棒材增加空框识别
This commit is contained in:
杰仔
parent
e41650b94e
commit
b4c612be2d
@ -46,6 +46,7 @@
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| 1 | 成功（地址 2~13 数据有效） |
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| 2 | 检测失败 |
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| 3 | 结果为空 / 无更多缓存结果 |
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| 4 | 料框为空（算法返回 SX_ERR_ZERO_OBJECTS = -1010，未检出任何棒材） |
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## 5. 通信流程
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@ -59,7 +60,7 @@
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### 5.2 读取结果
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1. 检测完成后，视觉系统写入：
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- 地址 1：状态码（1=成功，2=失败，3=空结果）
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- 地址 1：状态码（1=成功，2=失败，3=空结果，4=料框为空）
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- 地址 2~13：第一个棒材的 X, Y, Z, Roll, Pitch, Yaw（仅状态码为 1 时有效）
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2. 外部客户端轮询地址 1，当值从 0 变为非零时表示检测完成
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3. 状态码为 1 时，读取地址 2~13 获取定位结果
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@ -1,55 +0,0 @@
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<?xml version="1.0"?>
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<MThings>
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<PORT_LIST>
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<COM Name="COM10" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
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<COM Name="COM11" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
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<COM Name="COM9" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
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<NET Name="VISION_NET" Remarks="" DesIP="127.0.0.1" LocalPortID="0" DesPortID="5020" LinkMode="0" LinkResetTime="3000" LinkHoldTime="6000" TransMode="2" CharType="0" MaxAsynNum="15" />
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</PORT_LIST>
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<DEVICE_LIST>
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<DEVICE Name="[M]VISION_NET-001" PortName="VISION_NET" DeviceType="1" Addr="1" ForwardZero="0" AddrUIMode="0" CRCByteOder="1" AddrOffset="0" PackWay="1" BitGap="0" RegGap="5" OneReg10="0" OneCoil0F="0" BCast1="0" BCast2="0" IsBCDevice="0" BathReadMode="0" BathWriteMode="0">
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<DATA_LIST>
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<DATA Name="拍照" BLOCK="2" PrtcTYPE="1" Unit="--" ShowType="0" Addr="0" Gain="1" Size="1" BitOffset="0" BitNum="16" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="结果" BLOCK="2" PrtcTYPE="1" Unit="--" ShowType="0" Addr="1" Gain="1" Size="1" BitOffset="0" BitNum="16" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="x" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="2" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="4" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="z" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="6" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="r" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="8" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="p" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="10" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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<DATA Name="y" BLOCK="2" PrtcTYPE="2" Unit="--" ShowType="0" Addr="12" Gain="1" Size="2" BitOffset="0" BitNum="32" Range="--" Color="" ByteOder="0" WordOder="0" IntervalTime="0" IsShow="1" IsBRead="1" IsBWrite="0">
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<TIMEOUT Time="2000" ResendCount="0" />
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<CURVE IsShow="0" />
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<VALUE Stategy="0" TimeBngrWay="0" Coef_a="0" Coef_b="0" Coef_c="0" Coef_d="0" Coef_e="0" ResetStep="0" XInvl="1000" MaxRadom="0" MinRadom="0" MaxValue="0" MinValue="0" />
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</DATA>
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</DATA_LIST>
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</DEVICE>
