911 lines
31 KiB
C++
911 lines
31 KiB
C++
// BQ_workpieceCornerExtract_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
|
||
//
|
||
|
||
#include <iostream>
|
||
#include <fstream>
|
||
#include <vector>
|
||
#include <stdio.h>
|
||
#include <VZNL_Types.h>
|
||
#include "direct.h"
|
||
#include <string>
|
||
#include "workpieceHolePositioning_Export.h"
|
||
#include <opencv2/opencv.hpp>
|
||
#include <Windows.h>
|
||
#include <limits>
|
||
#include "SG_baseAlgo_Export.h"
|
||
|
||
typedef struct
|
||
{
|
||
int r;
|
||
int g;
|
||
int b;
|
||
}SG_color;
|
||
|
||
typedef struct
|
||
{
|
||
int nPointIdx;
|
||
double x;
|
||
double y;
|
||
double z;
|
||
float r;
|
||
float g;
|
||
float b;
|
||
} SPointXYZRGB;
|
||
|
||
void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
|
||
{
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return;
|
||
|
||
std::vector< SVzNL3DPosition> a_line;
|
||
int ptIdx = 0;
|
||
while (getline(inputFile, linedata))
|
||
{
|
||
if (0 == strncmp("Line_", linedata.c_str(), 5))
|
||
{
|
||
int ptSize = (int)a_line.size();
|
||
if (ptSize > 0)
|
||
{
|
||
scanData.push_back(a_line);
|
||
}
|
||
a_line.clear();
|
||
ptIdx = 0;
|
||
}
|
||
else if (0 == strncmp("{", linedata.c_str(), 1))
|
||
{
|
||
float X, Y, Z;
|
||
int imageY = 0;
|
||
float leftX, leftY;
|
||
float rightX, rightY;
|
||
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
|
||
SVzNL3DPosition a_pt;
|
||
a_pt.pt3D.x = X;
|
||
a_pt.pt3D.y = Y;
|
||
a_pt.pt3D.z = Z;
|
||
a_pt.nPointIdx = ptIdx;
|
||
ptIdx++;
|
||
a_line.push_back(a_pt);
|
||
}
|
||
}
|
||
//last line
|
||
int ptSize = (int)a_line.size();
|
||
if (ptSize > 0)
|
||
{
|
||
scanData.push_back(a_line);
|
||
a_line.clear();
|
||
}
|
||
|
||
inputFile.close();
|
||
return;
|
||
}
|
||
|
||
void _outputScanDataFile_XYZ_vector(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
int lineNum = scanData.size();
|
||
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;
|
||
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
int nPositionCnt = scanData[line].size();
|
||
sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
|
||
for (int i = 0; i < nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line][i];
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
char str[250];
|
||
sprintf_s(str, "{ %f, %f, %f } - { 0, 0 } - { 0, 0 }", x, y, z);
|
||
|
||
sw << str << std::endl;
|
||
}
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
//调平矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
|
||
sw << dataStr << std::endl;
|
||
//地面高度
|
||
sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
|
||
sw << dataStr << std::endl;
|
||
//反向旋转矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
|
||
sw << dataStr << std::endl;
|
||
|
||
sw.close();
|
||
}
|
||
|
||
void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpiecePositioning)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
|
||
int number = (int)workpiecePositioning.size();
|
||
for (int i = 0; i < number; i++)
|
||
{
|
||
sprintf_s(dataStr, 250, "工件_%d", i + 1);
|
||
sw << dataStr << std::endl;
|
||
int holeNumber = (int)workpiecePositioning[i].holes.size();
|
||
for (int j = 0; j < holeNumber; j++)
|
||
{
|
||
sprintf_s(dataStr, 250, " 孔%d: (%g, %g, %g)", (j+1), workpiecePositioning[i].holes[j].x, workpiecePositioning[i].holes[j].y, workpiecePositioning[i].holes[j].z);
|
||
sw << dataStr << std::endl;
|
||
}
|
||
sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpiecePositioning[i].center.x, workpiecePositioning[i].center.y, workpiecePositioning[i].center.z);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 50, " x_dir: (%g, %g, %g)", workpiecePositioning[i].x_dir.x, workpiecePositioning[i].x_dir.y, workpiecePositioning[i].x_dir.z);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 50, " y_dir: (%g, %g, %g)", workpiecePositioning[i].y_dir.x, workpiecePositioning[i].y_dir.y, workpiecePositioning[i].y_dir.z);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 50, " z_dir: (%g, %g, %g)", workpiecePositioning[i].z_dir.x, workpiecePositioning[i].z_dir.y, workpiecePositioning[i].z_dir.z);
|
||
sw << dataStr << std::endl;
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _outputHoleInfo(char* fileName, std::vector< WD_HolePositionInfo>& holePositioning)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
|
||
int number = (int)holePositioning.size();
|
||
for (int i = 0; i < number; i++)
|
||
{
|
||
sprintf_s(dataStr, 250, "孔_%d", i + 1);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, " center: (%g, %g, %g)", holePositioning[i].center.x, holePositioning[i].center.y, holePositioning[i].center.z);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, " norm_dir: (%g, %g, %g)", holePositioning[i].normDir.x, holePositioning[i].normDir.y, holePositioning[i].normDir.z);
|
||
sw << dataStr << std::endl;
|
||
}
|
||
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();
|
||
}
|
||
|
||
SSG_planeCalibPara _readCalibPara(char* fileName)
|
||
{
|
||
//设置初始结果
|
||
double initCalib[9] = {
|
||
1.0, 0.0, 0.0,
|
||
0.0, 1.0, 0.0,
|
||
0.0, 0.0, 1.0 };
|
||
SSG_planeCalibPara planePara;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.planeCalib[i] = initCalib[i];
|
||
planePara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.invRMatrix[i] = initCalib[i];
|
||
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return planePara;
|
||
|
||
//调平矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
|
||
//地面高度
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
|
||
//反向旋转矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
|
||
|
||
inputFile.close();
|
||
return planePara;
|
||
}
|
||
|
||
void _outputRGBDResult_RGBD(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
std::vector< WD_workpieceInfo>& workpiecePositioning)
|
||
{
|
||
std::vector<SVzNL3DPosition> objects;
|
||
int objNumber = (int)workpiecePositioning.size();
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPosition a_objPt;
|
||
a_objPt.pt3D = workpiecePositioning[i].center;
|
||
objects.push_back(a_objPt);
|
||
|
||
int holeNumber = (int)workpiecePositioning[i].holes.size();
|
||
for (int j = 0; j < holeNumber; j++)
|
||
{
|
||
a_objPt.nPointIdx = i + 1;
|
||
a_objPt.pt3D = workpiecePositioning[i].holes[j];
|
||
objects.push_back(a_objPt);
|
||
}
|
||
}
|
||
|
||
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;
|
||
}
|
||
}
|
||
|
||
int linePtNum = (int)objects.size();
|
||
sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
|
||
lineNum++;
|
||
size = 10;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
if (i == 0)
|
||
size = 20;
|
||
else
|
||
size = 10;
|
||
int colorIdx = objects[i].nPointIdx % 8;
|
||
rgb = objColor[colorIdx];
|
||
float x = (float)objects[i].pt3D.x;
|
||
float y = (float)objects[i].pt3D.y;
|
||
float z = (float)objects[i].pt3D.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 = { 255, 0, 0 };
|
||
size = 2;
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPoint dirPt;
