708 lines
21 KiB
C++
708 lines
21 KiB
C++
// gasFillingPortPosition_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
|
||
//
|
||
|
||
#include <iostream>
|
||
#include <fstream>
|
||
#include <vector>
|
||
#include <stdio.h>
|
||
#include <VZNL_Types.h>
|
||
#include "direct.h"
|
||
#include <string>
|
||
#include "rodAndBarDetection_Export.h"
|
||
#include <opencv2/opencv.hpp>
|
||
#include <Windows.h>
|
||
#include <limits>
|
||
|
||
typedef struct
|
||
{
|
||
int r;
|
||
int g;
|
||
int b;
|
||
}SG_color;
|
||
|
||
typedef struct
|
||
{
|
||
int nPointIdx;
|
||
double x;
|
||
double y;
|
||
double z;
|
||
float r;
|
||
float g;
|
||
float b;
|
||
} SPointXYZRGB;
|
||
|
||
void wdReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
|
||
{
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return;
|
||
|
||
std::vector< SVzNL3DPosition> a_line;
|
||
int ptIdx = 0;
|
||
while (getline(inputFile, linedata))
|
||
{
|
||
if (0 == strncmp("Line_", linedata.c_str(), 5))
|
||
{
|
||
int ptSize = (int)a_line.size();
|
||
if (ptSize > 0)
|
||
{
|
||
scanData.push_back(a_line);
|
||
}
|
||
a_line.clear();
|
||
ptIdx = 0;
|
||
}
|
||
else if (0 == strncmp("{", linedata.c_str(), 1))
|
||
{
|
||
float X, Y, Z;
|
||
int imageY = 0;
|
||
float leftX, leftY;
|
||
float rightX, rightY;
|
||
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
|
||
SVzNL3DPosition a_pt;
|
||
a_pt.pt3D.x = X;
|
||
a_pt.pt3D.y = Y;
|
||
a_pt.pt3D.z = Z;
|
||
a_pt.nPointIdx = ptIdx;
|
||
ptIdx++;
|
||
a_line.push_back(a_pt);
|
||
}
|
||
}
|
||
//last line
|
||
int ptSize = (int)a_line.size();
|
||
if (ptSize > 0)
|
||
{
|
||
scanData.push_back(a_line);
|
||
a_line.clear();
|
||
}
|
||
|
||
inputFile.close();
|
||
return;
|
||
}
|
||
|
||
void wd_gridScan_GetROIData(std::vector<std::vector< SVzNL3DPosition>>& scanData, SVzNLRangeD roi_y, std::vector<std::vector< SVzNL3DPosition>>& roiData)
|
||
{
|
||
int lineNum = (int)scanData.size();
|
||
int linePtNum = (int)scanData[0].size();
|
||
int globalPtStart = INT_MAX;
|
||
int globalPtEnd = 0;
|
||
int lineStart = INT_MAX;
|
||
int lineEnd = 0;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
std::vector< SVzNL3DPosition >& lineData = scanData[line];
|
||
int ptSize = (int)lineData.size();
|
||
int vldNum = 0;
|
||
int ptStart = INT_MAX;
|
||
int ptEnd = 0;
|
||
for (int i = 0; i < ptSize; i++)
|
||
{
|
||
if (lineData[i].pt3D.z > 1e-4)
|
||
{
|
||
if ((lineData[i].pt3D.y < roi_y.min) || (lineData[i].pt3D.y > roi_y.max))
|
||
lineData[i].pt3D = { 0.0, 0.0, 0.0 };
|
||
}
|
||
|
||
if (lineData[i].pt3D.z > 1e-4)
|
||
{
|
||
if (ptStart > i)
|
||
ptStart = i;
|
||
ptEnd = i;
|
||
vldNum++;
|
||
}
|
||
}
|
||
if (vldNum > 0)
|
||
{
|
||
if (globalPtStart > ptStart)
|
||
globalPtStart = ptStart;
|
||
if (globalPtEnd < ptEnd)
|
||
globalPtEnd = ptEnd;
|
||
|
||
if (lineStart > line)
|
||
lineStart = line;
|
||
lineEnd = line;
|
||
}
|
||
}
|
||
int vldLineNum = lineEnd - lineStart + 1;
|
||
int vldPtNum = globalPtEnd - globalPtStart + 1;
|
||
|
||
roiData.resize(vldLineNum);
|
||
for (int line = 0; line < vldLineNum; line++)
|
||
{
|
||
roiData[line].resize(vldPtNum);
|
||
for (int i = 0; i < vldPtNum; i++)
|
||
roiData[line][i] = scanData[line + lineStart][i + globalPtStart];
|
||
}
|
||
return;
|
||
}
|
||
|
||
void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData,
