diff --git a/sourceCode/SG_featureGrow.cpp b/sourceCode/SG_featureGrow.cpp index 9a29ea9..5ce05c3 100644 --- a/sourceCode/SG_featureGrow.cpp +++ b/sourceCode/SG_featureGrow.cpp @@ -776,7 +776,7 @@ void wd_getSegFeatureGrowingTrees_2( { for (int i = 0, i_max = (int)all_lineFeatures.size(); i < i_max; i++) { - if (i == 95) + if (i == 533) int kkk = 1; std::vector& a_lineFeatures = all_lineFeatures[i]; for (int j = 0, j_max = (int)a_lineFeatures.size(); j < j_max; j++) @@ -820,7 +820,11 @@ void wd_getSegFeatureGrowingTrees_2( { feature_trees[m].treeState = TREE_STATE_DEAD; if (len <= growParam.minLTypeTreeLen) + { + if (feature_trees[m].sLineIdx == 530) + int kkk = 1; feature_trees.erase(feature_trees.begin() + m); + } } } } diff --git a/sourceCode/WD_holeDetection.cpp b/sourceCode/WD_holeDetection.cpp index 92a73f2..271a37c 100644 --- a/sourceCode/WD_holeDetection.cpp +++ b/sourceCode/WD_holeDetection.cpp @@ -10,8 +10,8 @@ void _updateROI(SSG_ROIRectD& roi, SVzNL3DPoint& a_pt) { roi.left = a_pt.x; roi.right = a_pt.x; - roi.left = a_pt.y; - roi.right = a_pt.y; + roi.top = a_pt.y; + roi.bottom = a_pt.y; } else { @@ -107,7 +107,7 @@ void WD_getHoleInfo( //提取线段端点特征 for (int line = 0; line < lineNum; line++) { - if (line == 95) + if (line == 533) int kkk = 1; std::vector& lineData = scanLines[line]; @@ -311,7 +311,8 @@ void WD_getHoleInfo( SWD_segFeatureTree& a_tree = segTrees_v[i]; if ((a_tree.sLineIdx <= 1047) && (a_tree.eLineIdx >= 1047)) int kkk = 1; - + if ((treeInfo_v[i].roi.right > 260) && (treeInfo_v[i].roi.left < 270) && (treeInfo_v[i].roi.bottom > 10) && (treeInfo_v[i].roi.top < 20)) + int kkk = 1; int totalSize_v = treeInfo_v[i].treeType; int commonSize = 0; int hTreeIdx = -1; @@ -325,6 +326,8 @@ void WD_getHoleInfo( } if (hTreeIdx >= 0) { + if ((treeInfo_h[hTreeIdx].roi.right > 260) && (treeInfo_h[hTreeIdx].roi.left < 270) && (treeInfo_h[hTreeIdx].roi.bottom > 10) && (treeInfo_h[hTreeIdx].roi.top < 20)) + int kkk = 1; int totalSize_h = treeInfo_h[hTreeIdx].treeType; int sizeV_th = (int)((double)totalSize_v * valieCommonNumRatio); int sizeH_th = (int)((double)totalSize_h * valieCommonNumRatio); diff --git a/sourceCode/workpieceHolePositioning.cpp b/sourceCode/workpieceHolePositioning.cpp index 16bd162..ef0c582 100644 --- a/sourceCode/workpieceHolePositioning.cpp +++ b/sourceCode/workpieceHolePositioning.cpp @@ -32,7 +32,8 @@ //version 1.6.0 : 娣诲姞浜嗙帠鐟炲伐浠讹紙鍗曚欢锛夌殑濮挎佽绠椼 //version 1.6.1 : 娣诲姞浜嗘嫇鏅彂宸ヤ欢2銆佸伐浠3銆佸伐浠4鐨勫Э鎬佽绠椼 //version 1.6.2 : 鎷撴櫘鍙戠畻娉曚唬鐮佸悓姝ャ -std::string m_strVersion = "HolePostion 1.6.2"; +//version 1.6.3 : 鎷撴櫘鍙5绉嶅伐浠剁畻娉曘傚叡3涓狝PI銆 宸ヤ欢2鍜屽伐浣5浣跨敤API2, 宸ヤ欢3鍜屽伐浠4浣跨敤API3銆 +std::string m_strVersion = "HolePostion 1.6.3"; const char* wd_workpieceHolePositioningVersion(void) { return m_strVersion.c_str(); @@ -278,6 +279,7 @@ int distanceSearchObject( SVzNLRect& roi2D, SVzNLRangeD& distRange) { + const double angleDiffTh = 15; int result = -1; int holeSize = (int)holes.size(); double minDistDiff = DBL_MAX; @@ -296,7 +298,7 @@ int distanceSearchObject( if (angleDiff > 90) angleDiff = 180 - angleDiff; - if ((zDiff < deltaZ) && (angleDiff < 45)) + if ((zDiff < deltaZ) && (angleDiff < angleDiffTh)) { if (minDistDiff > distDiff) { @@ -541,6 +543,64 @@ double _getMinZ(std::vector& Points3ds) return minZ; } +//鍘婚櫎鎵弿绾夸笂鐨勫嚬鍧 +void _rmoveScanlineConcaves( + std::vector& lineData, + const double steppingScale, + const double invalidScale, //瓒呭嚭姝ゅ昂搴︼紝鏂瑰悜瑙掕绠楁棤鏁 + const double minCornerTh, //鍑瑰潙瀵瑰簲鐨勬渶灏忔嫄瑙 + const double minConcaveDepth //鏈灏忓嚬鍧戜笉娣卞害 +) +{ + //璁＄畻鏂瑰悜瑙 + std::vector< SSG_pntDirAngle> ptDirAngles; + wd_computeDirAngle_wholeLine2( + lineData, + steppingScale, + invalidScale, //瓒呭嚭姝ゅ昂搴︼紝鏂瑰悜瑙掕绠楁棤鏁 + ptDirAngles + ); + + //瀵绘壘鎷愮偣鏋佸ぇ鍊 + std::vector< SSG_pntDirAngle> cornerPeakP; + std::vector< SSG_pntDirAngle> cornerPeakM; + wd_searchCornerPeaks( + ptDirAngles, + lineData, + minCornerTh, + steppingScale * 2, + cornerPeakP, + cornerPeakM + ); + + //鍘婚櫎 + const double removeDepthK = 0.75; + for (int idx = 0; idx < (int)cornerPeakP.size(); idx++) + { + SSG_pntDirAngle& a_peak = cornerPeakP[idx]; + if ((abs(a_peak.forwardDiffZ) > minConcaveDepth) && (abs(a_peak.backwardDiffZ) > minConcaveDepth)) + { + //瀵绘壘鍓嶅悗鎴鐐癸細diffZ鐨 3/4 + double zTh = a_peak.curr_z - abs(a_peak.backwardDiffZ) * removeDepthK; + for (int i = a_peak.pntIdx; i >= a_peak.backwardPntIdx; i--) + { + if (lineData[i].pt3D.z > zTh) + lineData[i].pt3D.z = 0; + else if ((lineData[i].pt3D.z > 1e-4) && (lineData[i].pt3D.z < zTh)) + break; + } + zTh = a_peak.curr_z - abs(a_peak.forwardDiffZ) * removeDepthK; + for (int i = a_peak.pntIdx; i <= a_peak.forwardPntIdx; i++) + { + if (lineData[i].pt3D.z > zTh) + lineData[i].pt3D.z = 0; + else if ((lineData[i].pt3D.z > 1e-4) && (lineData[i].pt3D.z < zTh)) + break; + } + } + } +} + //宸ヤ欢1: 瀛斿畾浣-鎷撴櫘鍙戝伐浠跺瓟瀹氫綅 void wd_workpieceHolePositioning( std::vector< std::vector>& scanLinesInput, @@ -580,6 +640,19 @@ void wd_workpieceHolePositioning( //璋冨钩锛屽幓闄ゅ湴闈 wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1); } + //鍘婚櫎鍑瑰潙:鍙湁鍨傜洿鏂瑰悜涓婅繘琛屻傚彧瀵瑰皬瀛旀湁鏁堬紙灏忓瓟鍦ㄦ壂鎻忔椂浼氬舰鎴愬嚬鍧 + double steppingScale = workpiecePara.holeDiameter; + double invalidScale = workpiecePara.H; //瓒呭嚭姝ゅ昂搴︼紝鏂瑰悜瑙掕绠楁棤鏁 + double minCornerTh = 60; //鍑瑰潙瀵瑰簲鐨勬渶灏忔嫄瑙 + double minConcaveDepth = 5.0; + for (int line = 0; line < lineNum; line++) + { + if (line == 436) + int kkk = 1; + //remove concave + _rmoveScanlineConcaves(scanLines[line], steppingScale, invalidScale, minCornerTh, minConcaveDepth); + //_rmoveScanlineConcaves(scanLinesInput[line], steppingScale, invalidScale, minCornerTh, minConcaveDepth); + } //鐢熸垚閲忓寲鏁版嵁锛屼互1mm涓洪噺鍖栧昂搴︼紝鐢ㄤ簬纭畾宸ヤ欢琛ㄩ潰楂樺害 SVzNL3DRangeD roi3D = sg_getScanDataROI_vector(scanLines); @@ -1111,64 +1184,6 @@ void _checkWorkpieceCentralHoles( return; } -//鍘婚櫎鎵弿绾夸笂鐨勫嚬鍧 -void _rmoveScanlineConcaves( - std::vector& lineData, - const double steppingScale, - const double invalidScale, //瓒呭嚭姝ゅ昂搴︼紝鏂瑰悜瑙掕绠楁棤鏁 - const double minCornerTh, //鍑瑰潙瀵瑰簲鐨勬渶灏忔嫄瑙 - const double minConcaveDepth //鏈灏忓嚬鍧戜笉娣卞害 -) -{ - //璁＄畻鏂瑰悜瑙 - std::vector< SSG_pntDirAngle> ptDirAngles; - wd_computeDirAngle_wholeLine2( - lineData, - steppingScale, - invalidScale, //瓒呭嚭姝ゅ昂搴︼紝鏂瑰悜瑙掕绠楁棤鏁 - ptDirAngles - ); - - //瀵绘壘鎷愮偣鏋佸ぇ鍊 - std::vector< SSG_pntDirAngle> cornerPeakP; - std::vector< SSG_pntDirAngle> cornerPeakM; - wd_searchCornerPeaks( - ptDirAngles, - lineData, - minCornerTh, - steppingScale * 2, - cornerPeakP, - cornerPeakM - ); - - //鍘婚櫎 - const double removeDepthK = 0.75; - for (int idx = 0; idx < (int)cornerPeakP.size(); idx++) - { - SSG_pntDirAngle& a_peak = cornerPeakP[idx]; - if ((abs(a_peak.forwardDiffZ) > minConcaveDepth) && (abs(a_peak.backwardDiffZ) > minConcaveDepth)) - { - //瀵绘壘鍓嶅悗鎴鐐癸細diffZ鐨 3/4 - double zTh = a_peak.curr_z - abs(a_peak.backwardDiffZ) * removeDepthK; - for (int i = a_peak.pntIdx; i >= a_peak.backwardPntIdx; i--) - { - if (lineData[i].pt3D.z > zTh) - lineData[i].pt3D.z = 0; - else if((lineData[i].pt3D.z > 1e-4) && (lineData[i].pt3D.z < zTh)) - break; - } - zTh = a_peak.curr_z - abs(a_peak.forwardDiffZ) * removeDepthK; - for (int i = a_peak.pntIdx; i <= a_peak.forwardPntIdx; i++) - { - if (lineData[i].pt3D.z > zTh) - lineData[i].pt3D.z = 0; - else if ((lineData[i].pt3D.z > 1e-4) && (lineData[i].pt3D.z < zTh)) - break; - } - } - } -} - //宸ヤ欢2: 瀛斿畾浣-鎷撴櫘鍙戝伐浠跺瓟瀹氫綅 void wd_workpieceHolePositioning_2( std::vector< std::vector>& scanLinesInput, @@ -1214,10 +1229,10 @@ void wd_workpieceHolePositioning_2( double steppingScale = workpiecePara.holeDiameter; double invalidScale = workpiecePara.H; //瓒呭嚭姝ゅ昂搴︼紝鏂瑰悜瑙掕绠楁棤鏁 double minCornerTh = 45; //鍑瑰潙瀵瑰簲鐨勬渶灏忔嫄瑙 - double minConcaveDepth = 4.0; + double minConcaveDepth = 3.0; for (int line = 0; line < lineNum; line++) { - if (line == 367) + if (line == 436) int kkk = 1; //remove concave _rmoveScanlineConcaves( scanLines[line], steppingScale, invalidScale, minCornerTh, minConcaveDepth); @@ -1342,8 +1357,10 @@ void wd_workpieceHolePositioning_2( SVzNL3DRangeD& a_roi = clustersRoi3D[i]; double L = a_roi.xRange.max - a_roi.xRange.min; double W = a_roi.yRange.max - a_roi.yRange.min; - if ((L > workpiecePara.holeDiameter * 0.5) && (L < workpiecePara.holeDiameter * 2.5) && - (W > workpiecePara.holeDiameter * 0.5) && (W < workpiecePara.holeDiameter * 2.5)) + if ((a_roi.xRange.max > 260) && (a_roi.xRange.min < 270) && (a_roi.yRange.max > 10) && (a_roi.yRange.min < 20)) + int kkk = 1; + if ((L > workpiecePara.holeDiameter * 0.25) && (L < workpiecePara.holeDiameter * 2.5) && + (W > workpiecePara.holeDiameter * 0.25) && (W < workpiecePara.holeDiameter * 2.5)) validCluserIndexing.push_back(i); } //鐢熸垚缁撴灉 @@ -1417,6 +1434,10 @@ void wd_workpieceHolePositioning_2( //holes[objIdx].radius = -1; SWD_HoleInfo& p0 = holes[objIdx]; + if ((p0.center.x > 230) && (p0.center.x < 240) && (p0.center.y > 10) && (p0.center.y < 25)) + int kkk = 1; + if ((p0.center.x > 230) && (p0.center.x < 240) && (p0.center.y > 50) && (p0.center.y < 65)) + int kkk = 1; int idx1 = distanceSearchObject(p0.center, holes, workpiecePara.holeDist_W, distDeviation, 0, workpiecePara.H / 2, quantiValue, roi2D, linePointRange); if (idx1 < 0) diff --git a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp index 64f8af0..b67cd84 100644 --- a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp +++ b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp @@ -115,9 +115,12 @@ void _removeZeroLines(std::vector>& scanData) lastLine = line; } if (firstLine < 0) + { scanData.clear(); + return; + } - if (lastLine < (lineNum - 1)) + if ( (lastLine < (lineNum - 1)) && (lastLine > 0)) scanData.erase(scanData.begin() + lastLine + 1, scanData.end()); scanData.erase(scanData.begin(), scanData.begin() + firstLine); @@ -1527,9 +1530,9 @@ void TuoPuFa_holePosition_test2(void) &errCode); long t2 = (long)GetTickCount64(); if (errCode == SX_ERR_UNKNOWN_OBJECT) - printf("%s: %d(ms), 鏈夊紓鐗╂畫鐣!