YouJiang_sheetPositioning v1.0.0
初始版本
This commit is contained in:
parent
3ef8cfd43c
commit
73cee324c7
@ -216,6 +216,17 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "workpieceHolePositioning",
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{95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD}
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "YouJiang_sheetPositioning", "YouJiang_sheetPositioning\YouJiang_sheetPositioning.vcxproj", "{BDE8197F-8FD3-4DEF-B1EA-F6A2C7C5DA9B}"
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "YouJiang_sheetPositioning_test", "YouJiang_sheetPositioning_test\YouJiang_sheetPositioning_test.vcxproj", "{80CBF888-79F3-424F-A094-17EDFD452E1E}"
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@ -552,6 +563,22 @@ Global
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172
YouJiang_sheetPositioning/YouJiang_sheetPositioning.vcxproj
Normal file
172
YouJiang_sheetPositioning/YouJiang_sheetPositioning.vcxproj
Normal file
@ -0,0 +1,172 @@
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1101
YouJiang_sheetPositioning_test/YouJiang_sheetPositioning_test.cpp
Normal file
1101
YouJiang_sheetPositioning_test/YouJiang_sheetPositioning_test.cpp
Normal file
File diff suppressed because it is too large
Load Diff
@ -0,0 +1,157 @@
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|
||||
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;</AdditionalIncludeDirectories>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalDependencies>opencv_world480d.lib; YouJiang_sheetPositioning.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;</AdditionalIncludeDirectories>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<SubSystem>Console</SubSystem>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalDependencies>opencv_world480.lib; YouJiang_sheetPositioning.lib;kernel32.lib;user32.lib;gdi32.lib;winspool.lib;comdlg32.lib;advapi32.lib;shell32.lib;ole32.lib;oleaut32.lib;uuid.lib;odbc32.lib;odbccp32.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ClCompile Include="YouJiang_sheetPositioning_test.cpp" />
|
||||
</ItemGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
</Project>
|
||||
@ -2530,7 +2530,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData,
|
||||
#define TEST_COMPUTE_GRASP_POINT 1
|
||||
#define TEST_COMPUTE_CALIB_PARA 0
|
||||
|
||||
#define TEST_GROUP 29
|
||||
#define TEST_GROUP 30
|
||||
#define TEST_TOP_VIEW_GROUP (TEST_GROUP - 8)
|
||||
#define TEST_TOP_ORIEN_GROUP (TEST_GROUP - 6)
|
||||
int main()
|
||||
@ -2619,7 +2619,7 @@ int main()
|
||||
|
||||
#if TEST_COMPUTE_CALIB_PARA
|
||||
char _calib_datafile[256];
|
||||
sprintf_s(_calib_datafile, "F:\\ShangGu\\编织袋数据\\山东现场\\调平数据.txt");
|
||||
sprintf_s(_calib_datafile, "F:/ShangGu/编织袋数据/理想拆包数据2/12_LazerData_Je08A052.txt");
|
||||
int lineNum = 0;
|
||||
float lineV = 0.0f;
|
||||
int dataCalib = 0;
|
||||
@ -2642,10 +2642,10 @@ int main()
|
||||
}
|
||||
//
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_calib_para.txt");
|
||||
sprintf_s(calibFile, "F:/ShangGu/编织袋数据/理想拆包数据2/ground_calib_para.txt");
|
||||
_outputCalibPara(calibFile, calibPara);
|
||||
char _out_file[256];
|
||||
sprintf_s(_out_file, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_grid_calib.txt");
|
||||
sprintf_s(_out_file, "F:/ShangGu/编织袋数据/理想拆包数据2/ground_grid_calib.txt");
|
||||
_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
|
||||
lineV, maxTimeStamp, clockPerSecond);
|
||||
printf("%s: calib done!\n", _calib_datafile);
|
||||
@ -2676,15 +2676,16 @@ int main()
|
||||
"F:\\ShangGu\\纸箱拆垛数据\\480×580mm纸箱rgb点云及2d图像\\", //18
|
||||
"F:\\ShangGu\\编织袋数据\\科一现场\\", //19
|
||||
"F:/ShangGu/编织袋数据/理想拆包数据/", //20
|
||||
"F:/ShangGu/编织袋数据/理想拆包数据2/", //21
|
||||
|
||||
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //21
|
||||
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //22
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //23
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //24
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //25
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //26
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //27
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //28
|
||||
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //22
|
||||
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //23
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //24
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //25
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //26
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //27
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //28
|
||||
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //29
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||||
@ -2692,7 +2693,7 @@ int main()
|
||||
{1,29},{108,135},{0,200}, {1,200}, {1,12},
|
||||
{2,4}, {1,5}, {1,1}, {1,3}, {1,11},
|
||||
{5,22},{1, 15},{1,15}, {1, 15},{1,7},
|
||||
{1,16},
|
||||
{1,16}, {10,12},
|
||||
|
||||
{1,21},{1,28},
|
||||
{3,3}, {1,51}, {4,83}, {1,74}, {1,61}, {1,84}
|
||||
@ -2721,7 +2722,7 @@ int main()
|
||||
SG_bagPositionParam algoParam;
|
||||
algoParam.outputMode = 0; //0-按序输出（左上），1-按大小输出（最大）
|
||||
int endGroup = TEST_GROUP - 1;
|
||||
for (int grp = 20; grp <= 20; grp++)
|
||||
for (int grp = 21; grp <= 21; grp++)
|
||||
{
|
||||