|
||
dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].y_dir.x * 10,
|
||
workpiecePositioning[i].center.y + workpiecePositioning[i].y_dir.y * 10,
|
||
workpiecePositioning[i].center.z + workpiecePositioning[i].y_dir.z * 10 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].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++;
|
||
|
||
dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].z_dir.x * 10,
|
||
workpiecePositioning[i].center.y + workpiecePositioning[i].z_dir.y * 10,
|
||
workpiecePositioning[i].center.z + workpiecePositioning[i].z_dir.z * 10 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].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++;
|
||
|
||
for (int j = 0; j < (int)workpiecePositioning[i].holes.size(); j++)
|
||
{
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].holes[j].x << "," << workpiecePositioning[i].holes[j].y << "," << workpiecePositioning[i].holes[j].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << workpiecePositioning[i].holesDir[j].x << "," << workpiecePositioning[i].holesDir[j].y << "," << workpiecePositioning[i].holesDir[j].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
}
|
||
|
||
sw.close();
|
||
}
|
||
|
||
void _outputRGBDResult_HoleInfo(
|
||
char* fileName,
|
||
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
|
||
std::vector< WD_HolePositionInfo>& holePositioning)
|
||
{
|
||
std::vector<SVzNL3DPosition> objects;
|
||
int objNumber = (int)holePositioning.size();
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPosition a_objPt;
|
||
a_objPt.pt3D = holePositioning[i].center;
|
||
objects.push_back(a_objPt);
|
||
}
|
||
|
||
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;
|
||
}
|
||
}
|
||
|
||
int linePtNum = (int)objects.size();
|
||
sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
|
||
lineNum++;
|
||
size = 10;
|
||
for (int i = 0; i < linePtNum; i++)
|
||
{
|
||
rgb = {255, 0, 0};
|
||
float x = (float)objects[i].pt3D.x;
|
||
float y = (float)objects[i].pt3D.y;
|
||
float z = (float)objects[i].pt3D.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 = { 255, 0, 0 };
|
||
size = 2;
|
||
for (int i = 0; i < objNumber; i++)
|
||
{
|
||
SVzNL3DPoint dirPt_1, dirPt_2;
|
||
dirPt_1 = { holePositioning[i].center.x - holePositioning[i].normDir.x * 20,
|
||
holePositioning[i].center.y - holePositioning[i].normDir.y * 20,
|
||
holePositioning[i].center.z - holePositioning[i].normDir.z * 20 };
|
||
dirPt_2 = { holePositioning[i].center.x + holePositioning[i].normDir.x * 10,
|
||
holePositioning[i].center.y + holePositioning[i].normDir.y * 10,
|
||
holePositioning[i].center.z + holePositioning[i].normDir.z * 10 };
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << dirPt_1.x << "," << dirPt_1.y << "," << dirPt_1.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << dirPt_2.x << "," << dirPt_2.y << "," << dirPt_2.z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
|
||
sw.close();
|
||
}
|
||
|
||
|
||
SVzNL3DPoint _pointRT(SVzNL3DPoint& origin, const double* R, const double* T)
|
||
{
|
||
SVzNL3DPoint result;
|
||
result.x = origin.x * R[0] + origin.y * R[1] + origin.z * R[2];
|
||
result.y = origin.x * R[3] + origin.y * R[4] + origin.z * R[5];
|
||
result.z = origin.x * R[6] + origin.y * R[7] + origin.z * R[8];
|
||
result.x += T[0];
|
||
result.y += T[1];
|
||
result.z += T[2];
|
||
return result;
|
||
}
|
||
|
||
#define TEST_COMPUTE_CALIB_PARA 0
|
||
#define TEST_COMPUTE_HOLE 1
|
||
