2758 lines
92 KiB
C++
2758 lines
92 KiB
C++
// BQ_workpieceCornerExtract_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "workpieceHolePositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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#include <limits>
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#include "SG_baseAlgo_Export.h"
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typedef struct
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{
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int r;
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int g;
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int b;
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}SG_color;
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typedef struct
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{
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int nPointIdx;
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double x;
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double y;
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double z;
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float r;
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float g;
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float b;
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} SPointXYZRGB;
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
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{
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SVzNL3DPoint _r_pt;
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_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
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_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
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_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
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return _r_pt;
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}
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void vzReadLaserScanPointFromFile_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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std::string linedata;
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if (inputFile.is_open() == false)
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return;
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std::vector< SVzNL3DPosition> a_line;
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int ptIdx = 0;
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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}
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a_line.clear();
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ptIdx = 0;
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}
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else if (0 == strncmp("{", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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float leftX, leftY;
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float rightX, rightY;
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sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
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SVzNL3DPosition a_pt;
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a_pt.pt3D.x = X;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = Z;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_line.push_back(a_pt);
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}
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}
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//last line
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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inputFile.close();
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return;
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}
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int counterLinePtNum(std::vector< SVzNL3DPosition>& lineData)
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{
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int num = 0;
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for (int i = 0; i < (int)lineData.size(); i++)
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{
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if (lineData[i].pt3D.z > 1e-4)
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num++;
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}
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return num;
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}
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void _removeZeroLines(std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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int lineNum = (int)scanData.size();
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int firstLine = -1;
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int lastLine = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int num = counterLinePtNum(scanData[line]);
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if ((num > 0) && (firstLine < 0))
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firstLine = line;
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if (num > 0)
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lastLine = line;
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}
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if (firstLine < 0)
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{
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scanData.clear();
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return;
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}
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if ( (lastLine < (lineNum - 1)) && (lastLine > 0))
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scanData.erase(scanData.begin() + lastLine + 1, scanData.end());
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scanData.erase(scanData.begin(), scanData.begin() + firstLine);
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return;
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}
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void _outputScanDataFile_XYZ_vector(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ofstream sw(fileName);
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int lineNum = scanData.size();
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = scanData[line].size();
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sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &scanData[line][i];
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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char str[250];
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sprintf_s(str, "{ %f, %f, %f } - { 0, 0 } - { 0, 0 }", x, y, z);
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sw << str << std::endl;
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}
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}
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sw.close();
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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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void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpiecePositioning)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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int number = (int)workpiecePositioning.size();
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for (int i = 0; i < number; i++)
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{
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sprintf_s(dataStr, 250, "工件_%d", i + 1);
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sw << dataStr << std::endl;
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int holeNumber = (int)workpiecePositioning[i].holes.size();
