827 lines
24 KiB
C++
827 lines
24 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "rodAndBarDetection_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//version 1.0.0 : base version release to customer
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//version 1.1.0 : 添加了地面调平和棒材定位
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//version 1.1.1 : 初始发布给客户的版本
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std::string m_strVersion = "1.1.1";
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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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}
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//计算一个平面调平参数。
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//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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SSG_planeCalibPara sx_rodPosition_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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return sg_getPlaneCalibPara2(scanLines);
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}
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//相机姿态调平，并去除地面
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void sx_rodPosition_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH)
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{
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lineDataRT_vector(a_line, camPoseR, groundH);
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}
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SVzNL3DPoint _translatePoint(SVzNL3DPoint point, const double rMatrix[9])
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{
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SVzNL3DPoint result;
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double x = point.x * rMatrix[0] + point.y * rMatrix[1] + point.z * rMatrix[2];
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double y = point.x * rMatrix[3] + point.y * rMatrix[4] + point.z * rMatrix[5];
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double z = point.x * rMatrix[6] + point.y * rMatrix[7] + point.z * rMatrix[8];
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result.x = x;
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result.y = y;
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result.z = z;
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return result;
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}
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SVzNL3DPoint getArcPeak(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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SWD_segFeature & a_arcFeature,
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SVzNL2DPoint& arcPos)
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{
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SVzNL3DPoint arcPeak = scanLines[a_arcFeature.lineIdx][a_arcFeature.startPtIdx].pt3D;
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for (int i = a_arcFeature.startPtIdx+1; i <= a_arcFeature.endPtIdx; i++)
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{
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if (scanLines[a_arcFeature.lineIdx][i].pt3D.z > 1e-4) //跳开空点
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{
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if (arcPeak.z > scanLines[a_arcFeature.lineIdx][i].pt3D.z)
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{
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arcPeak = scanLines[a_arcFeature.lineIdx][i].pt3D;
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arcPos = { a_arcFeature.lineIdx , i };
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}
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}
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}
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return arcPeak;
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}
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SVzNL3DPoint getArcPeak_parabolaFitting(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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SWD_segFeature& a_arcFeature,
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SVzNL2DPoint& arcPos)
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{
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std::vector<cv::Point2d> points;
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for (int i = a_arcFeature.startPtIdx + 1; i <= a_arcFeature.endPtIdx; i++)
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{
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if (scanLines[a_arcFeature.lineIdx][i].pt3D.z > 1e-4) //跳开空点
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{
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cv::Point2d a_pt2D;
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if (scanLines[a_arcFeature.lineIdx][i].pt3D.z > 1e-4)
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{
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a_pt2D.x = scanLines[a_arcFeature.lineIdx][i].pt3D.y;
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a_pt2D.y = scanLines[a_arcFeature.lineIdx][i].pt3D.z;
