From 248f555ada58759ef528489d40b4fdf2162228f9 Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Tue, 24 Mar 2026 00:43:58 +0800 Subject: [PATCH] =?UTF-8?q?workpieceHolePositioning=20version=201.3.0=20:?= =?UTF-8?q?=20(1)=E7=AE=97=E6=B3=95=E8=BF=9B=E8=A1=8C=E4=BA=86=E8=BF=AD?= =?UTF-8?q?=E4=BB=A3=20(2)=E5=AF=B9=E7=BB=93=E6=9E=9C=E8=BF=9B=E8=A1=8C?= =?UTF-8?q?=E4=BA=86=E5=88=86=E5=B1=82=E5=92=8C=E6=8E=92=E5=BA=8F=EF=BC=8C?= =?UTF-8?q?=E8=BE=93=E5=87=BA=E6=9C=80=E4=B8=8A=E5=B1=82=E7=9B=AE=E6=A0=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- sourceCode/SG_baseAlgo_Export.h | 12 + sourceCode/SG_baseDataType.h | 14 + sourceCode/SG_featureGrow.cpp | 104 ++++ sourceCode/SG_lineFeature.cpp | 41 ++ sourceCode/workpieceHolePositioning.cpp | 547 ++++++++++++++---- sourceCode/workpieceHolePositioning_Export.h | 3 + .../workpieceHolePositioning.vcxproj | 4 +- .../workpieceHolePositioning_test.cpp | 82 ++- .../workpieceHolePositioning_test.vcxproj | 4 +- 9 files changed, 659 insertions(+), 152 deletions(-) diff --git a/sourceCode/SG_baseAlgo_Export.h b/sourceCode/SG_baseAlgo_Export.h index be6d586..6df613f 100644 --- a/sourceCode/SG_baseAlgo_Export.h +++ b/sourceCode/SG_baseAlgo_Export.h @@ -106,6 +106,12 @@ SG_APISHARED_EXPORT void wd_getLineDataIntervals( const SSG_lineSegParam lineSegPara, std::vector& segs); +//提取Gap段 +SG_APISHARED_EXPORT void wd_getLineDataNullIntervals( + std::vector& lineData, + const SSG_lineSegParam lineSegPara, + std::vector& segs); + // 最小点集数量（小于此数无法拟合直线） const int MIN_POINT_COUNT = 3; //使用端点直线，检查点到直线的距离，大于门限的分割 @@ -318,6 +324,12 @@ SG_APISHARED_EXPORT void wd_getSegFeatureGrowingTrees( std::vector& feature_trees, SSG_treeGrowParam growParam); +//segment特征生长, 相信seg间要保证有重叠区 +SG_APISHARED_EXPORT void wd_getSegFeatureGrowingTrees_2( + std::vector>& all_lineFeatures, + std::vector& feature_trees, + const SSG_treeGrowParam growParam); + //对rodArcfeature进行生长 SG_APISHARED_EXPORT void wd_getRodArcFeatureGrowingTrees( std::vector>& all_lineFeatures, diff --git a/sourceCode/SG_baseDataType.h b/sourceCode/SG_baseDataType.h index d6e497e..41885ab 100644 --- a/sourceCode/SG_baseDataType.h +++ b/sourceCode/SG_baseDataType.h @@ -342,6 +342,18 @@ typedef struct int angleChkScalePos; //仅用于加速angleCheck的速度 }SSG_gapFeatureTree; +typedef struct +{ + int treeState; + int treeType; + int sLineIdx; + int eLineIdx; + double tree_value; + SSG_ROIRectD roi; + std::vector< SWD_segFeature> treeNodes; + int angleChkScalePos; //仅用于加速angleCheck的速度 +}SSG_segFeatureTree; + typedef struct { int treeState; @@ -380,7 +392,9 @@ typedef struct int treeType; int sLineIdx; int eLineIdx; + int data; SSG_ROIRectD roi; + SVzNLRange ptIdxRange; }SSG_treeInfo; typedef struct diff --git a/sourceCode/SG_featureGrow.cpp b/sourceCode/SG_featureGrow.cpp index 1610126..4b4c4f9 100644 --- a/sourceCode/SG_featureGrow.cpp +++ b/sourceCode/SG_featureGrow.cpp @@ -146,6 +146,40 @@ bool _segFeatureGrowing(SWD_segFeature& a_feature, const int lineIdx, std::vecto return false; } +//将segment feature在trees上寻找合适的生长点进行生长。如果没有合适的生长点， 返回false +bool _segFeatureGrowing_2(SWD_segFeature& a_feature, const int lineIdx, std::vector& trees, SSG_treeGrowParam growParam) +{ + for (int i = 0, i_max = (int)trees.size(); i < i_max; i++) + { + SWD_segFeatureTree& a_tree = trees[i]; + if (TREE_STATE_DEAD == a_tree.treeState) + continue; + //检查生长点 + SWD_segFeature last_node = a_tree.treeNodes.back(); + if (last_node.lineIdx == a_feature.lineIdx) //x为lineIdx，同一条扫描线上的不进行生长 + continue; + + //判断生长点 + double y_diff_1 = abs(a_feature.startPt.y - last_node.startPt.y); + double y_diff_2 = abs(a_feature.endPt.y - last_node.endPt.y); + double z_diff_1 = abs(a_feature.startPt.z - last_node.startPt.z); + double z_diff_2 = abs(a_feature.endPt.z - last_node.endPt.z); + int line_diff = abs(a_feature.lineIdx - last_node.lineIdx); + double x_diff = (abs(a_feature.startPt.x - last_node.startPt.x) + abs(a_feature.endPt.x - last_node.endPt.x)) / 2; + if ((y_diff_1 < growParam.yDeviation_max) && (y_diff_2 < growParam.yDeviation_max) && + (z_diff_1 < growParam.zDeviation_max) && (z_diff_2 < growParam.zDeviation_max) && + (a_feature.endPt. y >= last_node.startPt.y) && (last_node.endPt.y >= a_feature.startPt.y)&& //重叠 + ((line_diff < growParam.maxLineSkipNum) || (x_diff < growParam.maxSkipDistance))) + { + a_tree.eLineIdx = lineIdx; + a_tree.treeNodes.push_back(a_feature); + a_tree.tree_value += (a_feature.startPt.z + a_feature.endPt.z) / 2; + return true; + } + } + return false; +} + //将segment feature在trees上寻找合适的生长点进行生长。