2333 lines
75 KiB
C++
2333 lines
75 KiB
C++
#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 "hybridPosePositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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#include <limits>
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#include "SG_baseAlgo_Export.h"
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typedef struct
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{
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int r;
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int g;
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int b;
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}SG_color;
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typedef struct
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{
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int nPointIdx;
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double x;
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double y;
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double z;
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float r;
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float g;
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float b;
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} SPointXYZRGB;
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, 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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SSG_planeCalibPara _readCalibPara(char* fileName)
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{
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//设置初始结果
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 };
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SSG_planeCalibPara planePara;
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for (int i = 0; i < 9; i++)
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planePara.planeCalib[i] = initCalib[i];
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planePara.planeHeight = -1.0;
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for (int i = 0; i < 9; i++)
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planePara.invRMatrix[i] = initCalib[i];
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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 planePara;
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//调平矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
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//地面高度
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
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//反向旋转矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
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inputFile.close();
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return planePara;
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}
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void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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//调平矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
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sw << dataStr << std::endl;
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//地面高度
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sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
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sw << dataStr << std::endl;
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//反向旋转矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
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sw << dataStr << std::endl;
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sw.close();
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}
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//读取3D和2D数据
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void vzReadLaserScanPointFromFile_XYZUV_vector(const char* fileName, std::vector<std::vector< SVzNLPositionD>>& 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< SVzNLPositionD> 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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float leftU, leftV;
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float rightU, rightV;
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sscanf_s(linedata.c_str(), "{ %f, %f, %f }-{ %f, %f }-{ %f, %f }", &X, &Y, &Z, &leftU, &leftV, &rightU, &rightV);
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if (Z > 1e-4)
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int kkk = 1;
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SVzNLPositionD a_pt;
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a_pt.ptLeft2D.x = leftU;
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a_pt.ptLeft2D.y = leftV;
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a_pt.ptRight2D.x = rightU;
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a_pt.ptRight2D.y = rightV;
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a_pt.pt3D.x = X;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = Z;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_line.push_back(a_pt);
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}
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}
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//last line
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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inputFile.close();
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return;
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}
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void 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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int counterLinePtNum_XYZ(std::vector< SVzNL3DPosition>& lineData)
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{
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int num = 0;
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for (int i = 0; i < (int)lineData.size(); i++)
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{
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if (lineData[i].pt3D.z > 1e-4)
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num++;
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}
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return num;
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}
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int counterLinePtNum_XYZUV(std::vector< SVzNLPositionD>& lineData)
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{
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int num = 0;
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for (int i = 0; i < (int)lineData.size(); i++)
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{
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if (lineData[i].pt3D.z > 1e-4)
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num++;
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}
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return num;
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}
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void _removeZeroLines_XYZ(std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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int lineNum = (int)scanData.size();
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int firstLine = -1;
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int lastLine = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int num = counterLinePtNum_XYZ(scanData[line]);
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if ((num > 0) && (firstLine < 0))
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firstLine = line;
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if (num > 0)
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lastLine = line;
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}
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if (firstLine < 0)
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{
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scanData.clear();
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return;
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}
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if ((lastLine < (lineNum - 1)) && (lastLine > 0))
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scanData.erase(scanData.begin() + lastLine + 1, scanData.end());
