bagThreadPositioning version 1.1.1 :
优化了标定柱检出。标定柱同时为扫描线端点时能够检出
This commit is contained in:
parent
971c7021e9
commit
8ac9065383
@ -455,7 +455,101 @@ void _outputRGBDScan_RGBD(
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sw.close();
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}
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void getROIdata(SSG_ROIRectD roi2D,
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std::vector<std::vector< SVzNL3DPosition>>& srcLines,
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std::vector<std::vector< SVzNL3DPosition>>& dstLines)
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{
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int lineNum = (int)srcLines.size();
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dstLines.resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition>& a_line = srcLines[line];
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int ptNum = (int)a_line.size();
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dstLines[line].resize(ptNum);
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for (int j = 0; j < ptNum; j++)
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{
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dstLines[line][j] = a_line[j];
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if (a_line[j].pt3D.z > 1e-4)
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{
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if ((a_line[j].pt3D.x < roi2D.left) || (a_line[j].pt3D.x > roi2D.right) ||
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(a_line[j].pt3D.y < roi2D.top) || (a_line[j].pt3D.y > roi2D.bottom))
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dstLines[line][j].pt3D = { 0, 0, 0 };
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}
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}
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}
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return;
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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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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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#define CONVERT_TO_GRID 0
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#define COMPUTE_CALIB_PARA 0
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#define BAG_THREAD_POSITIONING 1
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#define TEST_GROUP 3
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int main()
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@ -463,13 +557,13 @@ int main()
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const char* dataPath[TEST_GROUP] = {
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"F:/ShangGu/项目/吕宁项目/袋子拆线/模拟数据/", //0
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"F:/ShangGu/项目/吕宁项目/袋子拆线/现场数据/", //1
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"F:/ShangGu/项目/吕宁项目/袋子拆线/BJDGS/", //2
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"F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/", //2
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};
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SVzNLRange fileIdx[TEST_GROUP] = {
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{1,13},
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{2,5},
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{8,9}
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{1,10}
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};
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const char* ver = wd_bagThreadPositioningVersion();
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@ -477,7 +571,7 @@ int main()
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#if CONVERT_TO_GRID
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int convertGrp = 2;
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for (int fidx = 11; fidx <= 11; fidx++)
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for (int fidx = 1; fidx <= 10; fidx++)
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{
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char _scan_file[256];
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sprintf_s(_scan_file, "%s%dheightline_mm.txt", dataPath[convertGrp], fidx);
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@ -490,23 +584,100 @@ int main()
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int gridFormat = (true == isGridData) ? 1 : 0;
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printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
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removeNullLines(scanData);
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//std::vector<std::vector< SVzNL3DPosition>> sampleData;
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//downSampleGridData(scanData, 4, sampleData);
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std::vector<std::vector< SVzNL3DPosition>> sampleData;
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downSampleGridData(scanData, 3, sampleData);
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//将数据恢复为按扫描线存储格式
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sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[convertGrp], fidx);
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_outputScanDataFile(_scan_file, scanData,0, 0, 0);
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_outputScanDataFile(_scan_file, sampleData,0, 0, 0);
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printf("%s: done.\n", _scan_file);
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}
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char _scan_file[256];
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sprintf_s(_scan_file, "%sgroundData.txt", dataPath[convertGrp]);
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std::vector<std::vector< SVzNL3DPosition>> scanData;
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double lineStep = 0.032;
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double baseZ = 350.0;
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vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
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bool isGridData = checkGridFormat(scanData);
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int gridFormat = (true == isGridData) ? 1 : 0;