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</DEVICE_LIST>
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</MThings>
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@ -224,6 +224,27 @@ int RodAndBarPositionPresenter::ProcessAlgoDetection(std::vector<std::pair<EVzRe
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algorithmParams, debugParam, m_dataLoader,
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currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert,
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longAxisDir, detectionResult);
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// 算法返回 SX_ERR_ZERO_OBJECTS(-1010) 表示料框为空：单独提示并写专用协议状态码 4
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if (nRet == ERR_CODE(SX_ERR_ZERO_OBJECTS)) {
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LOG_INFO("[Algo Thread] sx_rodPositioning detected empty tray, runtime: %.2f ms\n", oTimeUtils.GetElapsedTimeInMilliSec());
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if (auto pStatus = GetStatusCallback<IYRodAndBarPositionStatus>()) {
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pStatus->OnStatusUpdate("料框为空，未检测到棒材");
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}
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if (IsModbusServerRunning()) {
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uint16_t statusCode = 4; // 4 = 料框为空（SX_ERR_ZERO_OBJECTS）
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WriteModbusRegisters(1, &statusCode, 1);
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}
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{
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std::lock_guard<std::mutex> lock(m_resultCacheMutex);
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m_lastDetectionResult = DetectionResult{};
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m_resultIndex = 0;
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}
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SetWorkStatus(WorkStatus::Completed);
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SetWorkStatus(WorkStatus::Ready);
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return SUCCESS;
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}
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// 根据项目类型选择处理方式
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if (GetStatusCallback<IYRodAndBarPositionStatus>()) {
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QString err = QString("错误:%1").arg(nRet);
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@ -680,7 +701,7 @@ void RodAndBarPositionPresenter::_SendDetectionResultToModbus(const DetectionRes
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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bool bigEndian = (configResult.byteOrder == 0); // 0=大端序, 1=小端序
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// 地址 1：状态码（0=正在检测，1=成功，2=失败，3=结果为空/无更多结果）
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// 地址 1：状态码（0=正在检测，1=成功，2=失败，3=结果为空/无更多结果，4=料框为空）
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uint16_t statusCode = 1; // 默认成功
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if (!result.success) {
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statusCode = 2; // 检测失败
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@ -5,7 +5,7 @@
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// 应用名称
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#define RODANDBARPOSITION_APP_NAME "棒材定位"
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#define RODANDBARPOSITION_VERSION_STRING "1.1.0"
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#define RODANDBARPOSITION_VERSION_STRING "1.1.1"
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#define RODANDBARPOSITION_BUILD_STRING "1"
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#define RODANDBARPOSITION_FULL_VERSION_STRING "V" RODANDBARPOSITION_VERSION_STRING "_" RODANDBARPOSITION_BUILD_STRING
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@ -1,3 +1,7 @@
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# 1.1.1 2026-045-26
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## build_1
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1. 更新算法1.3.2