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scanData.erase(scanData.begin(), scanData.begin() + firstLine);
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return;
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}
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void _removeZeroLines_XYZUV(std::vector<std::vector< SVzNLPositionD>>& scanData)
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{
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int lineNum = (int)scanData.size();
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int firstLine = -1;
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int lastLine = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int num = counterLinePtNum_XYZUV(scanData[line]);
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if ((num > 0) && (firstLine < 0))
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firstLine = line;
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if (num > 0)
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lastLine = line;
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}
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if (firstLine < 0)
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{
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scanData.clear();
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return;
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}
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if ((lastLine < (lineNum - 1)) && (lastLine > 0))
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scanData.erase(scanData.begin() + lastLine + 1, scanData.end());
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scanData.erase(scanData.begin(), scanData.begin() + firstLine);
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return;
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}
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void vzReadObj2DROI(const char* fileName, std::vector<WD_objArea2D>& objROIs)
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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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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("obj_", linedata.c_str(), 4))
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{
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int objID;
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char type;
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float L, T, W, H, score;
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sscanf_s(linedata.c_str(), "obj_%d: C=%c, Rect={ %f, %f, %f, %f }, Score=%f",
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&objID, &type, sizeof(type), &L, &T, &W, &H, &score);
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WD_objArea2D a_roi;
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if ('a' == type)
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a_roi.workpieceType = 1;
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else if ('b' == type)
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a_roi.workpieceType = 2;
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else if ('c' == type)
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a_roi.workpieceType = 3;
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a_roi.roi.left = L;
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a_roi.roi.top = T;
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a_roi.roi.right = a_roi.roi.left + W -1;
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a_roi.roi.bottom = a_roi.roi.top + H - 1;
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a_roi.score2D = score;
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objROIs.push_back(a_roi);
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}
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}
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inputFile.close();
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return;
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}
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void _outputRGBDResult_XYZUV_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNLPositionD>>& scanLines,
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std::vector< WD_workpieceInfo>& workpiecePositions)
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{
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std::vector<SVzNL3DPosition> objects;
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int objNumber = (int)workpiecePositions.size();
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for (int i = 0; i < objNumber; i++)
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{
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SVzNL3DPosition a_objPt;
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a_objPt.pt3D = workpiecePositions[i].center;
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objects.push_back(a_objPt);
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}
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNLPositionD* pt3D = &scanLines[line][i];
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if (pt3D->nPointIdx > 0)
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int kkk = 1;
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int flag = pt3D->nPointIdx & 0xffff;
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if (flag > 0)
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{
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rgb = objColor[flag % 8]; // { 255, 97, 0 };
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size = 1;
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}
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else
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{
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rgb = { 200, 200, 200 };
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size = 1;
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}
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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}
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int linePtNum = (int)objects.size();
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sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
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lineNum++;
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for (int i = 0; i < linePtNum; i++)
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{
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if (i %2 == 0)
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{
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size = 10;
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rgb = { 255, 0, 0 };
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}
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else
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{
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rgb = { 255, 255, 0 };
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size = 10;
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}
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//int colorIdx = objects[i].nPointIdx % 8;
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//rgb = objColor[colorIdx];
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float x = (float)objects[i].pt3D.x;
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float y = (float)objects[i].pt3D.y;
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float z = (float)objects[i].pt3D.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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//输出方向线条
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rgb = { 255, 0, 0 };
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size = 2;
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for (int i = 0; i < objNumber; i++)
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{
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if (abs(workpiecePositions[i].y_dir.z) > 1e-4)
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{
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SVzNL3DPoint dirPt;
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dirPt = { workpiecePositions[i].center.x + workpiecePositions[i].y_dir.x * 10,
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workpiecePositions[i].center.y + workpiecePositions[i].y_dir.y * 10,
