404 lines
11 KiB
C++
404 lines
11 KiB
C++
// gasFillingPortPosition_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "gasFillingPortPosition_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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#include <limits>
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typedef struct
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{
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int r;
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int g;
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int b;
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}SG_color;
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typedef struct
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{
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int nPointIdx;
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double x;
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double y;
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double z;
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float r;
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float g;
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float b;
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} SPointXYZRGB;
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void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return;
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std::vector< SVzNL3DPosition> a_line;
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int ptIdx = 0;
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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}
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a_line.clear();
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ptIdx = 0;
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}
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else if (0 == strncmp("{", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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float leftX, leftY;
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float rightX, rightY;
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sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
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SVzNL3DPosition a_pt;
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a_pt.pt3D.x = X;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = Z;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_line.push_back(a_pt);
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}
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}
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//last line
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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inputFile.close();
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return;
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}
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void vzReadPlyTxtPointFromFile_XYZRGB_vector(const char* fileName, std::vector<std::vector< SVzNLPointXYZRGBA>>& scanData)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return;
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const double lineYGap = 50;
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std::vector< SVzNLPointXYZRGBA> a_line;
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double pre_y = FLT_MIN;
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while (getline(inputFile, linedata))
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{
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SVzNLPointXYZRGBA a_pt;
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memset(&a_pt, 0, sizeof(SVzNLPointXYZRGBA));
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double _x, _y, _z;
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sscanf_s(linedata.c_str(), "%lf %lf %lf", &_x, &_y, &_z);
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a_pt.x = (float)_x;
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a_pt.y = (float)_y;
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a_pt.z = (float)_z;
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if (a_pt.y < pre_y - lineYGap) //新的扫描行
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{
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if (a_line.size() > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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}
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pre_y = a_pt.y;
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a_line.push_back(a_pt);
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}
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if (a_line.size() > 0)
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scanData.push_back(a_line);
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inputFile.close();
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return;
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}
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void _outputScanDataFile_XYZRGB(char* fileName, std::vector<std::vector< SVzNLPointXYZRGBA>>& scanData,
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float lineV, int maxTimeStamp, int clockPerSecond)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanData.size();
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed:" << lineV << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = (int)scanData[line].size();
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sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNLPointXYZRGBA& pt3D = scanData[line][i];
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float x = (float)pt3D.x;
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float y = (float)pt3D.y;
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float z = (float)pt3D.z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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}
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sw.close();
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}
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void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData,
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float lineV, int maxTimeStamp, int clockPerSecond)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanData.size();
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed:" << lineV << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = (int)scanData[line].size();
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sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition& pt3D = scanData[line][i];
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float x = (float)pt3D.pt3D.x;
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float y = (float)pt3D.pt3D.y;
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float z = (float)pt3D.pt3D.z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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}
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sw.close();
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}
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void _outputFillingPortInfo(char* fileName, SSG_6DOF centerPose)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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sw << "A:" << std::endl;
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sprintf_s(dataStr, 250, "中心点: (%g, %g, %g)", centerPose.x, centerPose.y, centerPose.z);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "法向量: (%g, %g, %g)", centerPose.x_roll, centerPose.y_pitch, centerPose.z_yaw);
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sw << dataStr << std::endl;
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sw.close();
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}
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void _outputRGBDScan_fillingPort_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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SSG_6DOF centerPose)
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{
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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if (centerPose.z > 1e-4)
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realLines++;
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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if (pt3D->nPointIdx == 1)
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{
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rgb = { 255, 97, 0 };
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size = 3;
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}
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else //if (pt3D->nPointIdx == 0)
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{
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rgb = { 200, 200, 200 };
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size = 1;
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}
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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}
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if (centerPose.z > 1e-4)
