1284 lines
38 KiB
C++
1284 lines
38 KiB
C++
// motorStatorPosition_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 "YouJiang_sheetPositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, 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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#define DATA_VER_OLD 0
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#define DATA_VER_NEW 1
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#define DATA_VER_FROM_CUSTOM 2
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#define VZ_LASER_LINE_PT_MAX_NUM 4096
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SVzNLXYZRGBDLaserLine* vzReadLaserScanPointFromFile_XYZRGB(const char* fileName, int* scanLineNum, float* scanV,
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int* dataCalib, int* scanMaxStamp, int* canClockUnit)
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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 NULL;
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SVzNLXYZRGBDLaserLine* _scanLines = NULL;
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int lines = 0;
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int dataElements = 4;
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int firstIndex = -1;
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int dataFileVer = DATA_VER_OLD;
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std::getline(inputFile, linedata); //第一行
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int lineNum = 0;
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if (0 == strncmp("LineNum:", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_NEW;
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sscanf_s(linedata.c_str(), "LineNum:%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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else if (0 == strncmp("LineNum_", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_OLD;
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sscanf_s(linedata.c_str(), "LineNum_%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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if (_scanLines == NULL)
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return NULL;
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int ptNum = 0;
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int lineIdx = -1;
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int ptIdx = 0;
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SVzNLPointXYZRGBA* p3DPoint = NULL;
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if (dataFileVer == DATA_VER_NEW)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV);
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if (scanV)
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*scanV = (float)lineV;
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}
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else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12))
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{
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int ptAdjusted = 0;
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sscanf_s(linedata.c_str(), "PointAdjust:%d", &ptAdjusted);
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if (dataCalib)
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*dataCalib = ptAdjusted;
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}
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else if (0 == strncmp("MaxTimeStamp:", linedata.c_str(), 13))
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{
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unsigned int maxTimeStamp = 0;
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unsigned int timePerStamp = 0;
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sscanf_s(linedata.c_str(), "MaxTimeStamp:%u_%u", &maxTimeStamp, &timePerStamp);
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if (scanMaxStamp)
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*scanMaxStamp = maxTimeStamp;
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if (canClockUnit)
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*canClockUnit = timePerStamp;
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}
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else if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int lineIndex;
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unsigned int timeStamp;
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sscanf_s(linedata.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum);
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if (firstIndex < 0)
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firstIndex = lineIndex;
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lineIndex = lineIndex - firstIndex;
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if ((lineIndex < 0) || (lineIndex >= lines))
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break;
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//new Line
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lineIdx++;
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if (ptNum > 0)
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{
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p3DPoint = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * ptNum);
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memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum);
