workpieceHolePositioning v1.2.0
算法完成了6轴验证
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@ -1,4 +1,4 @@
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#include <vector>
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#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "workpieceHolePositioning_Export.h"
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@ -6,24 +6,25 @@
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#include <limits>
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//version 1.0.0 : base version release to customer
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//version 1.0.2 : 添加了工件姿态（欧拉角输出)
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//version 1.1.0 : c对工件姿态规范化为中心点（操作点）加三个方向矢量
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std::string m_strVersion = "1.1.1";
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//version 1.0.2 : 添加了工件姿态（欧拉角输出)
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//version 1.1.0 : c对工件姿态规范化为中心点（操作点）加三个方向矢量
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//version 1.2.0 : 算法完成了6轴验证
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std::string m_strVersion = "1.2.0";
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const char* wd_workpieceHolePositioningVersion(void)
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{
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return m_strVersion.c_str();
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}
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//相机水平安装计算地面调平参数。
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//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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//相机水平安装计算地面调平参数。
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//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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SSG_planeCalibPara wd_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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return sg_getPlaneCalibPara2(scanLines);
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}
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//相机水平时姿态调平，并去除地面
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//相机水平时姿态调平，并去除地面
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void wd_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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@ -41,7 +42,7 @@ SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, const double matrix3d[9])
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return _r_pt;
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}
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//搜索最接近distance的目标
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//搜索最接近distance的目标
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int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, double distance, double distDeviation)
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{
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int result = -1;
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@ -66,7 +67,7 @@ int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, do
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return result;
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}
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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int angleConditionDistanceSearch(
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SVzNL3DPoint seed, SVzNL3DPoint angleSide,
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std::vector<SWD_HoleInfo>& holes,
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@ -151,7 +152,7 @@ double _getMeanZ(std::vector<std::vector<double>>& quantiValue, SVzNL3DPoint see
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return (zSum / hist);
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}
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//工件孔定位
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//工件孔定位
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void wd_workpieceHolePositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const WD_workpieceHoleParam workpiecePara,
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@ -175,20 +176,20 @@ void wd_workpieceHolePositioning(
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isGridData = false;
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scanLines[i].resize(scanLinesInput[i].size());
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std::copy(scanLinesInput[i].begin(), scanLinesInput[i].end(), scanLines[i].begin()); // 使用std::copy算法
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std::copy(scanLinesInput[i].begin(), scanLinesInput[i].end(), scanLines[i].begin()); // 使用std::copy算法
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}
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if (false == isGridData)//数据不是网格格式
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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for (int i = 0; i < lineNum; i++)
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{ //行处理
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//调平，去除地面
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{ //行处理
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//调平，去除地面
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wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);
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}
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//生成量化数据，以1mm为量化尺度，用于确定工件表面高度
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//生成量化数据，以1mm为量化尺度，用于确定工件表面高度
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SVzNL3DRangeD roi3D = sg_getScanDataROI_vector( scanLines);
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SVzNLRect roi2D;
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roi2D.left = (int)roi3D.xRange.min;