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points.push_back(a_pt2D);
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}
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}
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}
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double a, b, c, mse, max_err;
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//抛物线最小二乘拟合 y = ax ^ 2 + bx + c
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bool result = leastSquareParabolaFitEigen(
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points,
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a, b, c,
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mse, max_err);
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double yP = -b / (2 * a);
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//寻找与yP最近的点作为Peak点
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SVzNL3DPoint arcPeak;
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double minDist = -1;
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for (int i = a_arcFeature.startPtIdx + 1; i <= a_arcFeature.endPtIdx; i++)
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{
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if (scanLines[a_arcFeature.lineIdx][i].pt3D.z > 1e-4) //跳开空点
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{
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double dist = abs(scanLines[a_arcFeature.lineIdx][i].pt3D.y - yP);
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if (minDist < 0)
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{
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minDist = dist;
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arcPeak = scanLines[a_arcFeature.lineIdx][i].pt3D;
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arcPos = { a_arcFeature.lineIdx , i };
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}
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else
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{
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if(minDist > dist)
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{
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minDist = dist;
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arcPeak = scanLines[a_arcFeature.lineIdx][i].pt3D;
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arcPos = { a_arcFeature.lineIdx , i };
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}
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}
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}
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}
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return arcPeak;
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}
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//投影，提取ROI内的数据
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void xoyROIProjection(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const double* rtMatrix,
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SSG_ROIRectD& roi_xoy,
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std::vector<SVzNL3DPoint>& projectPoints
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)
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{
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int lineNum = (int)scanLines.size();
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<SVzNL3DPosition>& a_line = scanLines[line];
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int ptNum = (int)a_line.size();
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for (int i = 0; i < (int)a_line.size(); i++)
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{
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SVzNL3DPoint a_pt = a_line[i].pt3D;
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if (a_pt.z < 1e-4)
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continue;
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double x = a_pt.x * rtMatrix[0] + a_pt.y * rtMatrix[1] + a_pt.z * rtMatrix[2];
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double y = a_pt.x * rtMatrix[3] + a_pt.y * rtMatrix[4] + a_pt.z * rtMatrix[5];
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double z = a_pt.x * rtMatrix[6] + a_pt.y * rtMatrix[7] + a_pt.z * rtMatrix[8];
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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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}
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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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{
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int ptNum = (int)projectPoints.size();
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SVzNLRangeD zRange;
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zRange.min = DBL_MAX;
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zRange.max = DBL_MIN;
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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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}
