443 lines
12 KiB
C++
443 lines
12 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "BQ_assemblyPosition_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//version 1.0.0 : base version release to customer
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std::string m_strVersion = "1.0.0";
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const char* wd_BQAssemblyPositionVersion(void)
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{
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return m_strVersion.c_str();
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}
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//计算一个平面调平参数。
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//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
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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 sx_BQ_getBaseCalibPara(
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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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//相机姿态调平，并去除地面
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void sx_BQ_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH)
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{
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lineDataRT_vector(a_line, camPoseR, groundH);
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}
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int _counterLinePtNum(std::vector<SVzNL3DPosition>& lineData)
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{
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int ptNum = 0;
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for (int i = 0, i_max = (int)lineData.size(); i < i_max; i++)
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{
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if ((abs(lineData[i].pt3D.z) > 1e-4) ||
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(abs(lineData[i].pt3D.x > 1e-4)) ||
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(abs(lineData[i].pt3D.y > 1e-4)))
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ptNum++;
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}
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return ptNum;
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}
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bool compareByAngle(const SWD_polarPt& a, const SWD_polarPt& b) {
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return a.angle < b.angle;
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}
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SSX_BQAssemblyInfo sx_BQ_computeAssemblyInfoFrom3D(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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SSG_treeGrowParam growParam,
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SSG_planeCalibPara groundCalibPara,
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SSX_BQAssemblyPara assemblyParam,
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int* errCode)
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{
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*errCode = 0;
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SSX_BQAssemblyInfo assemblyPose;
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memset(&assemblyPose, 0, sizeof(SSX_BQAssemblyInfo));
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return assemblyPose;
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}
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//将开始和结束的空白扫描线去除，获得扫描边界
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int validStartLine = -1;
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for (int i = 0; i < lineNum; i++)
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{
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int linePtNum = _counterLinePtNum(scanLines[i]);
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if (linePtNum > 0)
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{
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validStartLine = i;
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break;
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}
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}
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int validEndLine = -1;
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for (int i = lineNum - 1; i >= 0; i--)
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{
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int linePtNum = _counterLinePtNum(scanLines[i]);
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if (linePtNum > 0)
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{
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validEndLine = i;
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break;
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}
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}
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if ((validStartLine < 0) || (validEndLine < 0))
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return assemblyPose;
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}
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int linePtNum = (int)scanLines[0].size();
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bool isGridData = true;
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//自适应各种旋转角度
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//垂直跳变特征提取
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std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_v_raw;
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 250)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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if (linePtNum != (int)lineData.size())
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isGridData = false;
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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_basicFeature1D> line_features;
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int dataSize = (int)lineData.size();
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sg_getLineCornerFeature_BQ(
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&lineData[0],
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dataSize,
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line,
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groundCalibPara.planeHeight,
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cornerPara, //scale通常取bagH的1/4
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line_features);
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jumpFeatures_v_raw.push_back(line_features);
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}
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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 assemblyPose;
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}
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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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hLines_raw[i].resize(lineNum);
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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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{
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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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std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_h_raw;
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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 == 416)
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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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int ptNum = (int)lineData.size();
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], ptNum, filterParam);
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std::vector<SSG_basicFeature1D> line_features;
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int dataSize = (int)lineData.size();
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sg_getLineCornerFeature_BQ(
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&hLines_raw[line][0],
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dataSize,
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line,
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groundCalibPara.planeHeight,
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cornerPara, //scale通常取bagH的1/4
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line_features);
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jumpFeatures_h_raw.push_back(line_features);
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}
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//特征生长，用于滤除噪点
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//垂直方向特征生长（激光线方向）
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std::vector<SSG_featureTree> v_trees;
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for (int line = 0; line < lineNum; line++)
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{
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bool isLastLine = false;
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if (line == lineNum - 1)
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isLastLine = true;
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std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v_raw[line];
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if (a_lineJumpFeature.size() > 0)
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int kkk = 1;
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if (line == 202)
