From 67f5f7fee6f2b8707e3cd9373b04b6e17590586e Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Tue, 14 Jul 2026 14:23:47 +0800 Subject: [PATCH] =?UTF-8?q?workpieceHolePositioning=20version=201.6.2=20:?= =?UTF-8?q?=20=E6=8B=93=E6=99=AE=E5=8F=91=E7=AE=97=E6=B3=95=E4=BB=A3?= =?UTF-8?q?=E7=A0=81=E5=90=8C=E6=AD=A5=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- SG_Algorithm.sln | 41 +++++-- sourceCode/SG_baseAlgo_Export.h | 9 ++ sourceCode/SG_featureGrow.cpp | 2 +- sourceCode/SG_lineFeature.cpp | 101 ++++++++++++++++++ sourceCode/WD_holeDetection.cpp | 2 +- sourceCode/workpieceHolePositioning.cpp | 77 ++++++++++++- .../workpieceHolePositioning_test.cpp | 47 ++++---- 7 files changed, 247 insertions(+), 32 deletions(-) diff --git a/SG_Algorithm.sln b/SG_Algorithm.sln index 9259f48..197e6ee 100644 --- a/SG_Algorithm.sln +++ b/SG_Algorithm.sln @@ -1,7 +1,7 @@  Microsoft Visual Studio Solution File, Format Version 12.00 # Visual Studio Version 17 -VisualStudioVersion = 17.14.37216.2 d17.14 +VisualStudioVersion = 17.14.37216.2 MinimumVisualStudioVersion = 10.0.40219.1 Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "fireBrickPositioning", "fireBrickPositioning\fireBrickPositioning.vcxproj", "{BB3FA81E-21D8-40AD-ACE6-49173477F32D}" ProjectSection(ProjectDependencies) = postProject @@ -42,8 +42,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "motorStatorPosition", "moto EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "motorStatorPosition_test", "motorStatorPosition_test\motorStatorPosition_test.vcxproj", "{533E4482-08AE-490F-8757-B4343F2DD6E4}" ProjectSection(ProjectDependencies) = postProject - {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} {427201E1-5922-4F52-A68F-0D82C8F71B01} = {427201E1-5922-4F52-A68F-0D82C8F71B01} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "beltTearingDetection", "beltTearingDetection\beltTearingDetection.vcxproj", "{564C255D-40C0-4749-AC5C-410DBE0F135F}" @@ -103,8 +103,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "lapWeldDetection", "lapWeld EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "lapWeldDetection_test", "lapWeldDetection_test\lapWeldDetection_test.vcxproj", "{BD65AC40-A2C9-4C8D-ADBA-ABA595C5F32D}" ProjectSection(ProjectDependencies) = postProject - {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} {0C0B9B7A-9BF2-4157-BFFD-D12012E39FA0} = {0C0B9B7A-9BF2-4157-BFFD-D12012E39FA0} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_workpieceCornerExtraction", "BQ_workpieceCornerExtraction\BQ_workpieceCornerExtraction.vcxproj", "{AD8415B7-A745-4184-87B8-95619E5066D6}" @@ -146,8 +146,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "gasFillingPortPosition", "g EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "gasFillingPortPosition_test", "gasFillingPortPosition_test\gasFillingPortPosition_test.vcxproj", "{1EF990A1-9CCB-492A-B6CB-5C233300826B}" ProjectSection(ProjectDependencies) = postProject - {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} {5367493C-9799-4684-A809-23B6EF40C70A} = {5367493C-9799-4684-A809-23B6EF40C70A} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition", "BQ_assemblyPosition\BQ_assemblyPosition.vcxproj", "{0E62EEE4-ABB5-4364-A794-CCFFE8815426}" @@ -157,8 +157,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition", "BQ_a EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition_test", "BQ_assemblyPosition_test\BQ_assemblyPosition_test.vcxproj", "{BC38D1E5-10CB-438B-AC72-6012303CE139}" ProjectSection(ProjectDependencies) = postProject - {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} {0E62EEE4-ABB5-4364-A794-CCFFE8815426} = {0E62EEE4-ABB5-4364-A794-CCFFE8815426} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeasure", "wheelArchHeigthMeaure\wheelArchHeigthMeaure.vcxproj", "{CFE11556-106A-4216-BF62-FDA980528F7A}" @@ -179,8 +179,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure", "H EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure_test", "HC_chanelSpaceMeasure_test\HC_chanelSpaceMeasure_test.vcxproj", "{3EC47D19-2562-4303-82B9-6B1C93C5A37A}" ProjectSection(ProjectDependencies) = postProject - {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} {52A65444-8505-4FD5-9501-E2D297E2EB2C} = {52A65444-8505-4FD5-9501-E2D297E2EB2C} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rodAndBarDetection_test", "rodAndBarDetection_test\rodAndBarDetection_test.vcxproj", "{59F9508A-4295-4A7D-858C-7B4F0A7F8C82}" @@ -234,8 +234,19 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "steelPipeDetection", "steel EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "steelPipeDetection_test", "steelPipeDetection_test\steelPipeDetection_test.vcxproj", "{1A2B3C4D-5E6F-4A7B-8C9D-0E1F2A3B4C5D}" ProjectSection(ProjectDependencies) = postProject - {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} {8E5B3C2D-4A1F-4E9B-8D7C-3F2E5A6B7C8D} = {8E5B3C2D-4A1F-4E9B-8D7C-3F2E5A6B7C8D} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_planeLocalization", "HC_planeLocalization\HC_planeLocalization.vcxproj", "{76989229-C695-43E6-AF6A-CE8DD9980E16}" + ProjectSection(ProjectDependencies) = postProject + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} + EndProjectSection +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_planeLocalization_test", "HC_planeLocalization_test\HC_planeLocalization_test.vcxproj", "{E59226FE-E1FB-4F3B-9A93-A4173BE316B8}" + ProjectSection(ProjectDependencies) = postProject + {76989229-C695-43E6-AF6A-CE8DD9980E16} = {76989229-C695-43E6-AF6A-CE8DD9980E16} + {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection EndProject Global @@ -606,6 +617,22 @@ Global {1A2B3C4D-5E6F-4A7B-8C9D-0E1F2A3B4C5D}.Release|x64.Build.0 = Release|x64 {1A2B3C4D-5E6F-4A7B-8C9D-0E1F2A3B4C5D}.Release|x86.ActiveCfg = Release|Win32 {1A2B3C4D-5E6F-4A7B-8C9D-0E1F2A3B4C5D}.Release|x86.Build.0 = Release|Win32 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Debug|x64.ActiveCfg = Debug|x64 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Debug|x64.Build.0 = Debug|x64 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Debug|x86.ActiveCfg = Debug|Win32 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Debug|x86.Build.0 = Debug|Win32 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Release|x64.ActiveCfg = Release|x64 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Release|x64.Build.0 = Release|x64 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Release|x86.ActiveCfg = Release|Win32 + {76989229-C695-43E6-AF6A-CE8DD9980E16}.Release|x86.Build.0 = Release|Win32 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Debug|x64.ActiveCfg = Debug|x64 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Debug|x64.Build.0 = Debug|x64 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Debug|x86.ActiveCfg = Debug|Win32 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Debug|x86.Build.0 = Debug|Win32 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Release|x64.ActiveCfg = Release|x64 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Release|x64.Build.0 = Release|x64 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Release|x86.ActiveCfg = Release|Win32 + {E59226FE-E1FB-4F3B-9A93-A4173BE316B8}.Release|x86.Build.0 = Release|Win32 EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE diff --git a/sourceCode/SG_baseAlgo_Export.h b/sourceCode/SG_baseAlgo_Export.h index 3f025c9..7eb5109 100644 --- a/sourceCode/SG_baseAlgo_Export.h +++ b/sourceCode/SG_baseAlgo_Export.h @@ -190,12 +190,21 @@ SG_APISHARED_EXPORT void wd_lineDataSegment_zDist( const SSG_cornerParam cornerPara ); +//㷽(ֶΣ SG_APISHARED_EXPORT void wd_computeDirAngle_wholeLine( std::vector< SVzNL3DPosition>& line_data, const SSG_cornerParam cornerPara, std::vector< SSG_pntDirAngle>& ptDirAngles ); +//㷽(ֶΣ:ڼscaleǰ£ʱĴ +SG_APISHARED_EXPORT void wd_computeDirAngle_wholeLine2( + std::vector< SVzNL3DPosition>& line_data, + const double steppingScale, + const double invalidScale, //˳߶ȣǼЧ + std::vector< SSG_pntDirAngle>& ptDirAngles +); + /// ȡϵԲϰλԲĿȷ /// seg˵㣺z /// nPointIdx¶Feature diff --git a/sourceCode/SG_featureGrow.cpp b/sourceCode/SG_featureGrow.cpp index 4a326d9..9a29ea9 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 == 111) + if (i == 95) int kkk = 1; std::vector& a_lineFeatures = all_lineFeatures[i]; for (int j = 0, j_max = (int)a_lineFeatures.size(); j < j_max; j++) diff --git a/sourceCode/SG_lineFeature.cpp b/sourceCode/SG_lineFeature.cpp index 66293df..64ee904 100644 --- a/sourceCode/SG_lineFeature.cpp +++ b/sourceCode/SG_lineFeature.cpp @@ -4456,6 +4456,107 @@ void wd_computeDirAngle_wholeLine( } } +//㷽(ֶΣ:ڼscaleǰ£ʱĴ +void wd_computeDirAngle_wholeLine2( + std::vector< SVzNL3DPosition>& line_data, + const double steppingScale, + const double invalidScale, //˳߶ȣǼЧ + std::vector< SSG_pntDirAngle>& ptDirAngles +) +{ + ptDirAngles.resize(line_data.size()); + int dataSize = (int)line_data.size(); + for (int i = 0; i < dataSize; i++) + { + if (i == 930) + int kkk = 1; + + if (line_data[i].pt3D.z < 1e-4) + { + ptDirAngles[i].pntIdx = i; + ptDirAngles[i].forwardPntIdx = 0; + ptDirAngles[i].backwardPntIdx = 0; + ptDirAngles[i].type = -1; + ptDirAngles[i].forwardAngle = 0; + ptDirAngles[i].backwardAngle = 0; + ptDirAngles[i].corner = 0; + ptDirAngles[i].curr_z = 0; + ptDirAngles[i].forwardDiffZ = 0; + ptDirAngles[i].backwardDiffZ = 0; + continue; + + } + //ǰѰ + int pre_i = -1; + double pre_dist = 0; + for (int j = i - 1; j >= 0; j--) + { + if (line_data[j].pt3D.z < 1e-4) + continue; + + pre_dist = sqrt(pow(line_data[i].pt3D.y - line_data[j].pt3D.y, 2) + + pow(line_data[i].pt3D.z - line_data[j].pt3D.z, 2)); + if (pre_dist >= steppingScale) + { + pre_i = j; + break; + } + } + if (pre_dist > invalidScale) + pre_i = -1; + + //Ѱ + int post_i = -1; + double post_dist = 0; + for (int j = i + 1; j < dataSize; j++) + { + if (line_data[j].pt3D.z < 1e-4) + continue; + post_dist = sqrt(pow(line_data[i].pt3D.y - line_data[j].pt3D.y, 2) + + pow(line_data[i].pt3D.z - line_data[j].pt3D.z, 2)); + if (post_dist >= steppingScale) + { + post_i = j; + break; + } + } + if (post_dist > invalidScale) + post_i = -1; + + //ս + if ((pre_i < 0) || (post_i < 0)) + { + ptDirAngles[i].pntIdx = i; + ptDirAngles[i].type = -1; + ptDirAngles[i].forwardAngle = 0; + ptDirAngles[i].backwardAngle = 0; + ptDirAngles[i].forwardPntIdx = 0; + ptDirAngles[i].backwardPntIdx = 0; + ptDirAngles[i].corner = 0; + ptDirAngles[i].curr_z = 0; + ptDirAngles[i].forwardDiffZ = 0; + ptDirAngles[i].backwardDiffZ = 0; + } + else + { + double tanValue_pre = (line_data[i].pt3D.z - line_data[pre_i].pt3D.z) / abs(line_data[i].pt3D.y - line_data[pre_i].pt3D.y); + double tanValue_post = (line_data[post_i].pt3D.z - line_data[i].pt3D.z) / abs(line_data[post_i].pt3D.y - line_data[i].pt3D.y); + double