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@ -204,11 +205,11 @@ void wd_workpieceHolePositioning(
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for (int i = 0; i < quanti_X; i++)
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{
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quantiValue[i].resize(quanti_Y);
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std::fill(quantiValue[i].begin(), quantiValue[i].end(), 0);//初始化为0
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std::fill(quantiValue[i].begin(), quantiValue[i].end(), 0);//初始化为0
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quantiHist[i].resize(quanti_Y);
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std::fill(quantiHist[i].begin(), quantiHist[i].end(), 0);//初始化为0
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std::fill(quantiHist[i].begin(), quantiHist[i].end(), 0);//初始化为0
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}
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//以1mm尺度量化
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//以1mm尺度量化
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0; j < linePtNum; j++)
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@ -236,7 +237,7 @@ void wd_workpieceHolePositioning(
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pointMask.resize(lineNum);
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std::vector<SVzNL3DPoint> endingPoints;
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//提取线段端点特征
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//提取线段端点特征
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 1677)
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@ -244,8 +245,8 @@ void wd_workpieceHolePositioning(
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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pointMask[line].resize(lineData.size());
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std::fill(pointMask[line].begin(), pointMask[line].end(), 0);//初始化为0
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//滤波，滤除异常点
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std::fill(pointMask[line].begin(), pointMask[line].end(), 0);//初始化为0
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//滤波，滤除异常点
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
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std::vector<SSG_RUN> segs;
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@ -253,19 +254,19 @@ void wd_workpieceHolePositioning(
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lineData,
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lineSegPara,
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segs);
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//将seg端点作为边缘点。做了地面调平后，垂直孔的内侧在XY平面上均为边缘点。
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//将seg端点作为边缘点。做了地面调平后，垂直孔的内侧在XY平面上均为边缘点。
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for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
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{
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int ptIdx = segs[i].start;
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endingPoints.push_back(lineData[ptIdx].pt3D);
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pointMask[line][ptIdx] = 1; //防止重复
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pointMask[line][ptIdx] = 1; //防止重复
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ptIdx = segs[i].start + segs[i].len - 1;
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endingPoints.push_back(lineData[ptIdx].pt3D);
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pointMask[line][ptIdx] = 1;
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}
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}
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//生成水平扫描
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//生成水平扫描
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std::vector<std::vector<SVzNL3DPosition>> hLines_raw;
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hLines_raw.resize(linePtNum);
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for (int i = 0; i < linePtNum; i++)
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@ -274,20 +275,20 @@ void wd_workpieceHolePositioning(
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{
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for (int j = 0; j < linePtNum; j++)
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{
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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hLines_raw[j][line] = scanLines[line][j];
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hLines_raw[j][line].pt3D.x = scanLines[line][j].pt3D.y;
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hLines_raw[j][line].pt3D.y = scanLines[line][j].pt3D.x;
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}
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}
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//水平arc特征提取
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//水平arc特征提取
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int lineNum_h_raw = (int)hLines_raw.size();
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for (int line = 0; line < lineNum_h_raw; line++)
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{
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if (line == 974)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = hLines_raw[line];
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//滤波，滤除异常点
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//滤波，滤除异常点
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int ptNum = (int)lineData.size();
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], ptNum, filterParam);
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@ -296,11 +297,11 @@ void wd_workpieceHolePositioning(
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lineData,
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lineSegPara,