如果没有合适的生长点， 返回false bool _rodArcFeatureGrowing(SWD_rodArcFeature& a_feature, const int lineIdx, std::vector& trees, const SSG_treeGrowParam growParam) { @@ -732,6 +766,76 @@ void wd_getSegFeatureGrowingTrees( } +//segment特征生长, 相信seg间要保证有重叠区 +void wd_getSegFeatureGrowingTrees_2( + std::vector>& all_lineFeatures, + std::vector& feature_trees, + const SSG_treeGrowParam growParam) +{ + for (int i = 0, i_max = (int)all_lineFeatures.size(); i < i_max; i++) + { + if (i == 1047) + int kkk = 1; + std::vector& a_lineFeatures = all_lineFeatures[i]; + for (int j = 0, j_max = (int)a_lineFeatures.size(); j < j_max; j++) + { + SWD_segFeature& a_feature = a_lineFeatures[j]; + bool isMatched = _segFeatureGrowing_2(a_feature, i, feature_trees, growParam); + if (false == isMatched) + { + //新的生长树 + SWD_segFeatureTree a_newTree; + a_newTree.treeNodes.push_back(a_feature); + a_newTree.treeState = TREE_STATE_ALIVE; + a_newTree.sLineIdx = a_feature.lineIdx; + a_newTree.eLineIdx = a_feature.lineIdx; + a_newTree.tree_value = (a_feature.startPt.z + a_feature.endPt.z) / 2; + feature_trees.push_back(a_newTree); + } + } + //检查停止生长的树,加速。 + //将生长节点为1的生长树移除 + int lineIdx = i; + int m_max = (int)feature_trees.size(); + for (int m = m_max - 1; m >= 0; m--) //从后往前，这样删除不会影响循环 + { + if (TREE_STATE_ALIVE == feature_trees[m].treeState) + { + int line_diff = abs(lineIdx - feature_trees[m].treeNodes.back().lineIdx); + if (line_diff > 0) + { + SWD_segFeature* first_node = &(feature_trees[m].treeNodes[0]); + SWD_segFeature* last_node = &(feature_trees[m].treeNodes[feature_trees[m].treeNodes.size() - 1]); + double len = (abs(first_node->startPt.x - last_node->startPt.x) + abs(first_node->endPt.x - last_node->endPt.x)) / 2; + int tree_lines = feature_trees[m].eLineIdx - feature_trees[m].sLineIdx; + if (tree_lines > 0) + { + double mean_stepping = len / tree_lines; + double x_skip = mean_stepping * line_diff; + if (((growParam.maxLineSkipNum > 0) && (line_diff > growParam.maxLineSkipNum)) || + ((growParam.maxLineSkipNum <= 0) && (x_skip > growParam.maxSkipDistance)) || + (i == i_max - 1)) + { + feature_trees[m].treeState = TREE_STATE_DEAD; + if (len <= growParam.minLTypeTreeLen) + feature_trees.erase(feature_trees.begin() + m); + } + } + } + } + } + } + //将node为1的tree去除。生长时可能无法去除node数量为1的tree + int m_max = (int)feature_trees.size(); + for (int m = m_max - 1; m >= 0; m--) //从后往前，这样删除不会影响循环 + { + int tree_lines = feature_trees[m].eLineIdx - feature_trees[m].sLineIdx; + if (tree_lines == 0) + feature_trees.erase(feature_trees.begin() + m); + } + +} + void wd_getRodArcFeatureGrowingTrees( std::vector>& all_lineFeatures, std::vector& feature_trees, diff --git a/sourceCode/SG_lineFeature.cpp b/sourceCode/SG_lineFeature.cpp index 9f2c1ec..8d746a4 100644 --- a/sourceCode/SG_lineFeature.cpp +++ b/sourceCode/SG_lineFeature.cpp @@ -254,6 +254,47 @@ void wd_getLineDataIntervals( segs.push_back(a_run); } +//提取空点段。与wd_getLineDataIntervals（）正好相反 +void wd_getLineDataNullIntervals( + std::vector& lineData, + const SSG_lineSegParam lineSegPara, + std::vector& segs) +{ + int runIdx = 1; + SSG_RUN a_run = { 0, -1, 0 }; //startIdx, len, lastIdx + SVzNL3DPosition preData = { -1, {0, 0, 0} }; + int dataSize = (int)lineData.size(); + for (int i = 0; i < dataSize; i++) + { + if (lineData[i].pt3D.z < 1e-4) + { + //若前一个不为空，RUN的起点 + if ( (preData.nPointIdx >= 0) && (preData.pt3D.z > 1e-4)) + { + a_run.start = i-1; + a_run.len = 2; + a_run.value = i; + } + } + else + { + //若前一个为空，RUN的终点 + if ((preData.nPointIdx >= 0) && (preData.pt3D.z < 1e-4) &&(a_run.start >= 0)) + { + a_run.len = i - a_run.start + 1; + a_run.value = i; + //判断长度 + double gap = abs(lineData[i].pt3D.y - lineData[a_run.start].pt3D.y); + if(gap < lineSegPara.segGapTh_y) + segs.push_back(a_run); + a_run = { 0, -1, 0 }; + } + + } + preData = lineData[i]; + } +} + //滤除离群点：z跳变门限方法 void sg_lineDataRemoveOutlier_changeOriginData( SVzNL3DPosition* lineData, diff --git a/sourceCode/workpieceHolePositioning.cpp b/sourceCode/workpieceHolePositioning.cpp index cb0cf9f..bd74599 100644 --- a/sourceCode/workpieceHolePositioning.cpp +++ b/sourceCode/workpieceHolePositioning.cpp @@ -9,7 +9,8 @@ //version 1.0.2 : 娣诲姞浜嗗伐浠跺Э鎬侊紙娆ф媺瑙掕緭鍑) //version 1.1.0 : c瀵瑰伐浠跺Э鎬佽鑼冨寲涓轰腑蹇冪偣锛堟搷浣滅偣锛夊姞涓変釜鏂瑰悜鐭㈤噺 //version 1.2.0 : 绠楁硶瀹屾垚浜6杞撮獙璇 -std::string m_strVersion = "1.2.0"; +//version 1.3.0 : (1)绠楁硶杩涜浜嗚凯浠 (2)瀵圭粨鏋滆繘琛屼簡鍒嗗眰鍜屾帓搴忥紝杈撳嚭鏈涓婂眰鐩爣 +std::string m_strVersion = "1.3.0"; const char* wd_workpieceHolePositioningVersion(void) { return m_strVersion.c_str(); @@ -152,6 +153,152 @@ double _getMeanZ(std::vector>& quantiValue, SVzNL3DPoint see return (zSum / hist); } +void _updateROI(SSG_ROIRectD& roi, SVzNL3DPoint& a_pt) +{ + if (a_pt.z > 1E-4) + { + if (roi.left < 0) + { + roi.left = a_pt.x; + roi.right = a_pt.x; + roi.left = a_pt.y; + roi.right = a_pt.y; + } + else + { + if (roi.left > a_pt.x) + roi.left = a_pt.x; + if (roi.right < a_pt.x) + roi.right = a_pt.x; + if (roi.top > a_pt.y) + roi.top = a_pt.y; + if (roi.bottom < a_pt.y) + roi.bottom = a_pt.y; + } + } + return; +} + +void _updateRoi3D(SVzNL3DRangeD& roi, SVzNL3DPoint& a_pt) +{ + if (a_pt.z > 1E-4) + { + if (roi.zRange.max < 0) + { + roi.xRange.min = a_pt.x; + roi.xRange.max = a_pt.x; + roi.yRange.min = a_pt.y; + roi.yRange.max = a_pt.y; + roi.zRange.min = a_pt.z; + roi.zRange.max = a_pt.z; + } + else + { + if (roi.xRange.min > a_pt.x) + roi.xRange.min = a_pt.x; + if (roi.xRange.max < a_pt.x) + roi.xRange.max = a_pt.x; + if (roi.yRange.min > a_pt.y) + roi.yRange.min = a_pt.y; + if (roi.yRange.max < a_pt.y) + roi.yRange.max = a_pt.y; + if (roi.zRange.min > a_pt.z) + roi.zRange.min = a_pt.z; + if (roi.zRange.max < a_pt.z) + roi.zRange.max = a_pt.z; + } + } + return; +} + +void _updateRenge(SVzNLRange& range, int idx) +{ + if (range.nMin < 0) + { + range.nMin = idx; + range.nMax = idx; + } + else + { + if (range.nMin > idx) + range.nMin = idx; + if (range.nMax < idx) + range.nMax = idx; + } + return; +} + +bool _checkExist(int id, std::vector& buff) +{ + for (int i = 0; i < (int)buff.size(); i++) + { + if (id == buff[i]) + return true; + } + return false; +} + +void _searchNeighbours( + int selfId, int chkExtening, + int sLineIdx, int eLineIdx, + SVzNLRange ptIdxRange, + std::vector>& treeMask, + std::vector& neighbours) +{ + int lineNum = (int)treeMask.size(); + int ptNum = treeMask[0].size(); + for (int line = sLineIdx - chkExtening; line <= eLineIdx+ chkExtening; line++) + { + if ((line >= 0) && (line < lineNum)) + { + for (int ptIdx = ptIdxRange.nMin - chkExtening; ptIdx <= ptIdxRange.nMax + chkExtening; ptIdx++) + { + if ((ptIdx >= 0) && (ptIdx < ptNum)) + { + if ((treeMask[line][ptIdx] >= 0) && (treeMask[line][ptIdx] != selfId)) + { + bool isExist = _checkExist(treeMask[line][ptIdx], neighbours); + if (false == isExist) + neighbours.push_back(treeMask[line][ptIdx]); + } + } + } + } + } + return; +} + +bool _compareByXValue(WD_workpieceInfo& a, WD_workpieceInfo& b) +{ + return a.center.x < b.center.x; +} +void _getYTopLine( + std::vector< WD_workpieceInfo>& workpieceSrc, + std::vector< WD_workpieceInfo>& firstLine, + std::vector< WD_workpieceInfo>& restWorkpiece, + double yLayerTh) +{ + //鎼滅储Y鏈灏忓 + if (workpieceSrc.size() == 0) + return; + + double minY = workpieceSrc[0].center.y; + for (int i = 1; i < (int)workpieceSrc.size(); i++) + { + if (minY > workpieceSrc[i].center.y) + minY = workpieceSrc[i].center.y; + } + double topLayerTh = minY + yLayerTh; + for (int i = 0; i < (int)workpieceSrc.size(); i++) + { + if (workpieceSrc[i].center.y < topLayerTh) + firstLine.push_back(workpieceSrc[i]); + else + restWorkpiece.push_back(workpieceSrc[i]); + } + std::sort(firstLine.begin(), firstLine.end(), _compareByXValue); + return; +} //宸ヤ欢瀛斿畾浣 void wd_workpieceHolePositioning( std::vector< std::vector>& scanLinesInput, @@ -177,6 +324,9 @@ void wd_workpieceHolePositioning( scanLines[i].resize(scanLinesInput[i].size()); std::copy(scanLinesInput[i].begin(), scanLinesInput[i].end(), scanLines[i].begin()); // 浣跨敤std::copy绠楁硶 + + for (int j = 0; j < (int)scanLinesInput[i].size(); j++) + scanLinesInput[i][j].nPointIdx = 0; //娓呴浂锛岀敤浜巇ebug鏃惰褰曚俊鎭 } if (false == isGridData)//鏁版嵁涓嶆槸缃戞牸鏍煎紡 { @@ -236,11 +386,12 @@ void wd_workpieceHolePositioning( std::vector> pointMask; pointMask.resize(lineNum); - std::vector endingPoints; + //鎻愬彇绌虹櫧绾挎鐗瑰緛锛堝瓟鐗瑰緛锛 + std::vector> holeGaps; //鎻愬彇绾挎绔偣鐗瑰緛 for (int line = 