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printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
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removeNullLines(scanData);
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std::vector<std::vector< SVzNL3DPosition>> sampleData;
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downSampleGridData(scanData, 3, sampleData);
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//将数据恢复为按扫描线存储格式
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sprintf_s(_scan_file, "%sgroundData_grid.txt", dataPath[convertGrp]);
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_outputScanDataFile(_scan_file, sampleData, 0, 0, 0);
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printf("%s: done.\n", _scan_file);
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#endif
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#if COMPUTE_CALIB_PARA
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char _calib_datafile[256];
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sprintf_s(_calib_datafile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/groundData_grid.txt");
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std::vector<std::vector< SVzNL3DPosition>> scanLines;
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wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
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if (scanLines.size() > 0)
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{
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//getROIdata
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std::vector<std::vector< SVzNL3DPosition>> roiScanLines;
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SSG_ROIRectD roi2D = {91.0, 190.0, -10, 37};
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getROIdata(roi2D, scanLines, roiScanLines);
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char calibFile[250];
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sprintf_s(calibFile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/groundData_grid_ROI.txt");
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_outputScanDataFile(calibFile, roiScanLines, 0, 0, 0);
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SSG_planeCalibPara calibPara = wd_bagThread_getBaseCalibPara(roiScanLines);
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//结果进行验证
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int lineNum = (int)scanLines.size();
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for (int i = 0; i < lineNum; i++)
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{
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if (i == 14)
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int kkk = 1;
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//行处理
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//调平，去除地面
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wd_bagThread_lineDataR(scanLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
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}
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//
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sprintf_s(calibFile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/ground_calib_para.txt");
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_outputCalibPara(calibFile, calibPara);
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char _out_file[256];
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sprintf_s(_out_file, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/ground_grid_calib_verify.txt");
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_outputScanDataFile(_out_file, scanLines, 0, 0, 0);
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printf("%s: calib done!\n", _calib_datafile);
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}
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#endif
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#if BAG_THREAD_POSITIONING
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for (int grp = 1; grp <= 1; grp++)
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for (int grp = 2; grp <= 2; grp++)
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{
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for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
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{
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char _scan_file[256];
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sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[grp], fidx);
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SSG_planeCalibPara poseCalibPara;
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//初始化成单位阵
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poseCalibPara.planeCalib[0] = 1.0;
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poseCalibPara.planeCalib[1] = 0.0;
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poseCalibPara.planeCalib[2] = 0.0;
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poseCalibPara.planeCalib[3] = 0.0;
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poseCalibPara.planeCalib[4] = 1.0;
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poseCalibPara.planeCalib[5] = 0.0;
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poseCalibPara.planeCalib[6] = 0.0;
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poseCalibPara.planeCalib[7] = 0.0;
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poseCalibPara.planeCalib[8] = 1.0;
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poseCalibPara.planeHeight = 2600.0;
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for (int i = 0; i < 9; i++)
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poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
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if (grp == 2)
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{
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sprintf_s(_scan_file, "%sground_calib_para.txt", dataPath[grp]);
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poseCalibPara = _readCalibPara(_scan_file);
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}
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sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[grp], fidx);
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std::vector<std::vector< SVzNL3DPosition>> scanLines;
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wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