if (grp < 10)
|
||||
{
|
||||
@ -2897,7 +2898,7 @@ int main()
|
||||
else if (grp == 20)
|
||||
{
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\理想拆包数据\\ground_calib_para.txt");
|
||||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||||
poseCalibPara = _readCalibPara(calibFile);
|
||||
|
||||
algoParam.bagParam.bagL = 650;
|
||||
@ -2918,7 +2919,31 @@ int main()
|
||||
algoParam.cornerParam.jumpCornerTh_1 = 60;
|
||||
algoParam.cornerParam.jumpCornerTh_2 = 15;
|
||||
}
|
||||
else if ( (grp >= 21) && (grp <= 22))
|
||||
else if (grp == 21)
|
||||
{
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||||
poseCalibPara = _readCalibPara(calibFile);
|
||||
|
||||
algoParam.bagParam.bagL = 650; // 480;
|
||||
algoParam.bagParam.bagW = 420; // 320; //袋子宽40cm
|
||||
algoParam.bagParam.bagH = 160; //袋子高16cm
|
||||
|
||||
algoParam.growParam.maxLineSkipNum = 5;
|
||||
algoParam.growParam.yDeviation_max = 20.0;
|
||||
algoParam.growParam.maxSkipDistance = 20.0;
|
||||
algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
|
||||
algoParam.growParam.minLTypeTreeLen = 50.0; //mm
|
||||
algoParam.growParam.minVTypeTreeLen = 50.0; //mm
|
||||
|
||||
algoParam.cornerParam.cornerTh = 45; //45度角
|
||||
algoParam.cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||||
algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
|
||||
algoParam.cornerParam.minEndingGap_z = 40;
|
||||
algoParam.cornerParam.jumpCornerTh_1 = 60;
|
||||
algoParam.cornerParam.jumpCornerTh_2 = 15;
|
||||
}
|
||||
else if ( (grp >= 22) && (grp <= 23))
|
||||
{
|
||||
algoParam.bagParam.bagL = 750; //袋子长65cm
|
||||
algoParam.bagParam.bagW = 450; //袋子宽40cm
|
||||
@ -3053,13 +3078,13 @@ int main()
|
||||
algoParam.cornerParam.jumpCornerTh_1 = 60;
|
||||
algoParam.cornerParam.jumpCornerTh_2 = 15;
|
||||
}
|
||||
else if ( grp == 21)
|
||||
else if ( grp == 22)
|
||||
{
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
|
||||
poseCalibPara = _readCalibPara(calibFile);
|
||||
}
|
||||
else if (grp == 22)
|
||||
else if (grp == 23)
|
||||
{
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
|
||||
@ -3089,6 +3114,11 @@ int main()
|
||||
sprintf_s(_scan_file, "%s%d_LaserData_Je08A354.txt", dataPath[grp], fidx);
|
||||
laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
||||
}
|
||||
else if (grp == 21)
|
||||
{
|
||||
sprintf_s(_scan_file, "%s%d_LazerData_Je08A052.txt", dataPath[grp], fidx);
|
||||
laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
||||
}
|
||||
else
|
||||
{
|
||||
sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
|
||||
@ -3126,7 +3156,7 @@ int main()
|
||||
int kkk = 1;
|
||||
//行处理
|
||||
//调平，去除地面
|
||||
sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
|
||||
sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight-10);
|
||||
}
|
||||
#if 0 //数据转存
|
||||
sprintf_s(_scan_file, "%sLaserLine%d_grid_RTadjust.txt", dataPath[grp], fidx);
|
||||
@ -3169,7 +3199,7 @@ int main()
|
||||
cv::String img2DName_HOT(_dbg_file);
|
||||
cv::imwrite(img2DName_HOT, project2D_color_HOT);
|
||||
#endif
|
||||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||||
printf("%s: %d(ms), result=%d, errCode=%d!\n", _scan_file, (int)(t2 - t1), (int)objOps.size(), errCode);
|
||||
}
|
||||
else if (grp < TEST_TOP_ORIEN_GROUP)
|
||||
{
|
||||
|
||||
@ -548,9 +548,9 @@ SSG_planeCalibPara _readCalibPara(char* fileName)
|
||||
}
|
||||
|
||||
|
||||
#define CONVERT_TO_GRID 0
|
||||
#define CONVERT_TO_GRID 1
|
||||
#define COMPUTE_CALIB_PARA 0
|
||||
#define BAG_THREAD_POSITIONING 1
|
||||
#define BAG_THREAD_POSITIONING 0
|
||||
#define TEST_GROUP 3
|
||||
int main()
|
||||
{
|
||||
@ -570,14 +570,14 @@ int main()
|
||||
printf("ver:%s\n", ver);
|
||||
|
||||
#if CONVERT_TO_GRID
|
||||
int convertGrp = 2;
|
||||
for (int fidx = 17; fidx <= 17; fidx++)
|
||||
//int convertGrp = 2;
|
||||
for (int fidx = 1; fidx <= 6; fidx++)
|
||||
{
|
||||
char _scan_file[256];
|
||||
sprintf_s(_scan_file, "%s%dheightline_mm.txt", dataPath[convertGrp], fidx);
|
||||
sprintf_s(_scan_file, "F:/ShangGu/项目/吕宁项目/测高/样品%d.txt", fidx);
|
||||
|
||||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||||
double lineStep = 0.033;
|
||||
double lineStep = 0.096; //0.033;
|
||||
double baseZ = 300.0;
|
||||
vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
|
||||
bool isGridData = checkGridFormat(scanData);
|
||||
@ -587,7 +587,7 @@ int main()
|
||||
std::vector<std::vector< SVzNL3DPosition>> sampleData;
|
||||
downSampleGridData(scanData, 2, sampleData);
|
||||
//将数据恢复为按扫描线存储格式
|
||||
sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[convertGrp], fidx);
|
||||
sprintf_s(_scan_file, "F:/ShangGu/项目/吕宁项目/测高/样品_grid_%d.txt", fidx);
|
||||
_outputScanDataFile(_scan_file, sampleData,0, 0, 0);
|
||||
printf("%s: done.\n", _scan_file);
|
||||
}
|
||||
|
||||
@ -220,19 +220,25 @@ void wd_getSurfaceEdgeFeatures(
|
||||
#endif
|
||||
|
||||
/// <summary>
|
||||
/// 提取激光线上的Jumping特征
|
||||
/// nPointIdx被重新定义成Feature类型
|
||||
/// 算法流程：
|
||||
/// （1）逐点计算前向角和后向角
|
||||
/// （2）逐点计算拐角，顺时针为负，逆时针为正
|
||||
/// （3）搜索正拐角的极大值。
|
||||
/// （4）判断拐角是否为跳变
|
||||
/// 提取激光线上的Z形Jumping特征
|
||||
/// </summary>
|
||||
SG_APISHARED_EXPORT void sg_getLineJumpFeature_cornerMethod(
|
||||
SG_APISHARED_EXPORT void sg_getLineZJumpFeature_cornerMethod(
|
||||
SVzNL3DPosition* lineData,
|
||||