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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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SVzNLRangeD& zRange,
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std::vector<SVzNL3DPoint>& cutLayerPoints)
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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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cutLayerPoints.push_back(projectPoints[i]);
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}
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}
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SVzNL3DPoint getXoYCentroid(std::vector<SVzNL3DPoint>& points)
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{
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int ptNum = (int)points.size();
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SVzNL3DPoint centroid = { 0.0, 0.0, 0.0 };
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if (ptNum == 0)
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return centroid;
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for (int i = 0; i < ptNum; i++)
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{
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centroid.x += points[i].x;
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centroid.y += points[i].y;
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}
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centroid.x = centroid.x / ptNum;
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centroid.y = centroid.y / ptNum;
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return centroid;
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}
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
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{
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SVzNL3DPoint _r_pt;
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_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
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_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
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_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
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return _r_pt;
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}
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void sx_hexHeadScrewMeasure(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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double rodDiameter,
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std::vector<SSX_hexHeadScrewInfo>& screwInfo,
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int* errCode)
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{
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*errCode = 0;
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return;
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}
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int linePtNum = (int)scanLines[0].size();
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//判断数据格式是否为grid。算法只能处理grid数据格式
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bool isGridData = true;
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for (int line = 0; line < lineNum; line++)
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{
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if (linePtNum != (int)scanLines[line].size())
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{
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isGridData = false;
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break;
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}
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}
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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std::vector< std::vector<SVzNL3DPosition>> data_lines;
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if (false == isHorizonScan)
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{
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data_lines.resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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data_lines[line].insert(data_lines[line].end(), scanLines[line].begin(), scanLines[line].end());
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for (int j = 0, j_max = (int)data_lines[line].size(); j < j_max; j++)
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{
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data_lines[line][j].nPointIdx = j;
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scanLines[line][j].nPointIdx = 0; //转义复用
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}
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}
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}
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else
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{
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data_lines.resize(linePtNum);
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for (int i = 0; i < linePtNum; i++)