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for (int j = 0; j < holeNumber; j++)
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{
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sprintf_s(dataStr, 250, " 孔%d: (%g, %g, %g)", (j+1), workpiecePositioning[i].holes[j].x, workpiecePositioning[i].holes[j].y, workpiecePositioning[i].holes[j].z);
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sw << dataStr << std::endl;
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}
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sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpiecePositioning[i].center.x, workpiecePositioning[i].center.y, workpiecePositioning[i].center.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 50, " x_dir: (%g, %g, %g)", workpiecePositioning[i].x_dir.x, workpiecePositioning[i].x_dir.y, workpiecePositioning[i].x_dir.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 50, " y_dir: (%g, %g, %g)", workpiecePositioning[i].y_dir.x, workpiecePositioning[i].y_dir.y, workpiecePositioning[i].y_dir.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 50, " z_dir: (%g, %g, %g)", workpiecePositioning[i].z_dir.x, workpiecePositioning[i].z_dir.y, workpiecePositioning[i].z_dir.z);
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sw << dataStr << std::endl;
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}
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sw.close();
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}
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void _outputHoleInfo(char* fileName, std::vector< WD_HolePositionInfo>& holePositioning)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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int number = (int)holePositioning.size();
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for (int i = 0; i < number; i++)
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{
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sprintf_s(dataStr, 250, "孔_%d: R=%g", i + 1, holePositioning[i].holeR);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " center: (%g, %g, %g)", holePositioning[i].center.x, holePositioning[i].center.y, holePositioning[i].center.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " norm_dir: (%g, %g, %g)", holePositioning[i].normDir.x, holePositioning[i].normDir.y, holePositioning[i].normDir.z);
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sw << dataStr << std::endl;
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}
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sw.close();
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}
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void _outputHoleInfo_2(char* fileName, const WD_HolePositionInfo holePose)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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sprintf_s(dataStr, 250, "孔_1");
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " center: (%g, %g, %g)", holePose.center.x, holePose.center.y, holePose.center.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " norm_dir: (%g, %g, %g)", holePose.normDir.x, holePose.normDir.y, holePose.normDir.z);
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sw << dataStr << std::endl;
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sw.close();
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}
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void _outputHoleInfo_3(char* fileName, const SSG_pointPose holePose)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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sprintf_s(dataStr, 250, "孔_1");
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " center: (%g, %g, %g)", holePose.point.x, holePose.point.y, holePose.point.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " x_dir: (%g, %g, %g)", holePose.pose_x.x, holePose.pose_x.y, holePose.pose_x.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " y_dir: (%g, %g, %g)", holePose.pose_y.x, holePose.pose_y.y, holePose.pose_y.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, " norm_dir: (%g, %g, %g)", holePose.pose_z.x, holePose.pose_z.y, holePose.pose_z.z);
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sw << dataStr << std::endl;
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sw.close();
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}
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void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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return;
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int lineIdx = 0;
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int null_lines = 0;
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bool counterNull = true;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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if (true == removeZeros)
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{
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int vldPtNum = 0;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z > 1e-4)
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vldPtNum++;
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}
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linePtNum = vldPtNum;
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}
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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bool isNull = true;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
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if ((pt3D->z > 1e-4) && (isNull == true))
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isNull = false;
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if ((true == removeZeros) && (pt3D->z < 1e-4))
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continue;
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float x = (float)pt3D->x;
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float y = (float)pt3D->y;
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float z = (float)pt3D->z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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if (true == counterNull)
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{
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if (true == isNull)
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null_lines++;
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else
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counterNull = false;
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}
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}
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*headNullLines = null_lines;
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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 _outputRGBDResult_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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std::vector< WD_workpieceInfo>& workpiecePositioning)
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{
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std::vector<SVzNL3DPosition> objects;
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int objNumber = (int)workpiecePositioning.size();
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for (int i = 0; i < objNumber; i++)
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{
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SVzNL3DPosition a_objPt;
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a_objPt.pt3D = workpiecePositioning[i].center;
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objects.push_back(a_objPt);
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int holeNumber = (int)workpiecePositioning[i].holes.size();
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for (int j = 0; j < holeNumber; j++)
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{
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a_objPt.nPointIdx = i + 1;