|
||
float lineV, int maxTimeStamp, int clockPerSecond)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
|
||
int lineNum = (int)scanData.size();
|
||
sw << "LineNum:" << lineNum << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed:" << lineV << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int nPositionCnt = (int)scanData[line].size();
|
||
sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
|
||
for (int i = 0; i < nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition& pt3D = scanData[line][i];
|
||
float x = (float)pt3D.pt3D.x;
|
||
float y = (float)pt3D.pt3D.y;
|
||
float z = (float)pt3D.pt3D.z;
|
||
sw << "{ " << x << "," << y << "," << z << " }-";
|
||
sw << "{0,0}-{0,0}" << std::endl;
|
||
}
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
SSG_planeCalibPara _readCalibPara(char* fileName)
|
||
{
|
||
//设置初始结果
|
||
double initCalib[9] = {
|
||
1.0, 0.0, 0.0,
|
||
0.0, 1.0, 0.0,
|
||
0.0, 0.0, 1.0 };
|
||
SSG_planeCalibPara planePara;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.planeCalib[i] = initCalib[i];
|
||
planePara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.invRMatrix[i] = initCalib[i];
|
||
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return planePara;
|
||
|
||
//调平矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
|
||
//地面高度
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
|
||
//反向旋转矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
|
||
|
||
inputFile.close();
|
||
return planePara;
|
||
}
|
||
|
||
|
||
void _outputChanneltInfo(char* fileName, std::vector<SSX_hexHeadScrewInfo>& screwInfo)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
|
||
char dataStr[250];
|
||
int objNum = (int)screwInfo.size();
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
sprintf_s(dataStr, 250, "螺杆_%d: center_( %g, %g, %g ), dir_( %g, %g, %g ), anlge_%g",
|
||
i + 1, screwInfo[i].center.x, screwInfo[i].center.y, screwInfo[i].center.z,
|
||
screwInfo[i].axialDir.x, screwInfo[i].axialDir.y, screwInfo[i].axialDir.z, screwInfo[i].rotateAngle);
|
||
sw << dataStr << std::endl;
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRodtInfo(char* fileName, std::vector<SSX_rodPositionInfo>& rodInfo)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
|
||
char dataStr[250];
|
||
int objNum = (int)rodInfo.size();
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
sprintf_s(dataStr, 250, "螺杆_%d: center_( %g, %g, %g ), dir_axia( %g, %g, %g ), dir_normal_( %g, %g, %g )",
|
||
i + 1, rodInfo[i].center.x, rodInfo[i].center.y, rodInfo[i].center.z,
|
||
rodInfo[i].axialDir.x, rodInfo[i].axialDir.y, rodInfo[i].axialDir.z,
|
||
rodInfo[i].normalDir.x, rodInfo[i].normalDir.y, rodInfo[i].normalDir.z);
|
||
sw << dataStr << std::endl;
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRGBDScan_RGBD(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
std::vector<SSX_hexHeadScrewInfo>& screwInfo
|
||
)
|
||
{
|
||
int lineNum = (int)scanLines.size();
|
||
std::ofstream sw(fileName);
|
||
int realLines = lineNum;
|
||
int objNum = (int)screwInfo.size();
|
||
if (objNum > 0)
|
||
realLines += 1;
|
||
|
||
sw << "LineNum:" << realLines << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed: 0" << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp: 0_0" << std::endl;
|
||
|
||
int maxLineIndex = 0;
|
||