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data_lines[i].resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0; j < linePtNum; j++)
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{
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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data_lines[j][line] = scanLines[line][j];
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data_lines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
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data_lines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
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}
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}
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lineNum = linePtNum;
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linePtNum = (int)data_lines[0].size();
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0, j_max = (int)data_lines[line].size(); j < j_max; j++)
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data_lines[line][j].nPointIdx = j;
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}
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}
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std::vector<std::vector<SWD_segFeature>> arcFeatures;
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 329)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = data_lines[line];
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//滤波，滤除异常点
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
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std::vector<SWD_segFeature> line_ringArcs;
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int dataSize = (int)lineData.size();
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SVzNLRangeD arcWidth;
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arcWidth.min = rodDiameter / 2;
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arcWidth.max = rodDiameter * 1.5;
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//提取Arc特征
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wd_getRingArcFeature(
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lineData,
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line, //当前扫描线序号
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cornerPara,
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arcWidth, //环宽度，以半径为基准，对应60度角
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line_ringArcs //环
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);
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arcFeatures.push_back(line_ringArcs);
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}
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//特征生长
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std::vector<SWD_segFeatureTree> growTrees;
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wd_getSegFeatureGrowingTrees(
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arcFeatures,
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growTrees,
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growParam);
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if (growTrees.size() == 0)
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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int objNum = (int)growTrees.size();
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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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{
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int nodeNum = (int)growTrees[i].treeNodes.size();
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for (int j = 0; j < nodeNum; j++)
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{
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int lineIdx, ptIdx;
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if (false == isHorizonScan)
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{
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lineIdx = growTrees[i].treeNodes[j].lineIdx;
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for (int m = growTrees[i].treeNodes[j].startPtIdx; m <= growTrees[i].treeNodes[j].endPtIdx; m++)
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{
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ptIdx = m;
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scanLines[lineIdx][ptIdx].nPointIdx = 1;
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}
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}
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else
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{
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ptIdx = growTrees[i].treeNodes[j].lineIdx;
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for (int m = growTrees[i].treeNodes[j].startPtIdx; m <= growTrees[i].treeNodes[j].endPtIdx; m++)
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{
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lineIdx = m;
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scanLines[lineIdx][ptIdx].nPointIdx = 1;
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}
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}
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}