#define TEST_COMPUTE_RT 0
|
||
#define TPF_TEST_GROUP 3
|
||
//拓普发工件孔定位（工件定位)
|
||
void TuoPuFa_holePosition_test(void)
|
||
{
|
||
const char* dataPath[TPF_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云/", //0
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云2/", //1
|
||
"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/拓普发点云3/", //2
|
||
};
|
||
|
||
SVzNLRange fileIdx[TPF_TEST_GROUP] = {
|
||
{6,6}, {7, 7}, {1,17}
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_RT
|
||
std::vector<cv::Point3d> pts_eye;
|
||
pts_eye.resize(6);
|
||
std::vector<cv::Point3d> pts_robot;
|
||
pts_robot.resize(6);
|
||
pts_eye[0] = { 463.48, 347.63, 1301.43 }; //, R = 0.6413, P = 0.0302, Y = -91.1494
|
||
pts_eye[1] = { 254.15, 259.55, 1303.12 }; // R = 0.6413, P = 0.0302, Y = -88.8130
|
||
pts_eye[2] = { 141.16, 284.02, 1302.27 }; //, R = 0.6413, P = 0.0302, Y = -89.3432
|
||
pts_eye[3] = { 90.66, 5.80, 1303.27 }; // R = 0.6413, P = 0.0302, Y = -89.5285
|
||
pts_eye[4] = { 252.47, -10.45, 1304.33 };// R = 0.6413, P = 0.0302, Y = -89.6450
|
||
pts_eye[5] = { 403.53, -13.99, 1304.24 };// R = 0.6413, P = 0.0302, Y = -82.0278
|
||
//pts_eye[6] = { 242.70, -74.51, 1796.83 };
|
||
|
||
//A:绕z, B：绕y， C:绕x
|
||
pts_robot[0] = { -406.649, -1246.187, 588.611 }; // A:0.018 B : -0.638 C : -0.292
|
||
pts_robot[1] = { -316.649, -1036.290, 587.619 }; // A:-1.032 B : -0.354 C : 1.001
|
||
pts_robot[2] = { -340.590, -922.510, 586.731 }; // A:-1.032 B : -0.356 C : 0.998
|
||
pts_robot[3] = { -61.892,-874.564,589.841 }; // A:-1.028 B : -0.367 C : 0.442
|
||
pts_robot[4] = { -46.658,-1036.959,589.820 }; // A:-1.029 B : -0.367 C : 0.442
|
||
pts_robot[5] = { -43.92, -1188.370,591.006 }; // A:-9.208 B : -0.367 C : 0.442
|
||
//pts_robot[6] = { 29.298, -1033.69, 97.909 };
|
||
|
||
//使用前6组数据
|
||
std::vector<cv::Point3d> test_pts_eye;
|
||
std::vector<cv::Point3d> test_pts_robot;
|
||
for (int i = 0; i < 6; i++)
|
||
{
|
||
test_pts_eye.push_back(pts_eye[i]);
|
||
test_pts_robot.push_back(pts_robot[i]);
|
||
}
|
||
//对空间两组对应点计算旋转平移矩阵
|
||
// Eigen库实现
|
||
cv::Mat R, T;
|
||
cv::Point3d C_eye, C_robot;
|
||
caculateRT(
|
||
test_pts_eye,
|
||
test_pts_robot,
|
||
R, T,
|
||
C_eye, C_robot);
|
||
|
||
std::cout << "方向向量转换结果：" << std::endl;
|
||
std::cout << std::fixed << std::setprecision(6); // 固定小数位数为6
|
||
std::cout << R << std::endl;
|
||
std::cout << T << std::endl;
|
||
|
||
//验算6轴姿态
|
||
std::vector<cv::Point3d> verify_pts_eye;
|
||
verify_pts_eye.insert(verify_pts_eye.end(), pts_eye.begin(), pts_eye.begin()+6);
|
||
//cv::Point3d a_center = { 232.997, -173.533, 1795.9 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
//a_center = { 225.57, -68.33, 1796.77 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
//a_center = { 120.45, -45.97, 1796.25 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
//a_center = { 242.70, -74.51, 1796.83 };
|
||
//verify_pts_eye.push_back(a_center);
|
||
std::vector<std::vector< cv::Point3d>> pose_eye;
|
||
pose_eye.resize(6);
|
||
for (int i = 0; i < 6; i++)
|
||
pose_eye[i].resize(3);
|
||
pose_eye[0][0] = { -0.046,-0.999,-0.009 }; pose_eye[0][1] = { 0.999,-0.046,0.004 }; pose_eye[0][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[1][0] = { -0.049,-0.999,-0.009 }; pose_eye[1][1] = { 0.999,-0.050,0.004 }; pose_eye[1][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[2][0] = { -0.049,-0.999,-0.009 }; pose_eye[2][1] = { 0.999,-0.049,0.004 }; pose_eye[2][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[3][0] = { -0.059,-0.998,-0.009 }; pose_eye[3][1] = { 0.998,-0.059,0.004 }; pose_eye[3][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[4][0] = { -0.070,-0.997,-0.009 }; pose_eye[4][1] = { 0.998,-0.070,0.004 }; pose_eye[4][2] = { -0.005,-0.009,1.000 };