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a_objPt.pt3D = workpiecePositioning[i].holes[j];
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objects.push_back(a_objPt);
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}
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}
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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if (pt3D->nPointIdx > 0)
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int kkk = 1;
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int flag = pt3D->nPointIdx & 0xffff;
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if (flag > 0)
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{
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rgb = objColor[flag % 8]; // { 255, 97, 0 };
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size = 5;
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}
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||
else
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
int linePtNum = (int)objects.size();
|
||
sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
|
||
lineNum++;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
if (i == 0)
|
||
{
|
||
size = 5;
|
||
rgb = { 255, 0, 0 };
|
||
}
|
||
else
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 5;
|
||
}
|
||
//int colorIdx = objects[i].nPointIdx % 8;
|
||
//rgb = objColor[colorIdx];
|
||
float x = (float)objects[i].pt3D.x;
|
||
float y = (float)objects[i].pt3D.y;
|
||
float z = (float)objects[i].pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
//输出方向线条
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPoint dirPt;
|
||
dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].y_dir.x * 10,
|
||
workpiecePositioning[i].center.y + workpiecePositioning[i].y_dir.y * 10,
|
||
workpiecePositioning[i].center.z + workpiecePositioning[i].y_dir.z * 10 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].z_dir.x * 10,
|
||
workpiecePositioning[i].center.y + workpiecePositioning[i].z_dir.y * 10,
|
||
workpiecePositioning[i].center.z + workpiecePositioning[i].z_dir.z * 10 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
for (int j = 0; j < (int)workpiecePositioning[i].holes.size(); j++)
|
||
{
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].holes[j].x << "," << workpiecePositioning[i].holes[j].y << "," << workpiecePositioning[i].holes[j].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].holesDir[j].x << "," << workpiecePositioning[i].holesDir[j].y << "," << workpiecePositioning[i].holesDir[j].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
}
|
||
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRGBDResult_RGBD_2(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
SSG_pointPose& poseInfo)
|
||
{
|
||
int objNumber = 0;
|
||
if (poseInfo.point.z > 1e-4)
|
||
objNumber = 1;
|
||
|
||
int lineNum = (int)scanLines.size();
|
||
std::ofstream sw(fileName);
|
||
int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
|
||
sw << "LineNum:" << realLines << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed: 0" << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp: 0_0" << std::endl;
|
||
|
||
int maxLineIndex = 0;
|
||
int max_stamp = 0;
|
||
SG_color rgb = { 0, 0, 0 };
|
||
SG_color objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
int lineIdx = 0;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int linePtNum = (int)scanLines[line].size();
|
||
if (linePtNum == 0)
|
||
continue;
|
||
|
||
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
||
lineIdx++;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
||
if (pt3D->nPointIdx > 0)
|
||
int kkk = 1;
|
||
int flag = pt3D->nPointIdx & 0xffff;
|
||
if (flag > 0)
|
||
{
|
||
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
||
size = 5;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
if (poseInfo.point.z > 1e-4)
|
||
{
|
||
sw << "Line_" << lineNum << "_0_1" << std::endl;
|
||
lineNum++;
|
||
size = 20;
|
||
rgb = { 255, 255, 0 };
|
||
float x = (float)poseInfo.point.x;
|
||
float y = (float)poseInfo.point.y;
|
||
float z = (float)poseInfo.point.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
|
||
//输出方向线条
|
||
rgb = { 250, 0, 0 };
|
||
size = 2;
|
||
double dirLen = 250;
|
||
SVzNL3DPoint dirPt;
|
||
dirPt = { poseInfo.point.x + poseInfo.pose_x.x * dirLen,
|
||
poseInfo.point.y + poseInfo.pose_x.y * dirLen,
|
||
poseInfo.point.z + poseInfo.pose_x.z * dirLen };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << poseInfo.point.x << "," << poseInfo.point.y << "," << poseInfo.point.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
rgb = { 0, 250, 0 };
|
||
dirPt = { poseInfo.point.x + poseInfo.pose_y.x * dirLen,
|
||
poseInfo.point.y + poseInfo.pose_y.y * dirLen,
|
||
poseInfo.point.z + poseInfo.pose_y.z * dirLen };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << poseInfo.point.x << "," << poseInfo.point.y << "," << poseInfo.point.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
rgb = { 0, 0, 250 };
|
||
SVzNL3DPoint dirPt1 = { poseInfo.point.x + poseInfo.pose_z.x * dirLen,
|
||
poseInfo.point.y + poseInfo.pose_z.y * dirLen,
|
||
poseInfo.point.z + poseInfo.pose_z.z * dirLen };
|
||
SVzNL3DPoint dirPt2 = { poseInfo.point.x - poseInfo.pose_z.x * dirLen,
|
||
poseInfo.point.y - poseInfo.pose_z.y * dirLen,
|
||
poseInfo.point.z - poseInfo.pose_z.z * dirLen };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRGBDResult_HoleInfo(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
std::vector< WD_HolePositionInfo>& holePositioning,
|
||
const double dirLen)
|
||
{
|
||
std::vector<SVzNL3DPosition> objects;
|
||
int objNumber = (int)holePositioning.size();
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPosition a_objPt;
|
||
a_objPt.pt3D = holePositioning[i].center;
|
||
objects.push_back(a_objPt);
|
||
}
|
||
|
||
int lineNum = (int)scanLines.size();
|
||
std::ofstream sw(fileName);
|
||
int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
|
||
sw << "LineNum:" << realLines << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed: 0" << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp: 0_0" << std::endl;
|
||
|
||
int maxLineIndex = 0;
|
||
int max_stamp = 0;
|
||
SG_color rgb = { 0, 0, 0 };
|
||
SG_color objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
int lineIdx = 0;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int linePtNum = (int)scanLines[line].size();
|
||
if (linePtNum == 0)
|
||
continue;
|
||
|
||
std::vector< SVzNL3DPosition> vlPts;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
if (scanLines[line][i].pt3D.z > 1e-4)
|
||
vlPts.push_back(scanLines[line][i]);
|
||
}
|
||
|
||
linePtNum = (int)vlPts.size();
|
||
if (linePtNum == 0)
|
||
continue;
|
||
|
||
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
||
lineIdx++;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &vlPts[i];
|
||
if (pt3D->nPointIdx > 0)
|
||
int kkk = 1;
|
||
int flag = pt3D->nPointIdx & 0xffff;
|
||
if (flag == 2)
|
||
{
|
||
rgb = { 0, 0, 200 };
|
||
size = 2;
|
||
}
|
||
else if (flag > 2)
|
||
{
|
||
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
||
size = 5;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
int linePtNum = (int)objects.size();
|
||
sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
|
||
lineNum++;
|
||
size = 10;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
if (i == 0)
|
||
rgb = { 255,255,0 };
|
||
else
|
||
rgb = {0, 0, 255};
|
||
float x = (float)objects[i].pt3D.x;
|
||
float y = (float)objects[i].pt3D.y;
|
||
float z = (float)objects[i].pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
//输出方向线条
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPoint dirPt_1, dirPt_2;
|
||
dirPt_1 = { holePositioning[i].center.x - holePositioning[i].normDir.x * dirLen,
|
||
holePositioning[i].center.y - holePositioning[i].normDir.y * dirLen,
|
||
holePositioning[i].center.z - holePositioning[i].normDir.z * dirLen };