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}
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//逐个目标处理
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for (int i = 0; i < objNum; i++)
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{
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//空间直线拟合
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std::vector<SVzNL3DPoint> fitPoints;
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std::vector<SVzNL2DPoint> fit2DPos;
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int nodeSize = (int)growTrees[i].treeNodes.size();
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for (int j = 0; j < nodeSize; j++)
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{
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SVzNL2DPoint arcPos;
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SVzNL3DPoint a_pt = getArcPeak_parabolaFitting(data_lines, growTrees[i].treeNodes[j], arcPos);
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//SVzNL3DPoint a_pt = getArcPeak(data_lines, growTrees[i].treeNodes[j], arcPos);
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fitPoints.push_back(a_pt);
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fit2DPos.push_back(arcPos);
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}
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if (fitPoints.size() < 27)
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continue;
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//去除头尾各5个点，防止在端部和根部扫描时的数据有干扰
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fitPoints.erase(fitPoints.begin(), fitPoints.begin() + 10);
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fit2DPos.erase(fit2DPos.begin(), fit2DPos.begin() + 10);
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fitPoints.erase(fitPoints.end() - 5, fitPoints.end());
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fit2DPos.erase(fit2DPos.end() - 5, fit2DPos.end());
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//置标志
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for (int j = 0; j < (int)fit2DPos.size(); j++)
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{
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int lineIdx, ptIdx;
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if (false == isHorizonScan)
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{
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lineIdx = fit2DPos[j].x;
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ptIdx = fit2DPos[j].y;
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}
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else
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{
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lineIdx = fit2DPos[j].y;
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ptIdx = fit2DPos[j].x;
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}
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scanLines[lineIdx][ptIdx].nPointIdx = 2;
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}
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//拟合
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SVzNL3DPoint P0_center, P1_dir;
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bool result = fitLine3DLeastSquares(fitPoints, P0_center, P1_dir);
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if (false == result)
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continue;
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//投影
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//计算旋转向量
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SVzNL3DPoint vector1 = P1_dir;
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SVzNL3DPoint vector2 = { 0, 0, -1.0 };
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SSG_planeCalibPara rotatePara = wd_computeRTMatrix( vector1, vector2);
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//
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SVzNL3DPoint P0_rotate = _ptRotate(P0_center, rotatePara.planeCalib);
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SSG_ROIRectD roi_xoy;
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roi_xoy.left = P0_rotate.x - rodDiameter * 2; //2D范围
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roi_xoy.right = P0_rotate.x + rodDiameter * 2; //2D范围
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roi_xoy.top = P0_rotate.y - rodDiameter * 2; //2D范围
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roi_xoy.bottom = P0_rotate.y + rodDiameter * 2; //2D范围
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#if 1
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std::vector< SVzNL3DPoint> verifyData;
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for (int m = 0; m < (int)fitPoints.size(); m++)
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{
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SVzNL3DPoint rPt = _ptRotate(fitPoints[m], rotatePara.planeCalib);
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verifyData.push_back(rPt);
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}