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# 1.1.0 2026-04-13
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## build_1
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1. 更新内存泄露问题
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@ -65,7 +65,7 @@ SG_APISHARED_EXPORT const char* wd_rodAndBarDetectionVersion(void);
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SG_APISHARED_EXPORT SSG_planeCalibPara sx_rodPosition_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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#if 0
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#if 1
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//相机姿态调平，并去除地面
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SG_APISHARED_EXPORT void sx_rodPosition_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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@ -13,6 +13,7 @@
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#include <Windows.h>
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#include <limits>
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#include <cmath>
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typedef struct
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{
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int r;
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@ -31,6 +32,101 @@ typedef struct
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float b;
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} SPointXYZRGB;
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// 点乘 dot
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double _dotMultiply(const SVzNL3DPoint& a, const SVzNL3DPoint& b)
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{
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return (a.x * b.x + a.y * b.y + a.z * b.z);
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}
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// 模长
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double _length(const SVzNL3DPoint& a)
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{
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return sqrt(a.x * a.x + a.y * a.y + a.z * a.z);
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}
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// 计算两个向量夹角（返回 角度）
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float _computeVecAngle(const SVzNL3DPoint& a, const SVzNL3DPoint& b)
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{
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float l = _length(a) * _length(b);
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if (l < 1e-6f)
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return 0.0f; // 避免除零
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float cosTheta = _dotMultiply(a, b) / l;
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cosTheta = cosTheta > 1.0 ? 1.0 : cosTheta;
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cosTheta = cosTheta < -1.0 ? -1.0 : cosTheta;
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float rad = acosf(cosTheta);
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float degree = rad * 180.0f / (float)M_PI;
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return degree;
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}
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void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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//调平矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
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sw << dataStr << std::endl;
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//地面高度
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sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
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sw << dataStr << std::endl;
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//反向旋转矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
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sw << dataStr << std::endl;
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sw.close();
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}
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SSG_planeCalibPara _readCalibPara(char* fileName)