|
||
dirPt_2 = { holePositioning[i].center.x + holePositioning[i].normDir.x * dirLen,
|
||
holePositioning[i].center.y + holePositioning[i].normDir.y * dirLen,
|
||
holePositioning[i].center.z + holePositioning[i].normDir.z * dirLen };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << dirPt_1.x << "," << dirPt_1.y << "," << dirPt_1.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt_2.x << "," << dirPt_2.y << "," << dirPt_2.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRGBDResult_HoleInfo_2(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
WD_HolePositionInfo& holePose)
|
||
{
|
||
int objNumber = 0;
|
||
if (holePose.center.z > 1e-4)
|
||
objNumber = 1;
|
||
|
||
int lineNum = (int)scanLines.size();
|
||
std::ofstream sw(fileName);
|
||
int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
|
||
sw << "LineNum:" << realLines << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed: 0" << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp: 0_0" << std::endl;
|
||
|
||
int maxLineIndex = 0;
|
||
int max_stamp = 0;
|
||
SG_color rgb = { 0, 0, 0 };
|
||
SG_color objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
int lineIdx = 0;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int linePtNum = (int)scanLines[line].size();
|
||
if (linePtNum == 0)
|
||
continue;
|
||
|
||
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
||
lineIdx++;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
||
if (pt3D->nPointIdx > 0)
|
||
int kkk = 1;
|
||
int flag = pt3D->nPointIdx & 0xffff;
|
||
if (flag > 0)
|
||
{
|
||
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
||
size = 5;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
if (objNumber > 0)
|
||
{
|
||
sw << "Line_" << lineNum << "_0_1" << std::endl;
|
||
lineNum++;
|
||
size = 10;
|
||
|
||
rgb = { 255, 0, 0 };
|
||
float x = (float)holePose.center.x;
|
||
float y = (float)holePose.center.y;
|
||
float z = (float)holePose.center.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
|
||
//输出方向线条
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
|
||
SVzNL3DPoint dirPt_1, dirPt_2;
|
||
dirPt_1 = { holePose.center.x - holePose.normDir.x * 100,
|
||
holePose.center.y - holePose.normDir.y * 100,
|
||
holePose.center.z - holePose.normDir.z * 100 };
|
||
dirPt_2 = { holePose.center.x + holePose.normDir.x * 100,
|
||
holePose.center.y + holePose.normDir.y * 100,
|
||
holePose.center.z + holePose.normDir.z * 100 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << dirPt_1.x << "," << dirPt_1.y << "," << dirPt_1.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt_2.x << "," << dirPt_2.y << "," << dirPt_2.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
|
||
SVzNL3DPoint _pointRT(SVzNL3DPoint& origin, const double* R, const double* T)
|
||
{
|
||
SVzNL3DPoint result;
|
||
result.x = origin.x * R[0] + origin.y * R[1] + origin.z * R[2];
|
||
result.y = origin.x * R[3] + origin.y * R[4] + origin.z * R[5];
|
||
result.z = origin.x * R[6] + origin.y * R[7] + origin.z * R[8];
|
||
result.x += T[0];
|
||
result.y += T[1];
|
||
result.z += T[2];
|
||
return result;
|
||
}
|
||
|
||
void _XOYprojection(
|
||
cv::Mat& img,
|
||
std::vector<std::vector< SVzNL3DPosition>>& dataLines,
|
||
std::vector< WD_workpieceInfo>& holes,
|
||
const double scale,
|
||
const int sideWidth,
|
||
const SVzNLRangeD x_range,
|
||
const SVzNLRangeD y_range,
|
||
bool drawDirAngle,
|
||
const double dirAngleLen)
|
||
{
|
||
cv::Vec3b rgb = cv::Vec3b(0, 0, 0);
|
||
cv::Vec3b objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
for (int line = 0; line < dataLines.size(); line++)
|
||
{
|
||
std::vector< SVzNL3DPosition>& a_line = dataLines[line];
|
||
for (int i = 0; i < a_line.size(); i++)
|
||
{
|
||
SVzNL3DPosition& pt3D = a_line[i];
|
||
if (pt3D.pt3D.z < 1e-4)
|
||
continue;
|
||
|
||
int flag = pt3D.nPointIdx & 0xffff;
|
||
if (flag > 0)
|
||
{
|
||
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
||
size = 1;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 150, 150, 150 };
|
||
size = 1;
|
||
}
|
||
|
||
double x = pt3D.pt3D.x;
|
||
double y = pt3D.pt3D.y;
|
||
int px = (int)((x - x_range.min) / scale + sideWidth);
|
||
int py = (int)((y - y_range.min) / scale + sideWidth);
|
||
if (size == 1)
|
||
img.at<cv::Vec3b>(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]);
|
||
else
|
||
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
||
}
|
||
}
|
||
if (holes.size() > 0)
|
||
{
|
||
for (int i = 0; i < (int)holes.size(); i++)
|
||
{
|
||
if (i == 0)
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = int(3.0/scale);
|
||
}
|
||
else
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = int(3.0 / scale);
|
||
}
|
||
WD_workpieceInfo& a_hole = holes[i];
|
||
int px = (int)((a_hole.center.x - x_range.min) / scale + sideWidth);
|
||
int py = (int)((a_hole.center.y - y_range.min) / scale + sideWidth);
|
||
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
||
rgb = { 0, 255, 0 };
|
||
size = int(2.0 / scale);
|
||
for (int m = 0; m < (int)a_hole.holes.size(); m++)
|
||
{
|
||
px = (int)((a_hole.holes[m].x - x_range.min) / scale + sideWidth);
|
||
py = (int)((a_hole.holes[m].y - y_range.min) / scale + sideWidth);
|
||
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
||
}
|
||
if (true == drawDirAngle)
|
||
{
|
||
//画线
|
||
double x1 = a_hole.center.x;
|
||
double y1 = a_hole.center.y;
|
||
int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
||
int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
||
//x轴
|
||
double x2 = a_hole.center.x + dirAngleLen * a_hole.x_dir.x;
|
||
double y2 = a_hole.center.y + dirAngleLen * a_hole.x_dir.y;
|
||
int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
||
int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
||
rgb = { 255, 0, 0 }; //x轴用红色
|
||
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
||
//y轴
|
||
x2 = a_hole.center.x + dirAngleLen * a_hole.y_dir.x;
|
||
y2 = a_hole.center.y + dirAngleLen * a_hole.y_dir.y;
|
||
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
||
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
||
rgb = { 0, 255, 0 }; //y轴用绿色
|
||
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
||
//z轴
|
||
x2 = a_hole.center.x + dirAngleLen * a_hole.z_dir.x;
|
||
y2 = a_hole.center.y + dirAngleLen * a_hole.z_dir.y;
|
||
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
||
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
||
rgb = { 0, 0, 255 }; //z轴用蓝色
|
||
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
||
}
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
void EulerRpyToRotation1(const double rpy[3], double matrix3d[9]) {
|
||
double cos0 = cos(rpy[0] * PI / 180);
|
||
double sin0 = sin(rpy[0] * PI / 180);
|
||
double cos1 = cos(rpy[1] * PI / 180);
|
||
double sin1 = sin(rpy[1] * PI / 180);
|
||
double cos2 = cos(rpy[2] * PI / 180);
|
||
double sin2 = sin(rpy[2] * PI / 180);
|
||
matrix3d[0] = cos2 * cos1;
|
||
matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0;
|
||
matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0;
|
||
matrix3d[3] = sin2 * cos1;
|
||
matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0;
|
||
matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0;
|
||
matrix3d[6] = -sin1;
|
||
matrix3d[7] = cos1 * sin0;
|
||
matrix3d[8] = cos1 * cos0;
|
||
return;
|
||
}
|
||
|
||
void _rotateCloudPts(
|
||
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
|
||
double matrix3d[9],
|
||
std::vector<std::vector< SVzNL3DPosition>>& rotateLines,
|
||
SVzNLRangeD& rx_range, SVzNLRangeD& ry_range)
|
||
{
|
||
int lineNum = (int)scanLines.size();
|
||
rotateLines.resize(lineNum);
|
||
rx_range.min = 0;
|
||
rx_range.max = -1;
|
||
ry_range.min = 0;
|
||
ry_range.max = -1;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
for (int i = 0; i < (int)scanLines[line].size(); i++)
|
||
{
|
||
SVzNL3DPosition& pt3D = scanLines[line][i];
|
||
if (pt3D.pt3D.z < 1e-4)
