diff --git a/sourceCode/SG_baseDataType.h b/sourceCode/SG_baseDataType.h index 3f719fb..5cf7052 100644 --- a/sourceCode/SG_baseDataType.h +++ b/sourceCode/SG_baseDataType.h @@ -114,14 +114,6 @@ typedef struct int idx; }SSG_intPair; -typedef struct -{ - int data_0; - int data_1; - double value1; - double value2; -}SSG_intPairRelationD; - typedef struct { int flag; diff --git a/sourceCode/workpieceHolePositioning.cpp b/sourceCode/workpieceHolePositioning.cpp index a6a70e9..3975ae6 100644 --- a/sourceCode/workpieceHolePositioning.cpp +++ b/sourceCode/workpieceHolePositioning.cpp @@ -34,12 +34,22 @@ //version 1.6.2 : 拓普发算法代码同步。 //version 1.6.3 : 拓普发5种工件算法。共3个API。 工件2和工作5使用API2, 工件3和工件4使用API3。 //version 1.6.4 : 拓普发5种工件添加正反判断。 -std::string m_strVersion = "HolePostion 1.6.4"; +//version 1.6.5 : 拓普发工件4和工件5姿态计算优化，首先寻找垂直方向孔（原算法首先寻找水平方向孔）。 +std::string m_strVersion = "HolePostion 1.6.5"; const char* wd_workpieceHolePositioningVersion(void) { return m_strVersion.c_str(); } +typedef struct +{ + int data_0; + int data_1; + double pointDistance; + double distFromCenterToLine; //参考中心点到两点构成的直线的距离 + double pointZDiff; +}SSG_pointPairRelationD; + #ifdef _DEBUG_OUTPUT // 二维 int vector (灰度像素 0~255) 转 Mat cv::Mat vec2Int2VisMat(const std::vector>& data) @@ -1947,20 +1957,54 @@ void _distanceSeparate( return; } -void _computeDistanceRelationships(std::vector& a_grp, std::vector< SSG_intPairRelationD>& distanceRelations) +void _computeDistanceRelationships(std::vector& indice, std::vector& holes, const SVzNL3DPoint refPoint, std::vector< SSG_pointPairRelationD>& distanceRelations) { - for (int m = 0; m < (int)a_grp.size(); m++) + for (int m = 0; m < (int)indice.size(); m++) { - SWD_HoleInfo& hole_1 = a_grp[m]; - for (int n = m + 1; n < (int)a_grp.size(); n++) + int idx1 = indice[m]; + SWD_HoleInfo& hole_1 = holes[idx1]; + for (int n = m + 1; n < (int)indice.size(); n++) { - SWD_HoleInfo& hole_2 = a_grp[n]; + int idx2 = indice[n]; + SWD_HoleInfo& hole_2 = holes[idx2]; double distance = sqrt(pow(hole_1.center.x - hole_2.center.x, 2) + pow(hole_1.center.y - hole_2.center.y, 2)); - SSG_intPairRelationD a_pair; + + double _a, _b, _c; + compute2ptLine(hole_1.center, hole_2.center, &_a, &_b, &_c); + double dist2 = computePtDistToLine(refPoint.x, refPoint.y, _a, _b, _c); + + SSG_pointPairRelationD a_pair; + a_pair.data_0 = idx1; + a_pair.data_1 = idx2; + a_pair.pointDistance = distance; + a_pair.distFromCenterToLine = dist2; + a_pair.pointZDiff = abs(hole_1.center.z - hole_2.center.z); + distanceRelations.push_back(a_pair); + } + } + return; +} + +void _computeDistanceRelationships_2(std::vector& holes, const SVzNL3DPoint refPoint, std::vector< SSG_pointPairRelationD>& distanceRelations) +{ + for (int m = 0; m < (int)holes.size(); m++) + { + SWD_HoleInfo& hole_1 = holes[m]; + for (int n = m + 1; n < (int)holes.size(); n++) + { + SWD_HoleInfo& hole_2 = holes[n]; + double distance = sqrt(pow(hole_1.center.x - hole_2.center.x, 2) + pow(hole_1.center.y - hole_2.center.y, 2)); + + double _a, _b, _c; + compute2ptLine(hole_1.center, hole_2.center, &_a, &_b, &_c); + double dist2 = computePtDistToLine(refPoint.x, refPoint.y, _a, _b, _c); + + SSG_pointPairRelationD a_pair; a_pair.data_0 = m; a_pair.data_1 = n; - a_pair.value1 = distance; - a_pair.value2 = abs(hole_1.center.z - hole_2.center.z); + a_pair.pointDistance = distance; + a_pair.distFromCenterToLine = dist2; + a_pair.pointZDiff = abs(hole_1.center.z - hole_2.center.z); distanceRelations.push_back(a_pair); } } @@ -2006,7 +2050,7 @@ void wd_workpieceHolePositioning_3( { //行处理 //调平，去除地面 wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1); - wd_lineDataR(scanLinesInput[i], groundCalibPara.planeCalib, -1); + //wd_lineDataR(scanLinesInput[i], groundCalibPara.planeCalib, -1); } //过滤掉凹段 @@ -2402,7 +2446,8 @@ void wd_workpieceHolePositioning_3( //生成目标 //内部参数 double smallHoleMinDistance = 8.0; - double maxDistanceFromCenterToLine = 25.0; + double maxDistanceFromCenterToLine = 1.0; + SVzNLRangeD vHoleDistance = {45.0, 60.0}; double reverseJudgeDistToCenterTH = 33.0; double midPointToLongerHoleDIstTh = 20.0; // double distP1P2_short_minTh = 35.0; @@ -2426,188 +2471,191 @@ void wd_workpieceHolePositioning_3( //搜索相信小孔 std::vector searchResults; searchObjectInRange(p0.center, smallHoles, distRange, deltaZ, searchResults); - //根据距离进行分组 - std::vector> groups; - _distanceSeparate(searchResults, smallHoles, bigHoleDiameter, groups); - if (groups.size() == 0) //工件3和工作4的特点是小孔分为上下各3个。分组 - continue; - std::vector> distancesToCenter; - distancesToCenter.resize(groups.size()); - for (int grp = 0; grp < (int)groups.size(); grp++) + std::vector< SSG_pointPairRelationD> clusterSmallHoleRelations; + _computeDistanceRelationships(searchResults, smallHoles, p0.center, clusterSmallHoleRelations); + + //搜索垂直方向 + double minDistToLine = -1; + SSG_pointPairRelationD bestPair; + for (int m = 0; m < (int)clusterSmallHoleRelations.size(); m++) { - distancesToCenter[grp].resize(groups[grp].size()); - for (int m = 0; m < (int)groups[grp].size(); m++) + if ((clusterSmallHoleRelations[m].pointDistance > vHoleDistance.min) && + (clusterSmallHoleRelations[m].pointDistance < vHoleDistance.max) && + (clusterSmallHoleRelations[m].distFromCenterToLine < maxDistanceFromCenterToLine) && + (clusterSmallHoleRelations[m].pointZDiff < smallHoleParam.H / 4)) { - double dist = sqrt(pow(p0.center.x - groups[grp][m].center.x, 2) + - pow(p0.center.y - groups[grp][m].center.y, 2)); - distancesToCenter[grp][m] = dist; + if (minDistToLine < 0) + { + minDistToLine = clusterSmallHoleRelations[m].distFromCenterToLine; + bestPair = clusterSmallHoleRelations[m]; + } + else if (minDistToLine > clusterSmallHoleRelations[m].distFromCenterToLine) + { + minDistToLine = clusterSmallHoleRelations[m].distFromCenterToLine; + bestPair = clusterSmallHoleRelations[m]; + } } } - //搜索每组中距离大于大孔直径0.8倍的目标 + SWD_HoleInfo p1, p2; bool foundObj = false; bool isYDIr = true; bool isReverse = false; - for (int grp = 0; grp < (int)groups.size(); grp++) + if (minDistToLine >= 0) { - std::vector& a_grp = groups[grp]; - if (a_grp.size() < 2) - continue; + p1 = smallHoles[bestPair.data_0]; + p2 = smallHoles[bestPair.data_1]; - std::vector< SSG_intPairRelationD> distanceRelations; - _computeDistanceRelationships(a_grp, distanceRelations); - double minDistance = distanceRelations[0].value1; - for (int m = 1; m < (int)distanceRelations.size(); m ++) - minDistance = minDistance > distanceRelations[m].value1 ? distanceRelations[m].value1 : minDistance; - if (minDistance < smallHoleMinDistance) //有非法小孔 - continue; - - std::vector< SSG_intPairRelationD> validRelations; - for (int m = 0; m < (int)distanceRelations.size(); m++) + foundObj = true; + isYDIr = false; + //判断正反 + bool judeOk = false; + for (int n = 0; n < (int)searchResults.size(); n++) { - if (distanceRelations[m].value1 > bigHoleDiameter * 0.8) - validRelations.push_back(distanceRelations[m]); - } + int idx = searchResults[n]; + if ( (idx == bestPair.data_0) || (idx == bestPair.data_1)) + continue; - if (validRelations.size() == 1) - { - int idx1 = validRelations[0].data_0; - int idx2= validRelations[0].data_1; - p1 = a_grp[idx1]; - p2 = a_grp[idx2]; - foundObj = true; - - double dist1 = distancesToCenter[grp][idx1]; - double dist2 = distancesToCenter[grp][idx2]; - if ((dist1 > reverseJudgeDistToCenterTH) && (dist2 > reverseJudgeDistToCenterTH)) //longer + double distToCenter = sqrt(pow(p0.center.x - smallHoles[idx].center.x, 2) + + pow(p0.center.y - smallHoles[idx].center.y, 2)); + double _distToP1 = sqrt(pow(p1.center.x - smallHoles[idx].center.x, 2) + + pow(p1.center.y - smallHoles[idx].center.y, 2)); + if ((distToCenter > reverseJudgeDistToCenterTH) && (_distToP1 < midPointToLongerHoleDIstTh)) { - if (p1.center.y < p0.center.y) //长的在上面，反 + judeOk = true; + if (smallHoles[idx].center.y < p0.center.y) isReverse = true; - foundObj = true; break; } - else if ((dist1 < reverseJudgeDistToCenterTH) && (dist2 < reverseJudgeDistToCenterTH)) //shorter - { - if (p1.center.y > p0.center.y) //短的在下面，反 - isReverse = true; - foundObj = true; - break; - } - break; } - else if (validRelations.size() > 1) + if (false == judeOk) { - SSG_intPairRelationD bestPair = validRelations[0]; - for (int m = 1; m < (int)validRelations.size(); m++) + for (int n = 0; n < (int)searchResults.size(); n++) { - if (bestPair.value2 > validRelations[m].value2) - bestPair = validRelations[m]; - } - int idx1 = bestPair.data_0; - int idx2 = bestPair.data_1; - p1 = a_grp[idx1]; - p2 = a_grp[idx2]; + int idx = searchResults[n]; + if ((idx == bestPair.data_0) || (idx == bestPair.data_1)) + continue; - double dist1 = distancesToCenter[grp][idx1]; - double dist2 = distancesToCenter[grp][idx2]; - if ((dist1 > reverseJudgeDistToCenterTH) && (dist2 > reverseJudgeDistToCenterTH)) //longer + double distToCenter = sqrt(pow(p0.center.x - smallHoles[idx].center.x, 2) + + pow(p0.center.y - smallHoles[idx].center.y, 2)); + double _distToP2 = sqrt(pow(p2.center.x - smallHoles[idx].center.x, 2) + + pow(p2.center.y - smallHoles[idx].center.y, 2)); + if ((distToCenter > reverseJudgeDistToCenterTH) && (_distToP2 < midPointToLongerHoleDIstTh)) + { + judeOk = true; + if (smallHoles[idx].center.y < p0.center.y) + isReverse = true; + break; + } + } + } + } + else + { + //根据距离进行分组 + std::vector> groups; + _distanceSeparate(searchResults, smallHoles, bigHoleDiameter, groups); + if (groups.size() == 0) //工件3和工作4的特点是小孔分为上下各3个。