SX_lapWeldDetection
version 1.2.0 :焊缝（平缝）识别添加博清模拟数据中的凸起焊缝，通过参数选择识别类型（不支持自动识别）
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@ -744,6 +744,19 @@ void _removeZeroLines_XYZ(std::vector<std::vector< SVzNL3DPosition>>& scanData)
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return;
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}
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void _outputWeldInfo(char* outFileName, std::vector<SVzNL3DPoint>& weldRawPoints)
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{
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std::ofstream sw(outFileName);
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char dataStr[250];
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for (int i = 0; i < (int)weldRawPoints.size(); i++)
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{
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sprintf_s(dataStr, 250, "id_%d: (%g, %g, %g)", i+1, weldRawPoints[i].x, weldRawPoints[i].y, weldRawPoints[i].z);
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sw << dataStr << std::endl;
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}
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sw.close();
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}
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#define CONVERT_TO_GRID 0
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#define TEST_COMPUTE_CALIB_PARA 0
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#define TEST_COMPUTE_POSITION 1
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@ -916,15 +929,16 @@ void lapWeldTest()
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#define TEST_BQ_CALIB_PARA 0
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#define TEST_BQ_WELD_SEAM 1
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#define BQ_TEST_GROUP 1
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#define BQ_TEST_GROUP 2
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void BQ_thinWeldSeamTest()
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{
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const char* dataPath[BQ_TEST_GROUP] = {
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"F:/ShangGu/项目/冠钦_博清科技/焊缝识别/数据/", //0
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"F:/ShangGu/项目/冠钦_博清科技/焊缝识别/博清实验室模拟数据/", //0
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};
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SVzNLRange fileIdx[BQ_TEST_GROUP] = {
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{1,4},
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{1,4},{1,2}
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};
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@ -1003,7 +1017,7 @@ void BQ_thinWeldSeamTest()
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#if TEST_BQ_WELD_SEAM
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//for (int group = 0; group < TEST_GROUPS; group++)
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for (int grp = 0; grp < BQ_TEST_GROUP; grp++)
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for (int grp = 1; grp < BQ_TEST_GROUP; grp++)
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{
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SSG_planeCalibPara groundCalibPara;
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//初始化成单位阵
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@ -1020,8 +1034,11 @@ void BQ_thinWeldSeamTest()
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for (int i = 0; i < 9; i++)
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groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
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char calibFile[250];
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if (0 == grp)
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{
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sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
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groundCalibPara = _readCalibPara(calibFile);
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}
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double para_chkWidth_wide = 2.5f;
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@ -1029,22 +1046,32 @@ void BQ_thinWeldSeamTest()
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SVzNLRangeD gapParam;
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SWD_valleyParam valleyParam;
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valleyParam.chkWin_width = 2.5; //mm, 检测2.5mm宽的V型
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valleyParam.chkWin_width = 5.0; // 2.5; //mm, 检测2.5mm宽的V型
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valleyParam.maxWidth = 20.0; //最大宽度20mm，用于过滤虚假信号
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valleyParam.minHeight = 1.0;
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valleyParam.minHeight = 0.5;
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SSG_treeGrowParam growParam;
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growParam.maxLineSkipNum = 50;
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growParam.yDeviation_max = 1.0;
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growParam.yDeviation_max = 1.5;
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growParam.maxSkipDistance = 30.0;
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growParam.zDeviation_max = 5.0;//
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growParam.minLTypeTreeLen = 50; //mm,
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growParam.minVTypeTreeLen = 50; //mm
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EWD_FlawType detectType;
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if(0 == grp)
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detectType = keWD_FlawType_Depression;
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else
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detectType = keWD_FlawType_Protrusion;
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for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
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{
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//fidx = 2;
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char _scan_file[256];
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if(0 == grp)
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sprintf_s(_scan_file, "%s%d_LaserData_Jl26C077.txt", dataPath[grp], fidx);
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else
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sprintf_s(_scan_file, "%s%d_LaserData_Jh26B083.txt", dataPath[grp], fidx);
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printf("process: %s......\n", _scan_file);
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std::vector<std::vector< SVzNL3DPosition>> scanLines;
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@ -1059,6 +1086,9 @@ void BQ_thinWeldSeamTest()
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std::vector<SSG_gapFeatureTree> trees;
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for (int i = 0; i < (int)scanLines.size(); i++)
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{
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if (i == 117)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& a_line = scanLines[i];
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std::vector< SSG_basicFeatureGap> line_valleys;
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sx_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);//调平，去除地面
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@ -1074,11 +1104,12 @@ void BQ_thinWeldSeamTest()
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a_line,
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i,