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workpiecePositions[i].center.z + workpiecePositions[i].y_dir.z * 10 };
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << workpiecePositions[i].center.x << "," << workpiecePositions[i].center.y << "," << workpiecePositions[i].center.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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dirPt = { workpiecePositions[i].center.x + workpiecePositions[i].z_dir.x * 10,
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workpiecePositions[i].center.y + workpiecePositions[i].z_dir.y * 10,
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workpiecePositions[i].center.z + workpiecePositions[i].z_dir.z * 10 };
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << workpiecePositions[i].center.x << "," << workpiecePositions[i].center.y << "," << workpiecePositions[i].center.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
}
|
|
}
|
|
|
|
sw.close();
|
|
}
|
|
|
|
void _outputRGBDResult_XYZ_RGBD_binInfo(
|
|
char* fileName,
|
|
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
|
WD_HRM_BinInfo& poseInfo)
|
|
{
|
|
int objNumber = 0;
|
|
if (poseInfo.center.z > 1e-4)
|
|
objNumber = 1;
|
|
|
|
int lineNum = (int)scanLines.size();
|
|
std::ofstream sw(fileName);
|
|
int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
|
|
sw << "LineNum:" << realLines << std::endl;
|
|
sw << "DataType: 0" << std::endl;
|
|
sw << "ScanSpeed: 0" << std::endl;
|
|
sw << "PointAdjust: 1" << std::endl;
|
|
sw << "MaxTimeStamp: 0_0" << std::endl;
|
|
|
|
int maxLineIndex = 0;
|
|
int max_stamp = 0;
|
|
SG_color rgb = { 0, 0, 0 };
|
|
SG_color 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;
|
|
int lineIdx = 0;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
int linePtNum = (int)scanLines[line].size();
|
|
if (linePtNum == 0)
|
|
continue;
|
|
|
|
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
|
lineIdx++;
|
|
for (int i = 0; i < linePtNum; i++)
|
|
{
|
|
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
|
if (pt3D->nPointIdx > 0)
|
|
int kkk = 1;
|
|
int flag = pt3D->nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 5;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 200, 200, 200 };
|
|
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 (poseInfo.center.z > 1e-4)
|
|
{
|
|
sw << "Line_" << lineNum << "_0_1" << std::endl;
|
|
lineNum++;
|
|
size = 20;
|
|
rgb = { 255, 255, 0 };
|
|
float x = (float)poseInfo.center.x;
|
|
float y = (float)poseInfo.center.y;
|
|
float z = (float)poseInfo.center.z;
|
|
sw << "{" << x << "," << y << "," << z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
|
|
|
//输出方向线条
|
|
rgb = { 250, 0, 0 };
|
|
size = 2;
|
|
double dirLen = 500;
|
|
SVzNL3DPoint dirPt1 = { poseInfo.center.x + poseInfo.x_dir.x * dirLen,
|
|
poseInfo.center.y + poseInfo.x_dir.y * dirLen,
|
|
poseInfo.center.z + poseInfo.x_dir.z * dirLen };
|
|
SVzNL3DPoint dirPt2 = { poseInfo.center.x - poseInfo.x_dir.x * dirLen,
|
|
poseInfo.center.y - poseInfo.x_dir.y * dirLen,
|
|
poseInfo.center.z - poseInfo.x_dir.z * dirLen };
|
|
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
SVzNL3DPoint pose_y = poseInfo.y_dir;
|
|
rgb = { 0, 250, 0 };
|
|
SVzNL3DPoint dirPt;
|
|
dirPt = { poseInfo.center.x + pose_y.x * dirLen,
|
|
poseInfo.center.y + pose_y.y * dirLen,
|
|
poseInfo.center.z + pose_y.z * dirLen };
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << poseInfo.center.x << "," << poseInfo.center.y << "," << poseInfo.center.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
rgb = { 0, 0, 250 };
|
|
dirPt1 = { poseInfo.center.x + poseInfo.bottomNormal.x * dirLen,
|
|
poseInfo.center.y + poseInfo.bottomNormal.y * dirLen,
|
|
poseInfo.center.z + poseInfo.bottomNormal.z * dirLen };
|
|
dirPt2 = { poseInfo.center.x - poseInfo.bottomNormal.x * dirLen,
|
|
poseInfo.center.y - poseInfo.bottomNormal.y * dirLen,
|
|
poseInfo.center.z - poseInfo.bottomNormal.z * dirLen };
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
//输出外接矩形
|
|
dirPt1 = poseInfo.minRectVertex[0];
|
|
dirPt2 = poseInfo.minRectVertex[1];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
dirPt1 = poseInfo.minRectVertex[1];
|
|
dirPt2 = poseInfo.minRectVertex[2];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
dirPt1 = poseInfo.minRectVertex[2];
|
|
dirPt2 = poseInfo.minRectVertex[3];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
dirPt1 = poseInfo.minRectVertex[3];
|
|
dirPt2 = poseInfo.minRectVertex[0];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
}
|
|
|
|
sw.close();
|
|
}
|
|
|
|
void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
|
|
char* fileName,
|
|
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
|
std::vector<WD_workpieceInfo>& poseInfo)
|
|
{
|
|
int objNumber = 0;
|
|
if (poseInfo.size()>0)
|
|
objNumber = 1;
|
|
|
|
int lineNum = (int)scanLines.size();
|
|
std::ofstream sw(fileName);
|
|
int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
|
|
sw << "LineNum:" << realLines << std::endl;
|
|
sw << "DataType: 0" << std::endl;
|
|
sw << "ScanSpeed: 0" << std::endl;
|
|
sw << "PointAdjust: 1" << std::endl;
|
|
sw << "MaxTimeStamp: 0_0" << std::endl;
|
|
|
|
int maxLineIndex = 0;
|
|
int max_stamp = 0;
|
|
SG_color rgb = { 0, 0, 0 };
|
|
SG_color 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;
|
|
int lineIdx = 0;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
int linePtNum = (int)scanLines[line].size();
|
|
if (linePtNum == 0)
|
|
continue;
|
|
|
|
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
|
lineIdx++;
|
|
for (int i = 0; i < linePtNum; i++)
|
|
{
|
|
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
|
if (pt3D->nPointIdx > 0)
|
|
int kkk = 1;
|
|
int flag = pt3D->nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 5;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 200, 200, 200 };
|
|
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 (poseInfo.size() > 1e-4)
|
|
{
|
|
int objNum = (int)poseInfo.size();
|
|
sw << "Line_" << lineNum << "_0_" << objNum << std::endl;
|
|
lineNum++;
|
|
size = 20;
|
|
rgb = { 255, 255, 0 };
|
|
for (int m = 0; m < (int)poseInfo.size(); m++)
|
|
{
|
|
float x = (float)poseInfo[m].center.x;
|
|
float y = (float)poseInfo[m].center.y;
|
|
float z = (float)poseInfo[m].center.z;
|
|
sw << "{" << x << "," << y << "," << z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
|
}
|
|
//输出方向线条
|
|
rgb = { 250, 0, 0 };
|
|
size = 2;
|
|
double dirLen = 500;
|
|
for (int m = 0; m < (int)poseInfo.size(); m++)
|
|
{
|
|
SVzNL3DPoint dirPt1 = { poseInfo[m].center.x + poseInfo[m].z_dir.x * dirLen,
|
|
poseInfo[m].center.y + poseInfo[m].z_dir.y * dirLen,
|
|
poseInfo[m].center.z + poseInfo[m].z_dir.z * dirLen };
|
|
SVzNL3DPoint dirPt2 = { poseInfo[m].center.x - poseInfo[m].z_dir.x * dirLen,
|
|
poseInfo[m].center.y - poseInfo[m].z_dir.y * dirLen,
|
|
poseInfo[m].center.z - poseInfo[m].z_dir.z * dirLen };
|
|
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
}
|
|
}
|
|
|
|
sw.close();
|
|
}
|
|
|
|
void _outputRGBDResult_XYZ_RGBD_planningResult(
|
|
char* fileName,
|
|
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
|
WD_HRM_BinInfo& binInfo,
|
|
std::vector<WD_workpieceInfo>& posInfo,
|
|
const double workpieceHeight)
|
|
{
|
|
int objNumber = 0;
|
|
if (posInfo.size() > 0)
|
|
objNumber = 1;
|
|
|
|
int lineNum = (int)scanLines.size();
|
|
std::ofstream sw(fileName);
|
|
int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
|
|
sw << "LineNum:" << realLines << std::endl;
|
|
sw << "DataType: 0" << std::endl;
|
|
sw << "ScanSpeed: 0" << std::endl;
|
|
sw << "PointAdjust: 1" << std::endl;
|
|
sw << "MaxTimeStamp: 0_0" << std::endl;
|
|
|
|
int maxLineIndex = 0;
|
|
int max_stamp = 0;
|
|
SG_color rgb = { 0, 0, 0 };
|
|
SG_color 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;
|
|
int lineIdx = 0;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
int linePtNum = (int)scanLines[line].size();
|
|
if (linePtNum == 0)
|
|
continue;
|
|
|
|
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
|
lineIdx++;
|
|
for (int i = 0; i < linePtNum; i++)
|
|
{
|
|
SVzNL3DPosition* pt3D = &scanLines[line][i];
|
|
if (pt3D->nPointIdx > 0)
|
|
int kkk = 1;
|
|
int flag = pt3D->nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 5;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 200, 200, 200 };
|
|
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 (posInfo.size() > 0)
|
|
{
|