int max_stamp = 0;
|
||
|
||
SG_color rgb = { 0, 0, 0 };
|
||
|
||
SG_color objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
int lineIdx = 0;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int linePtNum = (int)scanLines[line].size();
|
||
if (linePtNum == 0)
|
||
continue;
|
||
|
||
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
||
lineIdx++;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
||
if (pt3D->nPointIdx == 1)
|
||
{
|
||
rgb = objColor[pt3D->nPointIdx];
|
||
size = 3;
|
||
}
|
||
else if (pt3D->nPointIdx == 2)
|
||
{
|
||
rgb = { 250, 0, 0 };
|
||
size = 5;
|
||
}
|
||
|
||
else //if (pt3D->nPointIdx == 0)
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
if (objNum > 0)
|
||
{
|
||
sw << "Line_" << lineIdx << "_0_" << objNum << std::endl;
|
||
rgb = { 250, 0, 0 };
|
||
size = 8;
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
float x = (float)screwInfo[i].center.x;
|
||
float y = (float)screwInfo[i].center.y;
|
||
float z = (float)screwInfo[i].center.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
//多输出一个，修正显示工具bug
|
||
float x = (float)screwInfo[0].center.x;
|
||
float y = (float)screwInfo[0].center.y;
|
||
float z = (float)screwInfo[0].center.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
|
||
//输出法向
|
||
size = 1;
|
||
double len = 60;
|
||
lineIdx = 0;
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
SVzNL3DPoint pt0 = { screwInfo[i].center.x - len * screwInfo[i].axialDir.x,
|
||
screwInfo[i].center.y - len * screwInfo[i].axialDir.y,
|
||
screwInfo[i].center.z - len * screwInfo[i].axialDir.z };
|
||
SVzNL3DPoint pt1 = { screwInfo[i].center.x + len * screwInfo[i].axialDir.x,
|
||
screwInfo[i].center.y + len * screwInfo[i].axialDir.y,
|
||
screwInfo[i].center.z + len * screwInfo[i].axialDir.z };
|
||
//显示法向量
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
//多输出一个，修正显示工具bug
|
||
SVzNL3DPoint pt0 = { screwInfo[0].center.x - len * screwInfo[0].axialDir.x,
|
||
screwInfo[0].center.y - len * screwInfo[0].axialDir.y,
|
||
screwInfo[0].center.z - len * screwInfo[0].axialDir.z };
|
||
SVzNL3DPoint pt1 = { screwInfo[0].center.x + len * screwInfo[0].axialDir.x,
|
||
screwInfo[0].center.y + len * screwInfo[0].axialDir.y,
|
||
screwInfo[0].center.z + len * screwInfo[0].axialDir.z };
|
||
//显示法向量
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRGBDScan_RGBD_rodInfo(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
std::vector<SSX_rodPositionInfo>& rodInfo
|
||
)
|
||
{
|
||
int lineNum = (int)scanLines.size();
|
||
std::ofstream sw(fileName);
|
||
int realLines = lineNum;
|
||
int objNum = (int)rodInfo.size();
|
||
if (objNum > 0)
|
||
realLines += 1;
|
||
|
||
sw << "LineNum:" << realLines << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed: 0" << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp: 0_0" << std::endl;
|
||
|
||
int maxLineIndex = 0;
|
||
int max_stamp = 0;
|
||
|
||
SG_color rgb = { 0, 0, 0 };
|
||
|
||
SG_color objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
int lineIdx = 0;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int linePtNum = (int)scanLines[line].size();
|
||
if (linePtNum == 0)
|
||
continue;
|
||
|
||
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
||
lineIdx++;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
||
if (pt3D->nPointIdx > 0)
|
||
{
|
||