int dataSize,
|
||||
int lineIdx,
|
||||
const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
|
||||
const SSG_cornerParam cornerPara,
|
||||
const bool getTopEdge,
|
||||
std::vector< SSG_basicFeature1D>& jumpFeatures);
|
||||
|
||||
/// <summary>
|
||||
/// 提取激光线上的L形Jumping特征
|
||||
/// </summary>
|
||||
SG_APISHARED_EXPORT void sg_getLineLJumpFeature_cornerMethod(
|
||||
SVzNL3DPosition* lineData,
|
||||
int dataSize,
|
||||
int lineIdx,
|
||||
const SSG_cornerParam cornerPara,
|
||||
const bool getTopEdge,
|
||||
std::vector< SSG_basicFeature1D>& jumpFeatures);
|
||||
|
||||
SG_APISHARED_EXPORT void wd_getLineGloveArcs(
|
||||
|
||||
@ -4851,7 +4851,7 @@ bool compareByIdx(const SSG_pntDirAngle& a, const SSG_pntDirAngle& b) {
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 提取激光线上的Jumping特征, 用于搭接焊缝
|
||||
/// 提取激光线上的Z形Jumping特征, 用于搭接焊缝
|
||||
/// seg端点：z距离大于门限
|
||||
/// nPointIdx被重新定义成Feature类型
|
||||
/// 算法流程：
|
||||
@ -4860,11 +4860,12 @@ bool compareByIdx(const SSG_pntDirAngle& a, const SSG_pntDirAngle& b) {
|
||||
/// （3）搜索正拐角的极大值。
|
||||
/// （4）判断拐角是否为跳变
|
||||
/// </summary>
|
||||
void sg_getLineJumpFeature_cornerMethod(
|
||||
void sg_getLineZJumpFeature_cornerMethod(
|
||||
SVzNL3DPosition* lineData,
|
||||
int dataSize,
|
||||
int lineIdx,
|
||||
const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
|
||||
const SSG_cornerParam cornerPara,
|
||||
const bool getTopEdge,
|
||||
std::vector< SSG_basicFeature1D>& jumpFeatures)
|
||||
{
|
||||
//去除零点
|
||||
@ -4986,188 +4987,43 @@ void sg_getLineJumpFeature_cornerMethod(
|
||||
}
|
||||
|
||||
//搜索拐角极值
|
||||
int _state = 0;
|
||||
int pre_i = -1;
|
||||
int sEdgePtIdx = -1;
|
||||
int eEdgePtIdx = -1;
|
||||
SSG_pntDirAngle* pre_data = NULL;
|
||||
std::vector< SSG_pntDirAngle> cornerPeakP;
|
||||
std::vector< SSG_pntDirAngle> cornerPeakM;
|
||||
for (int i = 0, i_max = (int)vldPts.size(); i < i_max; i++)
|
||||
{
|
||||
if (i == 275)
|
||||
int kkk = 1;
|
||||
SSG_pntDirAngle* curr_data = &corners[i];
|
||||
if (curr_data->pntIdx < 0)
|
||||
{
|
||||
if (i == i_max - 1) //最后一个
|
||||
{
|
||||
if (1 == _state) //上升
|
||||
{
|
||||
cornerPeakP.push_back(corners[eEdgePtIdx]);
|
||||
}
|
||||
else if (2 == _state) //下降
|
||||
{
|
||||
cornerPeakM.push_back(corners[eEdgePtIdx]);
|
||||
}
|
||||
}
|
||||
continue;
|
||||
}
|
||||
double cornerMergeScale = cornerPara.scale * 2;
|
||||
_searchCornerPeaks(
|
||||
corners,
|
||||
vldPts,
|
||||
cornerPara,
|
||||
cornerMergeScale,
|
||||
cornerPeakP,
|
||||
cornerPeakM
|
||||
);
|
||||
|
||||
if (NULL == pre_data)
|
||||
{
|
||||
sEdgePtIdx = i;
|
||||
eEdgePtIdx = i;
|
||||
pre_data = curr_data;
|
||||
pre_i = i;
|
||||
continue;
|
||||
}
|
||||
|
||||
eEdgePtIdx = i;
|
||||
double cornerDiff = curr_data->corner - pre_data->corner;
|
||||
switch (_state)
|
||||
{
|
||||
case 0: //初态
|
||||
if (cornerDiff < 0) //下降
|
||||
{
|
||||
_state = 2;
|
||||
}
|
||||
else if (cornerDiff > 0) //上升
|
||||
{
|
||||
_state = 1;
|
||||
}
|
||||
break;
|
||||
case 1: //上升
|
||||
if (cornerDiff < 0) //下降
|
||||
{
|
||||
cornerPeakP.push_back(*pre_data);
|
||||
_state = 2;
|
||||
}
|
||||
break;
|
||||
case 2: //下降
|
||||
if (cornerDiff > 0) // 上升
|
||||
{
|
||||
cornerPeakM.push_back(*pre_data);
|
||||
_state = 1;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
_state = 0;
|
||||
break;
|
||||
}
|
||||
pre_data = curr_data;
|
||||
pre_i = i;
|
||||
}
|
||||
//注意：最后一个不处理，为基座位置
|
||||
|
||||
//极小值点（峰顶）
|
||||
//极值比较，在尺度窗口下寻找局部极值点
|
||||
std::vector< SSG_pntDirAngle> cornerFeatures;
|
||||
double square_distTh = 4 * cornerPara.scale * cornerPara.scale; //2倍的cornerScale。
|
||||
for (int i = 0, i_max = (int)cornerPeakP.size(); i < i_max; i++)
|
||||
for (int i = 0; i < (int)cornerPeakP.size(); i++)
|
||||
{
|
||||
if (cornerPeakP[i].corner < cornerPara.cornerTh)
|
||||
continue;
|
||||
|
||||
bool isPeak = true;
|
||||
//向前搜索
|
||||
int cornerPtIdx = cornerPeakP[i].pntIdx;
|
||||
for (int j = i - 1; j >= 0; j--)
|
||||
if ((abs(cornerPeakP[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].forwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
int prePtIdx = cornerPeakP[j].pntIdx;
|
||||
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[prePtIdx].pt3D.y, 2); // + pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2) ;
|
||||
if (dist > square_distTh) //超出尺度窗口
|
||||
break;
|
||||
|
||||
if (cornerPeakP[i].corner < cornerPeakP[j].corner)
|
||||
{
|
||||
isPeak = false;
|
||||
break;
|
||||
}
|
||||
cornerPeakP[i].type = LINE_FEATURE_RIGHT_ANGLE_HR;
|
||||
cornerFeatures.push_back(cornerPeakP[i]);
|
||||
}
|
||||
//向后搜索
|
||||
if (true == isPeak)
|
||||
else if ((abs(cornerPeakP[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].backwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
cornerPtIdx = cornerPeakP[i].pntIdx;
|
||||
for (int j = i + 1; j < i_max; j++)
|
||||
{
|
||||
int postPtIdx = cornerPeakP[j].pntIdx;
|
||||
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[postPtIdx].pt3D.y, 2); // +pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2);
|
||||
if (dist > square_distTh) //超出尺度窗口
|
||||
break;
|
||||
|
||||
if (cornerPeakP[i].corner < cornerPeakP[j].corner)
|
||||
{
|
||||
isPeak = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (true == isPeak)
|
||||
{
|
||||