0; line < lineNum; line++) { - if (line == 1677) + if (line == 1047) int kkk = 1; std::vector& lineData = scanLines[line]; @@ -250,21 +401,28 @@ void wd_workpieceHolePositioning( sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam); std::vector segs; - wd_getLineDataIntervals( - lineData, - lineSegPara, - segs); + wd_getLineDataNullIntervals(lineData, lineSegPara, segs); + //灏唖eg绔偣浣滀负杈圭紭鐐广傚仛浜嗗湴闈㈣皟骞冲悗锛屽瀭鐩村瓟鐨勫唴渚у湪XY骞抽潰涓婂潎涓鸿竟缂樼偣銆 + std::vector line_gaps; for (int i = 0, i_max = (int)segs.size(); i < i_max; i++) { - int ptIdx = segs[i].start; - endingPoints.push_back(lineData[ptIdx].pt3D); - pointMask[line][ptIdx] = 1; //闃叉閲嶅 - ptIdx = segs[i].start + segs[i].len - 1; - endingPoints.push_back(lineData[ptIdx].pt3D); - pointMask[line][ptIdx] = 1; + int ptIdx_1 = segs[i].start; + int ptIdx_2 = segs[i].start + segs[i].len - 1; + SWD_segFeature a_gap; + a_gap.lineIdx = line; + a_gap.startPtIdx = ptIdx_1; + a_gap.endPtIdx = ptIdx_2; + a_gap.startPt = lineData[ptIdx_1].pt3D; + a_gap.endPt = lineData[ptIdx_2].pt3D; + a_gap.featureValue = abs(a_gap.startPt.y - a_gap.endPt.y); + line_gaps.push_back(a_gap); } + holeGaps.push_back(line_gaps); } + //鐗瑰緛鐢熼暱 + std::vector segTrees_v; + wd_getSegFeatureGrowingTrees_2(holeGaps, segTrees_v, growParam); //鐢熸垚姘村钩鎵弿 std::vector> hLines_raw; @@ -282,8 +440,8 @@ void wd_workpieceHolePositioning( } } //姘村钩arc鐗瑰緛鎻愬彇 - int lineNum_h_raw = (int)hLines_raw.size(); - for (int line = 0; line < lineNum_h_raw; line++) + std::vector> holeGaps_h; + for (int line = 0; line < linePtNum; line++) { if (line == 974) int kkk = 1; @@ -293,107 +451,263 @@ void wd_workpieceHolePositioning( sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], ptNum, filterParam); std::vector segs; - wd_getLineDataIntervals( - lineData, - lineSegPara, - segs); + wd_getLineDataNullIntervals(lineData, lineSegPara, segs); + //灏唖eg绔偣浣滀负杈圭紭鐐广傚仛浜嗗湴闈㈣皟骞冲悗锛屽瀭鐩村瓟鐨勫唴渚у湪XY骞抽潰涓婂潎涓鸿竟缂樼偣銆 + std::vector line_gaps; for (int i = 0, i_max = (int)segs.size(); i < i_max; i++) { - int ptIdx = segs[i].start; - if (pointMask[ptIdx][line] == 0) //闃叉鐐归噸澶 - { - SVzNL3DPoint an_ending; - an_ending.x = lineData[ptIdx].pt3D.y; - an_ending.y = lineData[ptIdx].pt3D.x; - an_ending.z = lineData[ptIdx].pt3D.z; - endingPoints.push_back(an_ending); - pointMask[ptIdx][line] = 1; - } - ptIdx = segs[i].start + segs[i].len - 1; - if (pointMask[ptIdx][line] == 0) //闃叉鐐归噸澶 - { - SVzNL3DPoint an_ending; - an_ending.x = lineData[ptIdx].pt3D.y; - an_ending.y = lineData[ptIdx].pt3D.x; - an_ending.z = lineData[ptIdx].pt3D.z; - endingPoints.push_back(an_ending); - pointMask[ptIdx][line] = 1; - } + int ptIdx_1 = segs[i].start; + int ptIdx_2 = segs[i].start + segs[i].len - 1; + SWD_segFeature a_gap; + a_gap.lineIdx = line; + a_gap.startPtIdx = ptIdx_1; + a_gap.endPtIdx = ptIdx_2; + a_gap.startPt = lineData[ptIdx_1].pt3D; + a_gap.endPt = lineData[ptIdx_2].pt3D; + a_gap.featureValue = abs(a_gap.startPt.y - a_gap.endPt.y); + line_gaps.push_back(a_gap); } + holeGaps_h.push_back(line_gaps); } + //鐗瑰緛鐢熼暱 + std::vector segTrees_h; + wd_getSegFeatureGrowingTrees_2(holeGaps_h, segTrees_h, growParam); - //鏍囨敞 - std::vector> featureInfoMask; - std::vector> feature3DInfo; - featureInfoMask.resize(lineNum); - feature3DInfo.resize(lineNum); + //鍒涘缓Tree鎵鍦ㄥ瓟娲炵殑Mask + std::vector> treeMask_v; + treeMask_v.resize(lineNum); + std::vector> treeMask_h; + treeMask_h.resize(lineNum); for (int i = 0; i < lineNum; i++) { - featureInfoMask[i].resize(lineNum_h_raw); - feature3DInfo[i].resize(lineNum_h_raw); + treeMask_v[i].resize(linePtNum); + std::fill(treeMask_v[i].begin(), treeMask_v[i].end(), -1); + treeMask_h[i].resize(linePtNum); + std::fill(treeMask_h[i].begin(), treeMask_h[i].end(), -1); } - //鏍囨敞 + std::vector treeInfo_v; + treeInfo_v.resize(segTrees_v.size()); + for (int i = 0; i < (int)segTrees_v.size(); i++) + { + SWD_segFeatureTree& a_tree = segTrees_v[i]; + treeInfo_v[i].treeIdx = i; + treeInfo_v[i].sLineIdx = a_tree.sLineIdx; + treeInfo_v[i].eLineIdx = a_tree.eLineIdx; + treeInfo_v[i].vTreeFlag = 0; + treeInfo_v[i].treeType = 0; + treeInfo_v[i].roi = {-1, -1, -1, -1}; + int nullPtSize = 0; + SSG_ROIRectD roi = {-1, -1, -1, -1}; + SVzNLRange ptIdxRange = { -1, -1 }; + if (a_tree.treeNodes.size() > 2) + { + for (int m = 0; m < (int)a_tree.treeNodes.size(); m++) + { + SWD_segFeature& a_seg = a_tree.treeNodes[m]; + for (int n = a_seg.startPtIdx; n <= a_seg.endPtIdx; n++) + treeMask_v[a_seg.lineIdx][n] = i; + + nullPtSize += a_seg.endPtIdx - a_seg.startPtIdx + 1; + _updateROI(roi, scanLines[a_seg.lineIdx][a_seg.startPtIdx].pt3D); + _updateROI(roi, scanLines[a_seg.lineIdx][a_seg.endPtIdx].pt3D); + _updateRenge(ptIdxRange, a_seg.startPtIdx); + _updateRenge(ptIdxRange, a_seg.endPtIdx); + //scanLinesInput[a_seg.lineIdx][a_seg.endPtIdx].nPointIdx = 0x01; + //scanLinesInput[a_seg.lineIdx][a_seg.startPtIdx].nPointIdx = 0x01; + } + treeInfo_v[i].treeType = nullPtSize; + treeInfo_v[i].roi = roi; + treeInfo_v[i].ptIdxRange = ptIdxRange; + } + } + std::vector treeInfo_h; + treeInfo_h.resize(segTrees_h.size()); + for (int i = 0; i < (int)segTrees_h.size(); i++) + { + SWD_segFeatureTree& a_tree = segTrees_h[i]; + treeInfo_h[i].treeIdx = i; + treeInfo_h[i].sLineIdx = a_tree.sLineIdx; + treeInfo_h[i].eLineIdx = a_tree.eLineIdx; + treeInfo_h[i].vTreeFlag = 0; + treeInfo_h[i].treeType = 0; + treeInfo_h[i].roi = { -1, -1, -1, -1 }; + int nullPtSize = 0; + SSG_ROIRectD roi = { -1, -1, -1, -1 }; + SVzNLRange ptIdxRange = { -1, -1 }; + if (a_tree.treeNodes.size() > 2) + { + for (int m = 0; m < (int)a_tree.treeNodes.size(); m++) + { + SWD_segFeature& a_seg = a_tree.treeNodes[m]; + for (int n = a_seg.startPtIdx; n <= a_seg.endPtIdx; n++) + treeMask_h[n][a_seg.lineIdx] = i; + + nullPtSize += a_seg.endPtIdx - a_seg.startPtIdx + 1; + _updateROI(roi, scanLines[a_seg.startPtIdx][a_seg.lineIdx].pt3D); + _updateROI(roi, scanLines[a_seg.endPtIdx][a_seg.lineIdx].pt3D); + _updateRenge(ptIdxRange, a_seg.startPtIdx); + _updateRenge(ptIdxRange, a_seg.endPtIdx); + //scanLinesInput[a_seg.startPtIdx][a_seg.lineIdx].nPointIdx |= 0x02; + //scanLinesInput[a_seg.endPtIdx][a_seg.lineIdx].nPointIdx |= 0x02; + } + treeInfo_h[i].treeType = nullPtSize; + treeInfo_h[i].roi = roi; + treeInfo_h[i].ptIdxRange = ptIdxRange; + } + } + //姘村钩鍜屽瀭鐩寸洰鏍囧悎骞 + int vTreeSize = (int)segTrees_v.size(); + int hTreeSize = (int)segTrees_h.size(); + std::vector> treeHVInfo; //缁熻鍨傜洿鍜屾按骞崇殑tree鐨勪綅缃俊鎭 + treeHVInfo.resize(vTreeSize); + for (int i = 0; i < vTreeSize; i++) + { + treeHVInfo[i].resize(hTreeSize); + std::fill(treeHVInfo[i].begin(), treeHVInfo[i].end(), 0); + } for (int line = 0; line < lineNum; line++) { - std::vector& a_lineMask = pointMask[line]; - for (int m = 0; m < lineNum_h_raw; m++) + for (int ptIdx = 0; ptIdx < linePtNum; ptIdx++) { - if (a_lineMask[m] > 0) + int idx_v = treeMask_v[line][ptIdx]; + int idx_h = treeMask_h[line][ptIdx]; + if ((idx_v >= 0) && (idx_h >= 0)) + treeHVInfo[idx_v][idx_h]++; + } + } + + //鐢熸垚鍊欓夌洰鏍 + std::vector objects; + for (int i = 0; i < vTreeSize; i++) + { + SWD_segFeatureTree& a_tree = segTrees_v[i]; + if ((a_tree.sLineIdx <= 1047) && (a_tree.eLineIdx >= 1047)) + int kkk = 1; + + int totalSize_v = treeInfo_v[i].treeType; + int commonSize = 0; + int hTreeIdx = -1; + for (int j = 0; j < hTreeSize; j++) + { + if (commonSize < treeHVInfo[i][j]) { - SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[line][m]; - a_featureInfo.clusterID = 0; - a_featureInfo.featurType = 1; - a_featureInfo.featureIdx_v = 0; - a_featureInfo.featureIdx_h = 0; - a_featureInfo.lineIdx = line; - a_featureInfo.ptIdx = m; - a_featureInfo.flag = 0; - feature3DInfo[line][m] = scanLines[line][m].pt3D; + hTreeIdx = j; + commonSize = treeHVInfo[i][j]; + } + } + if (hTreeIdx >= 0) + { + int totalSize_h = treeInfo_h[hTreeIdx].treeType; + if ((commonSize > totalSize_h / 4) && (commonSize > totalSize_v / 4)) + { + SSG_intPair a_obj; + a_obj.data_0 = i; + a_obj.data_1 = hTreeIdx; + a_obj.idx = commonSize; + objects.push_back(a_obj); + treeInfo_v[i].data = commonSize; + treeInfo_h[hTreeIdx].data = commonSize; } } } - //鑱氱被 - //閲囩敤杩唬鎬濇兂锛屽洖褰掓濊矾杩涜楂樻晥鑱氱被 - std::vector> clusters; //鍙褰曚綅缃 - std::vector clustersRoi3D; - int clusterID = 1; - int clusterCheckWin = 5; - for (int y = 0; y < lineNum_h_raw; y++) + + //婊ら櫎鐩搁偦銆傛瘡涓洰鏍囦繚鐣欎竴涓 + for (int i = 0; i < (int)objects.size(); i++) { - for (int x = 0; x < lineNum; x++) + int vTreeIdx = objects[i].data_0; + if (treeInfo_v[vTreeIdx].vTreeFlag < 0) + continue; + + std::vector neighbours; + _searchNeighbours(vTreeIdx, 3, + treeInfo_v[vTreeIdx].sLineIdx, treeInfo_v[vTreeIdx].eLineIdx, + treeInfo_v[vTreeIdx].ptIdxRange, treeMask_v, neighbours); + + int