|
||
pose_eye[5][0] = { -0.068,-0.998,-0.009 }; pose_eye[5][1] = { 0.998,-0.068,0.004 }; pose_eye[5][2] = { -0.005,-0.009,1.000 };
|
||
//pose_eye[6][0] = { 0.136746, -0.990563, -0.00926168 }; pose_eye[6][1] = { 0.990606, 0.136747, 0.000517805 }; pose_eye[6][2] = { 0.000753588, -0.00924548, 0.999957 };
|
||
//pose_eye[7][0] = { 0.058, 0.998, 0.011 }; pose_eye[7][1] = { 0.999, -0.046, 0.003 }; pose_eye[7][2] = { 0.003, 0.011, -1.000 };
|
||
//pose_eye[8][0] = { 0.017,1.000,0.011 }; pose_eye[8][1] = { 1.000,-0.008,0.003 }; pose_eye[8][2] = { 0.003,0.011,-1.000 };
|
||
//pose_eye[9][0] = { -0.316, 0.949, 0.009 }; pose_eye[9][1] = { 0.951, 0.310, 0.007 }; pose_eye[9][2] = { 0.003, 0.011, -1.000 };
|
||
for (int i = 0; i < 6; i++)
|
||
{
|
||
cv::Point3d rtPt;
|
||
pointRT_2(R, T, verify_pts_eye[i], rtPt); //RT前后的点
|
||
|
||
std::vector<cv::Point3d> dirVectors_eye = pose_eye[i];
|
||
//dirVectors_eye[0] = { -dirVectors_eye[0].x, -dirVectors_eye[0].y, -dirVectors_eye[0].z };
|
||
dirVectors_eye[1] = { -dirVectors_eye[1].x, -dirVectors_eye[1].y, -dirVectors_eye[1].z };
|
||
dirVectors_eye[2] = { -dirVectors_eye[2].x, -dirVectors_eye[2].y, -dirVectors_eye[2].z };
|
||
std::vector<cv::Point3d> dirVectors_robot;
|
||
for (int j = 0; j < 3; j++)
|
||
{
|
||
cv::Point3d rt_pt;
|
||
pointRotate(R, dirVectors_eye[j], rt_pt);
|
||
dirVectors_robot.push_back(rt_pt);
|
||
}
|
||
//生成旋转矩阵
|
||
double R_pose[3][3];
|
||
R_pose[0][0] = dirVectors_robot[0].x;
|
||
R_pose[0][1] = dirVectors_robot[1].x;
|
||
R_pose[0][2] = dirVectors_robot[2].x;
|
||
R_pose[1][0] = dirVectors_robot[0].y;
|
||
R_pose[1][1] = dirVectors_robot[1].y;
|
||
R_pose[1][2] = dirVectors_robot[2].y;
|
||
R_pose[2][0] = dirVectors_robot[0].z;
|
||
R_pose[2][1] = dirVectors_robot[1].z;
|
||
R_pose[2][2] = dirVectors_robot[2].z;
|
||
SSG_EulerAngles test_rpy = rotationMatrixToEulerZYX(R_pose);
|
||
std::cout << i << ":" << std::endl;
|
||
std::cout << rtPt.x << "," << rtPt.y << "," << rtPt.z << std::endl;
|
||
std::cout << test_rpy.roll << "," << test_rpy.pitch << "," << test_rpy.yaw << std::endl;
|
||
}
|
||
#endif
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
int cvtGrp = 1;
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "%s1470mm调平.txt", dataPath[cvtGrp]);
|
||
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);
|
||
//结果进行验证
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_lineDataR(scanData[i], calibPara.planeCalib, -1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[cvtGrp]);
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sscanData_ground_calib_verify.txt", dataPath[cvtGrp]);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_out_file, scanData, false, &headNullLines);
|
||
#if 1
|
||
for (int fidx = fileIdx[cvtGrp].nMin; fidx <= fileIdx[cvtGrp].nMax; fidx++)
|
||
{
|
||
//fidx =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[cvtGrp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
lineNum = (int)scanLines.size();
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
//调平，去除地面
|
||
wd_lineDataR(scanLines[i], calibPara.planeCalib, -1);
|
||
}
|
||
sprintf_s(_scan_file, "%sLaserData_%d_calib_verify.txt", dataPath[cvtGrp], fidx);
|
||
int headNullLines = 0;