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}
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else
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p3DPoint = NULL;
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_scanLines[lineIdx].nPointCnt = 0;
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_scanLines[lineIdx].nTimeStamp = timeStamp;
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_scanLines[lineIdx].p3DPoint = p3DPoint;
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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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int r = -1, g = -1, b = -1;
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sscanf_s(linedata.c_str(), "{%f,%f,%f,%f,%f,%f }-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY);
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int id = _scanLines[lineIdx].nPointCnt;
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if (id < ptNum)
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{
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p3DPoint[id].x = X;
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p3DPoint[id].y = Y;
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p3DPoint[id].z = Z;
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p3DPoint[id].nRGB = 0;
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_scanLines[lineIdx].nPointCnt = id + 1;
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}
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}
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}
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}
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else if (dataFileVer == DATA_VER_OLD)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("DataElements_", linedata.c_str(), 13))
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{
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sscanf_s(linedata.c_str(), "DataElements_%d", &dataElements);
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if ((dataElements != 3) && (dataElements != 4))
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break;
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}
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if (0 == strncmp("LineV_", linedata.c_str(), 6))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "LineV_%lf", &lineV);
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}
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else if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int lineIndex;
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unsigned int timeStamp;
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sscanf_s(linedata.c_str(), "Line_%d_%u", &lineIndex, &timeStamp);
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#if 0
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if (scanLineListTail == NULL)
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firstIndex = lineIndex;
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#endif
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lineIndex = lineIndex - firstIndex;
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if ((lineIndex < 0) || (lineIndex >= lines))
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break;
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//new Line
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//new Line
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lineIdx++;
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p3DPoint = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
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memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
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_scanLines[lineIdx].nPointCnt = 0;
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_scanLines[lineIdx].nTimeStamp = timeStamp;
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_scanLines[lineIdx].p3DPoint = p3DPoint;
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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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if (dataElements == 4)
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sscanf_s(linedata.c_str(), "(%f,%f,%f,%d)", &X, &Y, &Z, &imageY);
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else
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sscanf_s(linedata.c_str(), "(%f,%f,%f)", &X, &Y, &Z);
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int id = _scanLines[lineIdx].nPointCnt;
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if (id < VZ_LASER_LINE_PT_MAX_NUM)
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{
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p3DPoint[id].x = X;
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p3DPoint[id].y = Y;
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p3DPoint[id].z = Z;
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p3DPoint[id].nRGB = 0;
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_scanLines[lineIdx].nPointCnt = id + 1;
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}
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}
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}
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}
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inputFile.close();