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{
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//设置初始结果
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 };
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SSG_planeCalibPara planePara;
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for (int i = 0; i < 9; i++)
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planePara.planeCalib[i] = initCalib[i];
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planePara.planeHeight = -1.0;
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for (int i = 0; i < 9; i++)
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planePara.invRMatrix[i] = initCalib[i];
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return planePara;
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//调平矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
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//地面高度
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
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//反向旋转矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
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inputFile.close();
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return planePara;
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}
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void wdReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ifstream inputFile(fileName);
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@ -165,49 +261,38 @@ void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPositio
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sw.close();
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}
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SSG_planeCalibPara _readCalibPara(char* fileName)
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void _readRodParas(char* fileName, std::vector<SSX_rodParam>& rodParas)
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{
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//设置初始结果
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 };
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SSG_planeCalibPara planePara;
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for (int i = 0; i < 9; i++)
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planePara.planeCalib[i] = initCalib[i];
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planePara.planeHeight = -1.0;
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for (int i = 0; i < 9; i++)
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planePara.invRMatrix[i] = initCalib[i];
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return planePara;
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return;
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//调平矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
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//地面高度
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
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//反向旋转矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
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inputFile.close();
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return planePara;
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std::vector<int> indices;
|
||||
int maxIdx = 0;
|
||||
std::vector< SSX_rodParam> paras;
|
||||
while (getline(inputFile, linedata))
|
||||
{
|
||||
int idx;
|
||||
float len, dia;
|
||||
sscanf_s(linedata.c_str(), "%d_L_%f_D_%f", &idx, &len, &dia);
|
||||
SSX_rodParam a_para = { dia , len };
|
||||
indices.push_back(idx);
|
||||
paras.push_back(a_para);
|
||||
maxIdx = maxIdx < idx ? idx : maxIdx;
|
||||
}
|
||||
if (maxIdx == 0)
|
||||
return;
|
||||
rodParas.resize(maxIdx + 1);
|
||||
for (int i = 0; i < (int)indices.size(); i++)
|
||||
{
|
||||
int idx = indices[i];
|
||||
rodParas[idx] = paras[i];
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
void _outputChanneltInfo(char* fileName, std::vector<SSX_rodPoseInfo>& screwInfo)
|
||||
{
|
||||
std::ofstream sw(fileName);
|
||||
@ -450,15 +535,15 @@ void _outputRGBDScan_RGBD_centerPose(
|
||||
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
||||
|
||||
if (pt3D->nPointIdx == 2)
|
||||
{
|
||||
rgb = { 135,206,235 };
|
||||
size = 5;
|
||||
}
|
||||