bestIdx = vTreeIdx; + int maxValue = treeInfo_v[vTreeIdx].data; + if (neighbours.size() > 0) { - SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[x][y]; - if ((0 == a_featureInfo.featurType) || (a_featureInfo.clusterID > 0)) //闈炵壒寰佹垨宸茬粡澶勭悊 - continue; - - SVzNL3DPoint& a_feature3DValue = feature3DInfo[x][y]; - SVzNL3DRangeD a_clusterRoi; - a_clusterRoi.xRange.min = a_feature3DValue.x; - a_clusterRoi.xRange.max = a_feature3DValue.x; - a_clusterRoi.yRange.min = a_feature3DValue.y; - a_clusterRoi.yRange.max = a_feature3DValue.y; - a_clusterRoi.zRange.min = a_feature3DValue.z; - a_clusterRoi.zRange.max = a_feature3DValue.z; - - SVzNL2DPoint a_seedPos = { x, y }; - std::vector< SVzNL2DPoint> a_cluster; - a_cluster.push_back(a_seedPos); - wd_gridPointClustering( - featureInfoMask,//int锛岃褰曠壒寰佹爣璁板拰clusterID锛岄檮鍔犱竴涓猣lag - feature3DInfo,//double,璁板綍鍧愭爣淇℃伅 - clusterCheckWin, //鎼滅储绐楀彛 - growParam,//鑱氱被鏉′欢 - clusterID, //褰撳墠Cluster鐨処D - a_cluster, //result - a_clusterRoi - ); - clusters.push_back(a_cluster); - clustersRoi3D.push_back(a_clusterRoi); - clusterID++; + for (int j = 0; j < (int)neighbours.size(); j++) + { + int idx = neighbours[j]; + if (maxValue < treeInfo_v[idx].data) + { + maxValue = treeInfo_v[idx].data; + bestIdx = idx; + } + } + if (bestIdx != vTreeIdx) + treeInfo_v[vTreeIdx].vTreeFlag = -1; + for (int j = 0; j < (int)neighbours.size(); j++) + { + int idx = neighbours[j]; + if (bestIdx != idx) + treeInfo_v[idx].vTreeFlag = -1; + } } } + std::vector validObjects; + for (int i = 0; i < (int)objects.size(); i++) + { + int vTreeIdx = objects[i].data_0; + if (treeInfo_v[vTreeIdx].vTreeFlag < 0) + continue; + + validObjects.push_back(objects[i]); + } + + //鐢熸垚鑱氱被淇℃伅锛 + std::vector> clusters; //鍙褰曚綅缃 + std::vector clustersRoi3D; + for (int i = 0; i < (int)validObjects.size(); i++) + { + std::vector< SVzNL2DPoint> a_cluster; + SVzNL3DRangeD a_roi3D = { {-1, -1}, {-1, -1}, {-1, -1 } }; + + int vTreeIdx = validObjects[i].data_0; + int hTreeIdx = validObjects[i].data_1; + for (int m = 0; m < (int)segTrees_v[vTreeIdx].treeNodes.size(); m++) + { + SWD_segFeature& a_seg = segTrees_v[vTreeIdx].treeNodes[m]; + if (scanLinesInput[a_seg.lineIdx][a_seg.endPtIdx].nPointIdx == 0) + { + scanLinesInput[a_seg.lineIdx][a_seg.endPtIdx].nPointIdx = vTreeIdx + 1; // 0x01; + SVzNL2DPoint a_pos = { a_seg.lineIdx , a_seg.endPtIdx }; + a_cluster.push_back(a_pos); + _updateRoi3D(a_roi3D, scanLinesInput[a_seg.lineIdx][a_seg.endPtIdx].pt3D); + } + if (scanLinesInput[a_seg.lineIdx][a_seg.startPtIdx].nPointIdx == 0) + { + scanLinesInput[a_seg.lineIdx][a_seg.startPtIdx].nPointIdx = vTreeIdx + 1; // 0x01; + SVzNL2DPoint a_pos = { a_seg.lineIdx , a_seg.startPtIdx }; + a_cluster.push_back(a_pos); + _updateRoi3D(a_roi3D, scanLinesInput[a_seg.lineIdx][a_seg.startPtIdx].pt3D); + } + } + for (int m = 0; m < (int)segTrees_h[hTreeIdx].treeNodes.size(); m++) + { + SWD_segFeature& a_seg = segTrees_h[hTreeIdx].treeNodes[m]; + if (scanLinesInput[a_seg.startPtIdx][a_seg.lineIdx].nPointIdx == 0) + { + scanLinesInput[a_seg.startPtIdx][a_seg.lineIdx].nPointIdx = vTreeIdx + 1; // 0x02; + SVzNL2DPoint a_pos = { a_seg.startPtIdx , a_seg.lineIdx }; + a_cluster.push_back(a_pos); + _updateRoi3D(a_roi3D, scanLinesInput[a_seg.startPtIdx][a_seg.lineIdx].pt3D); + } + if (scanLinesInput[a_seg.endPtIdx][a_seg.lineIdx].nPointIdx == 0) + { + scanLinesInput[a_seg.endPtIdx][a_seg.lineIdx].nPointIdx = vTreeIdx + 1; // 0x02; + SVzNL2DPoint a_pos = { a_seg.endPtIdx , a_seg.lineIdx }; + a_cluster.push_back(a_pos); + _updateRoi3D(a_roi3D, scanLinesInput[a_seg.endPtIdx][a_seg.lineIdx].pt3D); + } + } + clusters.push_back(a_cluster); + clustersRoi3D.push_back(a_roi3D); + } + //鑱氱被缁撴灉鍒嗘瀽 std::vector validCluserIndexing; int clusterSize = (int)clusters.size(); @@ -402,8 +716,8 @@ void wd_workpieceHolePositioning( 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) && - (W > workpiecePara.holeDiameter * 0.5) && (W < workpiecePara.holeDiameter * 2)) + if ((L > workpiecePara.holeDiameter * 0.5) && (L < workpiecePara.holeDiameter * 2.5) && + (W > workpiecePara.holeDiameter * 0.5) && (W < workpiecePara.holeDiameter * 2.5)) validCluserIndexing.push_back(i); } //鐢熸垚缁撴灉 @@ -419,9 +733,8 @@ void wd_workpieceHolePositioning( for (int i = 0; i < clusterPtSize; i++) { SVzNL2DPoint a_pos = clusters[clusterIdx][i]; - SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[a_pos.x][a_pos.y]; - int lineIdx = a_featureInfo.lineIdx; - int ptIdx = a_featureInfo.ptIdx; + int lineIdx = a_pos.x; + int ptIdx = a_pos.y; SVzNL3DPoint a_pt3d = scanLines[lineIdx][ptIdx].pt3D; if (minZ > a_pt3d.z) minZ = a_pt3d.z; @@ -440,6 +753,7 @@ void wd_workpieceHolePositioning( //鍒嗗壊 //鏂规硶锛氬厛鎼滅储涓嶹鏈鎺ヨ繎鐨勭偣锛岀劧鍚庢潯浠舵悳绱紙鍨傜洿锛変笌L鏈鎺ヨ繎鐨勭偣 double distDeviation = 5.0; //璺濈鎼滅储鐨勫悎鏍奸棬闄愩傚皬浜庢璺濈锛岃涓烘悳绱㈠埌鐨勭洰鏍囦负鏈夋晥 + std::vector< WD_workpieceInfo> allWorkpiece; for (int objIdx = 0; objIdx < objectSize; objIdx++) { if (holes[objIdx].radius < 0) @@ -518,11 +832,40 @@ void wd_workpieceHolePositioning( a_workpiece.y_dir = { y_dir.x * 20 + a_workpiece.center.x, y_dir.y * 20 + a_workpiece.center.y, a_workpiece.center.z }; a_workpiece.z_dir = { a_workpiece.center.x, a_workpiece.center.y, a_workpiece.center.z + 20 }; - workpiecePositioning.push_back(a_workpiece); + allWorkpiece.push_back(a_workpiece); + } + int workpieceNum = (int)allWorkpiece.size(); + if (workpieceNum == 0) + return; + + //鎺掑簭 + //z鏂瑰悜鎺掑簭 + std::vector< WD_workpieceInfo> zSortWorkpiece; + double minZ = allWorkpiece[0].center.z; + for (int i = 1; i < workpieceNum; i++) + { + if (minZ > allWorkpiece[i].center.z) + minZ = allWorkpiece[i].center.z; + } + double topLayerTh = minZ + workpiecePara.H / 2; + for (int i = 0; i < workpieceNum; i++) + { + if (allWorkpiece[i].center.z < topLayerTh) + zSortWorkpiece.push_back(allWorkpiece[i]); + } + //姘村钩鏂瑰悜鎺掑簭 + while (zSortWorkpiece.size() > 0) + { + std::vector< WD_workpieceInfo> firstLine; + std::vector< WD_workpieceInfo> restWorkpiece; + _getYTopLine(zSortWorkpiece, firstLine, restWorkpiece, workpiecePara.yLen / 2); + workpiecePositioning.insert(workpiecePositioning.end(), firstLine.begin(), firstLine.end()); + zSortWorkpiece.clear(); + zSortWorkpiece.insert(zSortWorkpiece.end(), restWorkpiece.begin(), restWorkpiece.end()); } - int workpieceNum = (int)workpiecePositioning.size(); //鏃嬭浆鍥炲幓 + workpieceNum = (int)workpiecePositioning.size(); for (int i = 0; i < workpieceNum; i++) { SVzNL3DPoint rpt; diff --git a/sourceCode/workpieceHolePositioning_Export.h b/sourceCode/workpieceHolePositioning_Export.h index 98e6019..d632b8e 100644 --- a/sourceCode/workpieceHolePositioning_Export.h +++ b/sourceCode/workpieceHolePositioning_Export.h @@ -11,6 +11,9 @@ typedef struct double holeDiameter; //孔直径 double holeDist_L; //孔间距_长 double holeDist_W; //孔间距_宽 + double xLen; //x方向长， 用于结果排序 + double yLen; //y方向长， 用于结果排序 + double H; }WD_workpieceHoleParam; typedef struct diff --git a/workpieceHolePositioning/workpieceHolePositioning.vcxproj b/workpieceHolePositioning/workpieceHolePositioning.vcxproj index 8ec0ecf..066ce15 100644 --- a/workpieceHolePositioning/workpieceHolePositioning.vcxproj +++ b/workpieceHolePositioning/workpieceHolePositioning.vcxproj @@ -48,13 +48,13 @@ DynamicLibrary true - v142 + v143 Unicode DynamicLibrary false - v142 + v143 true Unicode diff --git a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp index 9199636..d7f2397 100644 --- a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp +++ b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp @@ -276,6 +276,9 @@ void _outputRGBDResult_RGBD( for (int i = 0; i < objNumber; i++) { SVzNL3DPosition a_objPt; + a_objPt.pt3D = workpiecePositioning[i].center; + objects.push_back(a_objPt); + int holeNumber = (int)workpiecePositioning[i].holes.size(); for (int j = 0; j < holeNumber; j++) { @@ -283,8 +286,6 @@ void _outputRGBDResult_RGBD( a_objPt.pt3D = workpiecePositioning[i].holes[j]; objects.push_back(a_objPt); } - a_objPt.pt3D = workpiecePositioning[i].center; - objects.push_back(a_objPt); } int lineNum = (int)scanLines.size(); @@ -324,13 +325,10 @@ void _outputRGBDResult_RGBD( SVzNL3DPosition* pt3D = &scanLines[line][i]; if (pt3D->nPointIdx > 0) int kkk = 1; - int featureType_v = pt3D->nPointIdx & 0xff; - int featureType_h = featureType_v >> 4; - featureType_v &= 0x0f; - - if (pt3D->nPointIdx == 1) + int flag = pt3D->nPointIdx & 0xffff; + if (flag > 0) { - rgb = { 255, 97, 0 }; + rgb = objColor[flag % 8]; // { 255, 97, 0 }; size = 5; } else @@ -353,6 +351,10 @@ void _outputRGBDResult_RGBD( size = 10; for (int i = 0; i < linePtNum; i++) { + if (i == 0) + size = 