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return _scanLines;
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}
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SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F, double* camPoseR, int* outLineNum)
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{
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int min_y = 100000000;
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int max_y = -10000000;
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int validStartLine = -1;
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int validEndLine = -1;
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for (int line = 0; line < lineNum; line++)
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{
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if (laser3DPoints[line].nPointCnt > 0)
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{
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if (validStartLine < 0)
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{
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validStartLine = line;
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validEndLine = line;
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}
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else
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validEndLine = line;
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}
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for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
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{
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SVzNLPointXYZRGBA* a_pt = &laser3DPoints[line].p3DPoint[i];
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if (a_pt->z > 1e-4)
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{
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double v = _F * a_pt->y / a_pt->z + 2000;
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a_pt->nRGB = (int)(v + 0.5);
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max_y = max_y < (int)a_pt->nRGB ? (int)a_pt->nRGB : max_y;
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min_y = min_y > (int)a_pt->nRGB ? (int)a_pt->nRGB : min_y;
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}
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}
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}
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if (min_y == 100000000)
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return NULL;
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int vldLineNum = validEndLine - validStartLine + 1;
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*outLineNum = vldLineNum;
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int pt_counter = max_y - min_y + 1;
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SVzNL3DLaserLine* gridData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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memset(gridData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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for (int line = validStartLine; line <= validEndLine; line++)
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{
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int gridLine = line - validStartLine;
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gridData[gridLine].nPositionCnt = pt_counter;
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gridData[gridLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
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gridData[gridLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * pt_counter);
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memset(gridData[gridLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * pt_counter);
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for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
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{
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SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
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if (a_pt.z > 1e-4)
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{
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int pt_id = a_pt.nRGB - min_y;
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SVzNL3DPoint tmp_pt = { a_pt.x, a_pt.y, a_pt.z };
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SVzNL3DPoint r_pt = _ptRotate(tmp_pt, camPoseR);
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gridData[gridLine].p3DPosition[pt_id].pt3D.x = r_pt.x;
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gridData[gridLine].p3DPosition[pt_id].pt3D.y = r_pt.y;
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gridData[gridLine].p3DPosition[pt_id].pt3D.z = r_pt.z;
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}
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}
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}
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return gridData;
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}
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void vzReadLaserScanPointFromFile_feihu(
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const char* fileName,
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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> linePoints;
