697 lines
20 KiB
C++
697 lines
20 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。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "planeLocalization_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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#include <limits>
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typedef struct
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{
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int r;
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int g;
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int b;
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}SG_color;
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typedef struct
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{
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int nPointIdx;
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double x;
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double y;
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double z;
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float r;
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float g;
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float b;
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} SPointXYZRGB;
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, const 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 wdReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return;
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std::vector< SVzNL3DPosition> a_line;
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int ptIdx = 0;
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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}
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a_line.clear();
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ptIdx = 0;
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}
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else if (0 == strncmp("{", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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float leftX, leftY;
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float rightX, rightY;
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sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
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SVzNL3DPosition a_pt;
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a_pt.pt3D.x = X;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = Z;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_line.push_back(a_pt);
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}
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}
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//last line
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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inputFile.close();
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return;
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}
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void wd_gridScan_GetROIData(std::vector<std::vector< SVzNL3DPosition>>& scanData, SVzNLRangeD roi_y, std::vector<std::vector< SVzNL3DPosition>>& roiData)
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{
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int lineNum = (int)scanData.size();
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int linePtNum = (int)scanData[0].size();
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int globalPtStart = INT_MAX;
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int globalPtEnd = 0;
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int lineStart = INT_MAX;
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int lineEnd = 0;
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition >& lineData = scanData[line];
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int ptSize = (int)lineData.size();
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int vldNum = 0;
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int ptStart = INT_MAX;
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int ptEnd = 0;
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for (int i = 0; i < ptSize; i++)
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{
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if (lineData[i].pt3D.z > 1e-4)
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{
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if ((lineData[i].pt3D.y < roi_y.min) || (lineData[i].pt3D.y > roi_y.max))
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lineData[i].pt3D = { 0.0, 0.0, 0.0 };
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}
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if (lineData[i].pt3D.z > 1e-4)
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{
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if (ptStart > i)
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ptStart = i;
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ptEnd = i;
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vldNum++;
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}
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}
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if (vldNum > 0)
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{
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if (globalPtStart > ptStart)
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globalPtStart = ptStart;
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if (globalPtEnd < ptEnd)
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globalPtEnd = ptEnd;
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if (lineStart > line)
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lineStart = line;
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lineEnd = line;
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}
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}
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int vldLineNum = lineEnd - lineStart + 1;
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int vldPtNum = globalPtEnd - globalPtStart + 1;
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roiData.resize(vldLineNum);
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for (int line = 0; line < vldLineNum; line++)
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{
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roiData[line].resize(vldPtNum);
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for (int i = 0; i < vldPtNum; i++)
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roiData[line][i] = scanData[line + lineStart][i + globalPtStart];
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}
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return;
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}
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void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData,
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float lineV, int maxTimeStamp, int clockPerSecond)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanData.size();
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed:" << lineV << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = (int)scanData[line].size();
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sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition& pt3D = scanData[line][i];
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float x = (float)pt3D.pt3D.x;
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float y = (float)pt3D.pt3D.y;