forwardAngle = atan(tanValue_post) * 180.0 / PI; + double backwardAngle = atan(tanValue_pre) * 180.0 / PI; + ptDirAngles[i].pntIdx = i; + ptDirAngles[i].forwardPntIdx = post_i; + ptDirAngles[i].backwardPntIdx = pre_i; + ptDirAngles[i].type = 0; + ptDirAngles[i].forwardAngle = forwardAngle; + ptDirAngles[i].backwardAngle = backwardAngle; + ptDirAngles[i].corner = -(forwardAngle - backwardAngle); //ͼϵϵy෴С- + ptDirAngles[i].forwardDiffZ = line_data[post_i].pt3D.z - line_data[i].pt3D.z; + ptDirAngles[i].backwardDiffZ = line_data[i].pt3D.z - line_data[pre_i].pt3D.z; + ptDirAngles[i].curr_z = line_data[i].pt3D.z; + } + } +} + /// /// ȡϵԲϰλԲĿȷ /// seg˵㣺z diff --git a/sourceCode/WD_holeDetection.cpp b/sourceCode/WD_holeDetection.cpp index 1365e87..92a73f2 100644 --- a/sourceCode/WD_holeDetection.cpp +++ b/sourceCode/WD_holeDetection.cpp @@ -107,7 +107,7 @@ void WD_getHoleInfo( //ȡ߶ζ˵ for (int line = 0; line < lineNum; line++) { - if (line == 137) + if (line == 95) int kkk = 1; std::vector& lineData = scanLines[line]; diff --git a/sourceCode/workpieceHolePositioning.cpp b/sourceCode/workpieceHolePositioning.cpp index 5773d8a..16bd162 100644 --- a/sourceCode/workpieceHolePositioning.cpp +++ b/sourceCode/workpieceHolePositioning.cpp @@ -31,7 +31,8 @@ //version 1.5.6 : 山东本事机电轮胎定位:优化了轮胎定位算法，使用圆扫描提取轮廓点。 //version 1.6.0 : 添加了玖瑞工件（单件）的姿态计算。 //version 1.6.1 : 添加了拓普发工件2、工件3、工件4的姿态计算。 -std::string m_strVersion = "HolePostion 1.6.1"; +//version 1.6.2 : 拓普发算法代码同步。 +std::string m_strVersion = "HolePostion 1.6.2"; const char* wd_workpieceHolePositioningVersion(void) { return m_strVersion.c_str(); @@ -1110,6 +1111,64 @@ void _checkWorkpieceCentralHoles( return; } +//去除扫描线上的凹坑 +void _rmoveScanlineConcaves( + std::vector& lineData, + const double steppingScale, + const double invalidScale, //超出此尺度，方向角计算无效 + const double minCornerTh, //凹坑对应的最小拐角 + const double minConcaveDepth //最小凹坑不深度 +) +{ + //计算方向角 + std::vector< SSG_pntDirAngle> ptDirAngles; + wd_computeDirAngle_wholeLine2( + lineData, + steppingScale, + invalidScale, //超出此尺度，方向角计算无效 + ptDirAngles + ); + + //寻找拐点极大值 + std::vector< SSG_pntDirAngle> cornerPeakP; + std::vector< SSG_pntDirAngle> cornerPeakM; + wd_searchCornerPeaks( + ptDirAngles, + lineData, + minCornerTh, + steppingScale * 2, + cornerPeakP, + cornerPeakM + ); + + //去除 + 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)) + { + //寻找前后截止点：diffZ的 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; + } + } + } +} + //工件2: 孔定位-拓普发工件孔定位 void wd_workpieceHolePositioning_2( std::vector< std::vector>& scanLinesInput, @@ -1148,6 +1207,21 @@ void wd_workpieceHolePositioning_2( { //行处理 //调平，去除地面 wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1); + //wd_lineDataR(scanLinesInput[i], groundCalibPara.planeCalib, -1); + } + + //去除凹坑:只有垂直方向上进行。只对小孔有效（小孔在扫描时会形成凹坑 + double steppingScale = workpiecePara.holeDiameter; + double invalidScale = workpiecePara.H; //超出此尺度，方向角计算无效 + double minCornerTh = 45; //凹坑对应的最小拐角 + double minConcaveDepth = 4.0; + for (int line = 0; line < lineNum; line++) + { + if (line == 367) + int kkk = 1; + //remove concave + _rmoveScanlineConcaves( scanLines[line], steppingScale, invalidScale, minCornerTh, minConcaveDepth); + //_rmoveScanlineConcaves(scanLinesInput[line], steppingScale, invalidScale, minCornerTh, minConcaveDepth); } //生成量化数据，以1mm为量化尺度，用于确定工件表面高度 @@ -1504,6 +1578,7 @@ void wd_workpieceHolePositioning_2( //holes[objIdx].radius = -1; SWD_HoleInfo& p0 = holes[objIdx]; + 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 20a872c..64f8af0 100644 --- a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp +++ b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp @@ -1339,7 +1339,7 @@ void TuoPuFa_holePosition_test(void) long t1 = (long)GetTickCount64();//统计时间 SSG_lineSegParam lineSegPara; - lineSegPara.distScale = 3.0; + 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; @@ -1373,15 +1373,15 @@ void TuoPuFa_holePosition_test(void) &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)); + 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!