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 鏈夊紓鐗╂畫鐣! ...", _scan_file, (int)(t2 - t1)); else if (errCode == SX_ERR_ZERO_OBJECTS) - printf("%s: %d(ms), 鏃犱骇鍝!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 鏃犱骇鍝! ...", _scan_file, (int)(t2 - t1)); else printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode); //杈撳嚭娴嬭瘯缁撴灉 @@ -1948,7 +1951,7 @@ void TuoPuFa_holePosition_test5(void) for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { - fidx =2; + //fidx =4; char _scan_file[256]; sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx); std::vector> scanLines; @@ -1961,7 +1964,7 @@ void TuoPuFa_holePosition_test5(void) WD_workpieceHoleParam workpiecePara; workpiecePara.workpieceType = 0; - workpiecePara.holeDiameter = 10.0; // + workpiecePara.holeDiameter = 6.0; // workpiecePara.holeDist_W = 32.0; workpiecePara.holeDist_L = 40.0; workpiecePara.xLen = 44; @@ -1980,8 +1983,8 @@ void TuoPuFa_holePosition_test5(void) growParam.yDeviation_max = 4.0; growParam.maxSkipDistance = 0.0; growParam.zDeviation_max = 10.0;// - growParam.minLTypeTreeLen = 2.0; //mm - growParam.minVTypeTreeLen = 2.0; //mm + growParam.minLTypeTreeLen = 1.5; //mm + growParam.minVTypeTreeLen = 1.5; //mm int errCode = 0; std::vector< WD_workpieceInfo> workpiecePositioning; @@ -2698,6 +2701,7 @@ typedef enum keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢3, keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢4, keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢5, + keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢鍏ㄦ祴璇, keSG_鍗庤埅瀛斿畾浣, keSG_寰姏鐮傝疆鐩樺畾浣, keSG_寰姏鐮傝疆鏋跺瓙瀹氫綅, @@ -2710,8 +2714,9 @@ int main() //ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢1; //ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢2; //ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢3; - ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢4; + //ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢4; //ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢5; + ESG_testMode testMode = keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢鍏ㄦ祴璇; //ESG_testMode testMode = keSG_鍗庤埅瀛斿畾浣; //ESG_testMode testMode = keSG_寰姏鐮傝疆鐩樺畾浣; //ESG_testMode testMode = keSG_寰姏鐮傝疆鏋跺瓙瀹氫綅; @@ -2729,6 +2734,14 @@ int main() TuoPuFa_holePosition_test4(); else if (keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢5 == testMode) TuoPuFa_holePosition_test5(); + else if (keSG_鎷撴櫘鍙戝瓟瀹氫綅_宸ヤ欢鍏ㄦ祴璇 == testMode) + { + TuoPuFa_holePosition_test(); + TuoPuFa_holePosition_test2(); + TuoPuFa_holePosition_test3(); + TuoPuFa_holePosition_test4(); + TuoPuFa_holePosition_test5(); + } else if (keSG_鍗庤埅瀛斿畾浣 == testMode) HuaHang_holePosition_test(); else if (keSG_寰姏鐮傝疆鐩樺畾浣 == testMode)