rodAndBarDetection version 1.2.10 : 改进螺杆定位取点算法
This commit is contained in:
parent
91aa39fa92
commit
da5b2c90a2
@ -378,16 +378,17 @@ void _outputRGBDScan_RGBD(
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//输出法向
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size = 1;
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double len = 60;
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double len1 = 30;
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double len2 = 200;
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lineIdx = 0;
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for (int i = 0; i < objNum; i++)
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{
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SVzNL3DPoint pt0 = { screwInfo[i].center.x - len * screwInfo[i].axialDir.x,
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screwInfo[i].center.y - len * screwInfo[i].axialDir.y,
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screwInfo[i].center.z - len * screwInfo[i].axialDir.z };
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SVzNL3DPoint pt1 = { screwInfo[i].center.x + len * screwInfo[i].axialDir.x,
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screwInfo[i].center.y + len * screwInfo[i].axialDir.y,
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screwInfo[i].center.z + len * screwInfo[i].axialDir.z };
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SVzNL3DPoint pt0 = { screwInfo[i].center.x - len1 * screwInfo[i].axialDir.x,
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screwInfo[i].center.y - len1 * screwInfo[i].axialDir.y,
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screwInfo[i].center.z - len1 * screwInfo[i].axialDir.z };
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SVzNL3DPoint pt1 = { screwInfo[i].center.x + len2 * screwInfo[i].axialDir.x,
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screwInfo[i].center.y + len2 * screwInfo[i].axialDir.y,
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screwInfo[i].center.z + len2 * screwInfo[i].axialDir.z };
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//显示法向量
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
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@ -398,22 +399,6 @@ void _outputRGBDScan_RGBD(
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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}
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//多输出一个，修正显示工具bug
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SVzNL3DPoint pt0 = { screwInfo[0].center.x - len * screwInfo[0].axialDir.x,
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screwInfo[0].center.y - len * screwInfo[0].axialDir.y,
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screwInfo[0].center.z - len * screwInfo[0].axialDir.z };
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SVzNL3DPoint pt1 = { screwInfo[0].center.x + len * screwInfo[0].axialDir.x,
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screwInfo[0].center.y + len * screwInfo[0].axialDir.y,
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screwInfo[0].center.z + len * screwInfo[0].axialDir.z };
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//显示法向量
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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}
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sw.close();
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}
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@ -893,31 +878,33 @@ void _outputRGBDScan_RGBD_weldSeam(
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sw.close();
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}
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#define SCREW_TEST_GROUP 2
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#define SCREW_TEST_GROUP 3
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void screwTest(void)
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{
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const char* dataPath[SCREW_TEST_GROUP] = {
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"F:/ShangGu/项目/冠钦项目/螺杆测量/数据/模拟数据/", //0
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"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云2/上方两根/", //1
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"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云3/", //2
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};
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SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
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{1,4},{1,30}
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{1,4},{1,30},{1,11}
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};
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const char* ver = wd_rodAndBarDetectionVersion();
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printf("ver:%s\n", ver);
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for (int grp = 1; grp < SCREW_TEST_GROUP; grp++)
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for (int grp = 2; grp < SCREW_TEST_GROUP; grp++)
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{
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for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
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{
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//fidx =7;
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//fidx =3;
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char _scan_file[256];
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if(1 == grp)
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sprintf_s(_scan_file, "%s%d_LaserData_Jl26C299.txt", dataPath[grp], fidx);
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else
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if(0 == grp)
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sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
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else
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sprintf_s(_scan_file, "%s%d_LaserData_Jl26C299.txt", dataPath[grp], fidx);