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float z = (float)pt3D.pt3D.z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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}
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sw.close();
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}
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void _outputPlaneInfo(char* fileName, SSX_planeInfo planeInfo)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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sprintf_s(dataStr, 250, "距离: %g (mm)", planeInfo.distance);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "偏离引导线: %g (mm)", planeInfo.deviation);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "前进方向: %g (度)", planeInfo.dirAngle_deg);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "机鼻点: (%g , %g, %g)", planeInfo.nosePoint.x, planeInfo.nosePoint.y, planeInfo.nosePoint.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "方向向量(轴向): (%g , %g, %g)", planeInfo.axis.x, planeInfo.axis.y, planeInfo.axis.z);
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sw << dataStr << std::endl;
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sw.close();
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}
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void _outputRGBDScan_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines
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)
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{
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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int ptIdx = pt3D->nPointIdx & 0xFFFF;
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if (ptIdx > 0)
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{
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rgb = objColor[ptIdx % 8];
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size = 3;
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}
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else //if (pt3D->nPointIdx == 0)
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{
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rgb = { 200, 200, 200 };
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size = 1;
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}
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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}
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sw.close();
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}
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void _outputRGBDScan_superCluster_result(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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SSX_planeInfo& planePose
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)
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{
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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if (planePose.nosePoint.z > 1e-4)
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realLines += 1;
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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int superIdx = pt3D->nPointIdx & 0xffff;
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int flag = pt3D->nPointIdx >> 16;
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if (flag == 1) //机鼻
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{
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rgb = { 255, 0, 0 };
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size = 20;
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}
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else if(flag == 2) //机身
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{
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rgb = { 255, 0, 0 };
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size = 5;
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}
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else if (flag == 4) //发动机
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{
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rgb = { 255, 255, 0 };
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size = 5;
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}
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else if (superIdx > 0)
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{
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rgb = objColor[superIdx % 8];
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size = 3;
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}
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else //if (pt3D->nPointIdx == 0)
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{
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rgb = { 200, 200, 200 };
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size = 1;
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}
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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}
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if (planePose.nosePoint.z > 1e-4)
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{
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sw << "Line_" << lineIdx << "_0_1" << std::endl;
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lineIdx++;
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rgb = { 255, 0, 0 };
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size = 20;
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float x = (float)planePose.nosePoint.x;
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float y = (float)planePose.nosePoint.y;
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float z = (float)planePose.nosePoint.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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//输出姿态
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//输出方向线条
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rgb = { 0, 0, 255 };
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size = 5;
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SVzNL3DPoint pt1, pt2;
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pt1 = { planePose.nosePoint.x - planePose.axis.x * 2000.0,
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planePose.nosePoint.y - planePose.axis.y * 2000.0,
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planePose.nosePoint.z - planePose.axis.z * 2000.0 };
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pt2 = { planePose.nosePoint.x + planePose.axis.x * 40000.0,
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planePose.nosePoint.y + planePose.axis.y * 40000.0,
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planePose.nosePoint.z + planePose.axis.z * 40000.0 };
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << pt2.x << "," << pt2.y << "," << pt2.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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}
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sw.close();
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}
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void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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return;
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int lineIdx = 0;
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int null_lines = 0;
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bool counterNull = true;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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if (true == removeZeros)
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{