else if (pt3D->nPointIdx == 3)
|
||||
{
|
||||
rgb = { 250, 0, 0 };
|
||||
size = 5;
|
||||
}
|
||||
//else if (pt3D->nPointIdx == 1)
|
||||
//{
|
||||
// rgb = { 0, 0, 250 };
|
||||
// size = 3;
|
||||
//}
|
||||
else //if (pt3D->nPointIdx == 0)
|
||||
{
|
||||
rgb = { 200, 200, 200 };
|
||||
@ -500,7 +585,7 @@ void _outputRGBDScan_RGBD_centerPose(
|
||||
|
||||
//输出法向
|
||||
size = 1;
|
||||
double len = 60;
|
||||
double len = 110;
|
||||
lineIdx = 0;
|
||||
{
|
||||
SVzNL3DPoint pt0 = { poseInfo.center.x, // - len * poseInfo.normalDir.x,
|
||||
@ -878,7 +963,7 @@ void _outputRGBDScan_RGBD_weldSeam(
|
||||
sw.close();
|
||||
}
|
||||
|
||||
#define SCREW_TEST_GROUP 7
|
||||
#define SCREW_TEST_GROUP 10
|
||||
void screwTest(void)
|
||||
{
|
||||
const char* dataPath[SCREW_TEST_GROUP] = {
|
||||
@ -889,17 +974,22 @@ void screwTest(void)
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2/", //4
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2未动螺杆拧进去100mm左右/", //5
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2向前100mm螺杆拧进去100mm左右/", //6
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云20260621/另一根螺杆/", //7
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云20260621/拍照点1/", //8
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云20260621/拍照点1xyz移动10mm/", //9
|
||||
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
|
||||
{1,4},{1,30},{1,11},
|
||||
{1,20}, {1,20}, {1,5}, {1,21}
|
||||
{1,20}, {1,20}, {1,5}, {1,21},
|
||||
{1,10}, {1,10}, {1,10}
|
||||
};
|
||||
|
||||
const char* ver = wd_rodAndBarDetectionVersion();
|
||||
printf("ver:%s\n", ver);
|
||||
|
||||
for (int grp = 3; grp < SCREW_TEST_GROUP; grp++)
|
||||
for (int grp = 9; grp < SCREW_TEST_GROUP; grp++)
|
||||
{
|
||||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||||
{
|
||||
@ -908,6 +998,8 @@ void screwTest(void)
|
||||
|
||||
if(0 == grp)
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
else if( (grp>= 7)&&(grp <= 9))
|
||||
sprintf_s(_scan_file, "%sLaserline_%d.txt", dataPath[grp], fidx);
|
||||
else
|
||||
sprintf_s(_scan_file, "%s%d_LaserData_Jl26C299.txt", dataPath[grp], fidx);
|
||||
|
||||
@ -962,12 +1054,23 @@ void screwTest(void)
|
||||
&errCode);
|
||||
|
||||
long t2 = (long)GetTickCount64();
|
||||
printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
|
||||
|
||||
//输出测试结果
|
||||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||||
_outputRGBDScan_RGBD(_scan_file, scanLines, screwInfo);
|
||||
sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
|
||||
_outputChanneltInfo(_scan_file, screwInfo);
|
||||
char _out_file[256];
|
||||
sprintf_s(_out_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||||
_outputRGBDScan_RGBD(_out_file, scanLines, screwInfo);
|
||||
sprintf_s(_out_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
|
||||
_outputChanneltInfo(_out_file, screwInfo);
|
||||
|
||||
if (screwInfo.size() > 0)
|
||||
{
|
||||
SVzNL3DPoint zAxis = { 0, 0, 1.0 };
|
||||
float angle = _computeVecAngle(screwInfo[0].axialDir, zAxis);
|
||||
printf("%s: %d(ms), errCode=%d, {%f, %f, %f}, 与Z轴夹角=%f \n", _scan_file, (int)(t2 - t1), errCode,
|
||||
(float)screwInfo[0].center.x, (float)screwInfo[0].center.y, (float)screwInfo[0].center.z, angle);
|
||||
}
|
||||
else
|
||||
printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -975,7 +1078,7 @@ void screwTest(void)
|
||||
#define LOCATING_PALTE_TEST_GROUP 1
|
||||
void locatingPlateTest(void)
|
||||
{
|
||||
const char* dataPath[SCREW_TEST_GROUP] = {
|
||||
const char* dataPath[LOCATING_PALTE_TEST_GROUP] = {
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云/", //0
|
||||
};
|
||||
|
||||
@ -1030,22 +1133,286 @@ void locatingPlateTest(void)
|
||||
}
|
||||
}
|
||||
|
||||
#define ROD_POSITION_TEST_GROUP 2
|
||||
void rodPositionTest(void)
|
||||
#define NEW_LOCATING_PALTE_TEST_GROUP 1
|
||||
void newLocatingPlateTest(void)
|
||||
{
|
||||
const char* dataPath[ROD_POSITION_TEST_GROUP] = {
|
||||
"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/", //0
|
||||
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //1
|
||||
const char* dataPath[NEW_LOCATING_PALTE_TEST_GROUP] = {
|
||||
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260621/", //0
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
|
||||
{1,8}, {1,5}
|