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std::vector<std::vector< SVzNL3DPosition>> scanLines;
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wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
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@ -970,7 +957,7 @@ void screwTest(void)
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&errCode);
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long t2 = (long)GetTickCount64();
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printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
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printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode);
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//输出测试结果
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sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
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_outputRGBDScan_RGBD(_scan_file, scanLines, screwInfo);
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@ -2171,6 +2171,9 @@ SSG_planeCalibPara sg_HCameraVScan_getGroundCalibPara(
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//直线分割
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std::vector< SSG_RUN> segmentationLines;
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split(lastSeg, lineData, lineSegPara.distScale, segmentationLines);
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if (segmentationLines.size() == 0)
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continue;
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//检查最后一段的直线段的斜率
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SSG_RUN lastLine = segmentationLines.back();
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//计算斜率
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@ -18,7 +18,8 @@
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//version 1.2.7 : (1)根据实际点云修正了螺杆定位算法（2）定位盘位姿计算改回RANSAC
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//version 1.2.8 : 修正螺杆定位算法中的一个Bug
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//version 1.2.9 : 修正螺杆定位算法中轴向拟合计算时方向确定的问题，保证投影后的点云与投影前的点云的Z变化趋势一致
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std::string m_strVersion = "1.2.9";
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//version 1.2.10 : 改进螺杆定位取点算法
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std::string m_strVersion = "1.2.10";
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const char* wd_rodAndBarDetectionVersion(void)
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{
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return m_strVersion.c_str();
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@ -136,7 +137,7 @@ void xoyROIProjection(
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SSG_ROIRectD& roi_xoy,
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int objClusterId,
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std::vector<std::vector<int>>& clusterIdMask,
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std::vector<SVzNL3DPoint>& projectPoints
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std::vector<SWD3DPointPostion>& projectPoints
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)
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{
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int lineNum = (int)scanLines.size();
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@ -159,16 +160,19 @@ void xoyROIProjection(
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if ((x >= roi_xoy.left) && (x <= roi_xoy.right) &&
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(y >= roi_xoy.top) && (y <= roi_xoy.bottom))
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{
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a_pt.x = x;
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a_pt.y = y;
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a_pt.z = z;
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projectPoints.push_back(a_pt);
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SWD3DPointPostion projectPt;
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projectPt.lineIdx = line;
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projectPt.ptIdx = i;
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projectPt.point.x = x;
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projectPt.point.y = y;
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projectPt.point.z = z;
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projectPoints.push_back(projectPt);
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}
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}
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}
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}
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SVzNLRangeD getZRange(std::vector<SVzNL3DPoint>& projectPoints)
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SVzNLRangeD getZRange(std::vector<SWD3DPointPostion>& projectPoints)
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{
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int ptNum = (int)projectPoints.size();
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SVzNLRangeD zRange;
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@ -176,22 +180,28 @@ SVzNLRangeD getZRange(std::vector<SVzNL3DPoint>& projectPoints)
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zRange.max = -DBL_MAX;
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for (int i = 0; i < ptNum; i++)
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{
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zRange.min = zRange.min > projectPoints[i].z ? projectPoints[i].z : zRange.min;
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zRange.max = zRange.max < projectPoints[i].z ? projectPoints[i].z : zRange.max;
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zRange.min = zRange.min > projectPoints[i].point.z ? projectPoints[i].point.z : zRange.min;
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zRange.max = zRange.max < projectPoints[i].point.z ? projectPoints[i].point.z : zRange.max;
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}
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return zRange;