|
int num = (int)posInfo.size();
|
|
sw << "Line_" << lineNum << "_0_" << num << std::endl;
|
|
lineNum++;
|
|
size = 20;
|
|
rgb = { 255, 255, 0 };
|
|
for(int m = 0; m <num;m ++)
|
|
{
|
|
float x = (float)posInfo[m].center.x;
|
|
float y = (float)posInfo[m].center.y;
|
|
float z = (float)posInfo[m].center.z;
|
|
sw << "{" << x << "," << y << "," << z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
|
}
|
|
|
|
//输出方向线条
|
|
rgb = { 250, 0, 0 };
|
|
size = 5;
|
|
double dirLen = workpieceHeight;
|
|
for (int m = 0; m < (int)posInfo.size(); m++)
|
|
{
|
|
SVzNL3DPoint dirPt1 = posInfo[m].center; //
|
|
SVzNL3DPoint dirPt2 = { posInfo[m].center.x - posInfo[m].z_dir.x * dirLen,
|
|
posInfo[m].center.y - posInfo[m].z_dir.y * dirLen,
|
|
posInfo[m].center.z - posInfo[m].z_dir.z * dirLen };
|
|
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
}
|
|
|
|
rgb = { 0, 0, 250 };
|
|
//输出外接矩形
|
|
SVzNL3DPoint dirPt1 = binInfo.minRectVertex[0];
|
|
SVzNL3DPoint dirPt2 = binInfo.minRectVertex[1];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
dirPt1 = binInfo.minRectVertex[1];
|
|
dirPt2 = binInfo.minRectVertex[2];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
dirPt1 = binInfo.minRectVertex[2];
|
|
dirPt2 = binInfo.minRectVertex[3];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
dirPt1 = binInfo.minRectVertex[3];
|
|
dirPt2 = binInfo.minRectVertex[0];
|
|
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
|
sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
|
|
sw << "{0,0}-{0,0}-";
|
|
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
|
lineIdx++;
|
|
|
|
}
|
|
sw.close();
|
|
}
|
|
|
|
void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
|
|
{
|
|
std::ofstream sw(fileName);
|
|
int lineNum = (int)scanLines.size();
|
|
if (lineNum == 0)
|
|
return;
|
|
|
|
sw << "LineNum:" << lineNum << std::endl;
|
|
sw << "DataType: 0" << std::endl;
|
|
sw << "ScanSpeed: 0" << std::endl;
|
|
sw << "PointAdjust: 1" << std::endl;
|
|
sw << "MaxTimeStamp: 0_0" << std::endl;
|
|
|
|
int lineIdx = 0;
|
|
int null_lines = 0;
|
|
bool counterNull = true;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
int linePtNum = (int)scanLines[line].size();
|
|
if (linePtNum == 0)
|
|
continue;
|
|
|
|
if (true == removeZeros)
|
|
{
|
|
int vldPtNum = 0;
|
|
for (int i = 0; i < linePtNum; i++)
|
|
{
|
|
if (scanLines[line][i].pt3D.z > 1e-4)
|
|
vldPtNum++;
|
|
}
|
|
linePtNum = vldPtNum;
|
|
}
|
|
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
|
|
lineIdx++;
|
|
bool isNull = true;
|
|
for (int i = 0; i < linePtNum; i++)
|
|
{
|
|
SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
|
|
if ((pt3D->z > 1e-4) && (isNull == true))
|
|
isNull = false;
|
|
if ((true == removeZeros) && (pt3D->z < 1e-4))
|
|
continue;
|
|
float x = (float)pt3D->x;
|
|
float y = (float)pt3D->y;
|
|
float z = (float)pt3D->z;
|
|
sw << "{ " << x << "," << y << "," << z << " }-";
|
|
sw << "{0,0}-{0,0}" << std::endl;
|
|
}
|
|
if (true == counterNull)
|
|
{
|
|
if (true == isNull)
|
|
null_lines++;
|
|
else
|
|
counterNull = false;
|
|
}
|
|
}
|
|
*headNullLines = null_lines;
|
|
sw.close();
|
|
}
|
|
|
|
void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpiecePositions)
|
|
{
|
|
std::ofstream sw(fileName);
|
|
char dataStr[250];
|
|
|
|
int number = (int)workpiecePositions.size();
|
|
for (int i = 0; i < number; i++)
|
|
{
|
|
sprintf_s(dataStr, 250, "工件_%d", i + 1);
|
|
sw << dataStr << std::endl;
|
|
|
|
sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpiecePositions[i].center.x, workpiecePositions[i].center.y, workpiecePositions[i].center.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " x_dir: (%g, %g, %g)", workpiecePositions[i].x_dir.x, workpiecePositions[i].x_dir.y, workpiecePositions[i].x_dir.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " y_dir: (%g, %g, %g)", workpiecePositions[i].y_dir.x, workpiecePositions[i].y_dir.y, workpiecePositions[i].y_dir.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " z_dir: (%g, %g, %g)", workpiecePositions[i].z_dir.x, workpiecePositions[i].z_dir.y, workpiecePositions[i].z_dir.z);
|
|
sw << dataStr << std::endl;
|
|
}
|
|
sw.close();
|
|
}
|
|
|
|
void _outputBinInfo(char* fileName, WD_HRM_BinInfo& binInfo)
|
|
{
|
|
std::ofstream sw(fileName);
|
|
char dataStr[250];
|
|
|
|
sprintf_s(dataStr, 50, " center: (%g, %g, %g)", binInfo.center.x, binInfo.center.y, binInfo.center.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " L: %g; W: %g", binInfo.length, binInfo.width);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " topZ: %g", binInfo.binTopZ);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " bottom_dir: (%g, %g, %g)", binInfo.bottomNormal.x, binInfo.bottomNormal.y, binInfo.bottomNormal.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " x_dir: (%g, %g, %g)", binInfo.x_dir.x, binInfo.x_dir.y, binInfo.x_dir.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " y_dir: (%g, %g, %g)", binInfo.y_dir.x, binInfo.y_dir.y, binInfo.y_dir.z);
|
|
sw << dataStr << std::endl;
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
sprintf_s(dataStr, 50, " vertex: (%g, %g, %g)", binInfo.minRectVertex[i].x, binInfo.minRectVertex[i].y, binInfo.minRectVertex[i].z);
|
|
sw << dataStr << std::endl;
|
|
}
|
|
sw.close();
|
|
}
|
|
|
|
WD_HRM_BinInfo _readBinInfo(char* fileName)
|
|
{
|
|
//设置初始结果
|
|
WD_HRM_BinInfo binInfo;
|
|
memset(&binInfo, 0, sizeof(WD_HRM_BinInfo));
|
|
|
|
std::ifstream inputFile(fileName);
|
|
std::string linedata;
|
|
|
|
if (inputFile.is_open() == false)
|
|
return binInfo;
|
|
|
|
float x, y, z;
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " center: (%f, %f, %f)", &x, &y, &z);
|
|
binInfo.center = { x, y, z };
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " L: %lf; W: %lf", &binInfo.length, &binInfo.width);
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " topZ: %lf", &binInfo.binTopZ);
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " bottom_dir: (%lf, %lf, %lf)", &binInfo.bottomNormal.x, &binInfo.bottomNormal.y, &binInfo.bottomNormal.z);
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " x_dir: (%lf, %lf, %lf)", &binInfo.x_dir.x, &binInfo.x_dir.y, &binInfo.x_dir.z);
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " y_dir: (%lf, %lf, %lf)", &binInfo.y_dir.x, &binInfo.y_dir.y, &binInfo.y_dir.z);
|
|
|
|
for (int i = 0; i < 4; i++)
|
|
{
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " vertex: (%f, %f, %f)", &x, &y, &z);
|
|
binInfo.minRectVertex[i] = { x, y, z };
|
|
}
|
|
inputFile.close();
|
|
return binInfo;
|
|
}
|
|
|
|
void _outputWorkpieceInfo(char* fileName, WD_HRM_workpieceSizeInfo& workpieceInfo)
|
|
{
|
|
std::ofstream sw(fileName);
|
|
char dataStr[250];
|
|
|
|
sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpieceInfo.center.x, workpieceInfo.center.y, workpieceInfo.center.z);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " R: %g; H: %g", workpieceInfo.workpieceRadius, workpieceInfo.workpieceHeight);
|
|
sw << dataStr << std::endl;
|
|
sprintf_s(dataStr, 50, " layerZ: %g", workpieceInfo.layerZValue);
|
|
sw << dataStr << std::endl;
|
|
|
|
sw.close();
|
|
}
|
|
|
|
WD_HRM_workpieceSizeInfo _readWorkpieceInfo(char* fileName)
|
|
{
|
|
//设置初始结果
|
|
WD_HRM_workpieceSizeInfo workpieceInfo;
|
|
memset(&workpieceInfo, 0, sizeof(WD_HRM_workpieceSizeInfo));
|
|
|
|
std::ifstream inputFile(fileName);
|
|
std::string linedata;
|
|
|
|
if (inputFile.is_open() == false)
|
|
return workpieceInfo;
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " center: (%lf, %lf, %lf)", &workpieceInfo.center.x, &workpieceInfo.center.y, &workpieceInfo.center.z);
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " R: %lf; H: %lf", &workpieceInfo.workpieceRadius, &workpieceInfo.workpieceHeight);
|
|
|
|
std::getline(inputFile, linedata);
|
|
sscanf_s(linedata.c_str(), " layerZ: %lf", &workpieceInfo.layerZValue);
|
|
|
|
inputFile.close();
|
|
return workpieceInfo;
|
|
}
|
|
|
|
void _XOYprojection_XYZUV(
|
|
cv::Mat& img,
|
|
std::vector<std::vector< SVzNLPositionD>>& dataLines,
|
|
std::vector< WD_workpieceInfo>& holes,
|
|
const double scale,
|
|
const int sideWidth,
|
|
const SVzNLRangeD x_range,
|
|
const SVzNLRangeD y_range,
|
|
bool drawDirAngle,
|
|
const double dirAngleLen)
|
|
{
|
|
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< SVzNLPositionD>& a_line = dataLines[line];
|
|
for (int i = 0; i < a_line.size(); i++)
|
|
{
|
|
SVzNLPositionD& pt3D = a_line[i];