|
||
_outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
|
||
}
|
||
#endif
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 1; grp <= 1; 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 =4;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = 3.0;
|
||
lineSegPara.segGapTh_y = 15.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 2.0; //mm
|
||
growParam.minVTypeTreeLen = 2.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 47;
|
||
int errCode = 0;
|
||
std::vector< WD_workpieceInfo> workpiecePositioning;
|
||
wd_workpieceHolePositioning(
|
||
scanLines,
|
||
workpiecePara,
|
||
lineSegPara,
|
||
filterParam,
|
||
growParam,
|
||
groundCalibPara,
|
||
workpiecePositioning,
|
||
&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\n", _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_RGBD(_scan_file, scanLines, workpiecePositioning);
|
||
sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputWorkpieceInfo(calibFile, workpiecePositioning);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
//华航孔定位
|
||
#define HH_TEST_GROUP 6
|
||
void HuaHang_holePosition_test(void)
|
||
{
|
||
const char* dataPath[HH_TEST_GROUP] = {
|
||
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据1/", //0
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/1/", //1
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/2/", //2
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据2/3/", //3
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据4/好的/", //4
|
||
"F:/ShangGu/项目/冠钦项目/华航孔定位/圆孔识别_数据4/坏的/", //5
|
||
};
|
||
|
||
SVzNLRange fileIdx[HH_TEST_GROUP] = {
|
||
{1,15}, {1, 21},{1,19}, {1,13},
|
||
{1, 4}, {4,13},
|
||
};
|
||
|
||
const char* ver = wd_workpieceHolePositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if TEST_COMPUTE_HOLE
|
||
for (int grp = 5; grp <= 5; grp++)
|
||
{
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =17;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
if (scanLines.size() == 0)
|
||
continue;
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_lineSegParam lineSegPara;
|
||
lineSegPara.distScale = 25.0;
|
||
lineSegPara.segGapTh_y = 25.0; //
|
||
lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段
|
||
|
||
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;
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
filterParam.outlierTh = 5;
|
||
SSG_treeGrowParam growParam;
|
||
growParam.maxLineSkipNum = 2;
|
||
growParam.yDeviation_max = 4.0;
|
||
growParam.maxSkipDistance = 0.0;
|
||
growParam.zDeviation_max = 10.0;//
|
||
growParam.minLTypeTreeLen = 1.0; //mm
|
||
growParam.minVTypeTreeLen = 1.0; //mm
|
||
WD_workpieceHoleParam workpiecePara;
|
||
workpiecePara.workpieceType = 0;
|
||
workpiecePara.holeDiameter = 6.0; //
|
||
workpiecePara.holeDist_W = 32.0;
|
||
workpiecePara.holeDist_L = 40.0;
|
||
workpiecePara.xLen = 44;
|
||
workpiecePara.yLen = 70;
|
||
workpiecePara.H = 47;
|
||
int errCode = 0;
|
||
std::vector< WD_HolePositionInfo> holePositioning;
|
||
wd_HolePositioning(scanLines, lineSegPara, cornerParam, filterParam, growParam, holePositioning, &errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDResult_HoleInfo(_scan_file, scanLines, holePositioning);
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputHoleInfo(_scan_file, holePositioning);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
int main()
|
||
{
|
||
#if 1
|
||
TuoPuFa_holePosition_test();
|
||
#else
|
||
HuaHang_holePosition_test();
|
||
#endif
|
||
}
|