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segs);
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//将seg端点作为边缘点。做了地面调平后，垂直孔的内侧在XY平面上均为边缘点。
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//将seg端点作为边缘点。做了地面调平后，垂直孔的内侧在XY平面上均为边缘点。
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for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
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{
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int ptIdx = segs[i].start;
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if (pointMask[ptIdx][line] == 0) //防止点重复
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if (pointMask[ptIdx][line] == 0) //防止点重复
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{
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SVzNL3DPoint an_ending;
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an_ending.x = lineData[ptIdx].pt3D.y;
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@ -310,7 +311,7 @@ void wd_workpieceHolePositioning(
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pointMask[ptIdx][line] = 1;
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}
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ptIdx = segs[i].start + segs[i].len - 1;
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if (pointMask[ptIdx][line] == 0) //防止点重复
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if (pointMask[ptIdx][line] == 0) //防止点重复
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{
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SVzNL3DPoint an_ending;
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an_ending.x = lineData[ptIdx].pt3D.y;
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@ -322,7 +323,7 @@ void wd_workpieceHolePositioning(
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}
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}
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//标注
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//标注
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std::vector<std::vector<SSG_featureClusteringInfo>> featureInfoMask;
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std::vector<std::vector<SVzNL3DPoint>> feature3DInfo;
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featureInfoMask.resize(lineNum);
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@ -333,7 +334,7 @@ void wd_workpieceHolePositioning(
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feature3DInfo[i].resize(lineNum_h_raw);
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}
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//标注
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//标注
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<int>& a_lineMask = pointMask[line];
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@ -353,9 +354,9 @@ void wd_workpieceHolePositioning(
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}
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}
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}
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//聚类
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//采用迭代思想，回归思路进行高效聚类
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std::vector<std::vector< SVzNL2DPoint>> clusters; //只记录位置
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//聚类
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//采用迭代思想，回归思路进行高效聚类
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std::vector<std::vector< SVzNL2DPoint>> clusters; //只记录位置
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std::vector<SVzNL3DRangeD> clustersRoi3D;
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int clusterID = 1;
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int clusterCheckWin = 5;
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@ -364,7 +365,7 @@ void wd_workpieceHolePositioning(
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for (int x = 0; x < lineNum; x++)
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{
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SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[x][y];
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if ((0 == a_featureInfo.featurType) || (a_featureInfo.clusterID > 0)) //非特征或已经处理
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if ((0 == a_featureInfo.featurType) || (a_featureInfo.clusterID > 0)) //非特征或已经处理
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continue;
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SVzNL3DPoint& a_feature3DValue = feature3DInfo[x][y];
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@ -380,11 +381,11 @@ void wd_workpieceHolePositioning(
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std::vector< SVzNL2DPoint> a_cluster;
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a_cluster.push_back(a_seedPos);
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wd_gridPointClustering(
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featureInfoMask,//int，记录特征标记和clusterID，附加一个flag
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feature3DInfo,//double,记录坐标信息
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clusterCheckWin, //搜索窗口
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growParam,//聚类条件
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clusterID, //当前Cluster的ID
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featureInfoMask,//int，记录特征标记和clusterID，附加一个flag
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feature3DInfo,//double,记录坐标信息
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clusterCheckWin, //搜索窗口
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growParam,//聚类条件
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clusterID, //当前Cluster的ID
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a_cluster, //result
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a_clusterRoi
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);
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@ -393,7 +394,7 @@ void wd_workpieceHolePositioning(