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@ -528,7 +699,7 @@ int main()
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SSG_outlierFilterParam filterParam;
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filterParam.continuityTh = 3.0; //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
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filterParam.outlierTh = 2;
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filterParam.outlierTh = 3;
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SSG_treeGrowParam growParam;
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growParam.maxLineSkipNum = -1; //对于轮廓仪，线间隔很小，使用扫描线数的物理意义不清晰，使用maxSkipDistance
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@ -539,6 +710,8 @@ int main()
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growParam.minVTypeTreeLen = 10; //mm
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SSX_ScanInfo scanInfo;
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if (grp == 1)
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{
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scanInfo.isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
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scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
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scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
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@ -546,21 +719,27 @@ int main()
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scanInfo.mark_diameter = 6.0; //mark外径
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scanInfo.mark_height = 3.5;//mark高
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scanInfo.mark_distance = 53.0; //两个Mark的距离
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SSG_planeCalibPara poseCalibPara;
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//初始化成单位阵
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poseCalibPara.planeCalib[0] = 1.0;
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poseCalibPara.planeCalib[1] = 0.0;
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poseCalibPara.planeCalib[2] = 0.0;
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poseCalibPara.planeCalib[3] = 0.0;
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poseCalibPara.planeCalib[4] = 1.0;
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poseCalibPara.planeCalib[5] = 0.0;
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poseCalibPara.planeCalib[6] = 0.0;
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poseCalibPara.planeCalib[7] = 0.0;
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poseCalibPara.planeCalib[8] = 1.0;
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poseCalibPara.planeHeight = 2600.0;
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for (int i = 0; i < 9; i++)
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poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
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}
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else if(grp == 2 )
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{
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scanInfo.isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
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scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
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scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
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scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
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scanInfo.mark_diameter = 18.0; //mark外径
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scanInfo.mark_height = 18.0;//mark高
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scanInfo.mark_distance = 39.0; //两个Mark的距离
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}
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else
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{
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scanInfo.isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
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scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
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scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
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scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
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scanInfo.mark_diameter = 18.0; //mark外径
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scanInfo.mark_height = 16.5;//mark高
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scanInfo.mark_distance = 39.0; //两个Mark的距离
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}
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int errCode = 0;
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std::vector<SSX_bagThreadInfo> bagThreadInfo;
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@ -88,7 +88,7 @@ void wd_gridPointClustering(
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break;
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SVzNL2DPoint a_seedPos = a_cluster[i];
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if ((a_seedPos.x == 390) && (a_seedPos.y == 949))
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if ((a_seedPos.x == 752) && (a_seedPos.y == 2399))
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int kkk = 1;
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SSG_featureClusteringInfo& a_seed = featureMask[a_seedPos.x][a_seedPos.y];
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@ -101,7 +101,7 @@ void wd_gridPointClustering(
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{
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int y = j + a_seedPos.y;
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int x = i + a_seedPos.x;
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if ((x == 390) && (y == 949))
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if ((x == 645) && (y == 2240))
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int kkk = 1;
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if ((x >= 0) && (x < lineNum) && (y >= 0) && (y < linePtNum))
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@ -4583,13 +4583,65 @@ void wd_getSpecifiedHeightJumping(
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)
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{