if ((abs(cornerPeakP[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].forwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
cornerPeakP[i].type = LINE_FEATURE_RIGHT_ANGLE_HR;
|
||||
cornerFeatures.push_back(cornerPeakP[i]);
|
||||
}
|
||||
else if ((abs(cornerPeakP[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].backwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
cornerPeakP[i].type = LINE_FEATURE_RIGHT_ANGLE_FH;
|
||||
cornerFeatures.push_back(cornerPeakP[i]);
|
||||
}
|
||||
cornerPeakP[i].type = LINE_FEATURE_RIGHT_ANGLE_FH;
|
||||
cornerFeatures.push_back(cornerPeakP[i]);
|
||||
}
|
||||
}
|
||||
for (int i = 0, i_max = (int)cornerPeakM.size(); i < i_max; i++)
|
||||
for (int i = 0; i < (int)cornerPeakM.size(); i++)
|
||||
{
|
||||
if (abs(cornerPeakM[i].corner) < cornerPara.cornerTh)
|
||||
continue;
|
||||
|
||||
bool isPeak = true;
|
||||
//向前搜索
|
||||
int cornerPtIdx = cornerPeakM[i].pntIdx;
|
||||
for (int j = i - 1; j >= 0; j--)
|
||||
if ((abs(cornerPeakM[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakM[i].forwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
int prePtIdx = cornerPeakM[j].pntIdx;
|
||||
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[prePtIdx].pt3D.y, 2); // + pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2) ;
|
||||
if (dist > square_distTh) //超出尺度窗口
|
||||
break;
|
||||
|
||||
if (abs(cornerPeakM[i].corner) < abs(cornerPeakM[j].corner))
|
||||
{
|
||||
isPeak = false;
|
||||
break;
|
||||
}
|
||||
cornerPeakM[i].type = LINE_FEATURE_RIGHT_ANGLE_HF;
|
||||
cornerFeatures.push_back(cornerPeakM[i]);
|
||||
}
|
||||
//向后搜索
|
||||
if (true == isPeak)
|
||||
else if ((abs(cornerPeakM[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakM[i].backwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
cornerPtIdx = cornerPeakM[i].pntIdx;
|
||||
for (int j = i + 1; j < i_max; j++)
|
||||
{
|
||||
int postPtIdx = cornerPeakM[j].pntIdx;
|
||||
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[postPtIdx].pt3D.y, 2); // +pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2);
|
||||
if (dist > square_distTh) //超出尺度窗口
|
||||
break;
|
||||
|
||||
if (abs(cornerPeakM[i].corner) < abs(cornerPeakM[j].corner))
|
||||
{
|
||||
isPeak = false;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (true == isPeak)
|
||||
{
|
||||
if ((abs(cornerPeakM[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakM[i].forwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
cornerPeakM[i].type = LINE_FEATURE_RIGHT_ANGLE_HF;
|
||||
cornerFeatures.push_back(cornerPeakM[i]);
|
||||
}
|
||||
else if ((abs(cornerPeakM[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakM[i].backwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
{
|
||||
cornerPeakM[i].type = LINE_FEATURE_RIGHT_ANGLE_RH;
|
||||
cornerFeatures.push_back(cornerPeakM[i]);
|
||||
}
|
||||
cornerPeakM[i].type = LINE_FEATURE_RIGHT_ANGLE_RH;
|
||||
cornerFeatures.push_back(cornerPeakM[i]);
|
||||
}
|
||||
}
|
||||
|
||||
@ -5190,9 +5046,18 @@ void sg_getLineJumpFeature_cornerMethod(
|
||||
{
|
||||
SSG_basicFeature1D a_feature;
|
||||
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
|
||||
a_feature.jumpPos = vldPts[pntIdx_1].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_1].nPointIdx };
|
||||
a_feature.featureValue = cornerFeatures[i].backward_z;
|
||||
if (true == getTopEdge)
|
||||
{
|
||||
a_feature.jumpPos = vldPts[pntIdx_2].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_2].nPointIdx }; //取
|
||||
a_feature.featureValue = cornerFeatures[i+1].forward_z;
|
||||
}
|
||||
else
|
||||
{
|
||||
a_feature.jumpPos = vldPts[pntIdx_1].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_1].nPointIdx }; //取
|
||||
a_feature.featureValue = cornerFeatures[i].backward_z;
|
||||
}
|
||||
jumpFeatures.push_back(a_feature);
|
||||
}
|
||||
}
|
||||
@ -5210,9 +5075,246 @@ void sg_getLineJumpFeature_cornerMethod(
|
||||
{
|
||||
SSG_basicFeature1D a_feature;
|
||||
a_feature.featureType = LINE_FEATURE_L_JUMP_H2L;
|
||||
a_feature.jumpPos = vldPts[pntIdx_2].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_2].nPointIdx };
|
||||
a_feature.featureValue = cornerFeatures[i + 1].forward_z;
|
||||
if (true == getTopEdge)
|
||||
{
|
||||
a_feature.jumpPos = vldPts[pntIdx_1].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_1].nPointIdx };
|
||||
a_feature.featureValue = cornerFeatures[i].backward_z;
|
||||
}
|
||||
else
|
||||
{
|
||||
a_feature.jumpPos = vldPts[pntIdx_2].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_2].nPointIdx };
|
||||
a_feature.featureValue = cornerFeatures[i + 1].forward_z;
|
||||
}
|
||||
jumpFeatures.push_back(a_feature);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
/// <summary>
|
||||
/// 提取激光线上的L形Jumping特征
|
||||
/// 特征定义由绝对定义修改为相对定义
|
||||
/// </summary>
|
||||
void sg_getLineLJumpFeature_cornerMethod(
|
||||
SVzNL3DPosition* lineData,
|
||||
int dataSize,
|
||||
int lineIdx,
|
||||
const SSG_cornerParam cornerPara,
|
||||
const bool getTopEdge,
|
||||
std::vector< SSG_basicFeature1D>& jumpFeatures)
|
||||
{
|
||||
//去除零点
|
||||
std::vector< SVzNL3DPosition> vldPts;
|
||||
std::vector<SSG_RUN> segs;
|
||||
//修改seg的定义。seg端点是两点间距离大于门限的点
|
||||
int segStart = -1, segEnd = -1;
|
||||
for (int i = 0; i < dataSize; i++)
|
||||
{
|
||||
SVzNL3DPosition a_pt = lineData[i];
|
||||
