeText.toStdString(), fontFace, fontScale, thickness, &baseline); - + // 计算文本位置（框内左上角） Point textOrg(b.x + 5, b.y + textSize.height + 5); - + // 绘制半透明背景 rectangle(draw, Point(b.x, b.y), Point(b.x + textSize.width + 10, b.y + textSize.height + 10), Scalar(0, 0, 0), -1); - + // 绘制文本 putText(draw, typeText.toStdString(), textOrg, fontFace, fontScale, Scalar(0, 255, 0), thickness); - + // 记录分类结果 // 只在非稳定状态下记录具体缺陷类型，避免日志过多 - if (!m_isStableState || QTime::currentTime().msecsTo(m_lastLogTime) > 60000) + if (!m_isStableState || QTime::currentTime().msecsTo(m_lastLogTime) > 60000) { // 每分钟记录一次详细信息 QMetaObject::invokeMethod(this, [this, i, typeText]() { AppendLog(QString("缺陷框 %1: 类型=%2").arg(i+1).arg(typeText), INFO); @@ -2918,25 +2843,25 @@ void MainWindow::RealTimeDetectionThread() // 在图像上显示检测信息 QString infoText = QString("REALTIME DETECTION - DEFECTS: %1").arg(boxes.size()); putText(draw, infoText.toStdString(), Point(100, 150), FONT_HERSHEY_SIMPLEX, 4, Scalar(0, 255, 0), 10); - + // 优化日志记录：仅在缺陷数发生变化并保持2秒以上时记录 int currentDefectCount = boxes.size(); QTime currentTime = QTime::currentTime(); - + // 在主线程中处理日志逻辑 QMetaObject::invokeMethod(this, [this, currentDefectCount, currentTime]() { // 如果是首次运行或者缺陷数量发生变化 - if (m_lastDefectCount == -1 || m_lastDefectCount != currentDefectCount) + if (m_lastDefectCount == -1 || m_lastDefectCount != currentDefectCount) { // 更新状态为非稳定，并记录开始时间 m_isStableState = false; m_stableStateStartTime = currentTime; m_lastDefectCount = currentDefectCount; - } - else + } + else { // 检查当前状态是否已经稳定2秒以上 - if (!m_isStableState && m_stableStateStartTime.secsTo(currentTime) >= 2) + if (!m_isStableState && m_stableStateStartTime.secsTo(currentTime) >= 2) { // 状态稳定，记录日志 m_isStableState = true; @@ -2948,7 +2873,7 @@ void MainWindow::RealTimeDetectionThread() // 展示到 widgetDisplay_2 QPixmap pm = MatToQPixmap(draw); - if (!pm.isNull()) + if (!pm.isNull()) { // 在主线程中更新UI QMetaObject::invokeMethod(this, [this, pm]() { @@ -2979,7 +2904,7 @@ void MainWindow::StartRealTimeDetection() QThread* thread = QThread::create([this]() { RealTimeDetectionThread(); }); connect(thread, &QThread::finished, thread, &QThread::deleteLater); thread->start(); - + // 重置日志状态变量 m_lastDefectCount = -1; m_lastLogTime = QTime::currentTime(); @@ -2996,15 +2921,15 @@ void MainWindow::on_detect_clicked() QMessageBox msgBox(this); msgBox.setWindowTitle("选择检测模式"); msgBox.setText("请选择检测模式:"); - + QPushButton *singleButton = msgBox.addButton("单次", QMessageBox::ActionRole); QPushButton *realTimeButton = msgBox.addButton("实时", QMessageBox::ActionRole); QPushButton *cancelButton = msgBox.addButton("取消", QMessageBox::RejectRole); - + msgBox.exec(); - + QAbstractButton* clicked = msgBox.clickedButton(); - if (clicked == cancelButton) + if (clicked == cancelButton) { AppendLog("检测已取消", INFO); return; @@ -3012,7 +2937,7 @@ void MainWindow::on_detect_clicked() else if (clicked == realTimeButton) { // 实时检测模式 - if (!m_defectDetection->HasTemplate()) + if (!m_defectDetection->HasTemplate()) { AppendLog("尚未设置模板，请先设置模板。", WARNNING); // 尝试直接用当前帧设模板 @@ -3027,7 +2952,7 @@ void MainWindow::on_detect_clicked() else if (clicked == singleButton) { // 单次检测模式（集成特征对齐） - if (!m_defectDetection->HasTemplate()) + if (!m_defectDetection->HasTemplate()) { AppendLog("尚未设置模板，请先设置模板。", WARNNING); // 尝试直接用当前帧设模板，继续流程（也可直接 return） @@ -3047,7 +2972,7 @@ void MainWindow::on_detect_clicked() // 使用特征对齐进行图像配准 QElapsedTimer alignTimer; alignTimer.start(); - + Mat H; if (!m_defectDetection->ComputeHomographyWithFeatureAlignment(curBGR, H)) { @@ -3056,7 +2981,7 @@ void MainWindow::on_detect_clicked() Mat curGray; cvtColor(curBGR, curGray, COLOR_BGR2GRAY); GaussianBlur(curGray, curGray, cv::Size(3,3), 0); - + if (!ComputeHomography(curGray, H)) { return; @@ -3084,19 +3009,19 @@ void MainWindow::on_detect_clicked() // 步骤6: 从文件重新读取模板图和重构图像进行缺陷检测 AppendLog("步骤6: 从文件重新读取图像进行缺陷检测...", INFO); - + // 读取模板图像 Mat templateBGR = imread("../Img/templateBGR.jpg"); - if (templateBGR.empty()) + if (templateBGR.empty()) { AppendLog("错误: 无法加载模板图像: ../Img/templateBGR.jpg", ERROR); return; } AppendLog("模板图像加载成功", INFO); - + // 读取重构后的待检测图像 Mat testImage = imread("../Img/alignedBGR.jpg"); - if (testImage.empty()) + if (testImage.empty()) { AppendLog("错误: 无法加载待检测图像: ../Img/alignedBGR.jpg", ERROR); return; @@ -3105,9 +3030,9 @@ void MainWindow::on_detect_clicked() // 创建新的缺陷检测对象进行独立检测 DefectDetection fileDetector; - + // 设置模板 - if (!fileDetector.SetTemplateFromFile("../Img/templateBGR.jpg")) + if (!fileDetector.SetTemplateFromFile("../Img/templateBGR.jpg")) { AppendLog("错误: 无法设置模板图像", ERROR); return; @@ -3117,14 +3042,14 @@ void MainWindow::on_detect_clicked() // 使用ORB方法计算单应性矩阵 QElapsedTimer orbTimer; orbTimer.start(); - + Mat testGray; cvtColor(testImage, testGray, COLOR_BGR2GRAY); GaussianBlur(testGray, testGray, cv::Size(3,3), 0); - + Mat fileHomography; vector fileDebugMatches; - if (!fileDetector.ComputeHomography(testGray, fileHomography, &fileDebugMatches)) + if (!fileDetector.ComputeHomography(testGray, fileHomography, &fileDebugMatches)) { AppendLog("ORB方法配准失败，无法进行缺陷检测", ERROR); return; @@ -3140,7 +3065,7 @@ void MainWindow::on_detect_clicked() // 绘制检测结果 Mat resultImage = testImage.clone(); - for (size_t i = 0; i < boxes.size(); i++) + for (size_t i = 0; i < boxes.size(); i++) { Rect rect = boxes[i]; } @@ -3151,15 +3076,15 @@ void MainWindow::on_detect_clicked() // 显示结果 QPixmap pm = MatToQPixmap(resultImage); - if (!pm.isNull()) + if (!pm.isNull()) { // 自适应显示 QPixmap scaled = pm.scaled(ui->widgetDisplay_2->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation); ui->widgetDisplay_2->setPixmap(scaled); ui->widgetDisplay_2->setAlignment(Qt::AlignCenter); AppendLog("缺陷结果已显示（基于文件读取的模板和重构图像）。", INFO); - } - else + } + else { AppendLog("显示失败: QPixmap 为空。", ERROR); } @@ -3193,76 +3118,76 @@ void MainWindow::autoEnumDevices() // 临时存储设备信息 MV_CC_DEVICE_INFO_LIST stDevList; memset(&stDevList, 0, sizeof(MV_CC_DEVICE_INFO_LIST)); - + // 枚举设备 int nRet = CMvCamera::EnumDevices(MV_GIGE_DEVICE | MV_USB_DEVICE | MV_GENTL_CAMERALINK_DEVICE | MV_GENTL_CXP_DEVICE | MV_GENTL_XOF_DEVICE, &stDevList); - + if (MV_OK != nRet) { // 枚举失败，不做处理，避免频繁日志 return; } - + // 检查设备数量是否变化 if (stDevList.nDeviceNum != m_lastDeviceCount) { // 设备数量变化，更新设备列表 AppendLog(QString("设备数量变化: %1 -> %2，自动更新设备列表").arg(m_lastDeviceCount).arg(stDevList.nDeviceNum), INFO); - + // 调用现有的枚举设备按钮的槽函数 on_bnEnum_clicked(); - + // 更新上次设备数量 m_lastDeviceCount = stDevList.nDeviceNum; } } void MainWindow::YoloRealTimeDetectionThread() { - // 加载YOLO模型和标签 + // 加载YOLO模型和标签 QString modelPath = "../models/arcuchi2.onnx"; QString labelPath = "../labels/class_labels.txt"; - + // 加载模型 - if (!m_yoloProcessor->InitModel(modelPath.toStdString(), false)) + if (!m_yoloProcessor->InitModel(modelPath.toStdString(), false)) { AppendLog("YOLO模型加载失败", ERROR); return; } - + // 加载标签 QFile labelFile(labelPath); - if (!labelFile.open(QIODevice::ReadOnly | QIODevice::Text)) + if (!labelFile.open(QIODevice::ReadOnly | QIODevice::Text)) { AppendLog("YOLO标签文件加载失败", ERROR); return; } - + QStringList labels; - while (!labelFile.atEnd()) + while (!labelFile.atEnd()) { QByteArray line = labelFile.readLine(); QString s = QString::fromUtf8(line).trimmed(); - if (!s.isEmpty()) + if (!s.isEmpty()) { labels.append(s); } } labelFile.close(); - + vector cls; cls.reserve(labels.size()); - for (const QString &qs : labels) + for (const QString &qs : labels) { cls.push_back(qs.toStdString()); } m_yoloProcessor->SetClassLabels(cls); - + bool enableDebug = true; // 默认为开启 m_yoloProcessor->SetDebugOutput(enableDebug); AppendLog("YOLO模型和标签加载成功", INFO); - - // 初始化统计信息 + + // 初始化统计信息 m_yoloFrameCount = 0; m_yoloStatsStartTime.start(); m_yoloTotalProcessingTime = 0.0; @@ -3270,26 +3195,26 @@ void MainWindow::YoloRealTimeDetectionThread() double totalPreprocessTime = 0.0; double totalInferenceTime = 0.0; double totalPostprocessTime = 0.0; - + // 重置统计信息定时器，确保它在主线程中执行 QMetaObject::invokeMethod(this, [this]() { m_yoloStatsTimer->start(1000); // 每1秒钟触发一次，符合需求 - }, Qt::QueuedConnection); + }, Qt::QueuedConnection); Mat currentFrame; vector results; - + int frameFailCount = 0; // 帧获取失败计数器 int lastLogTime = 0; // 上次记录日志的时间（毫秒） - + while (true) { - // 检查是否需要停止检测 - { + // 检查是否需要停止检测 + { QMutexLocker locker(&m_yoloDetectionMutex); if (!m_yoloDetectionRunning) { break; } } - + // 检查相机是否仍然在采集图像 if (!m_bGrabbing) { // 只记录一次日志 @@ -3298,12 +3223,12 @@ void MainWindow::YoloRealTimeDetectionThread() }, Qt::QueuedConnection); break; } - + // 获取最新帧 - if (!GrabLastFrameBGR(currentFrame)) + if (!GrabLastFrameBGR(currentFrame)) { frameFailCount++; - + // 限制错误日志的输出频率，每1秒最多输出一次 int currentTime = QDateTime::currentMSecsSinceEpoch(); if (currentTime - lastLogTime > 1000) { @@ -3312,7 +3237,7 @@ void MainWindow::YoloRealTimeDetectionThread() }, Qt::QueuedConnection); lastLogTime = currentTime; } - + // 如果连续100次获取帧失败，自动停止检测 if (frameFailCount >= 100) { QMetaObject::invokeMethod(this, [this]() { @@ -3320,27 +3245,27 @@ void MainWindow::YoloRealTimeDetectionThread() }, Qt::QueuedConnection); break; } - + QThread::msleep(10); continue; } - + // 重置失败计数器 frameFailCount = 0; - - // 记录开始时间 + + // 记录开始时间 QElapsedTimer