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clusterID++;
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}
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}
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//聚类结果分析
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//聚类结果分析
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std::vector<int> validCluserIndexing;
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int clusterSize = (int)clusters.size();
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for (int i = 0; i < clusterSize; i++)
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@ -405,14 +406,14 @@ void wd_workpieceHolePositioning(
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(W > workpiecePara.holeDiameter * 0.5) && (W < workpiecePara.holeDiameter * 2))
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validCluserIndexing.push_back(i);
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}
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//生成结果
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//生成结果
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std::vector< SWD_HoleInfo> holes;
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int objectSize = (int)validCluserIndexing.size();
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for (int objIdx = 0; objIdx < objectSize; objIdx++)
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{
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std::vector<SVzNL3DPoint> pointArray;
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int clusterIdx = validCluserIndexing[objIdx];
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//取cluster上的点
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//取cluster上的点
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int clusterPtSize = (int)clusters[clusterIdx].size();
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double minZ = DBL_MAX;
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for (int i = 0; i < clusterPtSize; i++)
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@ -426,7 +427,7 @@ void wd_workpieceHolePositioning(
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minZ = a_pt3d.z;
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pointArray.push_back(a_pt3d);
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}
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//圆拟合
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//圆拟合
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SVzNL3DPoint center;
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double radius;
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double err = fitCircleByLeastSquare(pointArray, center, radius);
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@ -436,9 +437,9 @@ void wd_workpieceHolePositioning(
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a_hole.radius = radius;
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holes.push_back(a_hole);
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}
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//分割
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//方法：先搜索与W最接近的点，然后条件搜索（垂直）与L最接近的点
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double distDeviation = 5.0; //距离搜索的合格门限。小于此距离，认为搜索到的目标为有效
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//分割
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//方法：先搜索与W最接近的点，然后条件搜索（垂直）与L最接近的点
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double distDeviation = 5.0; //距离搜索的合格门限。小于此距离，认为搜索到的目标为有效
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for (int objIdx = 0; objIdx < objectSize; objIdx++)
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{
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if (holes[objIdx].radius < 0)
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@ -450,9 +451,9 @@ void wd_workpieceHolePositioning(
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if (idx1 < 0)
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continue;
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SVzNLRangeD angleRange = { 85, 95 }; //垂直，5度范围
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SVzNLRangeD angleRange = { 85, 95 }; //垂直，5度范围
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SWD_HoleInfo& p1 = holes[idx1];
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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int idx2 = angleConditionDistanceSearch(
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p0.center, p1.center,
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holes,
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@ -462,7 +463,7 @@ void wd_workpieceHolePositioning(
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continue;
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SWD_HoleInfo& p2 = holes[idx2];
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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int idx3 = angleConditionDistanceSearch(
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p1.center, p0.center,
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holes,
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@ -475,7 +476,7 @@ void wd_workpieceHolePositioning(
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p2.radius = -1;
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p3.radius = -1;
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//重新计算Z值。因为沉孔的原因，Z值会不准确。取四条边的中点处的Z值的均值作为整个的Z值
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//重新计算Z值。因为沉孔的原因，Z值会不准确。取四条边的中点处的Z值的均值作为整个的Z值
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SVzNL3DPoint center_p0p1 = { (p0.center.x + p1.center.x) / 2,(p0.center.y + p1.center.y) / 2, (p0.center.z + p1.center.z) / 2 };
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SVzNL3DPoint center_p0p2 = { (p0.center.x + p2.center.x) / 2,(p0.center.y + p2.center.y) / 2, (p0.center.z + p2.center.z) / 2 };