||||
SVzNLRange fileIdx[NEW_LOCATING_PALTE_TEST_GROUP] = {
|
||||
{12,13},
|
||||
};
|
||||
|
||||
const char* ver = wd_rodAndBarDetectionVersion();
|
||||
printf("ver:%s\n", ver);
|
||||
|
||||
for (int grp = 1; grp < ROD_POSITION_TEST_GROUP; grp++)
|
||||
for (int grp = 0; grp < NEW_LOCATING_PALTE_TEST_GROUP; grp++)
|
||||
{
|
||||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||||
{
|
||||
//fidx =2;
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||||
|
||||
//转成plyTxt格式
|
||||
//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
|
||||
//wdSavePlyTxt(_scan_file, scanLines);
|
||||
|
||||
long t1 = (long)GetTickCount64();//统计时间
|
||||
|
||||
SSG_cornerParam cornerParam;
|
||||
cornerParam.cornerTh = 45; //45度角
|
||||
cornerParam.scale = 5.0; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||||
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||||
cornerParam.minEndingGap_z = 5.0;
|
||||
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
||||
cornerParam.jumpCornerTh_2 = 60;
|
||||
|
||||
int errCode = 0;
|
||||
SSX_platePoseInfo centerPose = sx_getLocationPlatePose_new(
|
||||
scanLines,
|
||||
cornerParam,
|
||||
&errCode);
|
||||
|
||||
long t2 = (long)GetTickCount64();
|
||||
printf("%s: %d(ms),errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
|
||||
//输出测试结果
|
||||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||||
_outputRGBDScan_RGBD_centerPose(_scan_file, scanLines, centerPose);
|
||||
sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
|
||||
_outputPlatePiseInfo(_scan_file, centerPose);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
;
|
||||
void _removeNullData(std::vector<std::vector< SVzNL3DPosition>>& scanLines, double _F, std::vector<std::vector< SVzNLPointXYZRGBA>>& scanData)
|
||||
{
|
||||
std::vector< SVzNLPointXYZRGBA> validPoints;
|
||||
for (int line = 0; line < (int)scanLines.size(); line++)
|
||||
{
|
||||
for (int j = 0; j < (int)scanLines[line].size(); j++)
|
||||
{
|
||||
if (scanLines[line][j].pt3D.z > 1e-4)
|
||||
{
|
||||
SVzNLPointXYZRGBA a_pt;
|
||||
double v = _F * scanLines[line][j].pt3D.y / scanLines[line][j].pt3D.z + 2000;
|
||||
a_pt.nRGB = (int)(v + 0.5);
|
||||
a_pt.x = scanLines[line][j].pt3D.x;
|
||||
a_pt.y = scanLines[line][j].pt3D.y;
|
||||
a_pt.z = scanLines[line][j].pt3D.z;
|
||||
validPoints.push_back(a_pt);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
std::vector< SVzNLPointXYZRGBA> a_line;
|
||||
SVzNLPointXYZRGBA pre_pt;
|
||||
pre_pt.x = 0;
|
||||
pre_pt.y = 0;
|
||||
pre_pt.z = 0;
|
||||
pre_pt.nRGB = -1;
|
||||
for (int i = 0; i < validPoints.size(); i++)
|
||||
{
|
||||
if (validPoints[i].nRGB < (pre_pt.nRGB - 10))
|
||||
{
|
||||
if (a_line.size() > 0)
|
||||
scanData.push_back(a_line);
|
||||
a_line.clear();
|
||||
}
|
||||
a_line.push_back(validPoints[i]);
|
||||
pre_pt = validPoints[i];
|
||||
}
|
||||
if(a_line.size() > 0)
|
||||
scanData.push_back(a_line);
|
||||
return;
|
||||
}
|
||||
void _convertToGridData_XYZRGB(std::vector<std::vector< SVzNLPointXYZRGBA>>& scanData, double _F, std::vector<std::vector< SVzNL3DPosition>>& gridData)
|
||||
{
|
||||
int lineNum = (int)scanData.size();
|
||||
int min_y = 100000000;
|
||||
int max_y = -10000000;
|
||||
int validStartLine = -1;
|
||||
int validEndLine = -1;
|
||||
for (int line = 0; line < lineNum; line++)
|
||||
{
|
||||
if (scanData[line].size() > 0)
|
||||
{
|
||||
if (validStartLine < 0)
|
||||
{
|
||||
validStartLine = line;
|
||||
validEndLine = line;
|
||||
}
|
||||
else
|
||||
validEndLine = line;
|
||||
}
|
||||
|
||||
for (int i = 0; i < (int)scanData[line].size(); i++)
|
||||
{
|
||||
SVzNLPointXYZRGBA& a_pt = scanData[line][i];
|
||||
if (a_pt.z > 1e-4)
|
||||
{
|
||||
double v = _F * a_pt.y / a_pt.z + 2000;
|
||||
a_pt.nRGB = (int)(v + 0.5);
|
||||
max_y = max_y < (int)a_pt.nRGB ? (int)a_pt.nRGB : max_y;
|
||||
min_y = min_y > (int)a_pt.nRGB ? (int)a_pt.nRGB : min_y;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (min_y == 100000000)
|
||||
return;
|
||||
|
||||
int vldLineNum = validEndLine - validStartLine + 1;
|
||||
gridData.resize(vldLineNum);
|
||||
int pt_counter = max_y - min_y + 1;
|
||||
for (int i = 0; i < vldLineNum; i++)
|
||||
{
|
||||
gridData[i].resize(pt_counter);
|
||||
for (int j = 0; j < pt_counter; j++)
|
||||
{