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valleyParam,
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detectType,
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line_valleys);
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#endif
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bool isLastLine = i == ((int)scanLines.size() - 1) ? true : false;
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sg_lineGapsGrowing(
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sg_lineGapsGrowing_treeFirst(
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i,
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isLastLine,
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line_valleys,
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@ -1127,6 +1158,9 @@ void BQ_thinWeldSeamTest()
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std::vector< std::vector<SVzNL3DPoint>> multiSeam;
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multiSeam.push_back(weldOps);
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_outputRGBDScanLapWeld_RGBD(outFileName, scanLines, multiSeam, true);
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sprintf_s(outFileName, "%sresult\\LaserLine%d_weldInfo.txt", dataPath[grp], fidx);
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_outputWeldInfo(outFileName, weldOps);
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}
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}
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#endif
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@ -1133,4 +1133,5 @@ SG_APISHARED_EXPORT void wd_getLineVFlaws(
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std::vector<SVzNL3DPosition>& a_line,
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const int lineIdx,
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const SWD_valleyParam valleyParam,
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const EWD_FlawType detectFlawType,
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std::vector< SSG_basicFeatureGap>& valleys);
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@ -6,6 +6,14 @@
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#define PI 3.14159265358979323846
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typedef enum
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{
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keWD_FlawType_Uknown = 0,
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keWD_FlawType_Depression, //凹陷
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keWD_FlawType_Protrusion, //凸起
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keSG_FlawType_Dep_Prot, //凹陷和凸起混合
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} EWD_FlawType;
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// 定义欧拉角结构体（单位：度）
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typedef struct{
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double roll; // 绕X轴旋转（横滚）
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@ -90,6 +98,12 @@ typedef struct
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int end;
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}SWD_Interval; //区间
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typedef struct SWD_IndexedValue
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{
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int idx;
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double value;
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}SWD_IndexedValue;
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typedef struct
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{
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bool validFlag; //指示结果是否有效
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@ -9702,7 +9702,7 @@ if (i == 98)
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return;
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}
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enum STATES { null = 0, UP, DOWN };
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enum STATES { null = 0, UP, DOWN, USED };
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struct posAttri
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{
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int peakPos;
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@ -9797,8 +9797,17 @@ float _computeHeight(SVzNL3DPoint& startPt, SVzNL3DPoint& endPt, SVzNL3DPoint& v
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float height = fabs(_a * valleyPt.y + _b * valleyPt.z + _c) / sqrt(pow(_a, 2) + pow(_b, 2));
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return height;
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}
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bool _sortFormZMaxToMin(const SWD_IndexedValue& a, const SWD_IndexedValue& b) {
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return a.value > b.value;
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}
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bool _sortFormZMinToMax(const SWD_IndexedValue& a, const SWD_IndexedValue& b) {
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return a.value < b.value;
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}
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/* startId, endId: 有效点的起止位置。对于栅格数据格式，开始的空点和结束的空点都不是有效点 */
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void _valleyDetect(
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//凹陷检测（depression)
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void _depressionDetect(
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std::vector<SVzNL3DPosition>& a_line,
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const int lineIdx, const int startId, const int endId,
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std::vector<posAttri>& deriv_1_peaks,
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@ -9816,19 +9825,32 @@ void _valleyDetect(
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double y_start = a_line[startId].pt3D.y;
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double y_end = a_line[endId].pt3D.y;
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//逐个peak检测：正peak
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//按peak（DOWN）值进行排序
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std::vector<SWD_IndexedValue> indexedPeaks;
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for (int i = 0; i < deriv_2_peaks.size(); i++)
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{
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if (i == 153)
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int kkk = 1;
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posAttri a_pos = deriv_2_peaks[i];
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if ((a_pos.peakState == DOWN) && (deriv_2[a_pos.peakPos] < 0))
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{
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SWD_IndexedValue a_indexdPeak;
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a_indexdPeak.idx = i;
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a_indexdPeak.value = a_line[a_pos.peakPos].pt3D.z;
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indexedPeaks.push_back(a_indexdPeak);
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}
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}
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std::sort(indexedPeaks.begin(), indexedPeaks.end(), _sortFormZMaxToMin);
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//逐个peak检测：正peak
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for (int i = 0; i < (int)indexedPeaks.size(); i++)
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{
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int idx = indexedPeaks[i].idx;