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linePoints.clear();
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int startIdx = -1;
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int ptIdx = 0;
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double pre_y = DBL_MAX;
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while (std::getline(inputFile, linedata))
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{
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if (linedata.empty())
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continue;
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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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int r = -1, g = -1, b = -1;
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sscanf_s(linedata.c_str(), "{%f,%f,%f,%f,%f,%f }-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY);
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SVzNL3DPosition a_pt;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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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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if ((Y + 5.0) < pre_y)
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{
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//新行
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if (linePoints.size() > 0)
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scanData.push_back(linePoints);
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linePoints.clear();
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ptIdx = 0;
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}
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linePoints.push_back(a_pt);
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pre_y = Y;
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}
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}
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if (linePoints.size() > 0)
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scanData.push_back(linePoints);
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return;
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}
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void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
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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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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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sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
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for (int i = 0; i < scanData[line].nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[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 vzReadLaserScanPointFromFile_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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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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void _outputScanDataFile_RGBD_obj(
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char* fileName,
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std::vector<std::vector< SVzNL3DPosition>>& scanData,
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float lineV, int maxTimeStamp, int clockPerSecond,
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std::vector<SWD_sheetGrasper>& resultObjPositions)
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{
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int lineNum = (int)scanData.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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realLines++;
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sw << "LineNum:" << realLines << 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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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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{200,200,200},//淡黄色
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{250,0, 0},//巧克力色
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{250,250,0},//黄褐色
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{0,250,250},//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 nTimeStamp = 0;
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double alpha = 0.8;
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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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int ptIdx = pt3D.nPointIdx;
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ptIdx = ptIdx % 8;
|
||
rgb = objColor[ptIdx];
|
||
if (ptIdx > 0)
|
||
size = 3;
|
||
else
|
||
size = 1;
|
||
|
||
float x = (float)pt3D.pt3D.x;
|
||
float y = (float)pt3D.pt3D.y;
|
||
float z = (float)pt3D.pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
#if 1
|
||
std::vector<SVzNL3DPoint> centerPoints;
|
||
std::vector<SVzNL3DPoint> dirPoints;
|
||
int ptNum = (int)resultObjPositions.size();
|
||
if (ptNum > 0)
|
||
{
|
||
for (int i = 0; i < ptNum; i++)
|
||
{
|
||
SVzNL3DPoint a_center = { resultObjPositions[i].opCenter.x, resultObjPositions[i].opCenter.y, resultObjPositions[i].opCenter.z };
|
||
SVzNL3DPoint a_dir = { resultObjPositions[i].opCenter.x, resultObjPositions[i].opCenter.y, resultObjPositions[i].opCenter.z - 20 };