timer; timer.start(); - + // 执行YOLO检测 - if (m_yoloProcessor->DetectObjects(currentFrame, results)) + if (m_yoloProcessor->DetectObjects(currentFrame, results)) { // 记录处理时间 double processingTime = timer.elapsed() / 1000.0; // 转换为秒 // 获取详细的延时统计 auto timingStats = m_yoloProcessor->GetTimingStats(); - + // 更新统计信息 m_yoloFrameCount++; m_yoloTotalProcessingTime += processingTime; @@ -3348,35 +3273,35 @@ void MainWindow::YoloRealTimeDetectionThread() totalPreprocessTime += timingStats.preprocessTime / 1000.0; // 转换为秒 totalInferenceTime += timingStats.inferenceTime / 1000.0; totalPostprocessTime += timingStats.postprocessTime / 1000.0; - + // 将检测结果写入双缓冲 - { + { QMutexLocker locker(&m_bufferMutex); - + // 获取当前写入缓冲区 YoloResultBuffer& buffer = m_yoloBuffers[m_writeBufferIndex]; - + // 复制检测结果 buffer.frame = currentFrame.clone(); buffer.results = results; buffer.processingTime = processingTime; buffer.newDataAvailable = true; - + // 切换缓冲区索引 m_writeBufferIndex = (m_writeBufferIndex + 1) % 2; - + // 唤醒显示线程 m_bufferReady.wakeOne(); } } - + // 短暂休眠，避免CPU占用过高 QThread::msleep(10); } - + // 停止统计信息定时器 m_yoloStatsTimer->stop(); - + AppendLog("YOLO实时检测已停止", INFO); } @@ -3388,67 +3313,67 @@ void MainWindow::StartYoloRealTimeDetection() AppendLog("YOLO实时检测已经在运行", INFO); return; } - + // 检查相机是否正在采集图像 if (!m_bGrabbing) { AppendLog("相机未开始采集图像，无法启动YOLO实时检测", WARNNING); return; } - + // 设置运行标志 m_yoloDetectionRunning = true; m_yoloDisplayRunning = true; - + // 创建并启动检测线程 m_yoloDetectionThread = QThread::create([this]() { YoloRealTimeDetectionThread(); }); - + // 创建并启动显示线程 m_yoloDisplayThread = QThread::create([this]() { YoloDisplayThread(); }); - + connect(m_yoloDetectionThread, &QThread::finished, m_yoloDetectionThread, &QThread::deleteLater); connect(m_yoloDisplayThread, &QThread::finished, m_yoloDisplayThread, &QThread::deleteLater); - + m_yoloDetectionThread->start(); m_yoloDisplayThread->start(); - + AppendLog("YOLO实时检测已启动", INFO); } void MainWindow::StopYoloRealTimeDetection() { // 设置停止标志 - { + { QMutexLocker locker(&m_yoloDetectionMutex); m_yoloDetectionRunning = false; } - + // 设置显示线程停止标志 - { + { QMutexLocker locker(&m_yoloDisplayMutex); m_yoloDisplayRunning = false; } - + // 唤醒等待的显示线程 m_bufferReady.wakeOne(); - + // 等待检测线程结束 if (m_yoloDetectionThread) { m_yoloDetectionThread->wait(); delete m_yoloDetectionThread; m_yoloDetectionThread = nullptr; } - + // 等待显示线程结束 if (m_yoloDisplayThread) { m_yoloDisplayThread->wait(); delete m_yoloDisplayThread; m_yoloDisplayThread = nullptr; } - + AppendLog("YOLO实时检测已停止", INFO); } @@ -3456,31 +3381,31 @@ void MainWindow::UpdateYoloStats() { // 计算统计信息 double elapsedTime = m_yoloStatsStartTime.elapsed() / 1000.0; // 转换为秒 - + // 防止除以零 if (elapsedTime <= 0 || m_yoloFrameCount <= 0) { return; } - + double fps = m_yoloFrameCount / elapsedTime; - double avgProcessingTime = m_yoloTotalProcessingTime / m_yoloFrameCount * 1000.0; // 转换为毫秒 - + double avgProcessingTime = m_yoloTotalProcessingTime / m_yoloFrameCount * 1000.0; // 转换为毫秒 + // 使用QMetaObject::invokeMethod确保AppendLog在主线程中执行 