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if (idx == 153)
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int kkk = 1;
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posAttri a_pos = deriv_2_peaks[idx];
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//检查两侧
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int preEdge = -1;
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for (int j = a_pos.peakPos - 1; j > 0; j--)
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{
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if (buff[j].peakState == DOWN)
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if ( (buff[j].peakState == DOWN)|| (buff[j].peakState == USED))
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break;
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else if (buff[j].peakState == UP)
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{
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@ -9840,7 +9862,7 @@ void _valleyDetect(
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int postEdge = -1;
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for (int j = a_pos.peakPos + 1; j < (int)a_line.size(); j++)
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{
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if (buff[j].peakState == UP)
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if ((buff[j].peakState == UP)|| (buff[j].peakState == USED))
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break;
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else if (buff[j].peakState == DOWN)
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{
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@ -9924,6 +9946,9 @@ void _valleyDetect(
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a_valley.gap_width = width;
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a_valley.gap_depth = height;
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valleys.push_back(a_valley);
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buff[preEdge].peakState = USED;
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buff[postEdge].peakState = USED;
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}
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}
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}
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@ -9931,14 +9956,169 @@ void _valleyDetect(
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}
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}
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}
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//凸起检测（protrusion)
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void _protrusionDetect(
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std::vector<SVzNL3DPosition>& a_line,
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const int lineIdx, const int startId, const int endId,
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std::vector<posAttri>& deriv_1_peaks,
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std::vector<posAttri>& deriv_2_peaks,
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std::vector<double>& deriv_1,
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std::vector<double>& deriv_2,
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std::vector<SSG_basicFeatureGap>& valleys,
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const SWD_valleyParam valleyParam)
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{
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std::vector< posAttri> buff;
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buff.resize(a_line.size());
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for (int i = 0; i < deriv_1_peaks.size(); i++)
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buff[deriv_1_peaks[i].peakPos] = deriv_1_peaks[i];
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double y_start = a_line[startId].pt3D.y;
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double y_end = a_line[endId].pt3D.y;
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//按peak（UP）值进行排序
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std::vector<SWD_IndexedValue> indexedPeaks;
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for (int i = 0; i < deriv_2_peaks.size(); i++)
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{
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posAttri a_pos = deriv_2_peaks[i];
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if ((a_pos.peakState == UP) && (deriv_2[a_pos.peakPos] > 0))
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{
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SWD_IndexedValue a_indexdPeak;
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a_indexdPeak.idx = i;
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a_indexdPeak.value = a_line[a_pos.peakPos].pt3D.z;
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indexedPeaks.push_back(a_indexdPeak);
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}
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}
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std::sort(indexedPeaks.begin(), indexedPeaks.end(), _sortFormZMinToMax);
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//逐个peak检测：正peak
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for (int i = 0; i < (int)indexedPeaks.size(); i++)
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{
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if (i == 153)
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int kkk = 1;
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int idx = indexedPeaks[i].idx;
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posAttri a_pos = deriv_2_peaks[idx];
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//检查两侧
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int preEdge = -1;
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for (int j = a_pos.peakPos - 1; j > 0; j--)
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{
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if ( (buff[j].peakState == UP)|| (buff[j].peakState == USED))
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break;
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else if (buff[j].peakState == DOWN)
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{
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if (deriv_1[j] < 0)
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preEdge = j;
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break;
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}
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}
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int postEdge = -1;
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for (int j = a_pos.peakPos + 1; j < (int)a_line.size(); j++)
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{
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if ( (buff[j].peakState == DOWN) || (buff[j].peakState == USED))
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break;
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else if (buff[j].peakState == UP)
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{
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if (deriv_1[j] > 0)
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postEdge = j;
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break;
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}
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}
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//
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if ((preEdge >= 0) && (postEdge >= 0)) //初步符合凸起特点
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{
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float edge_value_pre = deriv_1[preEdge];
