workpieceHolePositioning version 1.5.2 :
修正工件判断中的一个逻辑错误。
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7063642782
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@ -22,7 +22,8 @@
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//version 1.4.9 : 修正工件法向计算的一个Bug
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//version 1.5.0 : 修正工件Y方向矢量计算的一个Bug（不在工件表面平面内）
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//version 1.5.1 : 异物检测时，检测高度由工件最小Z向上1.5mm调整为工件最小Z向上工件高度的一半，工件倾斜时容错性能更好。
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std::string m_strVersion = "1.5.1";
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//version 1.5.2 : 修正工件判断中的一个逻辑错误。
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std::string m_strVersion = "1.5.2";
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const char* wd_workpieceHolePositioningVersion(void)
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{
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return m_strVersion.c_str();
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@ -55,8 +56,79 @@ SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, const double matrix3d[9])
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return _r_pt;
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}
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void _getLinePositions(SVzNL3DPoint& seed1, SVzNL3DPoint& seed2, SVzNLRect& roi2D, SVzNLRangeD& distRange, std::vector<SVzNL2DPoint>& pts)
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{
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double len = sqrt(pow(seed2.x - seed1.x, 2) + pow(seed2.y - seed1.y, 2));
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int x0 = (int)seed1.x - roi2D.left;
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int y0 = (int)seed1.y - roi2D.top;
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int x1 = (int)seed2.x - roi2D.left;
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int y1 = (int)seed2.y - roi2D.top;
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std::vector<SVzNL2DPoint> pts_all;
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drawLine(x0, y0, x1, y1, pts_all);
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for (int i = 0; i < (int)pts_all.size(); i++)
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{
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double data = double((pts_all[i].x - x0) * (pts_all[i].x - x0) + (pts_all[i].y - y0) * (pts_all[i].y - y0));
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double dist = sqrt(data);
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double dist_k = dist / len;
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if ((dist_k >= distRange.min) && (dist_k <= distRange.max))
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pts.push_back(pts_all[i]);
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}
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}
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void _getLinePoints(
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std::vector<std::vector<double>>& quantiValue,
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SVzNL3DPoint& seed1, SVzNL3DPoint& seed2,
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SVzNLRect& roi2D, SVzNLRangeD& distRange,
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std::vector<cv::Point3f>& Points3ds)
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{
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std::vector<SVzNL2DPoint> pts_2d;
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_getLinePositions(seed1, seed2, roi2D, distRange, pts_2d);
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for (int i = 0; i < (int)pts_2d.size(); i++)
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{
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cv::Point3f a_pt3d;
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a_pt3d.x = (double)(pts_2d[i].x + roi2D.left) + 0.5;
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a_pt3d.y = (double)(pts_2d[i].y + roi2D.top) + 0.5;
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a_pt3d.z = quantiValue[pts_2d[i].x][pts_2d[i].y];
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if (a_pt3d.z > 1e-4)
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Points3ds.push_back(a_pt3d);
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}
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}
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bool _validateLineZChange(
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std::vector<std::vector<double>>& quantiValue,
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SVzNL3DPoint& seed1, SVzNL3DPoint& seed2,
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SVzNLRect& roi2D, SVzNLRangeD& distRange,
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double maxZChange
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)
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{
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std::vector<cv::Point3f> Points3ds;
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_getLinePoints(
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quantiValue,
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seed1, seed2,
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roi2D, distRange,
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Points3ds);
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double refZ = (seed1.z + seed2.z) / 2;
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for (int i = 0; i < (int)Points3ds.size(); i++)
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{
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double zDiff = abs(Points3ds[i].z - refZ);
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if (zDiff > maxZChange)
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return false;
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}
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return true;
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}
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//搜索最接近distance的目标
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int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, double distance, double distDeviation, double dirAngle, double deltaZ)
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int distanceSearchObject(
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SVzNL3DPoint seed,
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std::vector<SWD_HoleInfo>& holes,
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double distance, double distDeviation, double dirAngle, double deltaZ,
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std::vector<std::vector<double>>& quantiValue,
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SVzNLRect& roi2D,
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SVzNLRangeD& distRange)
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{
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int result = -1;
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int holeSize = (int)holes.size();
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@ -79,12 +151,22 @@ int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, do
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if ((zDiff < deltaZ) && (angleDiff < 45))
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{
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if (minDistDiff > distDiff)
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{
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//添加距离检测
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bool isValid = _validateLineZChange(
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quantiValue,
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seed, holes[i].center,
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roi2D, distRange,
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deltaZ
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);
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if (true == isValid)
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{
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minDistDiff = distDiff;
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minDistIndex = i;
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}
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}
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}
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}
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if ((minDistIndex >= 0) && (minDistDiff < distDeviation))
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result = minDistIndex;
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return result;
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@ -95,7 +177,10 @@ int angleConditionDistanceSearch(
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SVzNL3DPoint seed, SVzNL3DPoint angleSide,
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std::vector<SWD_HoleInfo>& holes,
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double distance, double distDeviation, double deltaZ,
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SVzNLRangeD angleRange)
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SVzNLRangeD angleRange,
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std::vector<std::vector<double>>& quantiValue,