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#endif
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std::vector< SVzNL3DPoint> roiProjectionData;
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xoyROIProjection(data_lines, rotatePara.planeCalib, roi_xoy, roiProjectionData);
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//取端面
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SVzNLRangeD zRange = getZRange(roiProjectionData);
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SVzNLRangeD cutZRange;
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cutZRange.min = zRange.min;
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cutZRange.max = zRange.min + 5.0; //5mm的端面
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std::vector<SVzNL3DPoint> surfacePoints;
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zCutPointClouds(roiProjectionData, cutZRange, surfacePoints);
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//计算中心点
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SVzNL3DPoint projectionCenter;// = getXoYCentroid(surfacePoints);
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SVzNL3DRangeD roi3D = wd_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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//旋转回原坐标系
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SVzNL3DPoint surfaceCenter = _ptRotate(projectionCenter, rotatePara.invRMatrix);
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//生成Rod信息
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SSX_hexHeadScrewInfo a_rod;
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a_rod.center = surfaceCenter;
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a_rod.axialDir = P1_dir;
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a_rod.rotateAngle = 0;
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screwInfo.push_back(a_rod);
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||
}
|
||
if (true == isHorizonScan)
|
||
{
|
||
int objNum = (int)screwInfo.size();
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
double tmp = screwInfo[i].center.x;
|
||
screwInfo[i].center.x = screwInfo[i].center.y;
|
||
screwInfo[i].center.y = tmp;
|
||
tmp = screwInfo[i].axialDir.x;
|
||
screwInfo[i].axialDir.x = screwInfo[i].axialDir.y;
|
||
screwInfo[i].axialDir.y = tmp;
|
||
//screwInfo[i].rotateAngle += 90;
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
|
||
void rodAarcFeatueDetection(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||
const SSG_cornerParam cornerPara,
|
||
const SSG_outlierFilterParam filterParam,
|
||
const double rodDiameter,
|
||
std::vector<std::vector<SWD_rodArcFeature>>& arcFeatures)
|
||
{
|
||
int lineNum = (int)scanLines.size();
|
||
int linePtNum = (int)scanLines[0].size();
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
if (line == 424)
|
||
int kkk = 1;
|
||
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
|
||
|
||
//滤波，滤除异常点
|
||
sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
|
||
//提取rodArc特征
|
||
std::vector<SWD_rodArcFeature> line_rodArcs;
|
||
wd_getRodArcFeature_peakCornerMethod(lineData, line, rodDiameter/2, cornerPara, line_rodArcs );
|
||
arcFeatures.push_back(line_rodArcs);
|
||
}
|
||
return;
|
||
}
|
||
|
||
SVzNL3DPoint _exchangeXY(SVzNL3DPoint pt)
|
||
{
|
||
SVzNL3DPoint result = {pt.y, pt.x, pt.z};
|
||
return result;
|
||
}
|
||
|
||
void _computeRodInfo(
|
||
SWD_rodArcFeatureTree& a_objTree,
|
||
bool treeIsHorizon,
|
||
std::vector< SVzNL3DPoint>& fittingPoints,
|
||
SSX_rodPositionInfo& a_objRod)
|
||
{
|
||
int nodeSize = a_objTree.treeNodes.size();
|
||
//拟合
|
||
double _a, _b, _c;
|
||
lineFitting_abc(fittingPoints, &_a, &_b, &_c);
|
||
int dataSize = (int)fittingPoints.size();
|
||
SVzNL2DPointD foot1 = sx_getFootPoint_abc(fittingPoints[0].x, fittingPoints[0].y, _a, _b, _c);
|
||
SVzNL2DPointD foot2 = sx_getFootPoint_abc(fittingPoints[dataSize - 1].x, fittingPoints[dataSize - 1].y, _a, _b, _c);
|
||
double deltaZ = fittingPoints[dataSize - 1].z - fittingPoints[0].z;
|
||
double len = sqrt(pow(foot1.x - foot2.x, 2) + pow(foot1.y - foot2.y, 2));
|
||
//直线的轴向向量
|
||
SVzNL3DPoint axialDir = { foot2.x - foot1.x, foot2.y - foot1.y, fittingPoints[dataSize - 1].z - fittingPoints[0].z };
|
||
//归一化
|
||
double normData = sqrt(pow(axialDir.x, 2) + pow(axialDir.y, 2) + pow(axialDir.z, 2));
|
||
axialDir.x = axialDir.x / normData;
|
||
axialDir.y = axialDir.y / normData;
|
||
axialDir.z = axialDir.z / normData;
|
||
//计算一个辅助平面（Y=0平面旋转一个角度）的法向
|
||
double theta = atan2(foot2.y - foot1.y, foot2.x - foot1.x);
|
||
double sinTheta = sin(theta);
|
||
double cosTheta = cos(theta);
|
||
SVzNL3DPoint tmpDir = { sinTheta, -cosTheta, 0 };
|
||
//叉乘出棒材的法向
|
||
SVzNL3DPoint normalDir = { axialDir.y * tmpDir.z - tmpDir.y * axialDir.z,
|
||
axialDir.z * tmpDir.x - tmpDir.z * axialDir.x,
|
||
axialDir.x * tmpDir.y - tmpDir.x * axialDir.y };
|
||
|
||
|
||
//确定真正起点和终点：到直线距离小于5mm
|
||
double tmpData = sqrt(_a * _a + _b * _b);
|
||
_a = _a / tmpData;
|
||
_b = _b / tmpData;
|
||
_c = _c / tmpData;
|
||
SVzNL3DPoint realStart, realEnd;
|
||
bool foundStart = false;
|
||
for (int j = 0; j < nodeSize; j++)
|
||
{
|
||