|
||
centerPoints.push_back(a_center);
|
||
dirPoints.push_back(a_dir);
|
||
}
|
||
|
||
sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << (ptNum + 1) << std::endl;
|
||
size = 10;
|
||
for (int i = 0; i < ptNum; i++)
|
||
{
|
||
if (i == 0) rgb = { 255, 0, 0 };
|
||
else rgb = { 255, 255, 0 };
|
||
sw << "{" << centerPoints[i].x << "," << centerPoints[i].y << "," << centerPoints[i].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
rgb = { 255, 0, 0 };
|
||
sw << "{" << centerPoints[0].x << "," << centerPoints[0].y << "," << centerPoints[0].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
|
||
//画出方向线
|
||
size = 3;
|
||
int lineIdx = 0;
|
||
for (int i = 0; i < ptNum; i++)
|
||
{
|
||
if (i == 0) rgb = { 255, 0, 0 };
|
||
else rgb = { 255, 255, 0 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << centerPoints[i].x << "," << centerPoints[i].y << "," << centerPoints[i].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPoints[i].x << "," << dirPoints[i].y << "," << dirPoints[i].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
|
||
rgb = { 255, 0, 0 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << centerPoints[0].x << "," << centerPoints[0].y << "," << centerPoints[0].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPoints[0].x << "," << dirPoints[0].y << "," << dirPoints[0].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
}
|
||
#endif
|
||
sw.close();
|
||
}
|
||
|
||
void _rotateCloudPts(SVzNL3DLaserLine* scanData, int lineNum, double matrix3d[9], std::vector<std::vector< SVzNL3DPosition>>& rotateLines, SVzNLRangeD* rx_range, SVzNLRangeD* ry_range)
|
||
{
|
||
rx_range->min = 0;
|
||
rx_range->max = -1;
|
||
ry_range->min = 0;
|
||
ry_range->max = -1;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
std::vector< SVzNL3DPosition> linePts;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
||
if (pt3D->pt3D.z < 1e-4)
|
||
continue;
|
||
|
||
SVzNL3DPosition r_pt;
|
||
r_pt.pt3D = _ptRotate(pt3D->pt3D, matrix3d);
|
||
r_pt.nPointIdx = pt3D->nPointIdx;
|
||
if (rx_range->max < rx_range->min)
|
||
{
|
||
rx_range->min = r_pt.pt3D.x;
|
||
rx_range->max = r_pt.pt3D.x;
|
||
}
|
||
else
|
||
{
|
||
if (rx_range->min > r_pt.pt3D.x)
|
||
rx_range->min = r_pt.pt3D.x;
|
||
if (rx_range->max < r_pt.pt3D.x)
|
||
rx_range->max = r_pt.pt3D.x;
|
||
}
|
||
if (ry_range->max < ry_range->min)
|
||
{
|
||
ry_range->min = r_pt.pt3D.y;
|
||
ry_range->max = r_pt.pt3D.y;
|
||
}
|
||
else
|
||
{
|
||
if (ry_range->min > r_pt.pt3D.y)
|
||
ry_range->min = r_pt.pt3D.y;
|
||
if (ry_range->max < r_pt.pt3D.y)
|
||
ry_range->max = r_pt.pt3D.y;
|
||
}
|
||
linePts.push_back(r_pt);
|
||
|
||
}
|
||
rotateLines.push_back(linePts);
|
||
}
|
||
}
|
||
|
||
void _XOYprojection(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines,
|
||
const double x_scale, const double y_scale, const SVzNLRangeD x_range, const SVzNLRangeD y_range)
|
||
{
|
||
int x_skip = 16;
|
||
int y_skip = 16;
|
||
|
||
cv::Vec3b rgb = cv::Vec3b(0, 0, 0);
|
||
cv::Vec3b objColor[8] = {
|
||
{245,222,179},//淡黄色
|
||
{210,105, 30},//巧克力色
|
||
{240,230,140},//黄褐色
|
||
{135,206,235},//天蓝色
|
||
{250,235,215},//古董白
|
||
{189,252,201},//薄荷色
|
||
{221,160,221},//梅红色
|
||
{188,143,143},//玫瑰红色
|
||
};
|
||
int size = 1;
|
||
for (int line = 0; line < dataLines.size(); line++)
|
||
{
|
||
std::vector< SVzNL3DPosition>& a_line = dataLines[line];
|
||
for (int i = 0; i < a_line.size(); i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &a_line[i];
|
||
if (pt3D->pt3D.z < 1e-4)
|
||
continue;
|
||
|
||
int vType = pt3D->nPointIdx & 0xff;
|
||
int hType = vType >> 4;
|
||
int objId = (pt3D->nPointIdx >> 8) & 0xff;
|
||
vType = vType & 0x0f;
|
||
if (LINE_FEATURE_RIGHT_ANGLE_HR == vType)
|
||
{
|
||
rgb = { 255, 97, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_HF == vType)
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_RH == vType)
|
||
{
|
||
rgb = { 255, 0, 255 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_FH == vType)
|
||
{
|
||
rgb = { 160, 82, 45 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_HR == hType)
|
||
{
|
||
rgb = { 0, 0, 255 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_HF == hType)
|
||
{
|
||
rgb = { 0, 255, 255 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_RH == hType)
|
||
{
|
||
rgb = { 0, 255, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_RIGHT_ANGLE_FH == hType)
|
||
{
|
||
rgb = { 85, 107, 47 };
|
||
size = 3;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 200, 200, 200 };
|
||
size = 1;
|
||
}
|
||
|
||
double x = pt3D->pt3D.x;
|
||
double y = pt3D->pt3D.y;
|
||
|
||
int px = (int)((x - x_range.min) / x_scale + x_skip);
|
||
int py = (int)((y - y_range.min) / y_scale + y_skip);
|
||
if (size == 1)
|
||
img.at<cv::Vec3b>(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]);
|
||
else
|
||
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
||
}
|
||
}
|
||
}
|
||
|
||
void EulerRpyToRotation1(double rpy[3], double matrix3d[9]) {
|
||
double cos0 = cos(rpy[0] * PI / 180);
|
||
double sin0 = sin(rpy[0] * PI / 180);
|
||
double cos1 = cos(rpy[1] * PI / 180);
|
||
double sin1 = sin(rpy[1] * PI / 180);
|
||
double cos2 = cos(rpy[2] * PI / 180);
|
||
double sin2 = sin(rpy[2] * PI / 180);
|
||
matrix3d[0] = cos2 * cos1;
|
||
matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0;
|
||
matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0;
|
||
matrix3d[3] = sin2 * cos1;