int centerFlag = pt3D->nPointIdx >> 4;
|
||
if (centerFlag > 0)
|
||
{
|
||
rgb = { 180, 0, 0 };
|
||
size = 2;
|
||
}
|
||
else
|
||
{
|
||
rgb = objColor[pt3D->nPointIdx % 8];
|
||
size = 2;
|
||
}
|
||
|
||
|
||
}
|
||
else //if (pt3D->nPointIdx == 0)
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
|
||
if (objNum > 0)
|
||
{
|
||
sw << "Line_" << lineIdx << "_0_" << objNum << std::endl;
|
||
size = 12;
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
if(i == 0)
|
||
rgb = { 250, 255, 0 };
|
||
else
|
||
rgb = { 250, 0, 0 };
|
||
float x = (float)rodInfo[i].center.x;
|
||
float y = (float)rodInfo[i].center.y;
|
||
float z = (float)rodInfo[i].center.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
//输出法向
|
||
size = 8;
|
||
double len = 60;
|
||
lineIdx = 0;
|
||
for (int i = 0; i < objNum; i++)
|
||
{
|
||
if (i == 0)
|
||
rgb = { 250, 255, 0 };
|
||
else
|
||
rgb = { 250, 0, 0 };
|
||
SVzNL3DPoint pt0 = { rodInfo[i].center.x, rodInfo[i].center.y, rodInfo[i].center.z };
|
||
SVzNL3DPoint pt1 = { rodInfo[i].center.x + len * rodInfo[i].axialDir.x,
|
||
rodInfo[i].center.y + len * rodInfo[i].axialDir.y,
|
||
rodInfo[i].center.z + len * rodInfo[i].axialDir.z };
|
||
SVzNL3DPoint pt2 = { rodInfo[i].center.x + len * rodInfo[i].normalDir.x,
|
||
rodInfo[i].center.y + len * rodInfo[i].normalDir.y,
|
||
rodInfo[i].center.z + len * rodInfo[i].normalDir.z };
|
||
//显示轴向量
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << (float)rodInfo[i].startPt.x << "," << (float)rodInfo[i].startPt.y << "," << (float)rodInfo[i].startPt.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << (float)rodInfo[i].endPt.x << "," << (float)rodInfo[i].endPt.y << "," << (float)rodInfo[i].endPt.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
//显示法向量
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << (float)pt2.x << "," << (float)pt2.y << "," << (float)pt2.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
lineIdx++;
|
||
}
|
||
sw.close();
|
||
}
|
||
#define SCREW_TEST_GROUP 1
|
||
void screwTest(void)
|
||
{
|
||
const char* dataPath[SCREW_TEST_GROUP] = {
|
||
"F:/ShangGu/项目/冠钦项目/螺杆测量/数据/模拟数据/", //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
|
||
{1,4},
|
||
};
|
||
|
||
const char* ver = wd_rodAndBarDetectionVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
for (int grp = 0; grp < SCREW_TEST_GROUP; grp++)
|
||
{
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =7;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
|
||
//转成plyTxt格式
|
||
//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
|
||
//wdSavePlyTxt(_scan_file, scanLines);
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
double rodDiameter = 10.0;
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = rodDiameter/4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||
cornerParam.minEndingGap_z = 5.0;
|
||
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
||
cornerParam.jumpCornerTh_2 = 60;
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 10;
|
||
growParam.yDeviation_max = 20.0;
|
||
growParam.maxSkipDistance = 20.0;
|
||
growParam.zDeviation_max = 50.0;//
|
||
growParam.minLTypeTreeLen = 10; //mm, 螺杆长度
|
||
growParam.minVTypeTreeLen = 10; //mm
|
||
|
||
bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道
|
||
int errCode = 0;
|
||
std::vector<SSX_hexHeadScrewInfo> screwInfo;
|
||