SVzNL3DPoint a_pt = a_objTree.treeNodes[j].peakPt;
|
||
if (true == treeIsHorizon)
|
||
a_pt = _exchangeXY(a_pt);
|
||
double dist = abs(a_pt.x * _a + a_pt.y * _b + _c);
|
||
if (dist < 5.0)
|
||
{
|
||
realStart = a_pt;
|
||
foundStart = true;
|
||
break;
|
||
}
|
||
}
|
||
if (false == foundStart)
|
||
{
|
||
realStart = a_objTree.treeNodes[0].peakPt;
|
||
if (true == treeIsHorizon)
|
||
realStart = _exchangeXY(realStart);
|
||
}
|
||
|
||
bool foundEnd = false;
|
||
for (int j = nodeSize - 1; j >= 0; j--)
|
||
{
|
||
SVzNL3DPoint a_pt = a_objTree.treeNodes[j].peakPt;
|
||
if (true == treeIsHorizon)
|
||
a_pt = _exchangeXY(a_pt);
|
||
double dist = abs(a_pt.x * _a + a_pt.y * _b + _c);
|
||
if (dist < 5.0)
|
||
{
|
||
realEnd = a_pt;
|
||
foundEnd = true;
|
||
break;
|
||
}
|
||
}
|
||
if (false == foundEnd)
|
||
{
|
||
realEnd = a_objTree.treeNodes[nodeSize - 1].peakPt;
|
||
if (true == treeIsHorizon)
|
||
realEnd = _exchangeXY(realEnd);
|
||
}
|
||
|
||
SVzNL2DPointD foot_s = sx_getFootPoint_abc(realStart.x, realStart.y, _a, _b, _c);
|
||
SVzNL2DPointD foot_e = sx_getFootPoint_abc(realEnd.x, realEnd.y, _a, _b, _c);
|
||
double dist_s = sqrt(pow(foot_s.x - foot1.x, 2) + pow(foot_s.y - foot1.y, 2));
|
||
double dist_e = sqrt(pow(foot_e.x - foot1.x, 2) + pow(foot_e.y - foot1.y, 2));
|
||
//生成目标信息
|
||
;
|
||
a_objRod.startPt = { foot_s.x, foot_s.y, -(dist_s / len) * deltaZ + fittingPoints[0].z };
|
||
a_objRod.endPt = { foot_e.x, foot_e.y, (dist_e / len) * deltaZ + fittingPoints[0].z };
|
||
a_objRod.center = { (a_objRod.startPt.x + a_objRod.endPt.x) / 2,
|
||
(a_objRod.startPt.y + a_objRod.endPt.y) / 2,
|
||
(a_objRod.startPt.z + a_objRod.endPt.z) / 2 };
|
||
a_objRod.axialDir = axialDir;
|
||
a_objRod.normalDir = normalDir;
|
||
|
||
return;
|
||
}
|
||
|
||
bool checkObjEixst(SSX_rodPositionInfo& a_objRod, std::vector<SSX_rodPositionInfo>& existObjs, const SSX_rodParam rodParam)
|
||
{
|
||
double minDistance = -1;
|
||
for (int i = 0; i < (int)existObjs.size(); i++)
|
||
{
|
||
double dist = sqrt(pow(a_objRod.center.x - existObjs[i].center.x, 2) +
|
||
pow(a_objRod.center.y - existObjs[i].center.y, 2) +
|
||
pow(a_objRod.center.z - existObjs[i].center.z, 2));
|
||
if (minDistance < 0)
|
||
minDistance = dist;
|
||
else if (minDistance > dist)
|
||
minDistance = dist;
|
||
}
|
||
if (minDistance < 0)
|
||
return false;
|
||
else if (minDistance < rodParam.diameter / 4) // R/2
|
||
return true;
|
||
else
|
||
return false;
|
||
}
|
||
|
||
bool _commpareByCenterZ(SSX_rodPositionInfo& a, SSX_rodPositionInfo& b)
|
||
{
|
||
return (a.center.z < b.center.z);
|
||
}
|
||
|
||
void sx_rodPositioning(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||
const SSG_planeCalibPara poseCalibPara,
|
||
const SSG_cornerParam cornerPara,
|
||
const SSG_outlierFilterParam filterParam,
|
||
const SSG_treeGrowParam growParam,
|
||
const SSX_rodParam rodParam,
|
||
std::vector<SSX_rodPositionInfo>& rodInfo,
|
||
int* errCode)
|
||
{
|
||
*errCode = 0;
|
||
int lineNum = (int)scanLines.size();
|
||
if (lineNum == 0)
|
||
{
|
||
*errCode = SG_ERR_3D_DATA_NULL;
|
||
return;
|
||
}
|
||
|
||
int linePtNum = (int)scanLines[0].size();
|
||
|
||
//判断数据格式是否为grid。算法只能处理grid数据格式
|
||
bool isGridData = true;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
if (linePtNum != (int)scanLines[line].size())
|
||
{
|
||
isGridData = false;
|
||
break;
|
||
}
|
||
}
|
||
if (false == isGridData)//数据不是网格格式
|
||
{
|
||
*errCode = SG_ERR_NOT_GRID_FORMAT;
|
||
return;
|
||
}
|
||
|
||
for (int i = 0, i_max = (int)scanLines.size(); i < i_max; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
double cuttingZ = -1;
|
||
sx_rodPosition_lineDataR(scanLines[i], poseCalibPara.planeCalib, cuttingZ);
|
||
}
|
||
|
||
//生成水平扫描数据
|
||
std::vector<std::vector<SVzNL3DPosition>> hLines_raw;
|
||
hLines_raw.resize(linePtNum);
|
||
for (int i = 0; i < linePtNum; i++)
|
||
hLines_raw[i].resize(lineNum);
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
for (int j = 0; j < linePtNum; j++)
|
||
{
|
||
scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
|
||
hLines_raw[j][line] = scanLines[line][j];
|
||
hLines_raw[j][line].pt3D.x = scanLines[line][j].pt3D.y;
|
||
hLines_raw[j][line].pt3D.y = scanLines[line][j].pt3D.x;
|
||
}
|
||
}
|
||
|
||
//在垂直方向上分别提取ARC特征，并进行特征生长
|
||
std::vector<std::vector<SWD_rodArcFeature>> arcFeatures_v;
|
||
rodAarcFeatueDetection( scanLines, cornerPara, filterParam, rodParam.diameter, arcFeatures_v);
|
||
//特征生长
|
||
std::vector<SWD_rodArcFeatureTree> rodArcTrees_v;
|
||
wd_getRodArcFeatureGrowingTrees(arcFeatures_v, rodArcTrees_v, growParam);
|
||
|
||
//水平方向
|
||
std::vector<std::vector<SWD_rodArcFeature>> arcFeatures_h;
|
||
rodAarcFeatueDetection(hLines_raw, cornerPara, filterParam, rodParam.diameter, arcFeatures_h);
|
||
//特征生长
|
||
std::vector<SWD_rodArcFeatureTree> rodArcTrees_h;
|
||
wd_getRodArcFeatureGrowingTrees(arcFeatures_h, rodArcTrees_h, growParam);
|
||
|
||
if ((rodArcTrees_v.size() == 0) && (rodArcTrees_h.size() == 0))
|
||
{
|
||
*errCode = SG_ERR_NOT_GRID_FORMAT;
|
||
return;
|
||
}
|
||
|
||
|
||
int objNum_v = (int)rodArcTrees_v.size();
|
||
int objNum_h = (int)rodArcTrees_h.size();