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SVzNL3DPoint center_p1p3 = { (p1.center.x + p3.center.x) / 2,(p1.center.y + p3.center.y) / 2, (p1.center.z + p3.center.z) / 2 };
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@ -500,7 +501,7 @@ void wd_workpieceHolePositioning(
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for (int m = 0; m < 4; m++)
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{
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SVzNL3DPoint a_pt = a_workpiece.holes[m];
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a_pt.z = a_pt.z + 20; //法向，因为做过地面高平，所以法向只在z向
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a_pt.z = a_pt.z + 20; //法向，因为做过地面高平，所以法向只在z向
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a_workpiece.holesDir.push_back(a_pt);
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}
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a_workpiece.center = { (p0.center.x + p1.center.x + p2.center.x + p3.center.x) / 4,
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@ -508,10 +509,10 @@ void wd_workpieceHolePositioning(
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(z1 + z2 + z3 + z4) / 4 };
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SVzNL3DPoint y_dir;
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if (p0.center.y < p2.center.y)
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y_dir = { p2.center.x - p0.center.x, p2.center.y - p0.center.y, 0 };
|
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if (p0.center.x < p1.center.x)
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y_dir = { p1.center.x - p0.center.x, p1.center.y - p0.center.y, 0 };
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else
|
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y_dir = { p0.center.x - p2.center.x, p0.center.y - p2.center.y, 0 };
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y_dir = { p0.center.x - p1.center.x, p0.center.y - p1.center.y, 0 };
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double modLen = sqrt(pow(y_dir.x, 2) + pow(y_dir.y, 2));
|
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y_dir = { y_dir.x / modLen, y_dir.y / modLen, 0 };
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a_workpiece.y_dir = { y_dir.x * 20 + a_workpiece.center.x, y_dir.y * 20 + a_workpiece.center.y, a_workpiece.center.z };
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@ -521,7 +522,7 @@ void wd_workpieceHolePositioning(
|
||||
}
|
||||
|
||||
int workpieceNum = (int)workpiecePositioning.size();
|
||||
//旋转回去
|
||||
//旋转回去
|
||||
for (int i = 0; i < workpieceNum; i++)
|
||||
{
|
||||
SVzNL3DPoint rpt;
|
||||
@ -546,10 +547,10 @@ void wd_workpieceHolePositioning(
|
||||
workpiecePositioning[i].y_dir.y - workpiecePositioning[i].center.y,
|
||||
workpiecePositioning[i].y_dir.z - workpiecePositioning[i].center.z };
|
||||
double mod_vz = sqrt(pow(vector_z.x, 2) + pow(vector_z.y, 2) + pow(vector_z.z, 2));
|
||||
vector_z = { vector_z.x / mod_vz, vector_z.y / mod_vz, vector_z.z / mod_vz }; //归一化
|
||||
vector_z = { vector_z.x / mod_vz, vector_z.y / mod_vz, vector_z.z / mod_vz }; //归一化
|
||||
double mod_vy = sqrt(pow(vector_y.x, 2) + pow(vector_y.y, 2) + pow(vector_y.z, 2));
|
||||
vector_y = { vector_y.x / mod_vy, vector_y.y / mod_vy, vector_y.z / mod_vy }; //归一化
|
||||
//叉乘出vector_x
|
||||
vector_y = { vector_y.x / mod_vy, vector_y.y / mod_vy, vector_y.z / mod_vy }; //归一化
|
||||
//叉乘出vector_x
|
||||
SVzNL3DPoint vector_x;
|
||||
vector_x.x = vector_y.y * vector_z.z - vector_z.y * vector_y.z;
|
||||
vector_x.y = vector_y.z * vector_z.x - vector_z.z * vector_y.x;
|
||||
@ -558,7 +559,7 @@ void wd_workpieceHolePositioning(
|
||||
workpiecePositioning[i].y_dir = vector_y;
|
||||
workpiecePositioning[i].z_dir = vector_z;
|
||||
#if 0
|
||||
//得到旋转矩阵
|
||||
//得到旋转矩阵
|
||||
double R[3][3];
|
||||
R[0][0] = vector_x.x;
|
||||
R[1][0] = vector_x.y;
|
||||
|
||||
@ -154,6 +154,12 @@ void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpi
|
||||
}
|
||||
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();
|
||||
}
|
||||
@ -444,7 +450,7 @@ int main()
|
||||
};
|
||||
|
||||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||||
{5,5},
|
||||
{6,6},
|
||||
};
|
||||
|
||||
const char* ver = wd_workpieceHolePositioningVersion();
|
||||
@ -494,9 +500,13 @@ int main()
|
||||
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.end());
|
||||
cv::Point3d a_center = { 232.997, -173.533, 1795.9 };
|
||||
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.resize(7);
|
||||
for (int i = 0; i < 7; i++)
|
||||
pose_eye[i].resize(3);
|
||||
pose_eye[0][0] = { -0.020, -1.000, -0.011 }; pose_eye[0][1] = { 1.000, -0.020, -0.001 }; pose_eye[0][2] = { 0.001, -0.011, 1.000 };
|
||||
pose_eye[1][0] = { 0.021,-1.000,-0.011 }; pose_eye[1][1] = { 1.000,0.021,-0.000 }; pose_eye[1][2] = { 0.001,-0.011,1.000 };
|
||||
@ -504,13 +514,14 @@ int main()
|
||||
pose_eye[3][0] = { 0.008,-1.000,-0.011 }; pose_eye[3][1] = { 1.000,0.008,-0.000 }; pose_eye[3][2] = { 0.001,-0.011,1.000 };
|
||||
pose_eye[4][0] = { 0.006,-1.000,-0.011 }; pose_eye[4][1] = { 1.000,0.006,-0.000 }; pose_eye[4][2] = { 0.001,-0.011,1.000 };
|
||||
pose_eye[5][0] = { 0.139,-0.990,-0.011 }; pose_eye[5][1] = { 0.990,0.139,0.001 }; pose_eye[5][2] = { 0.001,-0.011,1.000 };
|
||||
|
||||
for (int i = 0; i < 6; i++)
|
||||
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 };
|
||||
for (int i = 0; i < 7; i++)
|
||||
{
|
||||
cv::Point3d rtPt;
|
||||
pointRT_2(R, T, pts_eye[i], rtPt); //RT前后的点
|
||||
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;
|
||||
@ -613,7 +624,7 @@ int main()
|
||||
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
|
||||
char calibFile[250];
|
||||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||||
//groundCalibPara = _readCalibPara(calibFile);
|
||||
groundCalibPara = _readCalibPara(calibFile);
|
||||
|
||||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||||
{
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user