|
|
if (pt3D.pt3D.z < 1e-4)
|
|
continue;
|
|
|
|
int flag = pt3D.nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 1;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 150, 150, 150 };
|
|
size = 1;
|
|
}
|
|
|
|
double x = pt3D.pt3D.x;
|
|
double y = pt3D.pt3D.y;
|
|
int px = (int)((x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((y - y_range.min) / scale + sideWidth);
|
|
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);
|
|
}
|
|
}
|
|
if (holes.size() > 0)
|
|
{
|
|
for (int i = 0; i < (int)holes.size(); i++)
|
|
{
|
|
if (i == 0)
|
|
{
|
|
rgb = { 255, 0, 0 };
|
|
size = int(3.0 / scale);
|
|
}
|
|
else
|
|
{
|
|
rgb = { 255, 255, 0 };
|
|
size = int(3.0 / scale);
|
|
}
|
|
WD_workpieceInfo& a_hole = holes[i];
|
|
int px = (int)((a_hole.center.x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((a_hole.center.y - y_range.min) / scale + sideWidth);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
|
rgb = { 0, 255, 0 };
|
|
size = int(2.0 / scale);
|
|
if (true == drawDirAngle)
|
|
{
|
|
//画线
|
|
double x1 = a_hole.center.x;
|
|
double y1 = a_hole.center.y;
|
|
int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
//x轴
|
|
double x2 = a_hole.center.x + dirAngleLen * a_hole.x_dir.x;
|
|
double y2 = a_hole.center.y + dirAngleLen * a_hole.x_dir.y;
|
|
int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 255, 0, 0 }; //x轴用红色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
|
//y轴
|
|
x2 = a_hole.center.x + dirAngleLen * a_hole.y_dir.x;
|
|
y2 = a_hole.center.y + dirAngleLen * a_hole.y_dir.y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 255, 0 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
|
//z轴
|
|
x2 = a_hole.center.x + dirAngleLen * a_hole.z_dir.x;
|
|
y2 = a_hole.center.y + dirAngleLen * a_hole.z_dir.y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //z轴用蓝色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void EulerRpyToRotation1(const 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 _rotateCloudPts_XYZUV(
|
|
std::vector<std::vector< SVzNLPositionD>>& scanLines,
|
|
double matrix3d[9],
|
|
std::vector<std::vector< SVzNLPositionD>>& rotateLines,
|
|
SVzNLRangeD& rx_range, SVzNLRangeD& ry_range)
|
|
{
|
|
int lineNum = (int)scanLines.size();
|
|
rotateLines.resize(lineNum);
|
|
rx_range.min = 0;
|
|
rx_range.max = -1;
|
|
ry_range.min = 0;
|
|
ry_range.max = -1;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
for (int i = 0; i < (int)scanLines[line].size(); i++)
|
|
{
|
|
SVzNLPositionD& pt3D = scanLines[line][i];
|
|
if (pt3D.pt3D.z < 1e-4)
|
|
continue;
|
|
|
|
SVzNLPositionD r_pt;
|
|
r_pt.pt3D = _ptRotate(pt3D.pt3D, matrix3d);
|
|
r_pt.nPointIdx = pt3D.nPointIdx;
|
|
r_pt.ptLeft2D = pt3D.ptLeft2D;
|
|
r_pt.ptRight2D = pt3D.ptRight2D;
|
|
rotateLines[line].push_back(r_pt);
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void _genXOYProjectionImage_XYZUV(
|
|
cv::String& fileName,
|
|
std::vector<std::vector< SVzNLPositionD>>& scanLines,
|
|
const double scale,
|
|
std::vector< WD_workpieceInfo>& holes,
|
|
const double rpy[3], const double dirLen)
|
|
{
|
|
//旋转视角显示
|
|
double matrix3d[9];
|
|
EulerRpyToRotation1(rpy, matrix3d);
|
|
std::vector<WD_workpieceInfo> r_objOps;
|
|
r_objOps.resize(holes.size());
|
|
std::vector<std::vector< SVzNLPositionD>> rotateLines;
|
|
SVzNLRangeD rx_range, ry_range;
|
|
_rotateCloudPts_XYZUV(scanLines, matrix3d, rotateLines, rx_range, ry_range);
|
|
|
|
//统计X和Y的范围
|
|
int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
|
|
if (x_cols % 2 == 1)
|
|
x_cols += 1;
|
|
int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
|
|
if (y_rows % 2 == 1)
|
|
y_rows += 1;
|
|
|
|
int sideWidth = 4;
|
|
int imgCols = x_cols + sideWidth * 2;
|
|
int imgRows = y_rows + sideWidth * 2;
|
|
|
|
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
|
//计算投影比例
|
|
_XOYprojection_XYZUV(img, rotateLines, r_objOps, scale, sideWidth, rx_range, ry_range, true, dirLen);
|
|
cv::imwrite(fileName, img);
|
|
return;
|
|
}
|
|
|
|
void _rotateCloudPts(
|
|
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
|
|
double matrix3d[9],
|
|
std::vector<std::vector< SVzNL3DPosition>>& rotateLines,
|
|
SVzNLRangeD& rx_range, SVzNLRangeD& ry_range)
|
|
{
|
|
int lineNum = (int)scanLines.size();
|
|
rotateLines.resize(lineNum);
|
|
rx_range.min = 0;
|
|
rx_range.max = -1;
|
|
ry_range.min = 0;
|
|
ry_range.max = -1;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
for (int i = 0; i < (int)scanLines[line].size(); i++)
|
|
{
|
|
SVzNL3DPosition& pt3D = scanLines[line][i];
|
|
if (pt3D.pt3D.z < 1e-4)
|
|
continue;
|
|
|
|
SVzNL3DPosition r_pt;
|
|
r_pt.pt3D = _ptRotate(pt3D.pt3D, matrix3d);
|
|
r_pt.nPointIdx = pt3D.nPointIdx;
|
|
rotateLines[line].push_back(r_pt);
|
|
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;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void _XOYprojection_binInfo(
|
|
cv::Mat& img,
|
|
std::vector<std::vector< SVzNL3DPosition>>& dataLines,
|
|
WD_HRM_BinInfo& binInfo,
|
|
const double scale,
|
|
const int sideWidth,
|
|
const SVzNLRangeD x_range,
|
|
const SVzNLRangeD y_range,
|
|
const double dirAngleLen)
|
|
{
|
|
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 flag = pt3D.nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 1;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 150, 150, 150 };
|
|
size = 1;
|
|
}
|
|
|
|
double x = pt3D.pt3D.x;
|
|
double y = pt3D.pt3D.y;
|
|
int px = (int)((x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((y - y_range.min) / scale + sideWidth);
|
|
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);
|
|
}
|
|
}
|
|
if (binInfo.center.z > 1e-4)
|
|
{
|
|
rgb = { 255, 0, 0 };
|
|
size = int(10.0 / scale);
|
|
int px = (int)((binInfo.center.x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((binInfo.center.y - y_range.min) / scale + sideWidth);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
|
//画线
|
|
double x1 = binInfo.center.x;
|
|
double y1 = binInfo.center.y;
|
|
int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
//x轴
|
|
double mx2 = binInfo.center.x - dirAngleLen * binInfo.x_dir.x;
|
|
double my2 = binInfo.center.y - dirAngleLen * binInfo.x_dir.y;
|
|
int mpx2 = (int)((mx2 - x_range.min) / scale + sideWidth);
|
|
int mpy2 = (int)((my2 - y_range.min) / scale + sideWidth);
|
|
|
|
double x2 = binInfo.center.x + dirAngleLen * binInfo.x_dir.x;
|
|
double y2 = binInfo.center.y + dirAngleLen * binInfo.x_dir.y;
|
|
int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 255, 0, 0 }; //x轴用红色
|
|
cv::line(img, cv::Point(mpx2, mpy2), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
|
//y轴
|
|
x2 = binInfo.center.x + dirAngleLen * binInfo.y_dir.x;
|
|
y2 = binInfo.center.y + dirAngleLen * binInfo.y_dir.y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 255, 0 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
|
|
|
|
//边1
|
|
x1 = binInfo.minRectVertex[0].x;
|
|
y1 = binInfo.minRectVertex[0].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[1].x;
|
|
y2 = binInfo.minRectVertex[1].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
//边2
|
|
x1 = binInfo.minRectVertex[1].x;
|
|
y1 = binInfo.minRectVertex[1].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[2].x;
|
|
y2 = binInfo.minRectVertex[2].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
//边3
|
|
x1 = binInfo.minRectVertex[2].x;
|
|
y1 = binInfo.minRectVertex[2].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[3].x;
|
|
y2 = binInfo.minRectVertex[3].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
//边4
|
|
x1 = binInfo.minRectVertex[3].x;
|
|
y1 = binInfo.minRectVertex[3].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[0].x;
|
|
y2 = binInfo.minRectVertex[0].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
}
|
|
|
|
}
|
|
|
|
void _genXOYProjectionImage_binInfo(
|
|
cv::String& fileName,
|
|
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
|
|
const double scale,
|
|
WD_HRM_BinInfo& binInfo,
|
|
const double rpy[3], const double dirLen)
|
|
{
|
|
//旋转视角显示
|
|
double matrix3d[9];
|
|
EulerRpyToRotation1(rpy, matrix3d);
|
|
WD_HRM_BinInfo rotateBin;
|
|
rotateBin.length = binInfo.length;
|
|
rotateBin.width = binInfo.width;
|
|
rotateBin.center = _ptRotate(binInfo.center, matrix3d);
|
|
rotateBin.bottomNormal = _ptRotate(binInfo.bottomNormal, matrix3d);
|
|
rotateBin.x_dir = _ptRotate(binInfo.x_dir, matrix3d);
|
|
rotateBin.y_dir = _ptRotate(binInfo.y_dir, matrix3d);
|
|
for (int i = 0; i < 4; i++)