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1)); else - printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode); + 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); + 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); + 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); @@ -1390,6 +1390,7 @@ void TuoPuFa_holePosition_test(void) double displayScale = 0.3; cv::String imgName(calibFile); _genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen); + printf("done\n"); } } #endif @@ -1476,7 +1477,7 @@ void TuoPuFa_holePosition_test2(void) groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i]; char calibFile[250]; sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]); - //groundCalibPara = _readCalibPara(calibFile); + groundCalibPara = _readCalibPara(calibFile); for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { @@ -1492,7 +1493,7 @@ void TuoPuFa_holePosition_test2(void) long t1 = (long)GetTickCount64();//统计时间 SSG_lineSegParam lineSegPara; - lineSegPara.distScale = 3.0; + 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; @@ -1507,7 +1508,7 @@ void TuoPuFa_holePosition_test2(void) growParam.minVTypeTreeLen = 2.0; //mm WD_workpieceHoleParam workpiecePara; workpiecePara.workpieceType = 0; - workpiecePara.holeDiameter = 6.0; // + workpiecePara.holeDiameter = 8.0; // workpiecePara.holeDist_W = 32.0; workpiecePara.holeDist_L = 40.0; workpiecePara.xLen = 44; @@ -1943,11 +1944,11 @@ void TuoPuFa_holePosition_test5(void) groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i]; char calibFile[250]; sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]); - //groundCalibPara = _readCalibPara(calibFile); + groundCalibPara = _readCalibPara(calibFile); for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { - //fidx =2; + fidx =2; char _scan_file[256]; sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx); std::vector> scanLines; @@ -1958,8 +1959,17 @@ void TuoPuFa_holePosition_test5(void) long t1 = (long)GetTickCount64();//统计时间 + WD_workpieceHoleParam workpiecePara; + workpiecePara.workpieceType = 0; + workpiecePara.holeDiameter = 10.0; // + workpiecePara.holeDist_W = 32.0; + workpiecePara.holeDist_L = 40.0; + workpiecePara.xLen = 44; + workpiecePara.yLen = 70; + workpiecePara.H = 28; + SSG_lineSegParam lineSegPara; - lineSegPara.distScale = 3.0; + 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; @@ -1972,14 +1982,7 @@ void TuoPuFa_holePosition_test5(void) growParam.zDeviation_max = 10.0;// growParam.minLTypeTreeLen = 2.0; //mm growParam.minVTypeTreeLen = 2.0; //mm - WD_workpieceHoleParam workpiecePara; - workpiecePara.workpieceType = 0; - workpiecePara.holeDiameter = 10.0; // - workpiecePara.holeDist_W = 32.0; - workpiecePara.holeDist_L = 40.0; - workpiecePara.xLen = 44; - workpiecePara.yLen = 70; - workpiecePara.H = 28; + int errCode = 0; std::vector< WD_workpieceInfo> workpiecePositioning; wd_workpieceHolePositioning_2( @@ -2707,8 +2710,8 @@ 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4; + //ESG_testMode testMode = keSG_拓普发孔定位_工件5; //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;