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int dataSize = (int)lineData.size();
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double height = (jumpHeight.min + jumpHeight.max) / 2;
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//当两个点的间隔大于jumpHeight, 即使高差为heigth，此时的角度也小于45度,此时按分段端点处理
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std::vector< SSG_RUN> segs;
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int runIdx = 1;
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SSG_RUN a_run = { 0, -1, 0 }; //startIdx, len, lastIdx
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double pre_y = 0;
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for (int i = 0; i < dataSize; i++)
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{
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if (lineData[i].pt3D.z > 1e-4)
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{
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if (a_run.len < 0)
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{
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a_run.start = i;
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a_run.len = 1;
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a_run.value = i;
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}
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else
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{
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double y_diff = abs(lineData[i].pt3D.y - pre_y);
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if (y_diff < height)
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{
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a_run.len = i - a_run.start + 1;
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a_run.value = i;
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}
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else
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{
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a_run.value = runIdx;
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segs.push_back(a_run);
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runIdx++;
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a_run.start = i;
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a_run.len = 1;
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a_run.value = i;
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}
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}
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pre_y = lineData[i].pt3D.y;
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}
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}
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if (a_run.len > 0)
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segs.push_back(a_run);
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int segNum = (int)segs.size();
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for (int si = 0; si < segNum; si++)
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{
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//将端点加入
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int startIdx = segs[si].start;
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int endIdx = segs[si].start + segs[si].len - 1;
|
||||
SSG_basicFeature1D a_feature;
|
||||
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
|
||||
a_feature.jumpPos = lineData[startIdx].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, startIdx };
|
||||
line_jumpFeatures.push_back(a_feature);
|
||||
|
||||
double pre_z = 0;
|
||||
int preIdx = -1;
|
||||
for (int i = 0; i < dataSize; i++)
|
||||
for (int i = startIdx; i <= endIdx; i++)
|
||||
{
|
||||
if (i == 1850)
|
||||
int kkk = 1;
|
||||
lineData[i].nPointIdx = i; //重新编序号
|
||||
if (lineData[i].pt3D.z > 1e-4)
|
||||
{
|
||||
if (preIdx >= 0)
|
||||
@ -4619,6 +4671,13 @@ void wd_getSpecifiedHeightJumping(
|
||||
pre_z = lineData[i].pt3D.z;
|
||||
}
|
||||
}
|
||||
|
||||
//将最后的端点加入
|
||||
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
|
||||
a_feature.jumpPos = lineData[endIdx].pt3D;
|
||||
a_feature.jumpPos2D = { lineIdx, endIdx };
|
||||
line_jumpFeatures.push_back(a_feature);
|
||||
}
|
||||
}
|
||||
|
||||
//使用端点直线，检查点到直线的距离，大于门限的分割
|
||||
|
||||
@ -7,7 +7,8 @@
|
||||
|
||||
//version 1.0.0 : base version release to customer
|
||||
//version 1.1.0 : 添加了标定Mark检测，添加了相对于标定柱的坐标输出，添加了相机调平功能
|
||||
std::string m_strVersion = "1.1.0";
|
||||
//version 1.1.1 : 优化了标定柱检出。标定柱同时为扫描线端点时能够检出
|
||||
std::string m_strVersion = "1.1.1";
|
||||
const char* wd_bagThreadPositioningVersion(void)
|
||||
{
|
||||
return m_strVersion.c_str();
|
||||
@ -234,7 +235,7 @@ void wd_bagThreadPositioning(
|
||||
}
|
||||
lineInterval = lineInterval / lineIntervalNum;
|
||||
|
||||
SVzNLRangeD jumpHeight = { scanInfo.mark_height-1.0, scanInfo.mark_height+1.0};
|
||||
SVzNLRangeD jumpHeight = { scanInfo.mark_height-2.0, scanInfo.mark_height+2.0};
|
||||
double markRotateAngle = 0;
|
||||
SVzNL3DPoint markCenter = { 0,0,0 };
|
||||
std::vector< SVzNL2DPoint> debug_markOrigin;
|
||||
@ -252,7 +253,7 @@ void wd_bagThreadPositioning(
|
||||
//垂直扫描检测V型槽和线尾
|
||||
for (int line = 0; line < lineNum; line++)
|
||||
{
|
||||
if ((line == 750) || (line == 905))
|
||||
if ((line == 755) || (line == 905))
|
||||
int kkk = 1;
|
||||
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
|
||||
//滤波，滤除异常点
|
||||
@ -316,7 +317,7 @@ void wd_bagThreadPositioning(
|
||||
std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_h;
|
||||
for (int line = 0; line < lineNum_h; line++)
|
||||
{
|
||||
if ((line == 750) || (line == 905))
|
||||
if ((line == 2240) || (line == 905))
|
||||
int kkk = 1;
|
||||
|
||||
std::vector<SVzNL3DPosition>& lineData = data_lines_h[line];
|
||||
@ -423,8 +424,8 @@ void wd_bagThreadPositioning(
|
||||
{
|
||||
double w = markClustersInfo[i].roi3D.xRange.max - markClustersInfo[i].roi3D.xRange.min;
|
||||
double h = markClustersInfo[i].roi3D.yRange.max - markClustersInfo[i].roi3D.yRange.min;
|
||||
if ((w >= scanInfo.mark_diameter - 0.5) && (w <= scanInfo.mark_diameter + 1.0) &&
|
||||
(h >= scanInfo.mark_diameter - 0.5) && (h <= scanInfo.mark_diameter + 1.0))
|
||||
if ((w >= scanInfo.mark_diameter - 1.0) && (w <= scanInfo.mark_diameter + 1.0) &&
|
||||
(h >= scanInfo.mark_diameter - 1.0) && (h <= scanInfo.mark_diameter + 1.0))
|
||||
{
|
||||
validMarks.push_back(i);
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user