|
||
continue;
|
||
|
||
SVzNL3DPosition r_pt;
|
||
r_pt.pt3D = _ptRotate(pt3D.pt3D, matrix3d);
|
||
r_pt.nPointIdx = pt3D.nPointIdx;
|
||
rotateLines[line].push_back(r_pt);
|
||
if (rx_range.max < rx_range.min)
|
||
{
|
||
rx_range.min = r_pt.pt3D.x;
|
||
rx_range.max = r_pt.pt3D.x;
|
||
}
|
||
else
|
||
{
|
||
if (rx_range.min > r_pt.pt3D.x)
|
||
rx_range.min = r_pt.pt3D.x;
|
||
if (rx_range.max < r_pt.pt3D.x)
|
||
rx_range.max = r_pt.pt3D.x;
|
||
}
|
||
if (ry_range.max < ry_range.min)
|
||
{
|
||
ry_range.min = r_pt.pt3D.y;
|
||
ry_range.max = r_pt.pt3D.y;
|
||
}
|
||
else
|
||
{
|
||
if (ry_range.min > r_pt.pt3D.y)
|
||
ry_range.min = r_pt.pt3D.y;
|
||
if (ry_range.max < r_pt.pt3D.y)
|
||
ry_range.max = r_pt.pt3D.y;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
void _genXOYProjectionImage(
|
||
cv::String& fileName,
|
||
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
|
||
const double scale,
|
||
std::vector< WD_workpieceInfo>& holes,
|
||
const double rpy[3], const double dirLen)
|
||
{
|
||
//旋转视角显示
|
||
double matrix3d[9];
|
||
EulerRpyToRotation1(rpy, matrix3d);
|
||
std::vector<WD_workpieceInfo> r_objOps;
|
||
r_objOps.resize(holes.size());
|
||
for (int i = 0; i < (int)holes.size(); i++)
|
||
{
|
||
r_objOps[i].workpieceType = holes[i].workpieceType;
|
||
r_objOps[i].center = _ptRotate(holes[i].center, matrix3d);
|
||
r_objOps[i].x_dir = _ptRotate(holes[i].x_dir, matrix3d);
|
||
r_objOps[i].y_dir = _ptRotate(holes[i].y_dir, matrix3d);
|
||
r_objOps[i].z_dir = _ptRotate(holes[i].z_dir, matrix3d);
|
||
for (int m = 0; m < (int)holes[i].holes.size(); m++)
|
||
{
|
||
SVzNL3DPoint r_pt = _ptRotate(holes[i].holes[m], matrix3d);
|
||
r_objOps[i].holes.push_back(r_pt);
|
||
}
|
||
for (int m = 0; m < (int)holes[i].holesDir.size(); m++)
|
||
{
|
||
SVzNL3DPoint r_pt = _ptRotate(holes[i].holesDir[m], matrix3d);
|
||
r_objOps[i].holesDir.push_back(r_pt);
|
||
}
|
||
}
|
||
std::vector<std::vector< SVzNL3DPosition>> rotateLines;
|
||
SVzNLRangeD rx_range, ry_range;
|
||
_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);
|
||
|
||
//统计X和Y的范围
|
||
int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
|
||
if (x_cols % 2 == 1)
|
||
x_cols += 1;
|
||
int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
|
||
if (y_rows % 2 == 1)
|
||
y_rows += 1;
|
||
|
||
int sideWidth = 4;
|
||
int imgCols = x_cols + sideWidth * 2;
|
||
int imgRows = y_rows + sideWidth * 2;
|
||
|
||
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
||
//计算投影比例
|
||
_XOYprojection(img, rotateLines, r_objOps, scale, sideWidth, rx_range, ry_range, true, dirLen);
|
||
cv::imwrite(fileName, img);
|
||
return;
|
||
}
|
||
|
||
|
||
#define TEST_COMPUTE_CALIB_PARA 0
|
||
#define TEST_COMPUTE_HOLE 1
|
||
#define TEST_COMPUTE_RT 0
|
||
#define TPF_TEST_GROUP 3
|
||
//拓普发工件孔定位（工件定位)
|
||
void TuoPuFa_holePosition_test(void)
|
||
{
|
||
const char* dataPath[TPF_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云/", //0
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云2/", //1
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云3/", //2
|
||
};
|
||
|
||
SVzNLRange fileIdx[TPF_TEST_GROUP] = {
|
||
{6,6}, {1, 16}, {1,19}
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_RT
|
||
std::vector<cv::Point3d> pts_eye;
|
||
pts_eye.resize(6);
|
||
std::vector<cv::Point3d> pts_robot;
|
||
pts_robot.resize(6);
|
||
pts_eye[0] = { 463.48, 347.63, 1301.43 }; //, R = 0.6413, P = 0.0302, Y = -91.1494
|
||
pts_eye[1] = { 254.15, 259.55, 1303.12 }; // R = 0.6413, P = 0.0302, Y = -88.8130
|
||
pts_eye[2] = { 141.16, 284.02, 1302.27 }; //, R = 0.6413, P = 0.0302, Y = -89.3432
|
||
pts_eye[3] = { 90.66, 5.80, 1303.27 }; // R = 0.6413, P = 0.0302, Y = -89.5285
|
||
pts_eye[4] = { 252.47, -10.45, 1304.33 };// R = 0.6413, P = 0.0302, Y = -89.6450
|
||
pts_eye[5] = { 403.53, -13.99, 1304.24 };// R = 0.6413, P = 0.0302, Y = -82.0278
|
||
//pts_eye[6] = { 242.70, -74.51, 1796.83 };
|
||
|
||
//A:绕z, B：绕y， C:绕x
|
||
pts_robot[0] = { -406.649, -1246.187, 588.611 }; // A:0.018 B : -0.638 C : -0.292
|
||
pts_robot[1] = { -316.649, -1036.290, 587.619 }; // A:-1.032 B : -0.354 C : 1.001
|
||
pts_robot[2] = { -340.590, -922.510, 586.731 }; // A:-1.032 B : -0.356 C : 0.998
|
||
pts_robot[3] = { -61.892,-874.564,589.841 }; // A:-1.028 B : -0.367 C : 0.442
|
||
pts_robot[4] = { -46.658,-1036.959,589.820 }; // A:-1.029 B : -0.367 C : 0.442
|
||
pts_robot[5] = { -43.92, -1188.370,591.006 }; // A:-9.208 B : -0.367 C : 0.442
|
||
//pts_robot[6] = { 29.298, -1033.69, 97.909 };
|
||
|
||
//使用前6组数据
|
||
std::vector<cv::Point3d> test_pts_eye;
|
||
std::vector<cv::Point3d> test_pts_robot;
|
||
for (int i = 0; i < 6; i++)
|
||
{
|
||
test_pts_eye.push_back(pts_eye[i]);
|
||
test_pts_robot.push_back(pts_robot[i]);
|
||
}
|
||
//对空间两组对应点计算旋转平移矩阵
|
||
// Eigen库实现
|
||
cv::Mat R, T;
|
||
cv::Point3d C_eye, C_robot;
|
||
caculateRT(
|
||
test_pts_eye,
|
||
test_pts_robot,
|
||
R, T,
|
||
C_eye, C_robot);
|
||
|
||
std::cout << "方向向量转换结果：" << std::endl;
|
||
std::cout << std::fixed << std::setprecision(6); // 固定小数位数为6
|
||
std::cout << R << std::endl;
|
||
std::cout << T << std::endl;
|
||
|
||
//验算6轴姿态
|
||
std::vector<cv::Point3d> verify_pts_eye;
|
||
verify_pts_eye.insert(verify_pts_eye.end(), pts_eye.begin(), pts_eye.begin()+6);
|
||
//cv::Point3d a_center = { 232.997, -173.533, 1795.9 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
//a_center = { 225.57, -68.33, 1796.77 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
//a_center = { 120.45, -45.97, 1796.25 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
//a_center = { 242.70, -74.51, 1796.83 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
std::vector<std::vector< cv::Point3d>> pose_eye;
|
||
pose_eye.resize(6);
|
||
for (int i = 0; i < 6; i++)
|
||
pose_eye[i].resize(3);
|
||
pose_eye[0][0] = { -0.046,-0.999,-0.009 }; pose_eye[0][1] = { 0.999,-0.046,0.004 }; pose_eye[0][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[1][0] = { -0.049,-0.999,-0.009 }; pose_eye[1][1] = { 0.999,-0.050,0.004 }; pose_eye[1][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[2][0] = { -0.049,-0.999,-0.009 }; pose_eye[2][1] = { 0.999,-0.049,0.004 }; pose_eye[2][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[3][0] = { -0.059,-0.998,-0.009 }; pose_eye[3][1] = { 0.998,-0.059,0.004 }; pose_eye[3][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[4][0] = { -0.070,-0.997,-0.009 }; pose_eye[4][1] = { 0.998,-0.070,0.004 }; pose_eye[4][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[5][0] = { -0.068,-0.998,-0.009 }; pose_eye[5][1] = { 0.998,-0.068,0.004 }; pose_eye[5][2] = { -0.005,-0.009,1.000 };
|
||
//pose_eye[6][0] = { 0.136746, -0.990563, -0.00926168 }; pose_eye[6][1] = { 0.990606, 0.136747, 0.000517805 }; pose_eye[6][2] = { 0.000753588, -0.00924548, 0.999957 };
|
||
//pose_eye[7][0] = { 0.058, 0.998, 0.011 }; pose_eye[7][1] = { 0.999, -0.046, 0.003 }; pose_eye[7][2] = { 0.003, 0.011, -1.000 };
|
||
//pose_eye[8][0] = { 0.017,1.000,0.011 }; pose_eye[8][1] = { 1.000,-0.008,0.003 }; pose_eye[8][2] = { 0.003,0.011,-1.000 };
|
||
//pose_eye[9][0] = { -0.316, 0.949, 0.009 }; pose_eye[9][1] = { 0.951, 0.310, 0.007 }; pose_eye[9][2] = { 0.003, 0.011, -1.000 };
|
||
for (int i = 0; i < 6; i++)
|
||
{
|
||
cv::Point3d rtPt;
|
||
pointRT_2(R, T, verify_pts_eye[i], rtPt); //RT前后的点
|
||
|
||
std::vector<cv::Point3d> dirVectors_eye = pose_eye[i];
|
||
//dirVectors_eye[0] = { -dirVectors_eye[0].x, -dirVectors_eye[0].y, -dirVectors_eye[0].z };
|
||
dirVectors_eye[1] = { -dirVectors_eye[1].x, -dirVectors_eye[1].y, -dirVectors_eye[1].z };
|
||
dirVectors_eye[2] = { -dirVectors_eye[2].x, -dirVectors_eye[2].y, -dirVectors_eye[2].z };
|
||
std::vector<cv::Point3d> dirVectors_robot;
|
||
for (int j = 0; j < 3; j++)
|
||
{
|
||
cv::Point3d rt_pt;
|
||
pointRotate(R, dirVectors_eye[j], rt_pt);
|
||
dirVectors_robot.push_back(rt_pt);
|
||
}
|
||
//生成旋转矩阵
|
||
double R_pose[3][3];
|
||