|
|
rotateBin.minRectVertex[i] = _ptRotate(binInfo.minRectVertex[i], matrix3d);
|
|
|
|
std::vector<std::vector< SVzNL3DPosition>> rotateLines;
|
|
SVzNLRangeD rx_range, ry_range;
|
|
_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);
|
|
|
|
//统计X和Y的范围
|
|
int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
|
|
if (x_cols % 2 == 1)
|
|
x_cols += 1;
|
|
int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
|
|
if (y_rows % 2 == 1)
|
|
y_rows += 1;
|
|
|
|
int sideWidth = 32;
|
|
int imgCols = x_cols + sideWidth * 2;
|
|
int imgRows = y_rows + sideWidth * 2;
|
|
|
|
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
|
//计算投影比例
|
|
_XOYprojection_binInfo(img, rotateLines, rotateBin, scale, sideWidth, rx_range, ry_range, dirLen);
|
|
cv::imwrite(fileName, img);
|
|
return;
|
|
}
|
|
|
|
void _XOYprojection_workpieceInfo(
|
|
cv::Mat& img,
|
|
std::vector<std::vector< SVzNL3DPosition>>& dataLines,
|
|
std::vector<WD_workpieceInfo>& workpieceInfo,
|
|
const double scale,
|
|
const int sideWidth,
|
|
const SVzNLRangeD x_range,
|
|
const SVzNLRangeD y_range,
|
|
const double dirAngleLen)
|
|
{
|
|
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 flag = pt3D.nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 1;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 150, 150, 150 };
|
|
size = 1;
|
|
}
|
|
|
|
double x = pt3D.pt3D.x;
|
|
double y = pt3D.pt3D.y;
|
|
int px = (int)((x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((y - y_range.min) / scale + sideWidth);
|
|
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);
|
|
}
|
|
}
|
|
if (workpieceInfo.size() > 0)
|
|
{
|
|
|
|
for (int i = 0; i < (int)workpieceInfo.size(); i++)
|
|
{
|
|
rgb = { 255, 0, 0 };
|
|
size = int(10.0 / scale);
|
|
int px = (int)((workpieceInfo[i].center.x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((workpieceInfo[i].center.y - y_range.min) / scale + sideWidth);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
|
//画圆
|
|
rgb = { 0, 0, 255 };
|
|
size = (int)(workpieceInfo[i].value / scale);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
}
|
|
}
|
|
}
|
|
|
|
void _genXOYProjectionImage_workpieceInfo(
|
|
cv::String& fileName,
|
|
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
|
|
const double scale,
|
|
std::vector<WD_workpieceInfo>& workpieceInfo,
|
|
const double rpy[3], const double dirLen)
|
|
{
|
|
//旋转视角显示
|
|
double matrix3d[9];
|
|
EulerRpyToRotation1(rpy, matrix3d);
|
|
|
|
std::vector<WD_workpieceInfo> rotatedWorkpiece;
|
|
for (int i = 0; i < (int)workpieceInfo.size(); i++)
|
|
{
|
|
WD_workpieceInfo rotateObj;
|
|
rotateObj.workpieceType = workpieceInfo[i].workpieceType;
|
|
rotateObj.value = workpieceInfo[i].value;
|
|
rotateObj.center = _ptRotate(workpieceInfo[i].center, matrix3d);
|
|
rotateObj.z_dir = _ptRotate(workpieceInfo[i].z_dir, matrix3d);
|
|
rotateObj.x_dir = _ptRotate(workpieceInfo[i].x_dir, matrix3d);
|
|
rotateObj.y_dir = _ptRotate(workpieceInfo[i].y_dir, matrix3d);
|
|
rotatedWorkpiece.push_back(rotateObj);
|
|
}
|
|
|
|
std::vector<std::vector< SVzNL3DPosition>> rotateLines;
|
|
SVzNLRangeD rx_range, ry_range;
|
|
_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);
|
|
|
|
//统计X和Y的范围
|
|
int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
|
|
if (x_cols % 2 == 1)
|
|
x_cols += 1;
|
|
int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
|
|
if (y_rows % 2 == 1)
|
|
y_rows += 1;
|
|
|
|
int sideWidth = 32;
|
|
int imgCols = x_cols + sideWidth * 2;
|
|
int imgRows = y_rows + sideWidth * 2;
|
|
|
|
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
|
//计算投影比例
|
|
_XOYprojection_workpieceInfo(img, rotateLines, rotatedWorkpiece, scale, sideWidth, rx_range, ry_range, dirLen);
|
|
cv::imwrite(fileName, img);
|
|
return;
|
|
}
|
|
|
|
void _XOYprojection_planningResult(
|
|
cv::Mat& img,
|
|
std::vector<std::vector< SVzNL3DPosition>>& dataLines,
|
|
std::vector<WD_workpieceInfo>& workpieceInfo,
|
|
WD_HRM_BinInfo& binInfo,
|
|
const double scale,
|
|
const int sideWidth,
|
|
const SVzNLRangeD x_range,
|
|
const SVzNLRangeD y_range,
|
|
const double dirAngleLen)
|
|
{
|
|
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 flag = pt3D.nPointIdx & 0xffff;
|
|
if (flag > 0)
|
|
{
|
|
rgb = objColor[flag % 8]; // { 255, 97, 0 };
|
|
size = 1;
|
|
}
|
|
else
|
|
{
|
|
rgb = { 150, 150, 150 };
|
|
size = 1;
|
|
}
|
|
|
|
double x = pt3D.pt3D.x;
|
|
double y = pt3D.pt3D.y;
|
|
int px = (int)((x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((y - y_range.min) / scale + sideWidth);
|
|
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);
|
|
}
|
|
}
|
|
if (workpieceInfo.size() > 0)
|
|
{
|
|
for (int i = 0; i < (int)workpieceInfo.size(); i++)
|
|
{
|
|
rgb = { 255, 0, 0 };
|
|
size = int(10.0 / scale);
|
|
int px = (int)((workpieceInfo[i].center.x - x_range.min) / scale + sideWidth);
|
|
int py = (int)((workpieceInfo[i].center.y - y_range.min) / scale + sideWidth);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
|
//画圆
|
|
rgb = { 0, 0, 255 };
|
|
size = (int)(workpieceInfo[i].value / scale);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
}
|
|
|
|
//边1
|
|
double x1 = binInfo.minRectVertex[0].x;
|
|
double y1 = binInfo.minRectVertex[0].y;
|
|
int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
double x2 = binInfo.minRectVertex[1].x;
|
|
double y2 = binInfo.minRectVertex[1].y;
|
|
int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
//边2
|
|
x1 = binInfo.minRectVertex[1].x;
|
|
y1 = binInfo.minRectVertex[1].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[2].x;
|
|
y2 = binInfo.minRectVertex[2].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
//边3
|
|
x1 = binInfo.minRectVertex[2].x;
|
|
y1 = binInfo.minRectVertex[2].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[3].x;
|
|
y2 = binInfo.minRectVertex[3].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
//边4
|
|
x1 = binInfo.minRectVertex[3].x;
|
|
y1 = binInfo.minRectVertex[3].y;
|
|
px1 = (int)((x1 - x_range.min) / scale + sideWidth);
|
|
py1 = (int)((y1 - y_range.min) / scale + sideWidth);
|
|
x2 = binInfo.minRectVertex[0].x;
|
|
y2 = binInfo.minRectVertex[0].y;
|
|
px2 = (int)((x2 - x_range.min) / scale + sideWidth);
|
|
py2 = (int)((y2 - y_range.min) / scale + sideWidth);
|
|
rgb = { 0, 0, 255 }; //y轴用绿色
|
|
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
|
|
|
}
|
|
}
|
|
|
|
void _genXOYProjectionImage_planningResult(
|
|
cv::String& fileName,
|
|
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
|
|
const double scale,
|
|
WD_HRM_BinInfo& binInfo,
|
|
std::vector<WD_workpieceInfo>& workpieceInfo,
|
|
const double rpy[3], const double dirLen)
|
|
{
|
|
//旋转视角显示
|
|
double matrix3d[9];
|
|
EulerRpyToRotation1(rpy, matrix3d);
|
|
|
|
std::vector<WD_workpieceInfo> rotatedWorkpiece;
|
|
for (int i = 0; i < (int)workpieceInfo.size(); i++)
|
|
{
|
|
WD_workpieceInfo rotateObj;
|
|
rotateObj.workpieceType = workpieceInfo[i].workpieceType;
|
|
rotateObj.value = workpieceInfo[i].value;
|
|
rotateObj.center = _ptRotate(workpieceInfo[i].center, matrix3d);
|
|
rotateObj.z_dir = _ptRotate(workpieceInfo[i].z_dir, matrix3d);
|
|
rotateObj.x_dir = _ptRotate(workpieceInfo[i].x_dir, matrix3d);
|
|
rotateObj.y_dir = _ptRotate(workpieceInfo[i].y_dir, matrix3d);
|
|
rotatedWorkpiece.push_back(rotateObj);
|
|
}
|
|
|
|
std::vector<std::vector< SVzNL3DPosition>> rotateLines;
|
|
SVzNLRangeD rx_range, ry_range;
|
|
_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);
|
|
|
|
//统计X和Y的范围
|
|
int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
|
|
if (x_cols % 2 == 1)
|
|
x_cols += 1;
|
|
int y_rows = (int)((ry_range.max - ry_range.min) / scale) + 1;
|
|
if (y_rows % 2 == 1)
|
|
y_rows += 1;
|
|
|
|
int sideWidth = 32;
|
|
int imgCols = x_cols + sideWidth * 2;
|
|
int imgRows = y_rows + sideWidth * 2;
|
|
|
|
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
|
//计算投影比例
|
|
_XOYprojection_planningResult(img, rotateLines, rotatedWorkpiece, binInfo, scale, sideWidth, rx_range, ry_range, dirLen);
|
|
cv::imwrite(fileName, img);
|
|
return;
|
|
}
|
|
|
|
//拓普发工件孔定位（工件定位)
|
|
#define HRM_TaperedWorkpiece_TEST_GROUP 1
|
|
void HaiRuiMa_TaperedWorkpiece_test(void)
|
|
{
|
|
const char* dataPath[HRM_TaperedWorkpiece_TEST_GROUP] = {
|
|
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/锥形工作2D+3D数据/数据1/", //0
|
|
};
|
|
|
|
SVzNLRange fileIdx[HRM_TaperedWorkpiece_TEST_GROUP] = {
|
|
{1,21},
|
|
};
|
|
|
|
const char* ver = wd_hybridPositioningVersion();