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float edge_value_post = deriv_1[postEdge];
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//检测对称性
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float min_value, max_value;
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if ((-edge_value_pre) < edge_value_post)
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{
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min_value = -edge_value_pre;
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max_value = edge_value_post;
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}
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else
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{
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max_value = -edge_value_pre;
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min_value = edge_value_post;
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}
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if (min_value > max_value / 5) //2023.05.02: 放宽。当凹陷在斜面上时，不再是maxValue/2的理想情况
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{
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//检查凹陷宽度深度，滤除噪声
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float th_pre = edge_value_pre * 0.5;
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int edge_pos_pre = -1;
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for (int j = preEdge; j >= 0; j--)
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{
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if ((deriv_1[j] >= th_pre) && (a_line[j].nPointIdx >= 0)) //非填充点
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{
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edge_pos_pre = j;
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break;
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}
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}
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float th_post = edge_value_post * 0.5;
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int edge_pos_post = -1;
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for (int j = postEdge; j < (int)a_line.size(); j++)
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{
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if ((deriv_1[j] <= th_post) && (a_line[j].nPointIdx >= 0)) //非填充点
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{
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edge_pos_post = j;
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break;
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}
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}
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//检测宽度
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if ((edge_pos_pre >= 0) && (edge_pos_post >= 0))
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{
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//float width = a_line->m_p3DPositiont[edge_pos_post].pt3D.y - a_line->m_p3DPositiont[edge_pos_pre].pt3D.y;
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float width = a_line[postEdge].pt3D.y - a_line[preEdge].pt3D.y;
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if (width < valleyParam.maxWidth)
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{
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float height = _computeHeight(a_line[edge_pos_pre].pt3D,
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a_line[edge_pos_post].pt3D,
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a_line[a_pos.peakPos].pt3D);
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if (height > valleyParam.minHeight)
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{
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//精确确定peak点
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int realPeakPos = preEdge;
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for (int m = preEdge; m <= postEdge; m++)
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{
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if ((a_line[realPeakPos].pt3D.z > a_line[m].pt3D.z) && (a_line[m].nPointIdx >= 0))
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realPeakPos = m;
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}
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SSG_basicFeatureGap a_valley;
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memset(&a_valley, 0, sizeof(SSG_basicFeatureGap));
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a_valley.gapPeak.nPointIdx = realPeakPos;
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a_valley.gapPeak.pt3D = a_line[realPeakPos].pt3D;
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a_valley.gapPt_0.nPointIdx = edge_pos_pre;
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a_valley.gapPt_0.pt3D = a_line[edge_pos_pre].pt3D;
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a_valley.gapPt_1.nPointIdx = edge_pos_post;
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a_valley.gapPt_1.pt3D = a_line[edge_pos_post].pt3D;
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a_valley.lineIdx = lineIdx;
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a_valley.gap_start = a_line[preEdge].pt3D.y;
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a_valley.gap_width = width;
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a_valley.gap_depth = height;
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valleys.push_back(a_valley);
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buff[preEdge].peakState = USED;
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buff[postEdge].peakState = USED;
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}
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}
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}
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}
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}
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}
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}
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/* 支持栅格数据（要求输入栅格数据） */
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//提取扫描线上的V型Valley
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void wd_getLineVFlaws(
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std::vector<SVzNL3DPosition>& a_line,
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const int lineIdx,
|
||||
const SWD_valleyParam valleyParam,
|
||||
const EWD_FlawType detectFlawType,
|
||||
std::vector< SSG_basicFeatureGap>& valleys)
|
||||
{
|
||||
if (lineIdx == 286)
|
||||
@ -10004,7 +10184,11 @@ void wd_getLineVFlaws(
|
||||
//使用窄窗口
|
||||
//凹陷：二阶导为极值，在极值的两边有一负一正的一阶导极值。
|
||||
//float innerPara_max_valley_width = 20.0; //内部参数。控制最大凹陷检测宽度，用于过滤虚假凹陷
|
||||
_valleyDetect(a_line, lineIdx, startId, endId, deriv_1_peaks, deriv_2_peaks, deriv_1_narrow, deriv_2_narrow, valleys, valleyParam);
|
||||
if(keWD_FlawType_Depression == detectFlawType)
|
||||
_depressionDetect(a_line, lineIdx, startId, endId, deriv_1_peaks, deriv_2_peaks, deriv_1_narrow, deriv_2_narrow, valleys, valleyParam);
|
||||
else if (keWD_FlawType_Protrusion == detectFlawType)
|
||||
_protrusionDetect(a_line, lineIdx, startId, endId, deriv_1_peaks, deriv_2_peaks, deriv_1_narrow, deriv_2_narrow, valleys, valleyParam);
|
||||
//else if (keSG_FlawType_Dep_Prot == detectFlawType)
|
||||
|
||||
}
|
||||
|
||||
|
||||
@ -7,7 +7,8 @@
|
||||
|
||||
//version 1.0.0 :焊缝（平缝）识别检测算法初始发布
|
||||
//version 1.1.0 :焊缝（平缝）识别修正回归测试中发现的bug
|
||||
std::string m_strVersion = "weldSeamAlgo_1.1.0";
|
||||
//version 1.2.0 :焊缝（平缝）识别添加博清模拟数据中的凸起焊缝，通过参数选择识别类型（不支持自动识别）
|
||||
std::string m_strVersion = "weldSeamAlgo_1.2.0";
|
||||
|
||||
const char* wd_weldSeamAlgoVersion(void)
|
||||
{
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user