20; + else + size = 10; int colorIdx = objects[i].nPointIdx % 8; rgb = objColor[colorIdx]; float x = (float)objects[i].pt3D.x; @@ -362,14 +364,6 @@ void _outputRGBDResult_RGBD( sw << "{0,0}-{0,0}-"; sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; } - //淇鏄剧ず杞欢bug - rgb = objColor[1]; - float x = (float)objects[0].pt3D.x; - float y = (float)objects[0].pt3D.y; - float z = (float)objects[0].pt3D.z; - sw << "{" << x << "," << y << "," << z << "}-"; - sw << "{0,0}-{0,0}-"; - sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; //杈撳嚭鏂瑰悜绾挎潯 rgb = { 255, 0, 0 }; size = 2; @@ -412,16 +406,6 @@ void _outputRGBDResult_RGBD( lineIdx++; } } - SVzNL3DPoint dirPt = { workpiecePositioning[0].center.x + workpiecePositioning[0].y_dir.x * 10, - workpiecePositioning[0].center.y + workpiecePositioning[0].y_dir.y * 10, - workpiecePositioning[0].center.z + workpiecePositioning[0].y_dir.z * 10 }; - sw << "Poly_" << lineIdx << "_2" << std::endl; - sw << "{" << workpiecePositioning[0].center.x << "," << workpiecePositioning[0].center.y << "," << workpiecePositioning[0].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; sw.close(); } @@ -439,18 +423,20 @@ SVzNL3DPoint _pointRT(SVzNL3DPoint& origin, const double* R, const double* T) } #define TEST_COMPUTE_CALIB_PARA 0 -#define TEST_COMPUTE_HOLE 0 -#define TEST_COMPUTE_RT 1 -#define TEST_GROUP 1 +#define TEST_COMPUTE_HOLE 1 +#define TEST_COMPUTE_RT 0 +#define TEST_GROUP 2 int main() { const char* dataPath[TEST_GROUP] = { "F:/ShangGu/椤圭洰/鍐犻挦椤圭洰/鎷撴櫘鍙戝伐浠跺瓟瀹氫綅/鎷撴櫘鍙戠偣浜/", //0 + "F:/ShangGu/椤圭洰/鍐犻挦椤圭洰/鎷撴櫘鍙戝伐浠跺瓟瀹氫綅/鎷撴櫘鍙戠偣浜2/", //1 + }; SVzNLRange fileIdx[TEST_GROUP] = { - {6,6}, + {6,6}, {1, 15} }; const char* ver = wd_workpieceHolePositioningVersion(); @@ -560,8 +546,9 @@ int main() } #endif #if TEST_COMPUTE_CALIB_PARA + int cvtGrp = 1; char _calib_datafile[256]; - sprintf_s(_calib_datafile, "%sLaserData_ground2.txt", dataPath[0]); + sprintf_s(_calib_datafile, "%s1470mm璋冨钩.txt", dataPath[cvtGrp]); int lineNum = 0; float lineV = 0.0f; int dataCalib = 0; @@ -585,18 +572,18 @@ int main() } // char calibFile[250]; - sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[0]); + 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[0]); + 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[0].nMin; fidx <= fileIdx[0].nMax; fidx++) +#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[0], fidx); + sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[cvtGrp], fidx); std::vector> scanLines; vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines); if (scanLines.size() == 0) @@ -607,7 +594,7 @@ int main() //璋冨钩锛屽幓闄ゅ湴闈 wd_lineDataR(scanLines[i], calibPara.planeCalib, -1); } - sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[0], fidx); + sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[cvtGrp], fidx); int headNullLines = 0; _outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines); } @@ -617,7 +604,7 @@ int main() #endif #if TEST_COMPUTE_HOLE - for (int grp = 0; grp <= 0; grp++) + for (int grp = 1; grp <= 1; grp++) { SSG_planeCalibPara groundCalibPara; //鍒濆鍖栨垚鍗曚綅闃 @@ -651,23 +638,26 @@ int main() SSG_lineSegParam lineSegPara; lineSegPara.distScale = 3.0; - lineSegPara.segGapTh_y = 3.0; //y鏂瑰悜闂撮殧澶т簬5mm璁や负鏄垎娈 - lineSegPara.segGapTh_z = 10.0; //z鏂瑰悜闂撮殧澶т簬10mm璁や负鏄垎娈 + lineSegPara.segGapTh_y = 15.0; // + lineSegPara.segGapTh_z = 0.0; //z鏂瑰悜闂撮殧澶т簬10mm璁や负鏄垎娈 SSG_outlierFilterParam filterParam; filterParam.continuityTh = 20.0; //鍣０婊ら櫎銆傚綋鐩搁偦鐐圭殑z璺冲彉澶т簬姝ら棬闄愭椂锛屾鏌ユ槸鍚︿负鍣０銆傝嫢闀垮害灏忎簬outlierLen锛 瑙嗕负鍣０ filterParam.outlierTh = 5; SSG_treeGrowParam growParam; - growParam.maxLineSkipNum = 10; - growParam.yDeviation_max = 10.0; - growParam.maxSkipDistance = 10.0; - growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //琚嬪瓙楂樺害1/2 - growParam.minLTypeTreeLen = 100; //mm - growParam.minVTypeTreeLen = 100; //mm + 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( diff --git a/workpieceHolePositioning_test/workpieceHolePositioning_test.vcxproj b/workpieceHolePositioning_test/workpieceHolePositioning_test.vcxproj index 95d95e7..f6338d0 100644 --- a/workpieceHolePositioning_test/workpieceHolePositioning_test.vcxproj +++ b/workpieceHolePositioning_test/workpieceHolePositioning_test.vcxproj @@ -42,13 +42,13 @@ Application true - v142 + v143 Unicode Application false - v142 + v143 true Unicode