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SVzNLRect& roi2D,
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SVzNLRangeD& distRange)
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{
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int result = -1;
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int holeSize = (int)holes.size();
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@ -133,12 +218,22 @@ int angleConditionDistanceSearch(
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{
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double angleDiff = abs(angle - bestAngle);
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if (minAngleDeviateion > angleDiff)
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{
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//添加距离检测
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bool isValid = _validateLineZChange(
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quantiValue,
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seed, holes[idx].center,
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roi2D, distRange,
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deltaZ
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);
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if (true == isValid)
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{
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minAngleDeviateion = angleDiff;
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minAngleIdx = idx;
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}
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}
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}
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}
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result = minAngleIdx;
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}
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return result;
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@ -181,47 +276,6 @@ double _getMeanZ(std::vector<std::vector<double>>& quantiValue, SVzNL3DPoint see
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return (zSum / hist);
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}
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void _getLinePositions(SVzNL3DPoint& seed1, SVzNL3DPoint& seed2, SVzNLRect& roi2D, SVzNLRangeD& distRange, std::vector<SVzNL2DPoint>& pts)
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{
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double len = sqrt(pow(seed2.x - seed1.x, 2) + pow(seed2.y - seed1.y, 2));
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int x0 = (int)seed1.x - roi2D.left;
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int y0 = (int)seed1.y - roi2D.top;
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int x1 = (int)seed2.x - roi2D.left;
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int y1 = (int)seed2.y - roi2D.top;
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std::vector<SVzNL2DPoint> pts_all;
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drawLine( x0, y0, x1, y1, pts_all);
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for (int i = 0; i < (int)pts_all.size(); i++)
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{
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double data = double((pts_all[i].x - x0) * (pts_all[i].x - x0) + (pts_all[i].y - y0) * (pts_all[i].y - y0));
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double dist = sqrt(data);
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double dist_k = dist / len;
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if ((dist_k >= distRange.min) && (dist_k <= distRange.max))
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pts.push_back(pts_all[i]);
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}
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}
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void _getLinePoints(
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std::vector<std::vector<double>>& quantiValue,
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SVzNL3DPoint& seed1, SVzNL3DPoint& seed2,
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SVzNLRect& roi2D, SVzNLRangeD& distRange,
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std::vector<cv::Point3f>& Points3ds)
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{
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std::vector<SVzNL2DPoint> pts_2d;
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_getLinePositions(seed1, seed2, roi2D, distRange, pts_2d);
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for (int i = 0; i < (int)pts_2d.size(); i++)
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{
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cv::Point3f a_pt3d;
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a_pt3d.x = (double)(pts_2d[i].x + roi2D.left) + 0.5;
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a_pt3d.y = (double)(pts_2d[i].y + roi2D.top) + 0.5;
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a_pt3d.z = quantiValue[pts_2d[i].x][pts_2d[i].y];
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if(a_pt3d.z > 1e-4)
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Points3ds.push_back(a_pt3d);
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}
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}
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void _updateRoi3D(SVzNL3DRangeD& roi, SVzNL3DPoint& a_pt)
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{
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if (a_pt.z > 1E-4)
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@ -893,7 +947,8 @@ void wd_workpieceHolePositioning(
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holes[objIdx].radius = -1;
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SWD_HoleInfo& p0 = holes[objIdx];
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int idx1 = distanceSearchObject(p0.center, holes, workpiecePara.holeDist_W, distDeviation, 0, workpiecePara.H / 2);
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int idx1 = distanceSearchObject(p0.center, holes, workpiecePara.holeDist_W, distDeviation, 0, workpiecePara.H / 2,
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quantiValue, roi2D, linePointRange);
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if (idx1 < 0)
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continue;
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@ -904,7 +959,8 @@ void wd_workpieceHolePositioning(
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p0.center, p1.center,
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holes,
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workpiecePara.holeDist_L, distDeviation, workpiecePara.H / 2,
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angleRange);
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angleRange,
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quantiValue, roi2D, linePointRange);
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if (idx2 < 0)
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continue;
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@ -914,10 +970,20 @@ void wd_workpieceHolePositioning(
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p1.center, p0.center,
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holes,
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workpiecePara.holeDist_L, distDeviation, workpiecePara.H / 2,
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angleRange);
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angleRange,
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quantiValue, roi2D, linePointRange);
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if (idx3 < 0)
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continue;
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SWD_HoleInfo& p3 = holes[idx3];
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//交叉检查P0P1, P2P3的长度差
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double dist_P0P1 = sqrt(pow(p0.center.x - p1.center.x, 2) + pow(p0.center.y - p1.center.y, 2));
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double dist_P2P3 = sqrt(pow(p2.center.x - p3.center.x, 2) + pow(p2.center.y - p3.center.y, 2));
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double dist_k = dist_P2P3 / dist_P0P1;
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if (dist_k > 2.0)
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continue;
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p1.radius = -1;
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p2.radius = -1;
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p3.radius = -1;
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@ -566,7 +566,7 @@ void TuoPuFa_holePosition_test(void)
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};
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SVzNLRange fileIdx[TPF_TEST_GROUP] = {
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{6,6}, {1, 16}, {1,17}
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{6,6}, {1, 16}, {1,19}
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};
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const char* ver = wd_workpieceHolePositioningVersion();
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