a_pt.nPointIdx = i;
|
||||
if (lineData[i].pt3D.z > 1e-4)
|
||||
vldPts.push_back(a_pt);
|
||||
|
||||
//seg判断
|
||||
if (lineData[i].pt3D.z > 1e-4)
|
||||
{
|
||||
if (segStart < 0)
|
||||
segStart = i;
|
||||
else //检查两点距离
|
||||
{
|
||||
SVzNL3DPosition pre_pt = lineData[i - 1];
|
||||
double diff_z = abs(a_pt.pt3D.z - pre_pt.pt3D.z);
|
||||
if (diff_z > cornerPara.minEndingGap_z)
|
||||
{
|
||||
SSG_RUN a_run;
|
||||
a_run.start = segStart;
|
||||
a_run.len = segEnd - segStart + 1;
|
||||
a_run.value = 1;
|
||||
segs.push_back(a_run);
|
||||
segStart = i;
|
||||
}
|
||||
}
|
||||
segEnd = i;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (segStart >= 0)
|
||||
{
|
||||
SSG_RUN a_run;
|
||||
a_run.start = segStart;
|
||||
a_run.len = segEnd - segStart + 1;
|
||||
a_run.value = 1;
|
||||
segs.push_back(a_run);
|
||||
segStart = -1;
|
||||
segEnd = -1;
|
||||
}
|
||||
}
|
||||
}
|
||||
//last
|
||||
if (segStart >= 0)
|
||||
{
|
||||
SSG_RUN a_run;
|
||||
a_run.start = segStart;
|
||||
a_run.len = segEnd - segStart + 1;
|
||||
a_run.value = 1;
|
||||
segs.push_back(a_run);
|
||||
}
|
||||
|
||||
//计算前向角和后向角
|
||||
std::vector< SSG_pntDirAngle> corners;
|
||||
corners.resize(vldPts.size());
|
||||
for (int i = 0, i_max = (int)vldPts.size(); i < i_max; i++)
|
||||
{
|
||||
if (i == 875)
|
||||
int kkk = 1;
|
||||
|
||||
//前向寻找
|
||||
int pre_i = -1;
|
||||
for (int j = i - 1; j >= 0; j--)
|
||||
{
|
||||
double dist = sqrt(pow(vldPts[i].pt3D.y - vldPts[j].pt3D.y, 2) +
|
||||
pow(vldPts[i].pt3D.z - vldPts[j].pt3D.z, 2));
|
||||
if (dist >= cornerPara.scale)
|
||||
{
|
||||
pre_i = j;
|
||||
break;
|
||||
}
|
||||
}
|
||||
//后向寻找
|
||||
int post_i = -1;
|
||||
for (int j = i + 1; j < i_max; j++)
|
||||
{
|
||||
double dist = sqrt(pow(vldPts[i].pt3D.y - vldPts[j].pt3D.y, 2) +
|
||||
pow(vldPts[i].pt3D.z - vldPts[j].pt3D.z, 2));
|
||||
if (dist >= cornerPara.scale)
|
||||
{
|
||||
post_i = j;
|
||||
break;
|
||||
}
|
||||
}
|
||||
//计算拐角
|
||||
if ((pre_i < 0) || (post_i < 0))
|
||||
{
|
||||
corners[i].pntIdx = -1;
|
||||
corners[i].forwardAngle = 0;
|
||||
corners[i].backwardAngle = 0;
|
||||
corners[i].corner = 0;
|
||||
corners[i].forwardDiffZ = 0;
|
||||
corners[i].backwardDiffZ = 0;
|
||||
corners[i].forward_z = 0;
|
||||
corners[i].backward_z = 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
double tanValue_pre = (vldPts[i].pt3D.z - vldPts[pre_i].pt3D.z) / abs(vldPts[i].pt3D.y - vldPts[pre_i].pt3D.y);
|
||||
double tanValue_post = (vldPts[post_i].pt3D.z - vldPts[i].pt3D.z) / abs(vldPts[post_i].pt3D.y - vldPts[i].pt3D.y);
|
||||
double forwardAngle = atan(tanValue_post) * 180.0 / PI; //沿序号增长方向
|
||||
double backwardAngle = atan(tanValue_pre) * 180.0 / PI; //沿序号减小方向
|
||||
corners[i].pntIdx = i;
|
||||
corners[i].forwardAngle = forwardAngle;
|
||||
corners[i].backwardAngle = backwardAngle;
|
||||
corners[i].corner = -(forwardAngle - backwardAngle); //图像坐标系与正常坐标系y方向相反，所以有“-”号
|
||||
corners[i].forwardDiffZ = vldPts[post_i].pt3D.z - vldPts[i].pt3D.z;
|
||||
corners[i].backwardDiffZ = vldPts[i].pt3D.z - vldPts[pre_i].pt3D.z;
|
||||
corners[i].forward_z = vldPts[post_i].pt3D.z; //沿序号增长方向
|
||||
corners[i].backward_z = vldPts[pre_i].pt3D.z; //沿序号减小方向
|
||||
}
|
||||
}
|
||||
|
||||
//搜索拐角极值
|
||||
std::vector< SSG_pntDirAngle> cornerPeakP;
|
||||
std::vector< SSG_pntDirAngle> cornerPeakM;
|
||||
double cornerMergeScale = cornerPara.scale;
|
||||
_searchCornerPeaks(
|
||||
corners,
|
||||
vldPts,
|
||||
cornerPara,
|
||||
cornerMergeScale,
|
||||
cornerPeakP,
|
||||
cornerPeakM
|
||||
);
|
||||
|
||||
std::vector< SSG_pntDirAngle> cornerFeatures;
|
||||
for (int i = 0; i < (int)cornerPeakP.size(); i++)
|
||||
{
|
||||
double angle_diff1 = abs(cornerPeakP[i].forwardAngle) - abs(cornerPeakP[i].backwardAngle);
|
||||
double angle_diff2 = abs(cornerPeakP[i].backwardAngle) - abs(cornerPeakP[i].forwardAngle);
|
||||
//if ((abs(cornerPeakP[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].forwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
if( angle_diff1 > cornerPara.jumpCornerTh_1)
|
||||
{
|
||||
cornerPeakP[i].type = LINE_FEATURE_RIGHT_ANGLE_HR;
|
||||
cornerFeatures.push_back(cornerPeakP[i]);
|
||||
}
|
||||
//else if ((abs(cornerPeakP[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].backwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
else if(angle_diff2 > cornerPara.jumpCornerTh_1)
|
||||
{
|
||||
cornerPeakP[i].type = LINE_FEATURE_RIGHT_ANGLE_FH;
|
||||
cornerFeatures.push_back(cornerPeakP[i]);
|
||||
}
|
||||
}
|
||||
for (int i = 0; i < (int)cornerPeakM.size(); i++)
|
||||
{
|
||||
double angle_diff1 = abs(cornerPeakM[i].forwardAngle) - abs(cornerPeakM[i].backwardAngle);
|
||||
double angle_diff2 = abs(cornerPeakM[i].backwardAngle) - abs(cornerPeakM[i].forwardAngle);
|
||||
//if ((abs(cornerPeakM[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakM[i].forwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
if (angle_diff1 > cornerPara.jumpCornerTh_1)
|
||||
{
|
||||
cornerPeakM[i].type = LINE_FEATURE_RIGHT_ANGLE_HF;
|
||||
cornerFeatures.push_back(cornerPeakM[i]);
|
||||
}
|
||||
//else if ((abs(cornerPeakM[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakM[i].backwardAngle) > cornerPara.jumpCornerTh_2))
|
||||
else if (angle_diff2 > cornerPara.jumpCornerTh_1)
|
||||
{
|
||||