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}
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void zCutPointClouds(
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std::vector<SVzNL3DPoint>& projectPoints,
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std::vector<SWD3DPointPostion>& projectPoints,
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SVzNLRangeD& zRange,
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std::vector<SVzNL3DPoint>& cutLayerPoints)
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std::vector<SWD3DPointPostion>& cutLayerPoints,
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std::vector<std::vector<int>>& addrMapping)
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{
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int ptNum = (int)projectPoints.size();
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for (int i = 0; i < ptNum; i++)
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{
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if ((projectPoints[i].z >= zRange.min) && (projectPoints[i].z <= zRange.max))
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if ((projectPoints[i].point.z >= zRange.min) && (projectPoints[i].point.z <= zRange.max))
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{
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cutLayerPoints.push_back(projectPoints[i]);
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int lineIdx = projectPoints[i].lineIdx;
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int ptIdx = projectPoints[i].ptIdx;
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addrMapping[lineIdx][ptIdx] = i;
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}
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}
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}
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@ -256,7 +266,7 @@ void rodAarcFeatueDetection(
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}
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//所有点计算点云ROI: vecotr格式, （不过滤z小于0的点）
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SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
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SVzNL3DRangeD _getPointCloudROI(std::vector<SWD3DPointPostion>& scanData)
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{
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SVzNL3DRangeD roi;
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roi.xRange = { 0, -1 };
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@ -266,44 +276,44 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
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int nPositionCnt = (int)scanData.size();
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPoint& pt3D = scanData[i];
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SWD3DPointPostion& pt3D = scanData[i];
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if (roi.xRange.max < roi.xRange.min)
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{
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roi.xRange.min = pt3D.x;
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roi.xRange.max = pt3D.x;
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roi.xRange.min = pt3D.point.x;
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roi.xRange.max = pt3D.point.x;
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}
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else
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{
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if (roi.xRange.min > pt3D.x)
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roi.xRange.min = pt3D.x;
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if (roi.xRange.max < pt3D.x)
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roi.xRange.max = pt3D.x;
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if (roi.xRange.min > pt3D.point.x)
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roi.xRange.min = pt3D.point.x;
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if (roi.xRange.max < pt3D.point.x)
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roi.xRange.max = pt3D.point.x;
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}
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//y
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if (roi.yRange.max < roi.yRange.min)
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{
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roi.yRange.min = pt3D.y;
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roi.yRange.max = pt3D.y;
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roi.yRange.min = pt3D.point.y;
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roi.yRange.max = pt3D.point.y;
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}
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else
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{
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if (roi.yRange.min > pt3D.y)
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roi.yRange.min = pt3D.y;
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if (roi.yRange.max < pt3D.y)
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roi.yRange.max = pt3D.y;
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if (roi.yRange.min > pt3D.point.y)
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roi.yRange.min = pt3D.point.y;
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if (roi.yRange.max < pt3D.point.y)
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roi.yRange.max = pt3D.point.y;
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}
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//z
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if (roi.zRange.max < roi.zRange.min)
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{
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roi.zRange.min = pt3D.z;
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roi.zRange.max = pt3D.z;
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roi.zRange.min = pt3D.point.z;
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roi.zRange.max = pt3D.point.z;