|
||
matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0;
|
||
matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0;
|
||
matrix3d[6] = -sin1;
|
||
matrix3d[7] = cos1 * sin0;
|
||
matrix3d[8] = cos1 * cos0;
|
||
return;
|
||
}
|
||
|
||
void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, double rpy[3])
|
||
{
|
||
//统计X和Y的范围
|
||
std::vector<std::vector< SVzNL3DPosition>> scan_lines;
|
||
SVzNLRangeD x_range = { 0, -1 };
|
||
SVzNLRangeD y_range = { 0, -1 };
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
std::vector< SVzNL3DPosition> a_line;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
||
if (pt3D->pt3D.z < 1e-4)
|
||
continue;
|
||
|
||
a_line.push_back(*pt3D);
|
||
if (x_range.max < x_range.min)
|
||
{
|
||
x_range.min = pt3D->pt3D.x;
|
||
x_range.max = pt3D->pt3D.x;
|
||
}
|
||
else
|
||
{
|
||
if (x_range.min > pt3D->pt3D.x)
|
||
x_range.min = pt3D->pt3D.x;
|
||
if (x_range.max < pt3D->pt3D.x)
|
||
x_range.max = pt3D->pt3D.x;
|
||
}
|
||
if (y_range.max < y_range.min)
|
||
{
|
||
y_range.min = pt3D->pt3D.y;
|
||
y_range.max = pt3D->pt3D.y;
|
||
}
|
||
else
|
||
{
|
||
if (y_range.min > pt3D->pt3D.y)
|
||
y_range.min = pt3D->pt3D.y;
|
||
if (y_range.max < pt3D->pt3D.y)
|
||
y_range.max = pt3D->pt3D.y;
|
||
}
|
||
}
|
||
scan_lines.push_back(a_line);
|
||
}
|
||
|
||
int imgRows = 992;
|
||
int imgCols = 1056;
|
||
double y_rows = 960.0;
|
||
double x_cols = 1024.0;
|
||
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
||
//计算投影比例
|
||
double x_scale = (x_range.max - x_range.min) / x_cols;
|
||
double y_scale = (y_range.max - y_range.min) / y_rows;
|
||
_XOYprojection(img, scan_lines, x_scale, y_scale, x_range, y_range);
|
||
|
||
//旋转视角显示
|
||
double matrix3d[9];
|
||
EulerRpyToRotation1(rpy, matrix3d);
|
||
|
||
std::vector<std::vector< SVzNL3DPosition>> rotateLines;
|
||
SVzNLRangeD rx_range, ry_range;
|
||
_rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range);
|
||
cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
||
//计算投影比例
|
||
double rx_scale = (rx_range.max - rx_range.min) / x_cols;
|
||
double ry_scale = (ry_range.max - ry_range.min) / y_rows;
|
||
_XOYprojection(r_img, rotateLines, rx_scale, ry_scale, rx_range, ry_range);
|
||
|
||
cv::Mat dis_img;
|
||
cv::hconcat(img, r_img, dis_img);
|
||
cv::imwrite(fileName, dis_img);
|
||
return;
|
||
}
|
||
|
||
void getROIdata(SSG_ROIRectD roi2D,
|
||
std::vector<std::vector< SVzNL3DPosition>>& srcLines,
|
||
std::vector<std::vector< SVzNL3DPosition>>& dstLines)
|
||
{
|
||
int lineNum = (int)srcLines.size();
|
||
dstLines.resize(lineNum);
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
std::vector< SVzNL3DPosition>& a_line = srcLines[line];
|
||
int ptNum = (int)a_line.size();
|
||
dstLines[line].resize(ptNum);
|
||
for (int j = 0; j < ptNum; j++)
|
||
{
|
||
dstLines[line][j] = a_line[j];
|
||
if (a_line[j].pt3D.z > 1e-4)
|
||
{
|
||
if ((a_line[j].pt3D.x < roi2D.left) || (a_line[j].pt3D.x > roi2D.right) ||
|
||
(a_line[j].pt3D.y < roi2D.top) || (a_line[j].pt3D.y > roi2D.bottom))
|
||
dstLines[line][j].pt3D = { 0, 0, 0 };
|
||
}
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
void wdReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
|
||
{
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return;
|
||
|
||
std::vector< SVzNL3DPosition> a_line;
|
||
int ptIdx = 0;
|
||
while (getline(inputFile, linedata))
|
||
{
|
||
if (0 == strncmp("Line_", linedata.c_str(), 5))
|
||
{
|
||
int ptSize = (int)a_line.size();
|
||
if (ptSize > 0)
|
||
{
|
||
scanData.push_back(a_line);
|
||
}
|
||
a_line.clear();
|
||
ptIdx = 0;
|
||
}
|
||
else if (0 == strncmp("{", linedata.c_str(), 1))
|
||
{
|
||
float X, Y, Z;
|
||
int imageY = 0;
|
||
float leftX, leftY;
|
||
float rightX, rightY;
|
||
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
|
||
SVzNL3DPosition a_pt;
|
||
a_pt.pt3D.x = X;
|
||
a_pt.pt3D.y = Y;
|
||
a_pt.pt3D.z = Z;
|
||
a_pt.nPointIdx = ptIdx;
|
||
ptIdx++;
|
||
a_line.push_back(a_pt);
|
||
}
|
||
}
|
||
//last line
|
||
int ptSize = (int)a_line.size();
|
||
if (ptSize > 0)
|
||
{
|
||
scanData.push_back(a_line);
|
||
a_line.clear();
|
||
}
|
||
|
||
inputFile.close();
|
||
return;
|
||
}
|
||
|
||
void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData,
|
||
float lineV, int maxTimeStamp, int clockPerSecond)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
|
||
int lineNum = (int)scanData.size();
|
||
sw << "LineNum:" << lineNum << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed:" << lineV << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int nPositionCnt = (int)scanData[line].size();
|
||
sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
|
||
for (int i = 0; i < nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition& pt3D = scanData[line][i];
|
||
float x = (float)pt3D.pt3D.x;
|
||
float y = (float)pt3D.pt3D.y;
|
||
float z = (float)pt3D.pt3D.z;
|
||
sw << "{ " << x << "," << y << "," << z << " }-";
|
||
sw << "{0,0}-{0,0}" << std::endl;
|
||
}
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
//调平矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
|
||
sw << dataStr << std::endl;
|
||
//地面高度
|
||
sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
|
||
sw << dataStr << std::endl;
|
||
//反向旋转矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
|
||
sw << dataStr << std::endl;
|
||
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;
|
||
}
|
||
|
||
|