cornerPeakM[i].type = LINE_FEATURE_RIGHT_ANGLE_RH;
|
||||
cornerFeatures.push_back(cornerPeakM[i]);
|
||||
}
|
||||
}
|
||||
|
||||
//排序
|
||||
std::sort(cornerFeatures.begin(), cornerFeatures.end(), compareByIdx);
|
||||
|
||||
//获得Jump
|
||||
for (int i = 0, i_max = (int)cornerFeatures.size(); i < i_max - 1; i++)
|
||||
{
|
||||
int pntIdx = cornerFeatures[i].pntIdx;
|
||||
if (false == getTopEdge) //取下沿
|
||||
{
|
||||
if ((cornerFeatures[i].type == LINE_FEATURE_RIGHT_ANGLE_FH) || (cornerFeatures[i].type == LINE_FEATURE_RIGHT_ANGLE_HR))
|
||||
{
|
||||
double thickness = abs(cornerFeatures[i].forward_z - cornerFeatures[i].backward_z);
|
||||
if (thickness > cornerPara.minEndingGap_z)
|
||||
{
|
||||
SSG_basicFeature1D a_feature;
|
||||
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
|
||||
a_feature.jumpPos = vldPts[pntIdx].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx].nPointIdx }; //取
|
||||
if (cornerFeatures[i + 1].type == LINE_FEATURE_RIGHT_ANGLE_FH)
|
||||
a_feature.featureValue = cornerFeatures[i].forward_z;
|
||||
else
|
||||
a_feature.featureValue = cornerFeatures[i].backward_z;
|
||||
jumpFeatures.push_back(a_feature);
|
||||
}
|
||||
}
|
||||
}
|
||||
else //取上沿
|
||||
{
|
||||
if ((cornerFeatures[i].type == LINE_FEATURE_RIGHT_ANGLE_HF) || (cornerFeatures[i].type == LINE_FEATURE_RIGHT_ANGLE_RH))
|
||||
{
|
||||
double thickness = abs(cornerFeatures[i].forward_z - cornerFeatures[i].backward_z);
|
||||
if (thickness > cornerPara.minEndingGap_z)
|
||||
{
|
||||
SSG_basicFeature1D a_feature;
|
||||
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
|
||||
a_feature.jumpPos = vldPts[pntIdx].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx].nPointIdx }; //取
|
||||
if (cornerFeatures[i].type == LINE_FEATURE_RIGHT_ANGLE_HF)
|
||||
a_feature.featureValue = cornerFeatures[i].backward_z;
|
||||
else
|
||||
a_feature.featureValue = cornerFeatures[i].forward_z;
|
||||
jumpFeatures.push_back(a_feature);
|
||||
}
|
||||
}
|
||||
|
||||
@ -123,11 +123,12 @@ void sx_getLapWeldPostion(
|
||||
|
||||
std::vector<SSG_basicFeature1D> a_line_features;
|
||||
int dataSize = (int)lineData.size();
|
||||
sg_getLineJumpFeature_cornerMethod(
|
||||
sg_getLineZJumpFeature_cornerMethod(
|
||||
&scanLines[line][0],
|
||||
dataSize,
|
||||
line,
|
||||
cornerPara, //scale通常取bagH的1/4
|
||||
cornerPara,
|
||||
false, //取下沿
|
||||
a_line_features);
|
||||
//薦壺華醱
|
||||
std::vector<SSG_basicFeature1D> vld_features;
|
||||
@ -175,11 +176,12 @@ void sx_getLapWeldPostion(
|
||||
|
||||
std::vector<SSG_basicFeature1D> a_line_features;
|
||||
int dataSize = (int)lineData.size();
|
||||
sg_getLineJumpFeature_cornerMethod(
|
||||
sg_getLineZJumpFeature_cornerMethod(
|
||||
&hLines[line][0],
|
||||
dataSize,
|
||||
line,
|
||||
cornerPara, //scale通常取bagH的1/4
|
||||
cornerPara,
|
||||
false,//取下沿
|
||||
a_line_features);
|
||||
|
||||
//薦壺華醱
|
||||
|
||||
291
sourceCode/YouJiang_sheetPositioning.cpp
Normal file
291
sourceCode/YouJiang_sheetPositioning.cpp
Normal file
@ -0,0 +1,291 @@
|
||||
#include <vector>
|
||||
#include "SG_baseDataType.h"
|
||||
#include "SG_baseAlgo_Export.h"
|
||||
#include "YouJiang_sheetPositioning_Export.h"
|
||||
#include <opencv2/opencv.hpp>
|
||||
|
||||
#define DEBUG_OUT_IMAGE 1
|
||||
|
||||
std::string m_strVersion = "1.0.0";
|
||||
const char* wd_sheetPositionVersion(void)
|
||||
{
|
||||
return m_strVersion.c_str();
|
||||
}
|
||||
|
||||
//计算一个平面调平参数。
|
||||
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
|
||||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||||
SSG_planeCalibPara wd_sheetPosition_getBaseCalibPara(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines)
|
||||
{
|
||||
return sg_getPlaneCalibPara2(scanLines);
|
||||
}
|
||||
|
||||
//相机姿态调平，并去除地面
|
||||
void wd_sheetPosition_lineDataR(
|
||||
std::vector< SVzNL3DPosition>& a_line,
|
||||
const double* camPoseR,
|
||||
double groundH)
|
||||
{
|
||||
lineDataRT_vector(a_line, camPoseR, groundH);
|
||||
}
|
||||
|
||||
//薄片定位
|
||||
//使用语义模块匹配：（1）提取特征（2）基于特征匹配薄片
|
||||
void wd_YouJiang_getSheetPosition(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||||
const SWD_sheetTemplateParam templateParam,
|
||||
const SSG_planeCalibPara groundCalibPara,
|
||||
const SWD_sheetAlgoParam algoParam,
|
||||
SWD_gripState* opState, //操作状态机。指示当前状态
|
||||
int* errCode,
|
||||
std::vector<SWD_sheetGrasper>& resultObjPositions)
|
||||
{
|
||||
int lineNum = (int)scanLines.size();
|
||||
if (lineNum == 0)
|
||||
{
|
||||
*errCode = SG_ERR_3D_DATA_NULL;
|
||||
return;
|
||||
}
|
||||
|
||||
bool isGridData = true;
|
||||
int linePtNum = (int)scanLines[0].size();
|
||||
for (int i = 0; i < lineNum; i++)
|
||||
{
|
||||
if (linePtNum != (int)scanLines[i].size())
|
||||
isGridData = false;//行处理
|
||||
//调平，去除地面
|
||||
wd_sheetPosition_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);
|
||||
}
|
||||
if (false == isGridData)//数据不是网格格式
|
||||
{
|
||||
*errCode = SG_ERR_NOT_GRID_FORMAT;
|
||||
return;
|
||||
}
|
||||
|
||||
//提取薄片上的圆孔
|
||||
//垂直跳变特征提取
|
||||
std::vector<std::vector<SSG_basicFeature1D>> lineJumpFeatures_v;
|
||||
for (int line = 0; line < lineNum; line++)
|
||||
{
|
||||
if (line == 76)
|
||||
int kkk = 1;
|
||||
|
||||
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
|
||||
if (linePtNum != (int)lineData.size())
|