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}
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else
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{
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if (roi.zRange.min > pt3D.z)
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roi.zRange.min = pt3D.z;
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if (roi.zRange.max < pt3D.z)
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roi.zRange.max = pt3D.z;
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if (roi.zRange.min > pt3D.point.z)
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roi.zRange.min = pt3D.point.z;
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if (roi.zRange.max < pt3D.point.z)
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roi.zRange.max = pt3D.point.z;
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}
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}
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@ -450,6 +460,9 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
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return;
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}
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int objNum = (int)rodArcTrees.size();
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//内部参数：nodeSize小于此的认为无效
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int validNodeSizeTH = 30;
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//置标志，用于debug
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for (int i = 0; i < objNum; i++)
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@ -551,6 +564,10 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
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int objIdx = -1;
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for (int i = 0; i < objNum; i++)
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{
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int nodeNum = (int)rodArcTrees[i].treeNodes.size();
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if (nodeNum < validNodeSizeTH)
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continue;
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if (objIdx < 0)
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objIdx = i;
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else if (objROIs[objIdx].zRange.min > objROIs[i].zRange.min)
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@ -703,7 +720,7 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
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roi_xoy.top = P0_rotate.y - rodDiameter * 2.0; //2D范围
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roi_xoy.bottom = P0_rotate.y + rodDiameter * 2.0; //2D范围
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std::vector< SVzNL3DPoint> roiProjectionData;
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std::vector< SWD3DPointPostion> roiProjectionData;
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xoyROIProjection(scanLines, rotatePara.planeCalib, roi_xoy, resultObjClusterId, clusterIdMask, roiProjectionData);
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//取端面
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@ -712,37 +729,70 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
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if (false == dirInverting)
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{
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cutZRange.min = zRange.min;
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cutZRange.max = zRange.min + 5.0; //5mmµÄ¶ËÃæ
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cutZRange.max = zRange.min + 10.0; //5mm的端面
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}
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else
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{
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cutZRange.max = zRange.max;
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cutZRange.min = zRange.max - 5.0; //5mmµÄ¶ËÃæ
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cutZRange.min = zRange.max - 10.0; //5mm的端面
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}
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std::vector<SVzNL3DPoint> surfacePoints;
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zCutPointClouds(roiProjectionData, cutZRange, surfacePoints);
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std::vector<SWD3DPointPostion> surfacePoints;
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std::vector<std::vector<int>>addrMapping;
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addrMapping.resize(scanLines.size());
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for (int i = 0; i < (int)scanLines.size(); i++)
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{
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addrMapping[i].resize(scanLines[i].size());
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std::fill(addrMapping[i].begin(), addrMapping[i].end(), -1);
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}
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zCutPointClouds(roiProjectionData, cutZRange, surfacePoints, addrMapping);
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//计算中心点
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SVzNL3DPoint projectionCenter;// = getXoYCentroid(surfacePoints);
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SWD3DPointPostion projectionCenter;// = getXoYCentroid(surfacePoints);
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SVzNL3DRangeD roi3D = _getPointCloudROI(surfacePoints);
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projectionCenter.x = (roi3D.xRange.min + roi3D.xRange.max) / 2;
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projectionCenter.y = (roi3D.yRange.min + roi3D.yRange.max) / 2;
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projectionCenter.z = zRange.min;
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//计算XY平面上的质心
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double sum_x = 0, sum_y = 0;
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int sum_size = 0;