R_pose[0][0] = dirVectors_robot[0].x;
|
||
R_pose[0][1] = dirVectors_robot[1].x;
|
||
R_pose[0][2] = dirVectors_robot[2].x;
|
||
R_pose[1][0] = dirVectors_robot[0].y;
|
||
R_pose[1][1] = dirVectors_robot[1].y;
|
||
R_pose[1][2] = dirVectors_robot[2].y;
|
||
R_pose[2][0] = dirVectors_robot[0].z;
|
||
R_pose[2][1] = dirVectors_robot[1].z;
|
||
R_pose[2][2] = dirVectors_robot[2].z;
|
||
SSG_EulerAngles test_rpy = rotationMatrixToEulerZYX(R_pose);
|
||
std::cout << i << ":" << std::endl;
|
||
std::cout << rtPt.x << "," << rtPt.y << "," << rtPt.z << std::endl;
|
||
std::cout << test_rpy.roll << "," << test_rpy.pitch << "," << test_rpy.yaw << std::endl;
|
||
}
|
||
#endif
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
int cvtGrp = 1;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%s1470mm调平.txt", dataPath[cvtGrp]);
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
#if 1
|
||
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_HOLE
|
||
for (int grp = 1; grp <= 2; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
//groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
_removeZeroLines(scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = 10.0;
|
||
lineSegPara.segGapTh_y = 15.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 2.0; //mm
|
||
growParam.minVTypeTreeLen = 2.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 47;
|
||
int errCode = 0;
|
||
std::vector< WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning(
|
||
scanLines,
|
||
workpiecePara,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
if(errCode == SX_ERR_UNKNOWN_OBJECT)
|
||
printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
|
||
else if(errCode == SX_ERR_ZERO_OBJECTS)
|
||
printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
|
||
else
|
||
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputWorkpieceInfo(calibFile, workpiecePositioning);
|
||
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
double angleDrawLen = 15;
|
||
double displayScale = 0.3;
|
||
cv::String imgName(calibFile);
|
||
_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
|
||
printf("done\n");
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
#define TPF2_TEST_GROUP 10
|
||
//拓普发工件孔定位（工件定位)
|
||
void TuoPuFa_holePosition_test2(void)
|
||
{
|
||
const char* dataPath[TPF2_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/1层/", //0
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/2层/", //1
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/3层/", //2
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/4层/", //3
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/5层/", //4
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/6层/", //5
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/7层/", //6
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/8层/", //7
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/9层/", //8
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/10层/", //9
|
||
};
|
||
|
||
SVzNLRange fileIdx[TPF2_TEST_GROUP] = {
|
||
{1,10}, {1, 11}, {1,10}, {1,10}, {1, 11},
|
||
{1,10}, {1, 10}, {1,11}, {1,10}, {1,10}
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/调平数据.txt");
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/scanData_ground_calib_verify.txt");
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 0; grp < TPF2_TEST_GROUP; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =2;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
_removeZeroLines(scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = 10.0;
|
||
lineSegPara.segGapTh_y = 15.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 2.0; //mm
|
||
growParam.minVTypeTreeLen = 2.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 8.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 47;
|
||
int errCode = 0;
|
||
std::vector< WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning_2(
|
||
scanLines,
|
||
workpiecePara,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
if (errCode == SX_ERR_UNKNOWN_OBJECT)
|
||
printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
|
||
else if (errCode == SX_ERR_ZERO_OBJECTS)
|
||
printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
|
||
else
|
||
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_hole_info.txt", dataPath[grp], fidx);
|
||
_outputWorkpieceInfo(calibFile, workpiecePositioning);
|
||
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
double angleDrawLen = 15;
|
||
double displayScale = 0.3;
|
||
cv::String imgName(calibFile);
|
||
_genXOYProjectionImage( imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
|
||
printf("done\n");
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
#define TPF3_TEST_GROUP 7
|
||
//拓普发工件孔定位（工件定位)
|
||
void TuoPuFa_holePosition_test3(void)
|
||
{
|
||
const char* dataPath[TPF3_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6
|
||
};
|
||
|
||
SVzNLRange fileIdx[TPF3_TEST_GROUP] = {
|
||
{1,10}, {1, 10}, {1,10}, {1,10}, {1, 10},
|
||
{1,10}, {1, 10},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/调平数据.txt");
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/scanData_ground_calib_verify.txt");
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 0; grp < TPF3_TEST_GROUP; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
//groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx = 2;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
_removeZeroLines(scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 2.0; //mm
|
||
growParam.minVTypeTreeLen = 2.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 60;
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = workpiecePara.H * 0.5; //此参数用作判断工件孔点是否在同一个工件上
|
||
lineSegPara.segGapTh_y = 40.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
double bigHoleDiameter = 33.0;
|
||
int errCode = 0;
|
||
std::vector< WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning_3(
|
||
scanLines,
|
||
workpiecePara,
|
||
bigHoleDiameter,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
if (errCode == SX_ERR_UNKNOWN_OBJECT)
|
||
printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
|
||
else if (errCode == SX_ERR_ZERO_OBJECTS)
|
||
printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
|
||
else
|
||
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_hole_info.txt", dataPath[grp], fidx);
|
||
_outputWorkpieceInfo(calibFile, workpiecePositioning);
|
||
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
double angleDrawLen = 15;
|
||
double displayScale = 0.3;
|
||
cv::String imgName(calibFile);
|
||
_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
|
||
printf("done\n");
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
#define TPF4_TEST_GROUP 7
|
||
//拓普发工件孔定位（工件定位)
|
||
void TuoPuFa_holePosition_test4(void)
|
||
{
|
||
|
||
const char* dataPath[TPF4_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6
|
||
};
|
||
|
||
SVzNLRange fileIdx[TPF4_TEST_GROUP] = {
|
||
{1,11}, {1, 11}, {1,11}, {1,10}, {1, 10},
|
||
{1,10}, {1, 10},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/调平数据.txt");
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/scanData_ground_calib_verify.txt");
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 0; grp < TPF4_TEST_GROUP; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
//groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx = 2;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
_removeZeroLines(scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 2.0; //mm
|
||
growParam.minVTypeTreeLen = 2.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 60;
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = workpiecePara.H * 0.5; //此参数用作判断工件孔点是否在同一个工件上
|
||
lineSegPara.segGapTh_y = 40.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
double bigHoleDiameter = 33.0;
|
||
int errCode = 0;
|
||
std::vector< WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning_3(
|
||
scanLines,
|
||
workpiecePara,
|
||
bigHoleDiameter,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