QMetaObject::invokeMethod(this, [this, fps, avgProcessingTime]() { // 获取最新的单帧统计信息 auto timingStats = m_yoloProcessor->GetTimingStats(); - + // 输出更详细的统计信息 AppendLog(QString("YOLO实时检测统计- 帧率: %1 FPS, 总平均处理延时: %2 ms") .arg(fps).arg(avgProcessingTime), INFO); - + // 新增：输出各阶段详细延时 AppendLog(QString(" 预处理: %1 ms, 推理: %2 ms, 后处理: %3 ms") .arg(timingStats.preprocessTime, 0, 'f', 2) .arg(timingStats.inferenceTime, 0, 'f', 2) .arg(timingStats.postprocessTime, 0, 'f', 2), INFO); }, Qt::QueuedConnection); - + // 重置统计信息 m_yoloFrameCount = 0; m_yoloStatsStartTime.restart(); @@ -3491,20 +3416,20 @@ void MainWindow::YoloDisplayThread() { while (true) { // 检查是否需要停止显示 - { + { QMutexLocker locker(&m_yoloDisplayMutex); if (!m_yoloDisplayRunning) { break; } } - + // 等待新的检测结果 YoloResultBuffer currentResult; bool hasNewData = false; - - { + + { QMutexLocker locker(&m_bufferMutex); - + // 等待新数据或超时 if (!m_yoloBuffers[m_readBufferIndex].newDataAvailable) { // 超时等待，避免死锁 @@ -3512,32 +3437,32 @@ void MainWindow::YoloDisplayThread() continue; // 超时，继续下一次循环 } } - + // 检查是否需要停止显示 - { + { QMutexLocker displayLocker(&m_yoloDisplayMutex); if (!m_yoloDisplayRunning) { break; } } - + // 检查是否有新数据 if (m_yoloBuffers[m_readBufferIndex].newDataAvailable) { // 复制检测结果 currentResult = m_yoloBuffers[m_readBufferIndex]; m_yoloBuffers[m_readBufferIndex].newDataAvailable = false; - + // 切换读取缓冲区索引 m_readBufferIndex = (m_readBufferIndex + 1) % 2; hasNewData = true; } } - + if (hasNewData) { // 绘制检测结果 Mat displayFrame = currentResult.frame.clone(); DrawYoloResults(displayFrame, currentResult.results); - + // 更新显示 QPixmap pixmap = MatToQPixmap(displayFrame); QMetaObject::invokeMethod(this, [this, pixmap]() { @@ -3545,7 +3470,7 @@ void MainWindow::YoloDisplayThread() ui->widgetDisplay_2->setAlignment(Qt::AlignCenter); }, Qt::QueuedConnection); } - + // 控制显示更新频率 QThread::msleep(m_displayUpdateInterval); } @@ -3553,7 +3478,7 @@ void MainWindow::YoloDisplayThread() void MainWindow::DrawYoloResults(Mat& frame, const vector& results) { - // 为每个类别生成不同颜色（静态，避免重复创建） + // 为每个类别生成不同颜色（静态，避免重复创建） static vector colors = { Scalar(255, 0, 0), // 蓝色 Scalar(0, 255, 0), // 绿色 @@ -3568,19 +3493,19 @@ void MainWindow::DrawYoloResults(Mat& frame, const vector& resu Scalar(128, 0, 128), // 深品 Scalar(0, 128, 128) // 深黄 }; - + // 遍历所有检测结果 for (const auto& result : results) { // 确保类别ID在有效范围内 int color_idx = result.classId; if (color_idx < 0 || color_idx >= static_cast(colors.size())) { - color_idx = 0; // 默认使用第一个颜色 + color_idx = 0; // 默认使用第一个颜色 } - + // 绘制边界框，使用优化的线宽 Scalar color = colors[color_idx]; rectangle(frame, result.boundingBox, color, 3); - + // 准备标签文本 string label; if (!result.className.empty()) { @@ -3588,21 +3513,21 @@ void MainWindow::DrawYoloResults(Mat& frame, const vector& resu } else { label = to_string(result.classId) + " " + cv::format("%.2f", result.confidence); } - - // 确保标签大小和位置正确，使用优化的字体 + + // 确保标签大小和位置正确，使用优化的字体 int baseLine; Size labelSize = getTextSize(label, FONT_HERSHEY_SIMPLEX, 1.0, 3, &baseLine); - + // 确保标签不会超出图像边界 int top = result.boundingBox.y - labelSize.height - 3; if (top < 0) { top = result.boundingBox.y + 3; } - + // 计算标签背景位置 Point bottomLeft(result.boundingBox.x, top + labelSize.height + baseLine + 3); Point topRight(result.boundingBox.x + labelSize.width + 6, top - 3); - + // 确保标签背景不会超出图像边界 if (bottomLeft.x < 0) { bottomLeft.x = 0; @@ -3616,18 +3541,18 @@ void MainWindow::DrawYoloResults(Mat& frame, const vector& resu if (topRight.y < 0) { topRight.y = 0; } - + // 绘制标签背景，使用不透明填充（更高效） rectangle(frame, bottomLeft, topRight, color, FILLED); - + // 绘制文本，使用优化的字体 - putText(frame, label, Point(result.boundingBox.x + 3, top + labelSize.height + baseLine), + putText(frame, label, Point(result.boundingBox.x + 3, top + labelSize.height + baseLine), FONT_HERSHEY_SIMPLEX, 1, Scalar(255, 255, 255), 3); } } void MainWindow::on_bnCapture_clicked() -{ +{ StartYoloRealTimeDetection(); AppendLog("YOLO实时检测已启动", INFO); } diff --git a/VisualRobot/mainwindow.h b/VisualRobot/mainwindow.h index 2fe53bf78ac9476881d7c5265c3166209ab14bf8..ad142c1f7155ebb1db19dbdd1325c18ab1130f59 100644 --- a/VisualRobot/mainwindow.h +++ b/VisualRobot/mainwindow.h @@ -154,7 +154,7 @@ private: double m_diffThresh = 25.0; // 差异二值阈值（配准后的 absdiff 后再高斯平滑） double m_minDefectArea = 1200; // 过滤小区域（像素），按你的分辨率可调 int m_orbFeatures = 1500; // ORB特征点数量（配准用） - + // 几何参数变换系数 double m_biasLength = 0.0; // 长度变换系数 double m_biasWidth = 0.0; // 宽度变换系数 @@ -177,31 +177,31 @@ private: void RealTimeDetectionThread(); void StartRealTimeDetection(); void HandleQKeyPress(); // 处理Q键, 退出实时检测模式 - + // 日志优化相关 int m_lastDefectCount; // 上次记录的缺陷数量 QTime m_lastLogTime; // 上次记录日志的时间 QTime m_stableStateStartTime; // 当前稳定状态开始时间 bool m_isStableState; // 是否处于稳定状态 - + // 设备热拔插自动枚举相关 QTimer* m_deviceEnumTimer; // 定时器用于自动枚举设备 int m_lastDeviceCount; // 上次枚举的设备数量 void autoEnumDevices(); // 自动枚举设备的槽函数 - + // YOLO实时检测相关 YOLOProcessorORT* m_yoloProcessor; // YOLO处理器实例 bool m_yoloDetectionRunning; // YOLO检测运行标志 QMutex m_yoloDetectionMutex; // YOLO检测互斥锁 QThread* m_yoloDetectionThread; // YOLO检测线程 QTimer* m_yoloStatsTimer; // YOLO统计信息定时器 - + // YOLO显示线程相关 bool m_yoloDisplayRunning; // YOLO显示运行标志 QMutex m_yoloDisplayMutex; // YOLO显示互斥锁 QThread* m_yoloDisplayThread; // YOLO显示线程 int m_displayUpdateInterval; // 显示更新间隔（毫秒） - + // YOLO检测结果双缓冲 struct YoloResultBuffer { Mat frame; // 检测的帧 @@ -209,18 +209,18 @@ private: double processingTime; // 处理时间 bool newDataAvailable; // 是否有新数据 }; - + YoloResultBuffer m_yoloBuffers[2]; // 双缓冲 int m_writeBufferIndex; // 当前写入缓冲区索引 int m_readBufferIndex; // 当前读取缓冲区索引 QMutex m_bufferMutex; // 缓冲区互斥锁 QWaitCondition m_bufferReady; // 缓冲区就绪条件变量 - + // YOLO统计信息 int m_yoloFrameCount; // 帧计数 QTime m_yoloStatsStartTime; // 统计开始时间 double m_yoloTotalProcessingTime; // 总处理时间 - + void YoloRealTimeDetectionThread(); // YOLO实时检测线程 void YoloDisplayThread(); // YOLO显示线程 void StartYoloRealTimeDetection(); // 开始YOLO实时检测 @@ -228,7 +228,7 @@ private: void UpdateYoloStats(); // 更新YOLO统计信息 void DrawYoloResults(Mat& frame, const vector& results); // 绘制YOLO检测结果 void UpdateYoloDisplay(); // 更新YOLO显示 - + }; #endif // MAINWINDOW_H