|
|
printf("ver:%s\n", ver);
|
|
|
|
for (int grp = 0; grp < HRM_TaperedWorkpiece_TEST_GROUP; grp++)
|
|
{
|
|
SSG_planeCalibPara groundCalibPara;
|
|
//初始化成单位阵
|
|
groundCalibPara.planeCalib[0] = 1.0;
|
|
groundCalibPara.planeCalib[1] = 0.0;
|
|
groundCalibPara.planeCalib[2] = 0.0;
|
|
groundCalibPara.planeCalib[3] = 0.0;
|
|
groundCalibPara.planeCalib[4] = 1.0;
|
|
groundCalibPara.planeCalib[5] = 0.0;
|
|
groundCalibPara.planeCalib[6] = 0.0;
|
|
groundCalibPara.planeCalib[7] = 0.0;
|
|
groundCalibPara.planeCalib[8] = 1.0;
|
|
groundCalibPara.planeHeight = -1.0;
|
|
for (int i = 0; i < 9; i++)
|
|
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
|
//groundCalibPara = _readCalibPara(calibFile);
|
|
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|
{
|
|
fidx =15;
|
|
char _scan_file[256];
|
|
sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
|
|
std::vector<std::vector< SVzNLPositionD>> scanLines;
|
|
vzReadLaserScanPointFromFile_XYZUV_vector(_scan_file, scanLines);
|
|
_removeZeroLines_XYZUV(scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
|
|
sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
|
|
std::vector<WD_objArea2D> objROIs;
|
|
vzReadObj2DROI(_scan_file, objROIs);
|
|
|
|
long t1 = (long)GetTickCount64();//统计时间
|
|
|
|
int errCode = 0;
|
|
std::vector< WD_workpieceInfo> workpiecePositions;
|
|
wd_HRM_TaperedWorkpiecePositioning(
|
|
scanLines,
|
|
objROIs,
|
|
groundCalibPara,
|
|
workpiecePositions,
|
|
&errCode);
|
|
long t2 = (long)GetTickCount64();
|
|
if (errCode == SX_ERR_UNKNOWN_OBJECT)
|
|
printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1));
|
|
else if (errCode == SX_ERR_ZERO_OBJECTS)
|
|
printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1));
|
|
else
|
|
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
|
//输出测试结果
|
|
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
|
_outputRGBDResult_XYZUV_RGBD(_scan_file, scanLines, workpiecePositions);
|
|
sprintf_s(calibFile, "%sresult/LaserLine%d_hole_info.txt", dataPath[grp], fidx);
|
|
_outputWorkpieceInfo(calibFile, workpiecePositions);
|
|
|
|
#if 0
|
|
sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
|
|
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
|
double angleDrawLen = 15;
|
|
double displayScale = 0.3;
|
|
cv::String imgName(calibFile);
|
|
_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositions, rpy, angleDrawLen);
|
|
#endif
|
|
printf("done\n");
|
|
}
|
|
}
|
|
}
|
|
|
|
//地面调平
|
|
#define HRM_BIN_TEST_GROUP 3
|
|
void HaiRuiMa_groundCalib_test(void)
|
|
{
|
|
const char* dataPath[HRM_BIN_TEST_GROUP] = {
|
|
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
|
|
};
|
|
|
|
SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
|
|
{1,7}, {1,9}, {1,7},
|
|
};
|
|
|
|
const char* ver = wd_hybridPositioningVersion();
|
|
printf("ver:%s\n", ver);
|
|
|
|
char _calib_datafile[256];
|
|
sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/地面数据.txt");
|
|
int lineNum = 0;
|
|
float lineV = 0.0f;
|
|
int dataCalib = 0;
|
|
int maxTimeStamp = 0;
|
|
int clockPerSecond = 0;
|
|
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanData);
|
|
|
|
lineNum = (int)scanData.size();
|
|
if (scanData.size() > 0)
|
|
{
|
|
SSG_planeCalibPara calibPara = wd_getGroundCalibPara(scanData);
|
|
//
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/ground_calib_para.txt");
|
|
_outputCalibPara(calibFile, calibPara);
|
|
#if 1
|
|
for (int grp = 0; grp < HRM_BIN_TEST_GROUP; grp++)
|
|
{
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|
{
|
|
//fidx =4;
|
|
char _scan_file[256];
|
|
sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
|
|
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|
_removeZeroLines_XYZ(scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
lineNum = (int)scanLines.size();
|
|
for (int i = 0; i < lineNum; i++)
|
|
wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);//调平，去除地面
|
|
sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177_ground_calibrated.txt", dataPath[grp], fidx);
|
|
int headNullLines = 0;
|
|
_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
|
|
|
|
sprintf_s(_scan_file, "%s工件%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
|
|
scanLines.clear();
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|
_removeZeroLines_XYZ(scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
lineNum = (int)scanLines.size();
|
|
for (int i = 0; i < lineNum; i++)
|
|
wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);//调平，去除地面
|
|
sprintf_s(_scan_file, "%s工件%d_LaserData_Jl26C177_ground_calibrated.txt", dataPath[grp], fidx);
|
|
headNullLines = 0;
|
|
_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
|
|
|
|
printf("%s: calib done!\n", _scan_file);
|
|
}
|
|
}
|
|
#endif
|
|
printf("all calib done!\n", _calib_datafile);
|
|
}
|
|
|
|
}
|
|
//海瑞马料筐尺寸计算
|
|
void HaiRuiMa_BinSizeCompute_test(void)
|
|
{
|
|
const char* dataPath[HRM_BIN_TEST_GROUP] = {
|
|
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
|
|
};
|
|
|
|
SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
|
|
{1,7}, {1,9}, {1,7},
|
|
};
|
|
|
|
const char* ver = wd_hybridPositioningVersion();
|
|
printf("ver:%s 料筐尺寸计算\n", ver);
|
|
|
|
for (int grp = 0; grp < HRM_BIN_TEST_GROUP; grp++)
|
|
{
|
|
SSG_planeCalibPara groundCalibPara;
|
|
//初始化成单位阵
|
|
groundCalibPara.planeCalib[0] = 1.0;
|
|
groundCalibPara.planeCalib[1] = 0.0;
|
|
groundCalibPara.planeCalib[2] = 0.0;
|
|
groundCalibPara.planeCalib[3] = 0.0;
|
|
groundCalibPara.planeCalib[4] = 1.0;
|
|
groundCalibPara.planeCalib[5] = 0.0;
|
|
groundCalibPara.planeCalib[6] = 0.0;
|
|
groundCalibPara.planeCalib[7] = 0.0;
|
|
groundCalibPara.planeCalib[8] = 1.0;
|
|
groundCalibPara.planeHeight = -1.0;
|
|
for (int i = 0; i < 9; i++)
|
|
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
|
groundCalibPara = _readCalibPara(calibFile);
|
|
|
|
double binHeight = 640; //料筐最上边沿距地面高度
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|
{
|
|
//fidx = 15;
|
|
char _scan_file[256];
|
|
sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
|
|
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|
_removeZeroLines_XYZ(scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
|
|
|
|
long t1 = (long)GetTickCount64();//统计时间
|
|
|
|
int errCode = 0;
|
|
#if 0
|
|
SSG_cornerParam cornerParam;
|
|
cornerParam.cornerTh = 60; //45度角
|
|
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
|
cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
|
|
cornerParam.minEndingGap_z = 5.0;
|
|
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
|
cornerParam.jumpCornerTh_2 = 60;
|
|
//料筐码放：获取料筐尺寸、料筐姿态、料筐中心点坐标
|
|
WD_HRM_BinInfo binInfo = wd_HRM_getBinSize(
|
|
scanLines,
|
|
cornerParam,
|
|
&errCode);
|
|
#else
|
|
//料筐码放：获取料筐尺寸、料筐姿态、料筐中心点坐标
|
|
WD_HRM_BinInfo binInfo = wd_HRM_getBinSize(
|
|
scanLines,
|
|
groundCalibPara,
|
|
binHeight, //料筐高度
|
|
&errCode);
|
|
#endif
|
|
long t2 = (long)GetTickCount64();
|
|
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
|
//输出测试结果
|
|
sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx);
|
|
|
|
_outputRGBDResult_XYZ_RGBD_binInfo(_scan_file, scanLines, binInfo);
|
|
sprintf_s(_scan_file, "%sresult/%d_bin_info.txt", dataPath[grp], fidx);
|
|
_outputBinInfo(_scan_file, binInfo);
|
|
|
|
sprintf_s(calibFile, "%sresult/LaserLine%d_bin_projection.png", dataPath[grp], fidx);
|
|
double rpy[3] = { 0, 0, 0 }; // { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
|
double angleDrawLen = 500;
|
|
double displayScale = 1.0;
|
|
cv::String imgName(calibFile);
|
|
_genXOYProjectionImage_binInfo(imgName, scanLines, displayScale, binInfo, rpy, angleDrawLen);
|
|
printf("done\n");
|
|
}
|
|
}
|
|
}
|
|
//海瑞马工件尺寸测量
|
|
void HaiRuiMa_workpieceSizeCompute_test(void)
|
|
{
|
|
const char* dataPath[HRM_BIN_TEST_GROUP] = {
|
|
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
|
|
};
|
|
|
|
SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
|
|
{1,7}, {1,9}, {1,7},
|
|
};
|
|
|
|
const char* ver = wd_hybridPositioningVersion();
|
|
printf("ver:%s 工件尺寸测量 \n", ver);
|
|
|
|
for (int grp = 1; grp < HRM_BIN_TEST_GROUP; grp++)
|
|
{
|
|
SSG_planeCalibPara groundCalibPara;
|
|
//初始化成单位阵
|
|
groundCalibPara.planeCalib[0] = 1.0;
|
|
groundCalibPara.planeCalib[1] = 0.0;
|
|
groundCalibPara.planeCalib[2] = 0.0;
|
|
groundCalibPara.planeCalib[3] = 0.0;
|
|
groundCalibPara.planeCalib[4] = 1.0;
|
|
groundCalibPara.planeCalib[5] = 0.0;
|
|
groundCalibPara.planeCalib[6] = 0.0;