||||
isGridData = false;
|
||||
|
||||
//滤波，滤除异常点
|
||||
sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, algoParam.filterParam);
|
||||
|
||||
std::vector<SSG_basicFeature1D> line_jumpFeatures;
|
||||
int dataSize = (int)lineData.size();
|
||||
/// 提取激光线上的Jumping特征
|
||||
sg_getLineLJumpFeature_cornerMethod(
|
||||
&lineData[0],
|
||||
dataSize,
|
||||
line,
|
||||
algoParam.cornerParam,
|
||||
true, //取上沿
|
||||
line_jumpFeatures);
|
||||
lineJumpFeatures_v.push_back(line_jumpFeatures);
|
||||
}
|
||||
|
||||
if (false == isGridData)//数据不是网格格式
|
||||
{
|
||||
*errCode = SG_ERR_NOT_GRID_FORMAT;
|
||||
return;
|
||||
}
|
||||
|
||||
//生成水平扫描
|
||||
std::vector<std::vector<SVzNL3DPosition>> hLines_raw;
|
||||
hLines_raw.resize(linePtNum);
|
||||
for (int i = 0; i < linePtNum; i++)
|
||||
hLines_raw[i].resize(lineNum);
|
||||
for (int line = 0; line < lineNum; line++)
|
||||
{
|
||||
for (int j = 0; j < linePtNum; j++)
|
||||
{
|
||||
scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
|
||||
hLines_raw[j][line] = scanLines[line][j];
|
||||
hLines_raw[j][line].pt3D.x = scanLines[line][j].pt3D.y;
|
||||
hLines_raw[j][line].pt3D.y = scanLines[line][j].pt3D.x;
|
||||
}
|
||||
}
|
||||
//水平jump特征提取
|
||||
std::vector<std::vector<SSG_basicFeature1D>> lineJumpFeatures_h;
|
||||
int lineNum_h_raw = (int)hLines_raw.size();
|
||||
for (int line = 0; line < lineNum_h_raw; line++)
|
||||
{
|
||||
if (line == 522)
|
||||
int kkk = 1;
|
||||
std::vector<SVzNL3DPosition>& lineData = hLines_raw[line];
|
||||
//滤波，滤除异常点
|
||||
int ptNum = (int)lineData.size();
|
||||
sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], ptNum, algoParam.filterParam);
|
||||
|
||||
std::vector<SSG_basicFeature1D> line_jumpFeatures;
|
||||
int dataSize = (int)lineData.size();
|
||||
/// 提取激光线上的Jumping特征
|
||||
sg_getLineLJumpFeature_cornerMethod(
|
||||
&lineData[0],
|
||||
dataSize,
|
||||
line,
|
||||
algoParam.cornerParam,
|
||||
true, //取上沿
|
||||
line_jumpFeatures);
|
||||
lineJumpFeatures_h.push_back(line_jumpFeatures);
|
||||
}
|
||||
//标注
|
||||
std::vector<std::vector<SSG_featureClusteringInfo>> featureInfoMask;
|
||||
std::vector<std::vector<SVzNL3DPoint>> feature3DInfo;
|
||||
featureInfoMask.resize(lineNum);
|
||||
feature3DInfo.resize(lineNum);
|
||||
for (int i = 0; i < lineNum; i++)
|
||||
{
|
||||
featureInfoMask[i].resize(lineNum_h_raw);
|
||||
feature3DInfo[i].resize(lineNum_h_raw);
|
||||
}
|
||||
|
||||
//垂直标注
|
||||
for (int line = 0; line < lineNum; line++)
|
||||
{
|
||||
if (line == 390)
|
||||
int kkk = 1;
|
||||
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = lineJumpFeatures_v[line];
|
||||
for (int m = 0, m_max = (int)a_lineJumpFeature.size(); m < m_max; m++)
|
||||
{
|
||||
int px = a_lineJumpFeature[m].jumpPos2D.x;
|
||||
int py = a_lineJumpFeature[m].jumpPos2D.y;
|
||||
SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[px][py];
|
||||
a_featureInfo.clusterID = 0;
|
||||
a_featureInfo.featurType = 1;
|
||||
a_featureInfo.featureIdx_v = m;
|
||||
a_featureInfo.featureIdx_h = 0;
|
||||
a_featureInfo.lineIdx = px;
|
||||
a_featureInfo.ptIdx = py;
|
||||
a_featureInfo.flag = 0;
|
||||
SVzNL3DPoint& a_feature3D = feature3DInfo[px][py];
|
||||
a_feature3D = a_lineJumpFeature[m].jumpPos;
|
||||
|
||||
scanLines[px][py].nPointIdx = 1;
|
||||
}
|
||||
}
|
||||
//水平标注
|
||||
for (int line = 0; line < lineNum_h_raw; line++)
|
||||
{
|
||||
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = lineJumpFeatures_h[line];
|
||||
for (int m = 0, m_max = (int)a_lineJumpFeature.size(); m < m_max; m++)
|
||||
{
|
||||
int py = a_lineJumpFeature[m].jumpPos2D.x;
|
||||
int px = a_lineJumpFeature[m].jumpPos2D.y;
|
||||
SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[px][py];
|
||||
if (a_featureInfo.featurType == 0)
|
||||
{
|
||||
a_featureInfo.clusterID = 0;
|
||||
a_featureInfo.lineIdx = px;
|
||||
a_featureInfo.ptIdx = py;
|
||||
a_featureInfo.flag = 0;
|
||||
}
|
||||
a_featureInfo.featurType += 2;
|
||||
a_featureInfo.featureIdx_h = m;
|
||||
SVzNL3DPoint& a_feature3DValue = feature3DInfo[px][py];
|
||||
a_feature3DValue = { a_lineJumpFeature[m].jumpPos.y, a_lineJumpFeature[m].jumpPos.x, a_lineJumpFeature[m].jumpPos.z };
|
||||
|
||||
scanLines[px][py].nPointIdx += 2;
|
||||
}
|
||||
}
|
||||
|
||||
//聚类
|
||||
//采用迭代思想，回归思路进行高效聚类
|
||||
std::vector<std::vector< SVzNL2DPoint>> clusters; //只记录位置
|
||||
std::vector<SVzNL3DRangeD> clustersRoi3D;
|
||||
int clusterID = 1;
|
||||
int clusterCheckWin = 3;
|
||||
for (int y = 0; y < lineNum_h_raw; y++)
|
||||
{
|
||||
for (int x = 0; x < lineNum; x++)
|
||||
{
|
||||
SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[x][y];
|
||||
if ((0 == a_featureInfo.featurType) || (a_featureInfo.clusterID > 0)) //非特征或已经处理
|
||||
continue;
|
||||
|
||||
SVzNL3DPoint& a_feature3DValue = feature3DInfo[x][y];
|
||||
SVzNL3DRangeD a_clusterRoi;
|
||||
a_clusterRoi.xRange.min = a_feature3DValue.x;
|
||||
a_clusterRoi.xRange.max = a_feature3DValue.x;
|
||||
a_clusterRoi.yRange.min = a_feature3DValue.y;
|
||||
a_clusterRoi.yRange.max = a_feature3DValue.y;
|
||||
a_clusterRoi.zRange.min = a_feature3DValue.z;
|
||||
a_clusterRoi.zRange.max = a_feature3DValue.z;
|
||||
|
||||
SVzNL2DPoint a_seedPos = { x, y };
|
||||
std::vector< SVzNL2DPoint> a_cluster;
|
||||
a_cluster.push_back(a_seedPos);