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int kkk = 1;
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sg_lineFeaturesGrowing(
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line,
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isLastLine,
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a_lineJumpFeature,
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v_trees,
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growParam);
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}
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//水平方向特征生长（扫描运动方向）
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std::vector<SSG_featureTree> h_trees;
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for (int line = 0; line < lineNum_h_raw; line++)
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{
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if (line == 650)
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int kkk = 1;
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bool isLastLine = false;
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if (line == lineNum_h_raw - 1)
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isLastLine = true;
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std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h_raw[line];
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sg_lineFeaturesGrowing(
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line,
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isLastLine,
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a_lineJumpFeature,
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h_trees,
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growParam);
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}
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std::vector<SWD_polarPt> polarPoints;
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for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
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{
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SSG_featureTree* a_vTree = &v_trees[i];
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//在原始点云上标记，同时有Mask上标记
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for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
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{
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int lineIdx = a_vTree->treeNodes[j].jumpPos2D.x;
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int ptIdx = a_vTree->treeNodes[j].jumpPos2D.y;
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if (scanLines[lineIdx][ptIdx].nPointIdx >= 0)
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{
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SWD_polarPt a_polarPt;
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a_polarPt.lineIdx = lineIdx;
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a_polarPt.ptIdx = ptIdx;
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a_polarPt.R = 0;
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a_polarPt.angle = 0;
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a_polarPt.x = scanLines[lineIdx][ptIdx].pt3D.x;
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a_polarPt.y = scanLines[lineIdx][ptIdx].pt3D.y;
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a_polarPt.z = scanLines[lineIdx][ptIdx].pt3D.z;
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polarPoints.push_back(a_polarPt);
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scanLines[lineIdx][ptIdx].nPointIdx = -1;
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}
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}
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}
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for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
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{
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SSG_featureTree* a_hTree = &h_trees[i];
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//在原始点云上标记，同时有Mask上标记
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for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
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{
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int lineIdx = a_hTree->treeNodes[j].jumpPos2D.y;
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int ptIdx = a_hTree->treeNodes[j].jumpPos2D.x;
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if (scanLines[lineIdx][ptIdx].nPointIdx >= 0)
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{
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SWD_polarPt a_polarPt;
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a_polarPt.lineIdx = lineIdx;
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a_polarPt.ptIdx = ptIdx;
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a_polarPt.cptIndex = -1;
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a_polarPt.R = 0;
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a_polarPt.angle = 0;
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a_polarPt.x = scanLines[lineIdx][ptIdx].pt3D.x;
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a_polarPt.y = scanLines[lineIdx][ptIdx].pt3D.y;
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a_polarPt.z = scanLines[lineIdx][ptIdx].pt3D.z;
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polarPoints.push_back(a_polarPt);
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scanLines[lineIdx][ptIdx].nPointIdx = -1;
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}
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}
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}
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//计算几何中心
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int contourPtSize = (int)polarPoints.size();
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if (contourPtSize == 0)
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{
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*errCode = SX_ERR_ZERO_CONTOUR_PT;
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return assemblyPose;
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}
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double center_x = 0;
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double center_y = 0;
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for (int pi = 0; pi < contourPtSize; pi++)
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{
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center_x += polarPoints[pi].x;
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center_y += polarPoints[pi].y;
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}
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center_x = center_x / (double)contourPtSize;
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center_y = center_y / (double)contourPtSize;
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//计算极坐标的R和Theta
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for (int pi = 0; pi < contourPtSize; pi++)
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{
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double angle = atan2(polarPoints[pi].y - center_y, polarPoints[pi].x - center_x);
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angle = (angle / PI) * 180 + 180.0;
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double R = sqrt(pow(polarPoints[pi].y - center_y, 2) + pow(polarPoints[pi].x - center_x, 2));
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polarPoints[pi].R = R;
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polarPoints[pi].angle = angle;
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}
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//按角度大小排序
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std::sort(polarPoints.begin(), polarPoints.end(), compareByAngle);
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for (int pi = 0; pi < contourPtSize; pi++)
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polarPoints[pi].cptIndex = pi; // index
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//提取R极值点
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double minR = -1, maxR = -1; //计算最小和最大的R，用以区分有没有分支。minR和maxR相差小时，为圆形或8角形，没有分支
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int minRPos = -1;
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std::vector<SWD_polarPt> polarRPeakPts;
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int winSize = contourPtSize / 36; //+-10度范围
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if (winSize < 5)
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winSize = 5;
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for (int pi = 0; pi < contourPtSize; pi++)
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{
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double currR = polarPoints[pi].R;
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if (minR < 0)
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{
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minR = currR;
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maxR = currR;
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minRPos = pi;
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}
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else
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{
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minRPos = minR > currR ? pi : minRPos;
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minR = minR > currR ? currR : minR;
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maxR = maxR < currR ? currR : maxR;
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}