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
for (int j = 0; j < linePtNum; j++)
|
||
{
|
||
scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
|
||
}
|
||
}
|
||
//置标志，用于debug
|
||
for (int i = 0; i < objNum_v; i++)
|
||
{
|
||
int nodeNum = (int)rodArcTrees_v[i].treeNodes.size();
|
||
for (int j = 0; j < nodeNum; j++)
|
||
{
|
||
int lineIdx = rodArcTrees_v[i].treeNodes[j].lineIdx;
|
||
int centerPtIdx = rodArcTrees_v[i].treeNodes[j].peakPtIdx;
|
||
for (int m = rodArcTrees_v[i].treeNodes[j].startPtIdx; m <= rodArcTrees_v[i].treeNodes[j].endPtIdx; m++)
|
||
scanLines[lineIdx][m].nPointIdx = 1;
|
||
scanLines[lineIdx][centerPtIdx].nPointIdx |= 0x10;
|
||
}
|
||
}
|
||
//置标志，用于debug
|
||
for (int i = 0; i < objNum_h; i++)
|
||
{
|
||
int nodeNum = (int)rodArcTrees_h[i].treeNodes.size();
|
||
for (int j = 0; j < nodeNum; j++)
|
||
{
|
||
int ptIdx = rodArcTrees_h[i].treeNodes[j].lineIdx;
|
||
int centerLineIdx = rodArcTrees_h[i].treeNodes[j].peakPtIdx;
|
||
for (int m = rodArcTrees_h[i].treeNodes[j].startPtIdx; m <= rodArcTrees_h[i].treeNodes[j].endPtIdx; m++)
|
||
scanLines[m][ptIdx].nPointIdx |= 2;
|
||
scanLines[centerLineIdx][ptIdx].nPointIdx |= 0x20;
|
||
}
|
||
}
|
||
//目标判断
|
||
//(1)长度过滤
|
||
//垂直目标
|
||
for (int i = 0; i < (int)rodArcTrees_v.size(); i++)
|
||
{
|
||
int nodeSize = rodArcTrees_v[i].treeNodes.size();
|
||
SVzNL3DPoint startCenter = rodArcTrees_v[i].treeNodes[0].peakPt;
|
||
SVzNL3DPoint endCenter = rodArcTrees_v[i].treeNodes[nodeSize-1].peakPt;
|
||
double len = sqrt(pow(startCenter.x - endCenter.x, 2) +
|
||
pow(startCenter.y - endCenter.y, 2) +
|
||
pow(startCenter.z - endCenter.z, 2));
|
||
double lenDiff = abs(len - rodParam.len);
|
||
if (lenDiff < rodParam.len* 0.15) //validObj
|
||
{
|
||
//在XY平面内直线拟合
|
||
//为了防止端部影响，跳过端面数据
|
||
std::vector<SVzNL3DPoint> fittingPoints;
|
||
for (int j = 0; j < nodeSize; j++)
|
||
{
|
||
double dist1 = sqrt(pow(rodArcTrees_v[i].treeNodes[j].peakPt.x - startCenter.x, 2) +
|
||
pow(rodArcTrees_v[i].treeNodes[j].peakPt.y - startCenter.y, 2) +
|
||
pow(rodArcTrees_v[i].treeNodes[j].peakPt.z - startCenter.z, 2));
|
||
double dist2 = sqrt(pow(rodArcTrees_v[i].treeNodes[j].peakPt.x - endCenter.x, 2) +
|
||
pow(rodArcTrees_v[i].treeNodes[j].peakPt.y - endCenter.y, 2) +
|
||
pow(rodArcTrees_v[i].treeNodes[j].peakPt.z - endCenter.z, 2));
|
||
if ((dist1 > rodParam.diameter / 2) && (dist2 > rodParam.diameter / 2))
|
||
fittingPoints.push_back(rodArcTrees_v[i].treeNodes[j].peakPt);
|
||
}
|
||
if (fittingPoints.size() < 3)
|
||
continue;
|
||
SSX_rodPositionInfo a_objRod;
|
||
_computeRodInfo(rodArcTrees_v[i], false, fittingPoints, a_objRod);
|
||
rodInfo.push_back(a_objRod);
|
||
}
|
||
}
|
||
//水平目标
|
||
for (int i = 0; i < (int)rodArcTrees_h.size(); i++)
|
||
{
|
||
int nodeSize = rodArcTrees_h[i].treeNodes.size();
|
||
SVzNL3DPoint startCenter = rodArcTrees_h[i].treeNodes[0].peakPt;
|
||
startCenter = _exchangeXY(startCenter);
|
||
SVzNL3DPoint endCenter = rodArcTrees_h[i].treeNodes[nodeSize - 1].peakPt;
|
||
endCenter = _exchangeXY(endCenter);
|
||
|
||
double len = sqrt(pow(startCenter.x - endCenter.x, 2) +
|
||
pow(startCenter.y - endCenter.y, 2) +
|
||
pow(startCenter.z - endCenter.z, 2));
|
||
double lenDiff = abs(len - rodParam.len);
|
||
if (lenDiff < rodParam.len * 0.15) //validObj
|
||
{
|
||
//在XY平面内直线拟合
|
||
//为了防止端部影响，跳过端面数据
|
||
std::vector<SVzNL3DPoint> fittingPoints;
|
||
for (int j = 0; j < nodeSize; j++)
|
||
{
|
||
SVzNL3DPoint a_pt = _exchangeXY(rodArcTrees_h[i].treeNodes[j].peakPt);
|
||
double dist1 = sqrt(pow(a_pt.x - startCenter.x, 2) + pow(a_pt.y - startCenter.y, 2) + pow(a_pt.z - startCenter.z, 2));
|
||
double dist2 = sqrt(pow(a_pt.x - endCenter.x, 2) + pow(a_pt.y - endCenter.y, 2) + pow(a_pt.z - endCenter.z, 2));
|
||
if ((dist1 > rodParam.diameter / 2) && (dist2 > rodParam.diameter / 2))
|
||
fittingPoints.push_back(a_pt);
|
||
}
|
||
if (fittingPoints.size() < 3)
|
||
continue;
|
||
|
||
SSX_rodPositionInfo a_objRod;
|
||
_computeRodInfo(rodArcTrees_h[i], true, fittingPoints, a_objRod);
|
||
//检查是否与垂直检测目标重叠
|
||
bool isExist = checkObjEixst(a_objRod, rodInfo, rodParam);
|
||
if(false == isExist)
|
||
rodInfo.push_back(a_objRod);
|
||
}
|
||
}
|
||
//（2）遮挡判断
|
||
//按高度排序
|
||
std::sort(rodInfo.begin(), rodInfo.end(), _commpareByCenterZ);
|
||
|
||
//将数据重新投射回原来的坐标系，以保持手眼标定结果正确
|
||
for (int i = 0; i < lineNum; i++)
|
||
sx_rodPosition_lineDataR(scanLines[i], poseCalibPara.invRMatrix, -1);
|
||
//将检测结果重新投射回原来的坐标系
|
||
for (int i = 0; i < (int)rodInfo.size(); i++)
|
||
{
|
||
SSX_rodPositionInfo& a_rod = rodInfo[i];
|
||
SVzNL3DPoint rawObj = _translatePoint(a_rod.center, poseCalibPara.invRMatrix);
|
||
a_rod.center = rawObj;
|
||
rawObj = _translatePoint(a_rod.axialDir, poseCalibPara.invRMatrix);
|
||
a_rod.axialDir = rawObj;
|
||
rawObj = _translatePoint(a_rod.normalDir, poseCalibPara.invRMatrix);
|
||
a_rod.normalDir = rawObj;
|
||
|
||
rawObj = _translatePoint(a_rod.startPt, poseCalibPara.invRMatrix);
|
||
a_rod.startPt = rawObj;
|
||
rawObj = _translatePoint(a_rod.endPt, poseCalibPara.invRMatrix);
|
||
a_rod.endPt = rawObj;
|
||
}
|
||
return;
|
||
}
|
||
|