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{
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std::vector<SVzNL3DPoint> ptBuffer;
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SVzNL3DPoint cpt = { centerPose.x, centerPose.y, centerPose.z };
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ptBuffer.push_back(cpt);
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int linePtNum = (int)ptBuffer.size();
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sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
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lineNum++;
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rgb = { 255, 0, 0 };
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size = 15;
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for (int j = 0; j < linePtNum; j++)
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{
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float x = (float)ptBuffer[j].x;
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float y = (float)ptBuffer[j].y;
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float z = (float)ptBuffer[j].z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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//加一个点，用于跳过显示工具bug
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float x = (float)ptBuffer[0].x;
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float y = (float)ptBuffer[0].y;
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float z = (float)ptBuffer[0].z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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size = 1;
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double len = 60;
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SVzNL3DPoint pt0 = { cpt.x + len * centerPose.x_roll,
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cpt.y + len * centerPose.y_pitch,
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cpt.z + len * centerPose.z_yaw };
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SVzNL3DPoint pt1 = { cpt.x - len * centerPose.x_roll,
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cpt.y - len * centerPose.y_pitch,
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cpt.z - len * centerPose.z_yaw };
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//显示法向量
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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}
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sw.close();
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}
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#define TEST_CONVERT_TO_GRID 1
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#define TEST_COMPUTE_POSE 0
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#define TEST_GROUP 2
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int main()
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{
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const char* dataPath[TEST_GROUP] = {
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"F:/ShangGu/项目/冠钦_LNG自动加气/加气口测试数据/", //0
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"F:/ShangGu/项目/冠钦项目/圆环自动抓取/",
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};
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SVzNLRange fileIdx[TEST_GROUP] = {
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{2,30},
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};
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const char* ver = wd_gasFillingPortPositionVersion();
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printf("ver:%s\n", ver);
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#if TEST_CONVERT_TO_GRID
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for (int grp = 0; grp < TEST_GROUP; 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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//fidx =7;
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char _scan_file[256];
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spr
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LaserData_1
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vzReadPlyTxtPointFromFile_XYZRGB_vector(const char* fileName, std::vector<std::vector< SVzNLPointXYZRGBA>>&scanData);
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#endif
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#if TEST_COMPUTE_POSE
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for (int grp = 0; grp < TEST_GROUP; 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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//fidx =7;
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char _scan_file[256];
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sprintf_s(_scan_file, "%s%d_LaserData_Hi229156.txt", dataPath[grp], fidx);
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std::vector<std::vector< SVzNL3DPosition>> scanLines;
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vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
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//转成plyTxt格式
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//sprintf_s(_scan_file, "%s%d_ply_Hi229229.txt", dataPath[grp], fidx);
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//wdSavePlyTxt(_scan_file, scanLines);
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long t1 = (long)GetTickCount64();//统计时间
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SSX_gasFillingPortPara gasFillingPortPara;
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gasFillingPortPara.innerD = 42.0;
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gasFillingPortPara.outerD = 52.0;
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SSG_lineSegParam lineSegPara;
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lineSegPara.maxDist = 1.0;
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lineSegPara.segGapTh_y = 5.0; //y方向间隔大于5mm认为是分段
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lineSegPara.segGapTh_z = 10.0; //z方向间隔大于10mm认为是分段
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SSG_outlierFilterParam filterParam;
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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
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filterParam.outlierTh = 5;
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SSG_treeGrowParam growParam;
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growParam.maxLineSkipNum = 10;
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growParam.yDeviation_max = 5.0;
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growParam.maxSkipDistance = 5.0;
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growParam.zDeviation_max = 2.0;//
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growParam.minLTypeTreeLen = 100; //mm
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growParam.minVTypeTreeLen = 100; //mm
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int errCode = 0;
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SSG_6DOF centerPose = wd_getGasFillingPortPosition(
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scanLines,
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gasFillingPortPara,
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lineSegPara,
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filterParam,
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growParam,
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&errCode);
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long t2 = (long)GetTickCount64();
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printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
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//输出测试结果
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sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
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_outputRGBDScan_fillingPort_RGBD(_scan_file, scanLines, centerPose);
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sprintf_s(_scan_file, "%sresult\\%d_fillingPort_info.txt", dataPath[grp], fidx);
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_outputFillingPortInfo(_scan_file, centerPose);
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}
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}
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#endif
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}
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// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
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// 调试程序: F5 或调试 >“开始调试”菜单
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// 入门使用技巧:
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// 1. 使用解决方案资源管理器窗口添加/管理文件
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// 2. 使用团队资源管理器窗口连接到源代码管理
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// 3. 使用输出窗口查看生成输出和其他消息
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// 4. 使用错误列表窗口查看错误
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// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
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// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
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