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int vldPtNum = 0;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z > 1e-4)
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vldPtNum++;
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}
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linePtNum = vldPtNum;
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}
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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bool isNull = true;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
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if ((pt3D->z > 1e-4) && (isNull == true))
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isNull = false;
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if ((true == removeZeros) && (pt3D->z < 1e-4))
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continue;
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float x = (float)pt3D->x;
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float y = (float)pt3D->y;
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float z = (float)pt3D->z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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if (true == counterNull)
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{
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if (true == isNull)
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null_lines++;
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else
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counterNull = false;
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}
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}
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*headNullLines = null_lines;
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sw.close();
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}
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void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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//调平矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
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sw << dataStr << std::endl;
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//地面高度
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sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
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sw << dataStr << std::endl;
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//反向旋转矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
|
|
sw << dataStr << 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;
|
|
}
|
|
|
|
SSX_planeParkingParam _readParkingPara(char* fileName)
|
|
{
|
|
SSX_planeParkingParam parkingPara;
|
|
memset(&parkingPara, 0, sizeof(SSX_planeParkingParam));
|
|
|
|
std::ifstream inputFile(fileName);
|
|
std::string linedata;
|
|
|
|
if (inputFile.is_open() == false)
|
|
return parkingPara;
|
|
|
|
//调平矩阵
|
|
float x, y, z;
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), "parkingPoint: { %f, %f, %f }", &x, &y, &z);
|
|
parkingPara.parkingPoint = { x, y, z };
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), "guideLinePoint: { %f, %f, %f }", &x, &y, &z);
|
|
parkingPara.guideLinePoint = { x, y, z };
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), "guidingRange: %f", &x);
|
|
parkingPara.guidingRange = x;
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), "parkingRange: %f", &x);
|
|
parkingPara.parkingRange = x;
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), "distFromNoseToWheel: %f", &x);
|
|
parkingPara.distFromNoseToWheel = x;
|
|
|
|
inputFile.close();
|
|
return parkingPara;
|
|
}
|
|
|
|
#define TEST_COMPUTE_GROUND_PARA 0
|
|
#define TEST_COMPUTE_POSITION 1
|
|
#define TEST_GROUP 1
|
|
int main()
|
|
{
|
|
const char* dataPath[TEST_GROUP] = {
|
|
"F:/ShangGu/项目/水木宏创/停机位停靠引导/数据/20260613_144419-波音737/", //0
|
|
};
|
|
|
|
SVzNLRange fileIdx[TEST_GROUP] = {
|
|
{1,43},
|
|
};
|
|
|
|
const char* ver = wd_PlaneLocalizationVersion();
|
|
printf("ver:%s\n", ver);
|
|
|
|
#if TEST_COMPUTE_GROUND_PARA
|
|
int cvtGrp = 0;
|
|
char _calib_datafile[256];
|
|
sprintf_s(_calib_datafile, "%sLaserData_1.txt", dataPath[cvtGrp]);
|
|
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
|
wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
|
|
|
int lineNum = (int)scanData.size();
|
|
if (scanData.size() > 0)
|
|
{
|
|
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(scanData);
|
|
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
|
|
_outputCalibPara(calibFile, calibPara);
|
|
|
|
#if 1
|
|
for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
|
|
{
|
|
//fidx =4;
|
|
char _scan_file[256];
|
|
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[cvtGrp], fidx);
|
|
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
|
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
|
|
double groundHOffset = 200; //去除地面参数
|
|
lineNum = (int)scanLines.size();
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
int linePtNum = scanLines[line].size();
|
|
for (int j = 0; j < linePtNum; j++)
|
|
{
|
|
SVzNL3DPoint a_pt;
|
|
a_pt = _ptRotate(scanLines[line][j].pt3D, calibPara.planeCalib);
|
|
//if (a_pt.y >= (calibPara.planeHeight - groundHOffset))
|
|
// a_pt = { 0.0, 0.0, 0.0 };
|
|
scanLines[line][j].pt3D = a_pt;
|
|
}
|
|
}
|
|
sprintf_s(_scan_file, "%sLaserData_%d_ground_calib.txt", dataPath[cvtGrp], fidx);
|
|
int headNullLines = 0;
|
|
_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
|
|
}
|
|
#endif
|
|
printf("%s: calib done!\n", _calib_datafile);
|
|
}
|
|
#endif
|
|
|
|
#if TEST_COMPUTE_POSITION
|
|
for (int grp = 0; grp < TEST_GROUP; grp++)
|
|
{
|
|
SSG_planeCalibPara groundCalibPara;
|
|
//初始化成单位阵
|
|
groundCalibPara.planeCalib[0] = 1.0;
|
|
groundCalibPara.planeCalib[1] = 0.0;
|
|
groundCalibPara.planeCalib[2] = 0.0;
|
|
groundCalibPara.planeCalib[3] = 0.0;
|
|
groundCalibPara.planeCalib[4] = 1.0;
|
|
groundCalibPara.planeCalib[5] = 0.0;
|
|
groundCalibPara.planeCalib[6] = 0.0;
|
|
groundCalibPara.planeCalib[7] = 0.0;
|
|
groundCalibPara.planeCalib[8] = 1.0;
|
|
groundCalibPara.planeHeight = -1.0;
|
|
for (int i = 0; i < 9; i++)
|
|
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
|
groundCalibPara = _readCalibPara(calibFile);
|
|
|
|
sprintf_s(calibFile, "%sparking_para.txt", dataPath[grp]);
|
|
SSX_planeParkingParam parkingParam = _readParkingPara(calibFile);
|
|
|
|
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
|
|
|
|
SSG_treeGrowParam growParam;
|
|
growParam.maxLineSkipNum = 10;
|
|
growParam.yDeviation_max = 300.0;
|
|
growParam.maxSkipDistance = 300.0;
|
|
growParam.zDeviation_max = 300.0;//
|
|
growParam.minLTypeTreeLen = 500; //mm
|
|
growParam.minVTypeTreeLen = 500; //mm
|
|
|
|
int errCode = 0;
|
|
#if _OUTPUT_DEBUG_DATA
|
|
std::vector< std::vector<SVzNL3DPosition>> debugData;
|
|
#endif
|
|
SSX_planeInfo planeInfo = wd_planeLocalization(
|
|
scanLines,
|
|
groundCalibPara,
|
|
parkingParam,
|
|
growParam,
|
|
#if _OUTPUT_DEBUG_DATA
|
|
debugData,
|
|
#endif
|
|
& errCode);
|
|
|
|
long t2 = (long)GetTickCount64();
|
|
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
|
//输出测试结果
|
|
#if _OUTPUT_DEBUG_DATA
|
|
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
|
_outputRGBDScan_superCluster_result(_scan_file, debugData, planeInfo);
|
|
#endif
|
|
sprintf_s(_scan_file, "%sresult\\%d_planePise_info.txt", dataPath[grp], fidx);
|
|
_outputPlaneInfo(_scan_file, planeInfo);
|
|
printf("done\n");
|
|
printf(" distance=%f, devi=%f, angle=%f\n", planeInfo.distance, planeInfo.deviation, planeInfo.dirAngle_deg);
|
|
}
|
|
}
|
|
#endif
|
|
}
|
|
|
|
// 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
|