|
||||
gridData[i][j].nPointIdx = j;
|
||||
gridData[i][j].pt3D.x = 0;
|
||||
gridData[i][j].pt3D.y = 0;
|
||||
gridData[i][j].pt3D.z = 0;
|
||||
}
|
||||
}
|
||||
for (int line = validStartLine; line <= validEndLine; line++)
|
||||
{
|
||||
int gridLine = line - validStartLine;
|
||||
for (int i = 0; i < (int)scanData[line].size(); i++)
|
||||
{
|
||||
SVzNLPointXYZRGBA& a_pt = scanData[line][i];
|
||||
if (a_pt.z > 1e-4)
|
||||
{
|
||||
int pt_id = a_pt.nRGB - min_y;
|
||||
gridData[gridLine][pt_id].pt3D.x = a_pt.x;
|
||||
gridData[gridLine][pt_id].pt3D.y = a_pt.y;
|
||||
gridData[gridLine][pt_id].pt3D.z = a_pt.z;
|
||||
}
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
#define ROD_POSITION_TEST_GROUP 5
|
||||
#define TEST_CONVERT_TO_GRID 0
|
||||
#define TEST_COMPUTE_CALIB_PARA 0
|
||||
#define TEST_COMPUTE_ROD_POSITION 1
|
||||
void rodPositionTest(void)
|
||||
{
|
||||
#if TEST_CONVERT_TO_GRID
|
||||
//将数据转换成栅格格式格式
|
||||
char _scan_dir[256];
|
||||
int lineNum = 0;
|
||||
float lineV = 0.0f;
|
||||
int dataCalib = 0;
|
||||
int maxTimeStamp = 0;
|
||||
int clockPerSecond = 0;
|
||||
sprintf_s(_scan_dir, "F:/ShangGu/项目/冠钦项目/矩森棒材抓取/空料框及内剩一根棒材/");
|
||||
char _scan_src_file[256];
|
||||
double _F = 1219.15; //f
|
||||
for (int i = 1; i <= 3; i++)
|
||||
{
|
||||
//read ply txt
|
||||
sprintf_s(_scan_src_file, "%sLaserDataRAW_%d.txt", _scan_dir, i);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_src_file, scanLines);
|
||||
|
||||
std::vector<std::vector< SVzNLPointXYZRGBA>> scanData;
|
||||
_removeNullData(scanLines, _F, scanData);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> gridData;
|
||||
_convertToGridData_XYZRGB(scanData, _F, gridData);
|
||||
char _out_file[256];
|
||||
sprintf_s(_out_file, "%sLaserData_%d.txt", _scan_dir, i);
|
||||
_outputScanDataFile(_out_file, gridData, 0.0f, 0, 0);
|
||||
|
||||
printf("%s: convert done!\n", _scan_src_file);
|
||||
}
|
||||
printf("all converted done!\n", _scan_src_file);
|
||||
#endif
|
||||
#if TEST_COMPUTE_CALIB_PARA
|
||||
const char* calibDataPath = "F:/ShangGu/项目/冠钦项目/矩森棒材抓取/空料框及内剩一根棒材/调平/位置1/";
|
||||
char _calib_datafile[256];
|
||||
sprintf_s(_calib_datafile, "%sGroundData_1.txt", calibDataPath);
|
||||
int lineNum = 0;
|
||||
float lineV = 0.0f;
|
||||
int dataCalib = 0;
|
||||
int maxTimeStamp = 0;
|
||||
int clockPerSecond = 0;
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||||
wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||||
|
||||
lineNum = (int)scanData.size();
|
||||
if (scanData.size() > 0)
|
||||
{
|
||||
SSG_planeCalibPara calibPara = sx_rodPosition_getBaseCalibPara(scanData);
|
||||
//结果进行验证
|
||||
for (int i = 0; i < lineNum; i++)
|
||||
{
|
||||
if (i == 14)
|
||||
int kkk = 1;
|
||||
//行处理
|
||||
//调平，去除地面
|
||||
sx_rodPosition_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||||
}
|
||||
//
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "%sground_calib_para.txt", calibDataPath);
|
||||
_outputCalibPara(calibFile, calibPara);
|
||||
char _out_file[256];
|
||||
sprintf_s(_out_file, "%sGroundData_1_calib_verify.txt", calibDataPath);
|
||||
|
||||
_outputScanDataFile(_out_file, scanData, lineV, maxTimeStamp, clockPerSecond);
|
||||
#if 0
|
||||
for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
|
||||
{
|
||||
//fidx =4;
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[cvtGrp], fidx);
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||||
if (scanLines.size() == 0)
|
||||
continue;
|
||||
lineNum = (int)scanLines.size();
|
||||
for (int i = 0; i < lineNum; i++)
|
||||
{
|
||||
//调平，去除地面
|
||||
wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);
|
||||
}
|
||||
sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[cvtGrp], fidx);
|
||||
int headNullLines = 0;
|
||||
_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
|
||||
}
|
||||
#endif
|
||||
printf("%s: calib done!\n", _calib_datafile);
|
||||
}
|
||||
#endif
|
||||
|
||||
#if TEST_COMPUTE_ROD_POSITION
|
||||
const char* dataPath[ROD_POSITION_TEST_GROUP] = {
|
||||
"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/测试数据/", //0
|
||||
"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/空料框及内剩一根棒材/", //1
|
||||
"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/其它尺寸棒材点云/", //2
|
||||
|
||||