if (errCode == SX_ERR_UNKNOWN_OBJECT)
|
||
printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1));
|
||
else if (errCode == SX_ERR_ZERO_OBJECTS)
|
||
printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1));
|
||
else
|
||
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_hole_info.txt", dataPath[grp], fidx);
|
||
_outputWorkpieceInfo(calibFile, workpiecePositioning);
|
||
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
double angleDrawLen = 15;
|
||
double displayScale = 0.3;
|
||
cv::String imgName(calibFile);
|
||
_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
|
||
printf("done\n");
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
#define TPF5_TEST_GROUP 14
|
||
//拓普发工件孔定位（工件定位)
|
||
void TuoPuFa_holePosition_test5(void)
|
||
{
|
||
const char* dataPath[TPF5_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/8层/", //7
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/9层/", //8
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/10层/", //9
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/11层/", //10
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/12层/", //11
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/13层/", //12
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/14层/", //13
|
||
};
|
||
|
||
SVzNLRange fileIdx[TPF5_TEST_GROUP] = {
|
||
{1,10}, {1, 10}, {1,10}, {1,10}, {1, 10},
|
||
{1,11}, {1, 10}, {1,11}, {1,10}, {1,10},
|
||
{1, 10}, {1,10}, {1,11}, {1,10}
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/调平数据.txt");
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件2/scanData_ground_calib_verify.txt");
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 0; grp < TPF5_TEST_GROUP; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
_removeZeroLines(scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 28;
|
||
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = workpiecePara.H / 2; //此参数用于确定
|
||
lineSegPara.segGapTh_y = 15.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 1.5; //mm
|
||
growParam.minVTypeTreeLen = 1.5; //mm
|
||
|
||
int errCode = 0;
|
||
std::vector< WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning_2(
|
||
scanLines,
|
||
workpiecePara,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
if (errCode == SX_ERR_UNKNOWN_OBJECT)
|
||
printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
|
||
else if (errCode == SX_ERR_ZERO_OBJECTS)
|
||
printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
|
||
else
|
||
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning);
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_hole_info.txt", dataPath[grp], fidx);
|
||
_outputWorkpieceInfo(calibFile, workpiecePositioning);
|
||
|
||
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
double angleDrawLen = 15;
|
||
double displayScale = 0.3;
|
||
cv::String imgName(calibFile);
|
||
_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
|
||
printf("done\n");
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
//华航孔定位
|
||
#define HH_TEST_GROUP 6
|
||
void HuaHang_holePosition_test(void)
|
||
{
|
||
const char* dataPath[HH_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据1/", //0
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/1/", //1
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/2/", //2
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/3/", //3
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据4/好的/", //4
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据4/坏的/", //5
|
||
};
|
||
|
||
SVzNLRange fileIdx[HH_TEST_GROUP] = {
|
||
{1,15}, {1, 21},{1,19}, {1,13},
|
||
{1, 4}, {4,13},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 5; grp <= 5; grp++)
|
||
{
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =17;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = 25.0;
|
||
lineSegPara.segGapTh_y = 25.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 10; // 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;
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 1.0; //mm
|
||
growParam.minVTypeTreeLen = 1.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 47;
|
||
int errCode = 0;
|
||
std::vector< WD_HolePositionInfo> holePositioning;
|
||
wd_HolePositioning(scanLines, lineSegPara, cornerParam, filterParam, growParam, holePositioning, &errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
double dirLen = 20;
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_HoleInfo(_scan_file, scanLines, holePositioning, dirLen);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo(_scan_file, holePositioning);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
//微力砂轮孔定位
|
||
#define WELI_DISC_TEST_GROUP 2
|
||
void Weili_grindingDiscHolePosition_test(void)
|
||
{
|
||
const char* dataPath[WELI_DISC_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/砂轮400/", //0
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/砂轮610/", //1
|
||
};
|
||
|
||
SVzNLRange fileIdx[WELI_DISC_TEST_GROUP] = {
|
||
{1,3}, {1, 4}
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
for (int grp = 0; grp <= 1; grp++)
|
||
{
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =17;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_ID019068.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 10; // 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;
|
||
WD_HolePositionInfo discPose = sx_getDiscHolePose(
|
||
scanLines,
|
||
cornerParam,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_HoleInfo_2(_scan_file, scanLines, discPose);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo_2(_scan_file, discPose);
|
||
}
|
||
}
|
||
}
|
||
|
||
//微力砂轮架子定位
|
||
#define WEILI_RACK_TEST_GROUP 5
|
||
void Weili_grindingDiscRackPosition_test(void)
|
||
{
|
||
const char* dataPath[WEILI_RACK_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_右上角/", //0
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_右下角/", //1
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_中间/", //2
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_左上角/", //3
|
||
"F:/ShangGu/项目/冠钦项目/郑州微力_砂轮和架子定位/数据/架子_左下角/", //4
|
||
};
|
||
|
||
SVzNLRange fileIdx[WEILI_RACK_TEST_GROUP] = {
|
||
{1, 16},{1,15}, {1,15}, {1, 15}, {1,15},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 0; grp <= 4; grp++)
|
||
{
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =17;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_ID019068.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 10; // 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;
|
||
//砂轮盘架子中心定位
|
||
SSG_pointPose discRackPose = sx_getDiscRackCenterPosition(
|
||
scanLines,
|
||
cornerParam,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_RGBD_2(_scan_file, scanLines, discRackPose);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo_3(_scan_file, discRackPose);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
//山东本事机电轮胎定位
|
||
#define BENSHI_COMPUTE_CALIB_PARA 0
|
||
#define BENSHI_HOLE_POSITION 1
|
||
|
||
#define BENSHI_TIRE_TEST_GROUP 1
|
||
void Benshi_tirePosition_test(void)
|
||
{
|
||
const char* dataPath[BENSHI_TIRE_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/山东本事机电轮胎抓取/数据/", //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[BENSHI_TIRE_TEST_GROUP] = {
|
||
{1,34},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if BENSHI_COMPUTE_CALIB_PARA
|
||
int cvtGrp = 0;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%s调平.txt", dataPath[cvtGrp]);
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
#if 0
|
||
for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Ik256400.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 BENSHI_HOLE_POSITION
|
||
|
||
for (int grp = 0; grp <= 0; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =18;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Ik256400.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 10; // 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;
|
||
|
||
WD_tireParam tireParam;
|
||