分组 + continue; + + std::vector> distancesToCenter; + distancesToCenter.resize(groups.size()); + for (int grp = 0; grp < (int)groups.size(); grp++) + { + distancesToCenter[grp].resize(groups[grp].size()); + for (int m = 0; m < (int)groups[grp].size(); m++) { - if ((bestPair.value1 > distP1P2_long_minTh)&&(bestPair.value1 < distP1P2_long_maxTh)) + double dist = sqrt(pow(p0.center.x - groups[grp][m].center.x, 2) + + pow(p0.center.y - groups[grp][m].center.y, 2)); + distancesToCenter[grp][m] = dist; + } + } + //搜索每组中距离大于大孔直径0.8倍的目标 + for (int grp = 0; grp < (int)groups.size(); grp++) + { + std::vector& a_grp = groups[grp]; + if (a_grp.size() < 2) + continue; + + std::vector< SSG_pointPairRelationD> distanceRelations; + _computeDistanceRelationships_2(a_grp, p0.center, distanceRelations); + double minDistance = distanceRelations[0].pointDistance; + for (int m = 1; m < (int)distanceRelations.size(); m++) + minDistance = minDistance > distanceRelations[m].pointDistance ? distanceRelations[m].pointDistance : minDistance; + if (minDistance < smallHoleMinDistance) //有非法小孔 + continue; + + std::vector< SSG_pointPairRelationD> validRelations; + for (int m = 0; m < (int)distanceRelations.size(); m++) + { + if (distanceRelations[m].pointDistance > bigHoleDiameter * 0.8) + validRelations.push_back(distanceRelations[m]); + } + + if (validRelations.size() == 1) + { + int idx1 = validRelations[0].data_0; + int idx2 = validRelations[0].data_1; + p1 = a_grp[idx1]; + p2 = a_grp[idx2]; + foundObj = true; + + double dist1 = distancesToCenter[grp][idx1]; + double dist2 = distancesToCenter[grp][idx2]; + if ((dist1 > reverseJudgeDistToCenterTH) && (dist2 > reverseJudgeDistToCenterTH)) //longer { if (p1.center.y < p0.center.y) //长的在上面，反 isReverse = true; foundObj = true; break; } - } - else if ((dist1 < reverseJudgeDistToCenterTH) && (dist2 < reverseJudgeDistToCenterTH)) //shorter - { - if ( (bestPair.value1 > distP1P2_short_minTh)&& (bestPair.value1 < distP1P2_short_maxTh)) + else if ((dist1 < reverseJudgeDistToCenterTH) && (dist2 < reverseJudgeDistToCenterTH)) //shorter { if (p1.center.y > p0.center.y) //短的在下面，反 isReverse = true; foundObj = true; break; } + break; } - } - } - if (false == foundObj) - { - //尝试第二种方法，寻找垂直方向的目标 - if (groups.size() == 2) - { - SWD_HoleInfo pTmp1, pTmp2; - double minDistToLine = -1; - for (int m = 0; m < (int)groups[0].size(); m++) + else if (validRelations.size() > 1) { - SWD_HoleInfo& pp1 = groups[0][m]; - for (int n = 0; n < (int)groups[1].size(); n++) + SSG_pointPairRelationD bestPair = validRelations[0]; + for (int m = 1; m < (int)validRelations.size(); m++) { - SWD_HoleInfo& pp2 = groups[1][n]; - double _a, _b, _c; - compute2ptLine( pp1.center, pp2.center, &_a, &_b, &_c); - double dist = computePtDistToLine(p0.center.x, p0.center.x, _a, _b, _c); - if (minDistToLine < 0) - { - minDistToLine = dist; - pTmp1 = pp1; - pTmp2 = pp2; - } - else - { - if (minDistToLine > dist) - { - minDistToLine = dist; - pTmp1 = pp1; - pTmp2 = pp2; - } - } + if (bestPair.pointZDiff > validRelations[m].pointZDiff) + bestPair = validRelations[m]; } - } - if ((minDistToLine >= 0)&&(minDistToLine < maxDistanceFromCenterToLine)) - { - p1 = pTmp1; - p2 = pTmp2; - foundObj = true; - isYDIr = false; - //判断正反 - bool judeOk = false; - for (int n = 0; n < (int)groups[0].size(); n++) - { - double _dist = sqrt(pow(p1.center.x - groups[0][n].center.x, 2) + - pow(p1.center.y - groups[0][n].center.y, 2)); - if ((distancesToCenter[0][n] > reverseJudgeDistToCenterTH) && (_dist < midPointToLongerHoleDIstTh)) - { - if (groups[0][n].center.y < p0.center.y) - { - judeOk = true; - isReverse = true; - break; - } - } - } - if (false == judeOk) - { - for (int n = 0; n < (int)groups[1].size(); n++) - { - double _dist = sqrt(pow(p2.center.x - groups[1][n].center.x, 2) + - pow(p2.center.y - groups[1][n].center.y, 2)); - if ((distancesToCenter[1][n] > reverseJudgeDistToCenterTH) && (_dist < midPointToLongerHoleDIstTh)) - { - if (groups[1][n].center.y < p0.center.y) - { - judeOk = true; - isReverse = true; - break; - } - } - } - } - } - } + int idx1 = bestPair.data_0; + int idx2 = bestPair.data_1; + p1 = a_grp[idx1]; + p2 = a_grp[idx2]; + double dist1 = distancesToCenter[grp][idx1]; + double dist2 = distancesToCenter[grp][idx2]; + if ((dist1 > reverseJudgeDistToCenterTH) && (dist2 > reverseJudgeDistToCenterTH)) //longer + { + if ((bestPair.pointDistance > distP1P2_long_minTh) && (bestPair.pointDistance < distP1P2_long_maxTh)) + { + if (p1.center.y < p0.center.y) //长的在上面，反 + isReverse = true; + foundObj = true; + break; + } + } + else if ((dist1 < reverseJudgeDistToCenterTH) && (dist2 < reverseJudgeDistToCenterTH)) //shorter + { + if ((bestPair.pointDistance > distP1P2_short_minTh) && (bestPair.pointDistance < distP1P2_short_maxTh)) + { + if (p1.center.y > p0.center.y) //短的在下面，反 + isReverse = true; + foundObj = true; + break; + } + } + } + } } if (false == foundObj) continue; diff --git a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp index a668473..7b8ebee 100644 --- a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp +++ b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp @@ -978,12 +978,17 @@ void _XOYprojection( int px1 = (int)((x1 - x_range.min) / scale + sideWidth); int py1 = (int)((y1 - y_range.min) / scale + sideWidth); //x轴 + double mx2 = a_hole.center.x - dirAngleLen * a_hole.x_dir.x; + double my2 = a_hole.center.y - dirAngleLen * a_hole.x_dir.y; + int mpx2 = (int)((mx2 - x_range.min) / scale + sideWidth); + int mpy2 = (int)((my2 - y_range.min) / scale + sideWidth); + double x2 = a_hole.center.x + dirAngleLen * a_hole.x_dir.x; double y2 = a_hole.center.y + dirAngleLen * a_hole.x_dir.y; int px2 = (int)((x2 - x_range.min) / scale + sideWidth); int py2 = (int)((y2 - y_range.min) / scale + sideWidth); rgb = { 255, 0, 0 }; //x轴用红色 - cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1); + cv::line(img, cv::Point(mpx2, mpy2), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1); //y轴 x2 = a_hole.center.x + dirAngleLen * a_hole.y_dir.x; y2 = a_hole.center.y + dirAngleLen * a_hole.y_dir.y; @@ -1557,24 +1562,25 @@ void TuoPuFa_holePosition_test2(void) #endif } -#define TPF3_TEST_GROUP 7 +#define TPF3_TEST_GROUP 8 //拓普发工件孔定位（工件定位) -void TuoPuFa_holePosition_test3(void) +void TuoPuFa_holePosition_test4(void) { const char* dataPath[TPF3_TEST_GROUP] = { - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/B10歪/", //7 }; SVzNLRange fileIdx[TPF3_TEST_GROUP] = { {1,11}, {1, 10}, {1,10}, {1,10}, {1, 10}, - {1,10}, {1, 10}, + {1,10}, {1, 10}, {1, 10}, }; const char* ver = wd_workpieceHolePositioningVersion(); @@ -1617,7 +1623,7 @@ void TuoPuFa_holePosition_test3(void) #endif #if TEST_COMPUTE_HOLE - for (int grp = 0; grp < TPF3_TEST_GROUP; grp++) + for (int grp = 