|
|
groundCalibPara.planeCalib[7] = 0.0;
|
|
groundCalibPara.planeCalib[8] = 1.0;
|
|
groundCalibPara.planeHeight = -1.0;
|
|
for (int i = 0; i < 9; i++)
|
|
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
|
groundCalibPara = _readCalibPara(calibFile);
|
|
|
|
double binHeight = 640; //料筐最上边沿距地面高度
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|
{
|
|
//fidx = 15;
|
|
char _scan_file[256];
|
|
sprintf_s(_scan_file, "%s工件%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
|
|
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|
_removeZeroLines_XYZ(scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
|
|
|
|
long t1 = (long)GetTickCount64();//统计时间
|
|
|
|
int errCode = 0;
|
|
SSG_cornerParam cornerParam;
|
|
cornerParam.cornerTh = 60; //45度角
|
|
cornerParam.scale = 10; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
|
cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4;
|
|
cornerParam.minEndingGap_z = 5.0;
|
|
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
|
cornerParam.jumpCornerTh_2 = 60;
|
|
|
|
//标准工件尺寸。目前3种工件尺寸
|
|
std::vector<WD_HRM_workpieceSizeInfo> standardWorkpieceSize;
|
|
standardWorkpieceSize.resize(3);
|
|
//工件1
|
|
standardWorkpieceSize[0].center = { 0, 0, 0 };
|
|
standardWorkpieceSize[0].layerZValue = 0;
|
|
standardWorkpieceSize[0].workpieceHeight = 40.0;
|
|
standardWorkpieceSize[0].workpieceRadius = 45.0;
|
|
//工件2
|
|
standardWorkpieceSize[1].center = { 0, 0, 0 };
|
|
standardWorkpieceSize[1].layerZValue = 0;
|
|
standardWorkpieceSize[1].workpieceHeight = 70.0;
|
|
standardWorkpieceSize[1].workpieceRadius = 45.0;
|
|
//工件3
|
|
standardWorkpieceSize[1].center = { 0, 0, 0 };
|
|
standardWorkpieceSize[1].layerZValue = 0;
|
|
standardWorkpieceSize[1].workpieceHeight = 60.0;
|
|
standardWorkpieceSize[1].workpieceRadius = 62.5;
|
|
|
|
//料筐码放：获取工件尺寸
|
|
WD_HRM_workpieceSizeInfo workpieceInfo = wd_HRM_getWorkpieceSize(
|
|
scanLines,
|
|
standardWorkpieceSize,
|
|
cornerParam,
|
|
groundCalibPara,
|
|
&errCode);
|
|
|
|
long t2 = (long)GetTickCount64();
|
|
printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode);
|
|
//输出测试结果
|
|
sprintf_s(_scan_file, "%sresult/LaserLine%d_workpiece_result.txt", dataPath[grp], fidx);
|
|
|
|
std::vector<WD_workpieceInfo> poseInfo;
|
|
WD_workpieceInfo a_pose;
|
|
memset(&a_pose, 0, sizeof(WD_workpieceInfo));
|
|
a_pose.center = workpieceInfo.center;
|
|
a_pose.value = workpieceInfo.workpieceRadius;
|
|
a_pose.z_dir = { 0, 0, 1.0 };
|
|
poseInfo.push_back(a_pose);
|
|
_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, scanLines, poseInfo);
|
|
sprintf_s(_scan_file, "%sresult/%d_workpiece_info.txt", dataPath[grp], fidx);
|
|
_outputWorkpieceInfo(_scan_file, workpieceInfo);
|
|
|
|
sprintf_s(calibFile, "%sresult/LaserLine%d_workpiece_projection.png", dataPath[grp], fidx);
|
|
double rpy[3] = { 0, 0, 0 }; // { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
|
double angleDrawLen = 500;
|
|
double displayScale = 1.0;
|
|
cv::String imgName(calibFile);
|
|
_genXOYProjectionImage_workpieceInfo(imgName, scanLines, displayScale, poseInfo, rpy, angleDrawLen);
|
|
printf("done\n");
|
|
}
|
|
}
|
|
}
|
|
//海瑞马码垛规划
|
|
void HaiRuiMa_positionPlanning_test(void)
|
|
{
|
|
const char* dataPath[HRM_BIN_TEST_GROUP] = {
|
|
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件1/", //0
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件2/", //1
|
|
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/码垛规划/数据2/工件3/", //2
|
|
};
|
|
|
|
SVzNLRange fileIdx[HRM_BIN_TEST_GROUP] = {
|
|
{1,7}, {1,9}, {1,7},
|
|
};
|
|
|
|
const char* ver = wd_hybridPositioningVersion();
|
|
printf("ver:%s 码垛规划\n", ver);
|
|
|
|
for (int grp = 0; grp < HRM_BIN_TEST_GROUP; grp++)
|
|
{
|
|
SSG_planeCalibPara groundCalibPara;
|
|
//初始化成单位阵
|
|
groundCalibPara.planeCalib[0] = 1.0;
|
|
groundCalibPara.planeCalib[1] = 0.0;
|
|
groundCalibPara.planeCalib[2] = 0.0;
|
|
groundCalibPara.planeCalib[3] = 0.0;
|
|
groundCalibPara.planeCalib[4] = 1.0;
|
|
groundCalibPara.planeCalib[5] = 0.0;
|
|
groundCalibPara.planeCalib[6] = 0.0;
|
|
groundCalibPara.planeCalib[7] = 0.0;
|
|
groundCalibPara.planeCalib[8] = 1.0;
|
|
groundCalibPara.planeHeight = -1.0;
|
|
for (int i = 0; i < 9; i++)
|
|
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
|
char calibFile[250];
|
|
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
|
groundCalibPara = _readCalibPara(calibFile);
|
|
|
|
double binHeight = 640; //料筐最上边沿距地面高度
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|
{
|
|
//fidx = 15;
|
|
char _scan_file[256];
|
|
sprintf_s(_scan_file, "%s隔板%d_LaserData_Jl26C177.txt", dataPath[grp], fidx);
|
|
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|
_removeZeroLines_XYZ(scanLines);
|
|
if (scanLines.size() == 0)
|
|
continue;
|
|
//地面调平
|
|
for (int i = 0; i < (int)scanLines.size(); i++)
|
|
{
|
|
wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);//调平
|
|
for (int j = 0; j < (int)scanLines[i].size(); j++)
|
|
scanLines[i][j].nPointIdx = 0;
|
|
}
|
|
|
|
//读取料筐参数
|
|
sprintf_s(_scan_file, "%sresult/%d_bin_info.txt", dataPath[grp], fidx);
|
|
WD_HRM_BinInfo binInfo = _readBinInfo(_scan_file);
|
|
//读取工件参数
|
|
sprintf_s(_scan_file, "%sresult/%d_workpiece_info.txt", dataPath[grp], fidx);
|
|
WD_HRM_workpieceSizeInfo workpieceInfo = _readWorkpieceInfo(_scan_file);
|
|
|
|
SSG_size2D realBoardSize; //实际的托板大小
|
|
realBoardSize.width = 720.0;
|
|
realBoardSize.height = 520.0;
|
|
|
|
double guardingInterval = 3.0; //工作与工件的保护间隔
|
|
|
|
long t1 = (long)GetTickCount64();//统计时间
|
|
|
|
int out_rows = 0, out_cols = 0, isLastLayere = 0;
|
|
std::vector< WD_workpieceInfo> planningPositions;
|
|
wd_HRM_PlanBinPlacement(
|
|
binInfo,
|
|
realBoardSize,
|
|
workpieceInfo,
|
|
groundCalibPara,
|
|
guardingInterval, //工作与工件的保护间隔
|
|
planningPositions,
|
|
&out_rows,
|
|
&out_cols,
|
|
&isLastLayere);
|
|
|
|
long t2 = (long)GetTickCount64();
|
|
printf("%s: %d(ms), rows=%d cols=%d, isLastLayer=%d...", _scan_file, (int)(t2 - t1), out_rows, out_cols, isLastLayere);
|
|
//输出测试结果
|
|
sprintf_s(_scan_file, "%sresult/%d_planning_result.txt", dataPath[grp], fidx);
|
|
_outputWorkpieceInfo(_scan_file, planningPositions);
|
|
|
|
//旋转到调平坐标系中
|
|
for (int i = 0; i < (int)planningPositions.size(); i++)
|
|
{
|
|
planningPositions[i].center = wd_ptRotate(planningPositions[i].center, groundCalibPara.planeCalib);
|
|
planningPositions[i].x_dir = wd_ptRotate(planningPositions[i].x_dir, groundCalibPara.planeCalib);
|
|
planningPositions[i].y_dir = wd_ptRotate(planningPositions[i].y_dir, groundCalibPara.planeCalib);
|
|
planningPositions[i].z_dir = wd_ptRotate(planningPositions[i].z_dir, groundCalibPara.planeCalib);
|
|
}
|
|
sprintf_s(_scan_file, "%sresult/LaserLine%d_planning_result.txt", dataPath[grp], fidx);
|
|
_outputRGBDResult_XYZ_RGBD_planningResult(_scan_file, scanLines, binInfo, planningPositions, workpieceInfo.workpieceHeight);
|
|
|
|
sprintf_s(calibFile, "%sresult/LaserLine%d_planning_result.png", dataPath[grp], fidx);
|
|
double rpy[3] = { 0, 0, 0 }; // { -30, 15, 0 }; //{ 0,-45, 0 }; //
|
|
double angleDrawLen = 500;
|
|
double displayScale = 1.0;
|
|
cv::String imgName(calibFile);
|
|
_genXOYProjectionImage_planningResult(imgName, scanLines, displayScale, binInfo, planningPositions, rpy, angleDrawLen);
|
|
printf("done\n");
|
|
}
|
|
}
|
|
}
|
|
typedef enum
|
|
{
|
|
keSG_2D3D定位_海瑞马_地面调平 = 0,
|
|
keSG_2D3D定位_海瑞马_锥形工件,
|
|
keSG_2D3D定位_海瑞马_转子芯,
|
|
keSG_2D3D定位_海瑞马_码垛料筐定位,
|
|
keSG_2D3D定位_海瑞马_码垛工件尺寸测量,
|
|
keSG_2D3D定位_海瑞马_码垛位置规划,
|
|
} ESG_testMode;
|
|
int main()
|
|
{
|
|
//ESG_testMode testMode = keSG_2D3D定位_海瑞马_地面调平;
|
|
//ESG_testMode testMode = keSG_2D3D定位_海瑞马_锥形工件;
|
|
//ESG_testMode testMode = keSG_2D3D定位_海瑞马_转子芯;
|
|
//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛料筐定位;
|
|
//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛工件尺寸测量;
|
|
ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛位置规划;
|
|
|
|
if (keSG_2D3D定位_海瑞马_锥形工件 == testMode)
|
|
HaiRuiMa_TaperedWorkpiece_test();
|
|
|
|
else if (keSG_2D3D定位_海瑞马_地面调平 == testMode)
|
|
HaiRuiMa_groundCalib_test();
|
|
else if (keSG_2D3D定位_海瑞马_码垛料筐定位 == testMode)
|
|
HaiRuiMa_BinSizeCompute_test();
|
|
else if (keSG_2D3D定位_海瑞马_码垛工件尺寸测量 == testMode)
|
|
HaiRuiMa_workpieceSizeCompute_test();
|
|
else if (keSG_2D3D定位_海瑞马_码垛位置规划 == testMode)
|
|
{
|
|
HaiRuiMa_BinSizeCompute_test();
|
|
HaiRuiMa_workpieceSizeCompute_test();
|
|
HaiRuiMa_positionPlanning_test();
|
|
}
|
|
|
|
|
|
}
|