||
#define TEST_COMPUTE_CALIB_PARA 0
|
||
#define TEST_COMPUTE_GRASP_POS 1
|
||
#define TEST_GROUP 1
|
||
void sheetPosition_test(void)
|
||
{
|
||
const char* dataPath[TEST_GROUP] = {
|
||
"F:/ShangGu/项目/冠钦项目/温州优匠工品薄片抓取/温州优匠工品薄片数据/", //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{1,73} };
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
int cvt_grp = 0;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%sLaserData_ground.txt", dataPath[cvt_grp]);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
|
||
if (scanLines.size() > 0)
|
||
{
|
||
//getROIdata
|
||
std::vector<std::vector< SVzNL3DPosition>> roiScanLines;
|
||
SSG_ROIRectD roi2D = { 12.0, 340.0, -310, 160 };
|
||
|
||
getROIdata(roi2D, scanLines, roiScanLines);
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sgroundData_ROI.txt", dataPath[cvt_grp]);
|
||
_outputScanDataFile(calibFile, roiScanLines, 0, 0, 0);
|
||
|
||
SSG_planeCalibPara calibPara = wd_sheetPosition_getBaseCalibPara(roiScanLines);
|
||
//结果进行验证
|
||
int lineNum = (int)scanLines.size();
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_sheetPosition_lineDataR(scanLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
|
||
}
|
||
//
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvt_grp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sground_grid_calib_verify.txt", dataPath[cvt_grp]);
|
||
_outputScanDataFile(_out_file, scanLines, 0, 0, 0);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
#if 0
|
||
for (int fidx = fileIdx[cvt_grp].nMin; fidx <= fileIdx[cvt_grp].nMax; fidx++)
|
||
{
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData%d.txt", dataPath[cvt_grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> dataLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, dataLines);
|
||
if (dataLines.size() == 0)
|
||
continue;
|
||
lineNum = (int)dataLines.size();
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_sheetPosition_lineDataR(dataLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
|
||
}
|
||
sprintf_s(_out_file, "%sLaserData%d_leveling.txt", dataPath[cvt_grp], fidx);
|
||
_outputScanDataFile(_out_file, dataLines, 0, 0, 0);
|
||
printf("%s: leveling done!\n", _out_file);
|
||
}
|
||
#endif
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_GRASP_POS
|
||
int endGroup = TEST_GROUP - 1;
|
||
for (int grp = 0; grp <= endGroup; grp++)
|
||
{
|
||
SSG_planeCalibPara poseCalibPara;
|
||
//初始化成单位阵
|
||
poseCalibPara.planeCalib[0] = 1.0;
|
||
poseCalibPara.planeCalib[1] = 0.0;
|
||
poseCalibPara.planeCalib[2] = 0.0;
|
||
poseCalibPara.planeCalib[3] = 0.0;
|
||
poseCalibPara.planeCalib[4] = 1.0;
|
||
poseCalibPara.planeCalib[5] = 0.0;
|
||
poseCalibPara.planeCalib[6] = 0.0;
|
||
poseCalibPara.planeCalib[7] = 0.0;
|
||
poseCalibPara.planeCalib[8] = 1.0;
|
||
poseCalibPara.planeHeight = 645.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
#if 1
|
||
if (grp == 0)
|
||
{
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
poseCalibPara = _readCalibPara(calibFile);
|
||
}
|
||
#endif
|
||
|
||
SWD_sheetTemplateParam sheetParam;
|
||
sheetParam.holeDiameter = 16.5; //薄片两端孔直径
|
||
sheetParam.holeDistance = 144.0; //薄片两端孔距离
|
||
sheetParam.sheetThickness = 2.3; //薄片厚度
|
||
sheetParam.centerBossHeight = 4.5; //薄片中央凸起高度
|
||
|
||
SWD_sheetAlgoParam algoParam;
|
||
memset(&algoParam, 0, sizeof(SWD_sheetAlgoParam));
|
||
algoParam.cornerParam.cornerTh = 40; //45度角
|
||
algoParam.cornerParam.scale = sheetParam.sheetThickness * 1.414; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
algoParam.cornerParam.minEndingGap = 5;
|
||
algoParam.cornerParam.minEndingGap_z = sheetParam.sheetThickness * 0.5;
|
||
algoParam.cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
||
algoParam.cornerParam.jumpCornerTh_2 = 30;
|
||
SSG_outlierFilterParam filterParam;
|
||
algoParam.filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
algoParam.filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
algoParam.growParam.maxLineSkipNum = 5;
|
||
algoParam.growParam.yDeviation_max = 3.0;
|
||
algoParam.growParam.maxSkipDistance = 3.0;
|
||
algoParam.growParam.zDeviation_max = 3.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
|
||
algoParam.growParam.minLTypeTreeLen = 100; //mm
|
||
algoParam.growParam.minVTypeTreeLen = 100; //mm
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
SWD_gripState stateMachine;
|
||
memset(&stateMachine, 0, sizeof(SWD_gripState));
|
||
//fidx = 4;
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = GetTickCount64();
|
||
int errCode = 0;
|
||
std::vector<SWD_sheetGrasper> resultObjPositions;
|
||
wd_YouJiang_getSheetPosition(
|
||
scanLines,
|
||
sheetParam,
|
||
poseCalibPara,
|
||
algoParam,
|
||
&stateMachine, //操作状态机。指示当前状态
|
||
&errCode,
|
||
resultObjPositions);
|
||
long t2 = GetTickCount64();
|
||
|
||
char _dbg_file[256];
|
||
#if 1
|
||
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputScanDataFile_RGBD_obj(_dbg_file, scanLines, 0, 0, 0, resultObjPositions);
|
||
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx);
|
||
cv::String imgName(_dbg_file);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
//_genXOYProjectionImage(imgName, laser3DPoints, lineNum, rpy);
|
||
#endif
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
}
|
||
}
|
||
|
||
#endif
|
||
printf("all done!\n");
|
||
return;
|
||
}
|
||
|
||
void sheetKeyHeighth_test(void)
|
||
{
|
||
const char* dataPath[TEST_GROUP] = {
|
||