tireParam.diameter = 500;
|
||
tireParam.thickness = 140;
|
||
|
||
int errCode = 0;
|
||
std::vector<WD_HolePositionInfo> tirePositions;
|
||
sx_getTireHolePose(
|
||
scanLines,
|
||
cornerParam,
|
||
groundCalibPara,
|
||
tireParam,
|
||
tirePositions,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
double dirLen = 200;
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_HoleInfo(_scan_file, scanLines, tirePositions, dirLen);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo(_scan_file, tirePositions);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
//海瑞马
|
||
#define HAIRUIMA_COMPUTE_CALIB_PARA 0
|
||
#define HAIRUIMA_HOLE_POSITION 1
|
||
|
||
#define HAIRUIMA_TIRE_TEST_GROUP 1
|
||
void HaiRuiMa_rotorCorePosition_test(void)
|
||
{
|
||
const char* dataPath[BENSHI_TIRE_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据/", //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[BENSHI_TIRE_TEST_GROUP] = {
|
||
{1,83},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if HAIRUIMA_COMPUTE_CALIB_PARA
|
||
int cvtGrp = 0;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%s地面点云.txt", dataPath[cvtGrp]);
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
#if 0
|
||
for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Jl26C477.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);
|
||
}
|
||
printf("%s: processing...\n", _scan_file);
|
||
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 HAIRUIMA_HOLE_POSITION
|
||
|
||
for (int grp = 0; grp <= 0; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =17;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Jl26C477.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 10; // 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;
|
||
|
||
WD_rotorAppParam rotorParam;
|
||
rotorParam.rotorDiameter = 72;
|
||
rotorParam.rotorH = 40.0;
|
||
rotorParam.removeGroundHOffset = 100.0; //去除时的高度偏置，用于设置架子高度
|
||
rotorParam.basket_L = 770;
|
||
rotorParam.basket_W = 580;
|
||
int errCode = 0;
|
||
std::vector<WD_HolePositionInfo> rotorPositions;
|
||
sx_getRotorCorePose(
|
||
scanLines,
|
||
cornerParam,
|
||
groundCalibPara,
|
||
rotorParam,
|
||
rotorPositions,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
double dirLen = 200;
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_HoleInfo(_scan_file, scanLines, rotorPositions, dirLen);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo(_scan_file, rotorPositions);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
#define JIURUI_COMPUTE_CALIB_PARA 0
|
||
#define JIURUI_HOLE_POSITION 1
|
||
|
||
#define JIURUI_TIRE_TEST_GROUP 2
|
||
void JiuRui_workpiecePosition_test(void)
|
||
{
|
||
const char* dataPath[JIURUI_TIRE_TEST_GROUP] = {
|
||
"F:/ShangGu/项目/冠钦项目/北京玖瑞/工件识别/工件数据/1367mm/",//0
|
||
"F:/ShangGu/项目/冠钦项目/北京玖瑞/工件识别/工件数据/距离工件1183mm/", //1
|
||
};
|
||
|
||
SVzNLRange fileIdx[JIURUI_TIRE_TEST_GROUP] = {
|
||
{1,8},{1,6}
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if JIURUI_COMPUTE_CALIB_PARA
|
||
int cvtGrp = 0;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%s调平.txt", dataPath[cvtGrp]);
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
||
|
||
lineNum = (int)scanData.size();
|
||
if (scanData.size() > 0)
|
||
{
|
||
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(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
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
#if 0
|
||
for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Ik256400.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 JIURUI_HOLE_POSITION
|
||
for (int grp = 0; grp <= 1; grp++)
|
||
{
|
||
SSG_planeCalibPara groundCalibPara;
|
||
//初始化成单位阵
|
||
groundCalibPara.planeCalib[0] = 1.0;
|
||
groundCalibPara.planeCalib[1] = 0.0;
|
||
groundCalibPara.planeCalib[2] = 0.0;
|
||
groundCalibPara.planeCalib[3] = 0.0;
|
||
groundCalibPara.planeCalib[4] = 1.0;
|
||
groundCalibPara.planeCalib[5] = 0.0;
|
||
groundCalibPara.planeCalib[6] = 0.0;
|
||
groundCalibPara.planeCalib[7] = 0.0;
|
||
groundCalibPara.planeCalib[8] = 1.0;
|
||
groundCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
//groundCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =17;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Hi229229_sampleDown.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
#if 0
|
||
//抽样
|
||
std::vector<std::vector< SVzNL3DPosition>> sampleData;
|
||
int sampleLines = (int)scanLines.size() / 4;
|
||
sampleData.resize(sampleLines);
|
||
int sLine = 0;
|
||
for (int i = 0; i < (int)scanLines.size(); i++)
|
||
{
|
||
if (i % 4 == 0)
|
||
{
|
||
sampleData[sLine].resize(scanLines[i].size());
|
||
std::copy(scanLines[i].begin(), scanLines[i].end(), sampleData[sLine].begin()); // 使用std::copy算法
|
||
sLine++;
|
||
if (sLine >= sampleLines)
|
||
break;
|
||
}
|
||
}
|
||
//写入
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Hi229229_sampleDown.txt", dataPath[grp], fidx);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_scan_file, sampleData, false, &headNullLines);
|
||
continue;
|
||
#endif
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 10; // 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;
|
||
|
||
WD_JiuruiWorkpieceParam workpieceParam;
|
||
workpieceParam.len = 320;
|
||
workpieceParam.width = 140;
|
||
workpieceParam.thickness = 48;
|
||
|
||
int errCode = 0;
|
||
std::vector<SSG_pointPose> workpiecePositions;
|
||
Jiurui_getWorkpiecePose(
|
||
scanLines,
|
||
cornerParam,
|
||
groundCalibPara,
|
||
workpieceParam,
|
||
workpiecePositions,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
double dirLen = 200;
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
SSG_pointPose a_pose;
|
||
memset(&a_pose, 0, sizeof(SSG_pointPose));
|
||
if (workpiecePositions.size() > 0)
|
||
a_pose = workpiecePositions[0];
|
||
_outputRGBDResult_RGBD_2(_scan_file, scanLines, a_pose);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo_3(_scan_file, a_pose);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
|
||
typedef enum
|
||
{
|
||
keSG_拓普发孔定位_工件1 = 0,
|
||
keSG_拓普发孔定位_工件2,
|
||
keSG_拓普发孔定位_工件3,
|
||
keSG_拓普发孔定位_工件4,
|
||
keSG_拓普发孔定位_工件5,
|
||
keSG_拓普发孔定位_工件全测试,
|
||
keSG_华航孔定位,
|
||
keSG_微力砂轮盘定位,
|
||
keSG_微力砂轮架子定位,
|
||
keSG_山东本事轮胎定位,
|
||
keSG_宁波海瑞马转子芯定位,
|
||
keSG_北京玖瑞工件定位,
|
||
} ESG_testMode;
|
||
int main()
|
||
{
|
||
//ESG_testMode testMode = keSG_拓普发孔定位_工件1;
|
||
//ESG_testMode testMode = keSG_拓普发孔定位_工件2;
|
||
//ESG_testMode testMode = keSG_拓普发孔定位_工件3;
|
||
//ESG_testMode testMode = keSG_拓普发孔定位_工件4;
|
||
//ESG_testMode testMode = keSG_拓普发孔定位_工件5;
|
||
ESG_testMode testMode = keSG_拓普发孔定位_工件全测试;
|
||
//ESG_testMode testMode = keSG_华航孔定位;
|
||
//ESG_testMode testMode = keSG_微力砂轮盘定位;
|
||
//ESG_testMode testMode = keSG_微力砂轮架子定位;
|
||
//ESG_testMode testMode = keSG_山东本事轮胎定位;
|
||
//ESG_testMode testMode = keSG_宁波海瑞马转子芯定位;
|
||
//ESG_testMode testMode = keSG_北京玖瑞工件定位;
|
||
|
||
if (keSG_拓普发孔定位_工件1 == testMode)
|
||
TuoPuFa_holePosition_test();
|
||
else if (keSG_拓普发孔定位_工件2 == testMode)
|
||
TuoPuFa_holePosition_test2();
|
||
else if (keSG_拓普发孔定位_工件3 == testMode)
|
||
TuoPuFa_holePosition_test3();
|
||
else if (keSG_拓普发孔定位_工件4 == testMode)
|
||
TuoPuFa_holePosition_test4();
|
||
else if (keSG_拓普发孔定位_工件5 == testMode)
|
||
TuoPuFa_holePosition_test5();
|
||
else if (keSG_拓普发孔定位_工件全测试 == testMode)
|
||
{
|
||
TuoPuFa_holePosition_test();
|
||
TuoPuFa_holePosition_test2();
|
||
TuoPuFa_holePosition_test3();
|
||
TuoPuFa_holePosition_test4();
|
||
TuoPuFa_holePosition_test5();
|
||
}
|
||
else if (keSG_华航孔定位 == testMode)
|
||
HuaHang_holePosition_test();
|
||
else if (keSG_微力砂轮盘定位 == testMode)
|
||
Weili_grindingDiscHolePosition_test();
|
||
else if (keSG_微力砂轮架子定位 == testMode)
|
||
Weili_grindingDiscRackPosition_test();
|
||
else if (keSG_山东本事轮胎定位 == testMode)
|
||
Benshi_tirePosition_test();
|
||
else if (keSG_宁波海瑞马转子芯定位 == testMode)
|
||
HaiRuiMa_rotorCorePosition_test();
|
||
else if (keSG_北京玖瑞工件定位 == testMode)
|
||
JiuRui_workpiecePosition_test();
|
||
}
|