7; grp < TPF3_TEST_GROUP; grp++) { SSG_planeCalibPara groundCalibPara; //初始化成单位阵 @@ -1701,7 +1707,7 @@ void TuoPuFa_holePosition_test3(void) sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx); double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; // - double angleDrawLen = 15; + double angleDrawLen = 30; double displayScale = 0.3; cv::String imgName(calibFile); _genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen); @@ -1710,25 +1716,26 @@ void TuoPuFa_holePosition_test3(void) } #endif } -#define TPF4_TEST_GROUP 7 +#define TPF4_TEST_GROUP 8 //拓普发工件孔定位（工件定位) -void TuoPuFa_holePosition_test4(void) +void TuoPuFa_holePosition_test5(void) { const char* dataPath[TPF4_TEST_GROUP] = { - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/B20歪/", //7 }; SVzNLRange fileIdx[TPF4_TEST_GROUP] = { {1,11}, {1, 11}, {1,11}, {1,10}, {1, 10}, - {1,10}, {1, 10}, + {1,10}, {1, 10}, {1, 10}, }; const char* ver = wd_workpieceHolePositioningVersion(); @@ -1771,7 +1778,7 @@ void TuoPuFa_holePosition_test4(void) #endif #if TEST_COMPUTE_HOLE - for (int grp = 0; grp < TPF4_TEST_GROUP; grp++) + for (int grp = 7; grp < TPF4_TEST_GROUP; grp++) { SSG_planeCalibPara groundCalibPara; //初始化成单位阵 @@ -1855,7 +1862,7 @@ void TuoPuFa_holePosition_test4(void) sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx); double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; // - double angleDrawLen = 15; + double angleDrawLen = 30; double displayScale = 0.3; cv::String imgName(calibFile); _genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen); @@ -1867,28 +1874,28 @@ void TuoPuFa_holePosition_test4(void) #define TPF5_TEST_GROUP 14 //拓普发工件孔定位（工件定位) -void TuoPuFa_holePosition_test5(void) +void TuoPuFa_holePosition_test3(void) { const char* dataPath[TPF5_TEST_GROUP] = { - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/8层/", //7 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/9层/", //8 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/10层/", //9 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/11层/", //10 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/12层/", //11 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/13层/", //12 - "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/14层/", //13 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/8层/", //7 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/9层/", //8 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/10层/", //9 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/11层/", //10 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/12层/", //11 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/13层/", //12 + "F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/14层/", //13 }; SVzNLRange fileIdx[TPF5_TEST_GROUP] = { - {1,10}, {1, 10}, {1,10}, {1,10}, {1, 10}, + {1,12}, {1, 10}, {1,10}, {1,10}, {1, 10}, {1,11}, {1, 10}, {1,11}, {1,10}, {1,10}, {1, 10}, {1,10}, {1,11}, {1,10} }; @@ -2742,9 +2749,9 @@ int main() { //TuoPuFa_holePosition_test(); //TuoPuFa_holePosition_test2(); - TuoPuFa_holePosition_test3(); + //TuoPuFa_holePosition_test3(); TuoPuFa_holePosition_test4(); - //TuoPuFa_holePosition_test5(); + TuoPuFa_holePosition_test5(); } else if (keSG_华航孔定位 == testMode) HuaHang_holePosition_test();