sx_hexHeadScrewMeasure(
|
||
scanLines,
|
||
isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
|
||
cornerParam,
|
||
filterParam,
|
||
growParam,
|
||
rodDiameter,
|
||
screwInfo,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDScan_RGBD(_scan_file, scanLines, screwInfo);
|
||
sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
|
||
_outputChanneltInfo(_scan_file, screwInfo);
|
||
}
|
||
}
|
||
}
|
||
|
||
#define ROD_POSITION_TEST_GROUP 1
|
||
void rodPositionTest(void)
|
||
{
|
||
const char* dataPath[ROD_POSITION_TEST_GROUP] = {
|
||
"F:/ShangGu/项目/冠钦项目/棒材抓取/", //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
|
||
{1,8},
|
||
};
|
||
|
||
const char* ver = wd_rodAndBarDetectionVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
for (int grp = 0; grp < ROD_POSITION_TEST_GROUP; grp++)
|
||
{
|
||
SSG_planeCalibPara poseCalibPara;
|
||
//初始化成单位阵
|
||
poseCalibPara.planeCalib[0] = 1.0;
|
||
poseCalibPara.planeCalib[1] = 0.0;
|
||
poseCalibPara.planeCalib[2] = 0.0;
|
||
poseCalibPara.planeCalib[3] = 0.0;
|
||
poseCalibPara.planeCalib[4] = 1.0;
|
||
poseCalibPara.planeCalib[5] = 0.0;
|
||
poseCalibPara.planeCalib[6] = 0.0;
|
||
poseCalibPara.planeCalib[7] = 0.0;
|
||
poseCalibPara.planeCalib[8] = 1.0;
|
||
poseCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
//char calibFile[250];
|
||
//sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
//poseCalibPara = _readCalibPara(calibFile);
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =1;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
|
||
//转成plyTxt格式
|
||
//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
|
||
//wdSavePlyTxt(_scan_file, scanLines);
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSX_rodParam rodParam;
|
||
rodParam.diameter = 52.0; //圆棒直径
|
||
rodParam.len = 290;
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 60; //45度角
|
||
cornerParam.scale = rodParam.diameter / 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||
cornerParam.minEndingGap_z = 5.0;
|
||
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
||
cornerParam.jumpCornerTh_2 = 60;
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 5;
|
||
growParam.yDeviation_max = 10.0;
|
||
growParam.maxSkipDistance = 10.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 100; //mm, 螺杆长度
|
||
growParam.minVTypeTreeLen = 100; //mm
|
||
|
||
bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道
|
||
int errCode = 0;
|
||
std::vector<SSX_rodPositionInfo> rodInfo;
|
||
sx_rodPositioning(
|
||
scanLines,
|
||
poseCalibPara,
|
||
cornerParam,
|
||
filterParam,
|
||
growParam,
|
||
rodParam,
|
||
rodInfo,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDScan_RGBD_rodInfo(_scan_file, scanLines, rodInfo);
|
||
sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
|
||
_outputRodtInfo(_scan_file, rodInfo);
|
||
}
|
||
}
|
||
}
|
||
|
||
int main()
|
||
{
|
||
#if 0 //螺杆定位测试
|
||
screwTest();
|
||
#else //棒材抓取定位测试
|
||
rodPositionTest();
|
||
#endif
|
||
return 0;
|
||
}
|
||
|
||
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
|
||
// 调试程序: F5 或调试 >“开始调试”菜单
|
||
|
||
// 入门使用技巧:
|
||
// 1. 使用解决方案资源管理器窗口添加/管理文件
|
||
// 2. 使用团队资源管理器窗口连接到源代码管理
|
||
// 3. 使用输出窗口查看生成输出和其他消息
|
||
// 4. 使用错误列表窗口查看错误
|
||
// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
|
||
// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
|