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //3
|
||||
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据2/", //4
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
|
||||
{1,8}, {1,3}, {1,31},
|
||||
{1,5},{1,11}
|
||||
};
|
||||
|
||||
const char* ver = wd_rodAndBarDetectionVersion();
|
||||
printf("ver:%s\n", ver);
|
||||
|
||||
for (int grp = 0; grp <= 2; grp++)
|
||||
{
|
||||
SSG_planeCalibPara poseCalibPara;
|
||||
//初始化成单位阵
|
||||
@ -1061,15 +1428,21 @@ void rodPositionTest(void)
|
||||
poseCalibPara.planeHeight = -1.0;
|
||||
for (int i = 0; i < 9; i++)
|
||||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||||
//char calibFile[250];
|
||||
//sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||||
//poseCalibPara = _readCalibPara(calibFile);
|
||||
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||||
poseCalibPara = _readCalibPara(calibFile);
|
||||
|
||||
sprintf_s(calibFile, "%sparameter.txt", dataPath[grp]);
|
||||
std::vector<SSX_rodParam> rodParas;
|
||||
if (grp <= 2)
|
||||
_readRodParas(calibFile, rodParas);
|
||||
|
||||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||||
{
|
||||
//fidx =1;
|
||||
//fidx =5;
|
||||
char _scan_file[256];
|
||||
if(1 == grp)
|
||||
if( (3 == grp) ||(4 == grp))
|
||||
sprintf_s(_scan_file, "%s%d_LaserData_Hi229156.txt", dataPath[grp], fidx);
|
||||
else
|
||||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||||
@ -1084,10 +1457,9 @@ void rodPositionTest(void)
|
||||
long t1 = (long)GetTickCount64();//统计时间
|
||||
|
||||
SSX_rodParam rodParam;
|
||||
if (0 == grp)
|
||||
if (grp <= 2)
|
||||
{
|
||||
rodParam.diameter = 52.0; //圆棒直径
|
||||
rodParam.len = 290;
|
||||
rodParam = rodParas[fidx];
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -1096,7 +1468,7 @@ void rodPositionTest(void)
|
||||
}
|
||||
|
||||
SSG_cornerParam cornerParam;
|
||||
cornerParam.cornerTh = 60; //45度角
|
||||
cornerParam.cornerTh = 45; //45度角
|
||||
cornerParam.scale = rodParam.diameter / 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||||
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||||
cornerParam.minEndingGap_z = 5.0;
|
||||
@ -1112,8 +1484,8 @@ void rodPositionTest(void)
|
||||
growParam.yDeviation_max = 10.0;
|
||||
growParam.maxSkipDistance = 10.0;
|
||||
growParam.zDeviation_max = 10.0;//
|
||||
growParam.minLTypeTreeLen = 100; //mm, 螺杆长度
|
||||
growParam.minVTypeTreeLen = 100; //mm
|
||||
growParam.minLTypeTreeLen = rodParam.len * 0.75; //mm, 螺杆长度
|
||||
growParam.minVTypeTreeLen = rodParam.len * 0.75; //mm
|
||||
|
||||
bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道
|
||||
int errCode = 0;
|
||||
@ -1129,7 +1501,7 @@ void rodPositionTest(void)
|
||||
&errCode);
|
||||
|
||||
long t2 = (long)GetTickCount64();
|
||||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||||
printf("%s: %d(ms),errCode=%d\n", _scan_file, (int)(t2 - t1),errCode);
|
||||
//输出测试结果
|
||||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||||
_outputRGBDScan_RGBD_rodInfo(_scan_file, scanLines, rodInfo);
|
||||
@ -1137,6 +1509,7 @@ void rodPositionTest(void)
|
||||
_outputRodtInfo(_scan_file, rodInfo);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
@ -1239,21 +1612,35 @@ void rodWeldSeamPosition_test(void)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
typedef enum
|
||||
{
|
||||
keSG_测试_配天螺杆定位 = 0,
|
||||
keSG_测试_配天定位盘定位,
|
||||
keSG_测试_配天新定位盘定位,
|
||||
keSG_测试_棒材抓取,
|
||||
keSG_测试_筑裕钢筋焊缝定位,
|
||||
} ESG_testMode;
|
||||
|
||||
int main()
|
||||
{
|
||||
#if 1 //螺杆定位测试
|
||||
#if 1
|
||||
//ESG_testMode testMode = keSG_测试_配天螺杆定位;
|
||||
//ESG_testMode testMode = keSG_测试_配天定位盘定位;
|
||||
//ESG_testMode testMode = keSG_测试_配天新定位盘定位;
|
||||
ESG_testMode testMode = keSG_测试_棒材抓取;
|
||||
//ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;
|
||||
|
||||
if(keSG_测试_配天螺杆定位 == testMode)
|
||||
screwTest();
|
||||
#else
|
||||
else if(keSG_测试_配天定位盘定位 == testMode)
|
||||
locatingPlateTest();
|
||||
#endif
|
||||
#else //棒材抓取定位测试
|
||||
#if 1
|
||||
else if (keSG_测试_配天新定位盘定位 == testMode)
|
||||
newLocatingPlateTest();
|
||||
else if(keSG_测试_棒材抓取 == testMode)
|
||||
rodPositionTest();
|
||||
#else
|
||||
else if(keSG_测试_筑裕钢筋焊缝定位 == testMode)
|
||||
rodWeldSeamPosition_test();
|
||||
#endif
|
||||
#endif
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user