"F:/ShangGu/项目/吕宁项目/测高/", //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{1,6} };
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
int cvt_grp = 0;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%s样品_grid_5.txt", dataPath[cvt_grp]);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
|
||
if (scanLines.size() > 0)
|
||
{
|
||
//getROIdata
|
||
std::vector<std::vector< SVzNL3DPosition>> roiScanLines;
|
||
SSG_ROIRectD roi2D = { 237.0, 340.0, -60, 6.0 };
|
||
|
||
getROIdata(roi2D, scanLines, roiScanLines);
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sgroundData_ROI.txt", dataPath[cvt_grp]);
|
||
_outputScanDataFile(calibFile, roiScanLines, 0, 0, 0);
|
||
|
||
SSG_planeCalibPara calibPara = wd_sheetPosition_getBaseCalibPara(roiScanLines);
|
||
//结果进行验证
|
||
int lineNum = (int)scanLines.size();
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_sheetPosition_lineDataR(scanLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
|
||
}
|
||
//
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvt_grp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sground_grid_calib_verify.txt", dataPath[cvt_grp]);
|
||
_outputScanDataFile(_out_file, scanLines, 0, 0, 0);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
#if 1
|
||
for (int fidx = fileIdx[cvt_grp].nMin; fidx <= fileIdx[cvt_grp].nMax; fidx++)
|
||
{
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s样品_grid_%d.txt", dataPath[cvt_grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> dataLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, dataLines);
|
||
if (dataLines.size() == 0)
|
||
continue;
|
||
lineNum = (int)dataLines.size();
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_sheetPosition_lineDataR(dataLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
|
||
}
|
||
sprintf_s(_out_file, "%s样品_grid_%d_leveling.txt", dataPath[cvt_grp], fidx);
|
||
_outputScanDataFile(_out_file, dataLines, 0, 0, 0);
|
||
printf("%s: leveling done!\n", _out_file);
|
||
}
|
||
#endif
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_GRASP_POS
|
||
int endGroup = TEST_GROUP - 1;
|
||
for (int grp = 0; grp <= endGroup; grp++)
|
||
{
|
||
SSG_planeCalibPara poseCalibPara;
|
||
//初始化成单位阵
|
||
poseCalibPara.planeCalib[0] = 1.0;
|
||
poseCalibPara.planeCalib[1] = 0.0;
|
||
poseCalibPara.planeCalib[2] = 0.0;
|
||
poseCalibPara.planeCalib[3] = 0.0;
|
||
poseCalibPara.planeCalib[4] = 1.0;
|
||
poseCalibPara.planeCalib[5] = 0.0;
|
||
poseCalibPara.planeCalib[6] = 0.0;
|
||
poseCalibPara.planeCalib[7] = 0.0;
|
||
poseCalibPara.planeCalib[8] = 1.0;
|
||
poseCalibPara.planeHeight = 645.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
#if 1
|
||
if (grp == 0)
|
||
{
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
poseCalibPara = _readCalibPara(calibFile);
|
||
}
|
||
#endif
|
||
|
||
SWD_sheetKeyParam sheetKeyParam;
|
||
sheetKeyParam.keySize = {8.0, 6.0}; //薄片按键大小
|
||
sheetKeyParam.sheetSize = {41.0,11.0}; //薄片大小
|
||
sheetKeyParam.keyToEdgeDistance = 8.0; //薄片按键距离最近的边的距离
|
||
sheetKeyParam.sheetThickness = 0.4; //薄片厚度0.4mm
|
||
sheetKeyParam.nominalKeyHeight = 0.5;
|
||
|
||
SWD_sheetAlgoParam algoParam;
|
||
memset(&algoParam, 0, sizeof(SWD_sheetAlgoParam));
|
||
algoParam.cornerParam.cornerTh = 40; //45度角
|
||
algoParam.cornerParam.scale = sheetKeyParam.sheetThickness*1.25; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
algoParam.cornerParam.minEndingGap = 5;
|
||
algoParam.cornerParam.minEndingGap_z = sheetKeyParam.sheetThickness * 0.5;
|
||
algoParam.cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
||
algoParam.cornerParam.jumpCornerTh_2 = 30;
|
||
SSG_outlierFilterParam filterParam;
|
||
algoParam.filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
algoParam.filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
algoParam.growParam.maxLineSkipNum = 5;
|
||
algoParam.growParam.yDeviation_max = 3.0;
|
||
algoParam.growParam.maxSkipDistance = 3.0;
|
||
algoParam.growParam.zDeviation_max = 3.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
|
||
algoParam.growParam.minLTypeTreeLen = 100; //mm
|
||
algoParam.growParam.minVTypeTreeLen = 100; //mm
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
SWD_gripState stateMachine;
|
||
memset(&stateMachine, 0, sizeof(SWD_gripState));
|
||
//fidx = 4;
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s样品_grid_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = GetTickCount64();
|
||
int errCode = 0;
|
||
std::vector<SWD_sheetGrasper> resultObjPositions;
|
||
wd_computeSheetKeyHeigth(
|
||
scanLines,
|
||
sheetKeyParam,
|
||
poseCalibPara,
|
||
algoParam,
|
||
&stateMachine, //操作状态机。指示当前状态
|
||
&errCode,
|
||
resultObjPositions);
|
||
long t2 = GetTickCount64();
|
||
|
||
char _dbg_file[256];
|
||
#if 1
|
||
sprintf_s(_dbg_file, "%sresult\\样品_grid_%d_result.txt", dataPath[grp], fidx);
|
||
_outputScanDataFile_RGBD_obj(_dbg_file, scanLines, 0, 0, 0, resultObjPositions);
|
||
sprintf_s(_dbg_file, "%sresult\\样品_grid_%d_result_img.png", dataPath[grp], fidx);
|
||
cv::String imgName(_dbg_file);
|
||
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
||
//_genXOYProjectionImage(imgName, laser3DPoints, lineNum, rpy);
|
||
#endif
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
}
|
||
}
|
||
|
||
#endif
|
||
printf("all done!\n");
|
||
}
|
||
|
||
int main()
|
||
{
|
||
#if 0
|
||
sheetPosition_test();
|
||
#else
|
||
sheetKeyHeighth_test();
|
||
#endif
|
||
|
||
return 0;
|
||
|
||
} |