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bool isPeak = true;
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for (int k = -winSize; k <= winSize; k++)
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{
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int idx = (pi + k + contourPtSize) % contourPtSize; //筒形结构
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if (polarPoints[idx].R > currR)
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{
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isPeak = false;
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break;
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}
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}
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if (true == isPeak)
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polarRPeakPts.push_back(polarPoints[pi]);
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}
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double ratio_MaxMin = maxR / minR;
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bool hasBranch = ratio_MaxMin < 1.25 ? false : true;
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std::vector<SWD_polarPt> validPolarRPeakPts;
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std::vector<SWD_polarPeakInfo> polarPeakInfo;
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int pkId = 0;
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//过滤圆弧段的极值：由于重心偏移，圆弧段也会形成极值。根据极值两边L=直线段长度构成的张角判断
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double arcAngleChkLen = 100; //检测圆弧张角的尺度
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for (int i = 0, i_max = (int)polarRPeakPts.size(); i < i_max; i++)
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{
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int ptidx = polarRPeakPts[i].cptIndex;
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double px, py, pz;
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px = polarRPeakPts[i].x;
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py = polarRPeakPts[i].y;
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int LL1 = -1;
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int halfLL1 = -1;
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for (int j = ptidx - 1; j > -contourPtSize; j--)
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{
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int idx = (j + contourPtSize) % contourPtSize; //筒形结构
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double cx = polarPoints[idx].x;
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double cy = polarPoints[idx].y;
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double len = sqrt(pow(px - cx, 2) + pow(py - cy, 2));
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if (len < arcAngleChkLen)
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halfLL1 = idx;
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if (len > (assemblyParam.lineLen))
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{
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LL1 = idx;
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break;
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}
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}
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int LL2 = -1;
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int halfLL2 = -1;
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for (int j = ptidx + 1; j < contourPtSize * 2; j++)
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{
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int idx = j % contourPtSize; //筒形结构
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double cx = polarPoints[idx].x;
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double cy = polarPoints[idx].y;
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double len = sqrt(pow(px - cx, 2) + pow(py - cy, 2));
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if (len < arcAngleChkLen)
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halfLL2 = idx;
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if (len > (assemblyParam.lineLen))
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{
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LL2 = idx;
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break;
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}
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}
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if ((LL1 >= 0) && (LL2 >= 0))
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{
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double len1 = sqrt(pow(px - polarPoints[halfLL1].x, 2) + pow(py - polarPoints[halfLL1].y, 2));
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double len2 = sqrt(pow(px - polarPoints[halfLL2].x, 2) + pow(py - polarPoints[halfLL2].y, 2));
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double len3 = sqrt(pow(polarPoints[halfLL1].x - polarPoints[halfLL2].x, 2) +
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pow(polarPoints[halfLL1].y - polarPoints[halfLL2].y, 2));
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double cosTheta = (len1 * len1 + len2 * len2 - len3 * len3) / (2 * len1 * len2);
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double theta = acos(cosTheta) * 180.0 / PI;
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if (theta < 150)
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{
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SWD_polarPeakInfo a_pkInfo;
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a_pkInfo.cptIndex = ptidx;
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a_pkInfo.L1_ptIndex = LL1;
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a_pkInfo.L2_ptIndex = LL2;
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a_pkInfo.cornerAngle = theta;
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a_pkInfo.cornerDir = 0;
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polarRPeakPts[i].cptIndex = ptidx;
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polarRPeakPts[i].pkId = pkId;
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pkId++;
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validPolarRPeakPts.push_back(polarRPeakPts[i]);
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polarPeakInfo.push_back(a_pkInfo);
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}
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}
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}
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//处理矩形工件
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if (validPolarRPeakPts.size() != 4)
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{
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*errCode = SX_ERR_INVLID_RPEAK_NUM;
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return assemblyPose;
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}
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//取长边作X轴，短边作Y轴，法向为Z轴，中心点为O点
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std::vector<SVzNL3DPoint> sidePts_1;
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std::vector<SVzNL3DPoint> sidePts_2;
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std::vector<SVzNL3DPoint> sidePts_3;
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std::vector<SVzNL3DPoint> sidePts_4;
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return assemblyPose;
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}
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//根据Mark计算工件位置和姿态
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SSX_BQAssemblyInfo sx_BQ_computeAssemblyInfoFromMark(
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SSX_BQAssemblyInfo originPos,
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std::vector<cv::Point3d> originMarkPos,
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std::vector<cv::Point3d> currMarkPos,
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int* errCode)
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{
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*errCode = 0;
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SSX_BQAssemblyInfo resultPos;
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memset(&resultPos, 0, sizeof(SSX_BQAssemblyInfo));
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if ((originMarkPos.size() < 3) || (currMarkPos.size() < 3))
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{
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*errCode = SX_ERR_INVLID_MARK_NUM;
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return resultPos;
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}
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cv::Mat R, T; //旋转平移
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cv::Point3d C_origin, C_curr; //质心
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caculateRT(originMarkPos, currMarkPos, R, T, C_origin, C_curr);
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// 5. 推算Pn的坐标
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pointRT(R, T, C_origin, C_curr, originPos.O, resultPos.O);
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pointRT(R, T, C_origin, C_curr, originPos.X, resultPos.X);
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pointRT(R, T, C_origin, C_curr, originPos.Y, resultPos.Y);
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pointRT(R, T, C_origin, C_curr, originPos.Z, resultPos.Z);
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return resultPos;
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}
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