|
||||
wd_gridPointClustering(
|
||||
featureInfoMask,//int，记录特征标记和clusterID，附加一个flag
|
||||
feature3DInfo,//double,记录坐标信息
|
||||
clusterCheckWin, //搜索窗口
|
||||
algoParam.growParam,//聚类条件
|
||||
clusterID, //当前Cluster的ID
|
||||
a_cluster, //result
|
||||
a_clusterRoi
|
||||
);
|
||||
clusters.push_back(a_cluster);
|
||||
clustersRoi3D.push_back(a_clusterRoi);
|
||||
clusterID++;
|
||||
}
|
||||
}
|
||||
int clusterNum = (int)clusters.size();
|
||||
|
||||
//投影和标注。投影的目的是用于模板匹配时的特征处理。以1mm为单位.记录clusterID
|
||||
SVzNL3DRangeD roi3D = sg_getScanDataROI_vector(scanLines);
|
||||
double projectionScale = 1.0; //以1mm为投影尺度
|
||||
int projecction_xw = (int)((roi3D.xRange.max - roi3D.xRange.min) / projectionScale) + 1;
|
||||
int projecction_yh = (int)((roi3D.yRange.max - roi3D.yRange.min) / projectionScale) + 1;
|
||||
std::vector<std::vector<int>> projectionClusters;
|
||||
projectionClusters.resize(projecction_xw);
|
||||
for (int i = 0; i < projecction_yh; i++)
|
||||
projectionClusters[i].resize(projecction_yh);
|
||||
for (int i = 0; i < clusterNum; i++)
|
||||
{
|
||||
std::vector< SVzNL2DPoint>& a_cluster = clusters[i];
|
||||
for (int j = 0; j < (int)clusters.size(); j++)
|
||||
{
|
||||
SVzNL2DPoint& a_pt = a_cluster[i];
|
||||
SVzNL3DPosition& a_pt3d = scanLines[a_pt.x][a_pt.y];
|
||||
int px = (int)((a_pt3d.pt3D.x - roi3D.xRange.min) / projectionScale);
|
||||
int py = (int)((a_pt3d.pt3D.y - roi3D.yRange.min) / projectionScale);
|
||||
projectionClusters[px][py] = i + 1; //clusterID = index + 1
|
||||
}
|
||||
}
|
||||
|
||||
//聚类结果分析
|
||||
//根据大小确定圆孔
|
||||
std::vector<SVzNL3DPoint> clustersCenter;
|
||||
clustersCenter.resize(clusters.size());
|
||||
|
||||
std::vector<int> validIndice;
|
||||
double diameter_th = templateParam.holeDiameter * 0.1;
|
||||
for (int i = 0; i < clusterNum; i++)
|
||||
{
|
||||
double xw = clustersRoi3D[i].xRange.max - clustersRoi3D[i].xRange.min;
|
||||
double yh = clustersRoi3D[i].yRange.max - clustersRoi3D[i].yRange.min;
|
||||
double xw_diff = abs(xw - templateParam.holeDiameter);
|
||||
double yh_diff = abs(yh - templateParam.holeDiameter);
|
||||
if ((xw_diff < diameter_th) && (yh_diff < diameter_th))
|
||||
{
|
||||
validIndice.push_back(i);
|
||||
//计算中心点
|
||||
|
||||
}
|
||||
}
|
||||
//圆孔配对
|
||||
|
||||
|
||||
|
||||
//确定正反和抓取点
|
||||
|
||||
|
||||
|
||||
}
|
||||
67
sourceCode/YouJiang_sheetPositioning_Export.h
Normal file
67
sourceCode/YouJiang_sheetPositioning_Export.h
Normal file
@ -0,0 +1,67 @@
|
||||
#pragma once
|
||||
|
||||
#if defined(SG_API_LIBRARY)
|
||||
# define SG_APISHARED_EXPORT __declspec(dllexport)
|
||||
#else
|
||||
# define SG_APISHARED_EXPORT __declspec(dllimport)
|
||||
#endif
|
||||
|
||||
#include "SG_baseDataType.h"
|
||||
#include <vector>
|
||||
|
||||
typedef struct
|
||||
{
|
||||
double holeDiameter; //薄片两端孔直径
|
||||
double holeDistance; //薄片两端孔距离
|
||||
double sheetThickness; //薄片厚度
|
||||
double centerBossHeight; //薄片中央凸起高度
|
||||
}SWD_sheetTemplateParam;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
SSG_outlierFilterParam filterParam;
|
||||
SSG_cornerParam cornerParam;
|
||||
SSG_treeGrowParam growParam;
|
||||
}SWD_sheetAlgoParam;
|
||||
|
||||
|
||||
typedef struct
|
||||
{
|
||||
SVzNL3DPoint refPos;
|
||||
}SWD_gripState;
|
||||
|
||||
typedef struct
|
||||
{
|
||||
bool isUpDownDir; //从上到下为上下方向
|
||||
bool isFrontSide; //中间凸起为正面
|
||||
SSG_6DOF opCenter; //抓取中心位置
|
||||
}SWD_sheetGrasper;
|
||||
|
||||
//读版本号
|
||||
SG_APISHARED_EXPORT const char* wd_sheetPositionVersion(void);
|
||||
|
||||
//计算一个平面调平参数。
|
||||
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
|
||||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||||
SG_APISHARED_EXPORT SSG_planeCalibPara wd_sheetPosition_getBaseCalibPara(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||||
|
||||
//相机姿态调平，并去除地面
|
||||
SG_APISHARED_EXPORT void wd_sheetPosition_lineDataR(
|
||||
std::vector< SVzNL3DPosition>& a_line,
|
||||
const double* camPoseR,
|
||||
double groundH);
|
||||
|
||||
///数据输入必须是grid格式，以进行水平方向和垂直方向的处理
|
||||
//电机定子定位。
|
||||
//算法逻辑：找到定子的高度->设置截取Z去掉底面->
|
||||
// 投影（注意此时边框也同时投影）->距离变换->提取定子目标->
|
||||
// 根据相邻和边框寻找最佳抓取目标和抓取点
|
||||
SG_APISHARED_EXPORT void wd_YouJiang_getSheetPosition(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||||
const SWD_sheetTemplateParam statorParam,
|
||||
const SSG_planeCalibPara groundCalibPara,
|
||||
const SWD_sheetAlgoParam algoParam,
|
||||
SWD_gripState* opState, //操作状态机。指示当前状态
|
||||
int* errCode,
|
||||
std::vector<SWD_sheetGrasper>& resultObjPositions);
|
||||
@ -39,8 +39,10 @@ typedef struct
|
||||
SVzNL3DPoint objCenter;
|
||||
}SG_fittingInfo;
|
||||
|
||||
std::string m_strVersion = "1.0.0";
|
||||
const char* wd_particleSegVersion(void)
|
||||
//version 1.0.0 : base version release to customer
|
||||
//version 1.1.0 : opencv库由480版本调整为320版本
|
||||
std::string m_strVersion = "1.1.0";
|
||||
const char* wd_motorStatorVersion(void)
|
||||
{
|
||||
return m_strVersion.c_str();
|
||||
}
|
||||
|
||||
@ -41,7 +41,7 @@ typedef struct
|
||||
}SWD_statorGriperState;
|
||||
|
||||
//读版本号
|
||||
SG_APISHARED_EXPORT const char* wd_particleSegVersion(void);
|
||||
SG_APISHARED_EXPORT const char* wd_motorStatorVersion(void);
|
||||
|
||||
//计算一个平面调平参数。
|
||||
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user