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for (int i = 0; i < (int)surfacePoints.size(); i++)
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{
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if (surfacePoints[i].point.z > 1e-4)
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{
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sum_x += surfacePoints[i].point.x;
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sum_y += surfacePoints[i].point.y;
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sum_size++;
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}
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}
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if(sum_size == 0)
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{
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*errCode = SX_ERR_ZERO_OBJECTS;
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return;
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}
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projectionCenter.lineIdx = -1;
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projectionCenter.ptIdx = -1;
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projectionCenter.point.x = sum_x / sum_size; // (roi3D.xRange.min + roi3D.xRange.max) / 2;
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projectionCenter.point.y = sum_y / sum_size; // (roi3D.yRange.min + roi3D.yRange.max) / 2;
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projectionCenter.point.z = zRange.min;
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//迭代搜索：搜索projectionCenter为中心5mm内z最大的的点为中心点
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double searchR = 5.0;
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int centerIdx = -1;
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double maxZ = -1;
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for (int i = 0; i < (int)surfacePoints.size(); i++)
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{
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double dist = sqrt(pow(surfacePoints[i].x - projectionCenter.x, 2) + pow(surfacePoints[i].y - projectionCenter.y, 2));
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double dist = sqrt(pow(surfacePoints[i].point.x - projectionCenter.point.x, 2) + pow(surfacePoints[i].point.y - projectionCenter.point.y, 2));
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if (dist < searchR)
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{
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if (centerIdx < 0)
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{
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centerIdx = i;
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maxZ = surfacePoints[i].point.z;
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}
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else
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{
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if (((false == dirInverting) && (surfacePoints[centerIdx].z < surfacePoints[i].z)) ||
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((true == dirInverting) && (surfacePoints[centerIdx].z > surfacePoints[i].z)))
|
||||
if (((false == dirInverting) && (surfacePoints[centerIdx].point.z < surfacePoints[i].point.z)) ||
|
||||
((true == dirInverting) && (surfacePoints[centerIdx].point.z > surfacePoints[i].point.z)))
|
||||
{
|
||||
centerIdx = i;
|
||||
maxZ = surfacePoints[i].point.z;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
@ -751,9 +801,86 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
|
||||
*errCode = SX_ERR_ZERO_OBJECTS;
|
||||
return;
|
||||
}
|
||||
int centerIdx_test = addrMapping[surfacePoints[centerIdx].lineIdx][surfacePoints[centerIdx].ptIdx];
|
||||
//迭代一次
|
||||
projectionCenter.lineIdx = surfacePoints[centerIdx].lineIdx;
|
||||
projectionCenter.ptIdx = surfacePoints[centerIdx].ptIdx;
|
||||
int sLine = projectionCenter.lineIdx - 5;
|
||||
if (sLine < 0)
|
||||
sLine = 0;
|
||||
int eLine = projectionCenter.lineIdx + 5;
|
||||
if (eLine >= (int)scanLines.size())
|
||||
eLine = (int)scanLines.size() - 1;
|
||||
int sPtIdx = projectionCenter.ptIdx - 5;
|
||||
if (sPtIdx < 0)
|
||||
sPtIdx = 0;
|
||||
int ePtIdx = projectionCenter.ptIdx + 5;
|
||||
if (ePtIdx >= (int)scanLines[0].size())
|
||||
ePtIdx = (int)scanLines[0].size() - 1;
|
||||
|
||||
int objLine = -1;
|
||||
int objPtIdx = -1;
|
||||
maxZ = -1;
|
||||
for (int line = sLine; line <= eLine; line++)
|
||||
{
|
||||
for (int ptIdx = sPtIdx; ptIdx <= ePtIdx; ptIdx++)
|
||||
{
|
||||
int idx_center = addrMapping[line][ptIdx];
|
||||
if (idx_center < 0)
|
||||
continue;
|
||||
|
||||
int sL = line - 1;
|
||||
if (sL < 0)
|
||||
sL = 0;
|
||||
int eL = line + 1;
|
||||
if (eL >= (int)scanLines.size())
|
||||
eL = (int)scanLines.size() - 1;
|
||||
int sPt = ptIdx - 1;
|
||||
if (sPt < 0)
|
||||
sPt = 0;
|
||||
int ePt = ptIdx + 1;
|
||||
if (ePt >= (int)scanLines[0].size())
|
||||
ePt = (int)scanLines[0].size() - 1;
|
||||
int size = 0;
|
||||
double sumZ = 0;
|
||||
for (int i = sL; i <= eL; i++)
|
||||
{
|
||||
for (int j = sPt; j <= ePt; j++)
|
||||
{
|
||||
int idx = addrMapping[i][j];
|
||||
if (idx >= 0)
|
||||
{
|
||||
if (roiProjectionData[idx].point.z > 1e-4)
|
||||
{
|
||||
sumZ += roiProjectionData[idx].point.z;
|
||||
size++;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (size > 0)
|
||||
{
|
||||
sumZ = sumZ / size;
|
||||
if (maxZ < 0)
|
||||
{
|
||||
maxZ = sumZ;
|
||||
objLine = line;
|
||||
objPtIdx = ptIdx;
|
||||
}
|
||||
else if (((false == dirInverting) && (maxZ < sumZ)) || ((true == dirInverting) && (maxZ > sumZ)))
|
||||
{
|
||||
maxZ = sumZ;
|
||||
objLine = line;
|
||||
objPtIdx = ptIdx;
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
}
|
||||
if( (objLine >=0)&&(objPtIdx >=0))
|
||||
centerIdx = addrMapping[objLine][objPtIdx];
|
||||
//旋转回原坐标系
|
||||
SVzNL3DPoint surfaceCenter = _ptRotate(surfacePoints[centerIdx], rotatePara.invRMatrix);
|
||||
SVzNL3DPoint surfaceCenter = _ptRotate(roiProjectionData[centerIdx].point, rotatePara.invRMatrix);
|
||||
//生成Rod信息
|
||||
SSX_rodPoseInfo a_rod;
|
||||
a_rod.center = surfaceCenter;
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user