783 lines
24 KiB
C++
783 lines
24 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 "bagThreadPositioning_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_encodePlyTxt(
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const char* fileName,
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double lineStep,
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double baseZ,
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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> linePoints;
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linePoints.clear();
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int startIdx = -1;
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int ptIdx = 0;
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double pre_y = DBL_MAX;
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while (std::getline(inputFile, linedata))
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{
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if (linedata.empty())
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continue;
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int X;
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double Y, Z, tmp;
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sscanf_s(linedata.c_str(), "%d,%lf,%lf", &X, &Y, &Z);
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if (startIdx < 0)
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startIdx = X;
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SVzNL3DPosition a_pt;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_pt.pt3D.x = (double)(X - startIdx) * lineStep;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = baseZ - Z;
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if (Z < -9990.0)
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{
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a_pt.pt3D = { 0, 0, 0 };
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}
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if (Y < pre_y)
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{
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//新行
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if(linePoints.size() > 0)
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scanData.push_back(linePoints);
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linePoints.clear();
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ptIdx = 0;
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}
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linePoints.push_back(a_pt);
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pre_y = Y;
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}
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if(linePoints.size() > 0)
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scanData.push_back(linePoints);
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return;
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}
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bool checkGridFormat(std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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if (scanData.size() == 0)
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return false;
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int linePtNum = (int)scanData[0].size();
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for (int i = 1; i < (int)scanData.size(); i++)
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{
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if (linePtNum != (int)scanData[i].size())
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return false;
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}
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return true;
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}
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void downSampleGridData(std::vector<std::vector< SVzNL3DPosition>>& scanData, int dwnSampleRatio, std::vector<std::vector< SVzNL3DPosition>>& sampleData)
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{
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int lines = (int)scanData.size();
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for (int i = 0; i < lines; i++)
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{
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if ((i % dwnSampleRatio) == 0)
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sampleData.push_back(scanData[i]);
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}
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return;
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}
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int counterValidPts(std::vector< SVzNL3DPosition>& a_line)
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{
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int ptNum = (int)a_line.size();
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int validNum = 0;
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for (int i = 0; i < ptNum; i++)
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{
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if (a_line[i].pt3D.z > 1e-4)
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validNum++;
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}
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return validNum;
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}
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void removeNullLines(std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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if (scanData.size() == 0)
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return;
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int lineNum = (int)scanData.size();
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int startLineIdx = -1;
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int endLineIdx = 0;
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for (int i = 0; i < lineNum; i++)
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{
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int validPtNum = counterValidPts(scanData[i]);
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if (validPtNum > 0)
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{
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if (startLineIdx < 0)
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startLineIdx = i;
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endLineIdx = i;
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}
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}
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if( (endLineIdx < lineNum-1) && (endLineIdx > 0))
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scanData.erase(scanData.begin() + endLineIdx+1, scanData.end());
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if (startLineIdx > 0)
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scanData.erase(scanData.begin(), scanData.begin() + startLineIdx);
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return;
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}
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void wdReadLaserScanPointFromFile_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 wd_gridScan_GetROIData(std::vector<std::vector< SVzNL3DPosition>>& scanData, SVzNLRangeD roi_y, std::vector<std::vector< SVzNL3DPosition>>& roiData)
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{
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int lineNum = (int)scanData.size();
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int linePtNum = (int)scanData[0].size();
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int globalPtStart = INT_MAX;
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int globalPtEnd = 0;
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int lineStart = INT_MAX;
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int lineEnd = 0;
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition >& lineData = scanData[line];
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int ptSize = (int)lineData.size();
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int vldNum = 0;
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int ptStart = INT_MAX;
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int ptEnd = 0;
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for (int i = 0; i < ptSize; 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 ((lineData[i].pt3D.y < roi_y.min) || (lineData[i].pt3D.y > roi_y.max))
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lineData[i].pt3D = { 0.0, 0.0, 0.0 };
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}
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if (lineData[i].pt3D.z > 1e-4)
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{
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if (ptStart > i)
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ptStart = i;
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ptEnd = i;
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vldNum++;
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}
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}
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if (vldNum > 0)
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{
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if (globalPtStart > ptStart)
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globalPtStart = ptStart;
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if (globalPtEnd < ptEnd)
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globalPtEnd = ptEnd;
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if (lineStart > line)
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lineStart = line;
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lineEnd = line;
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}
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}
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int vldLineNum = lineEnd - lineStart + 1;
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int vldPtNum = globalPtEnd - globalPtStart + 1;
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roiData.resize(vldLineNum);
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for (int line = 0; line < vldLineNum; line++)
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{
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roiData[line].resize(vldPtNum);
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for (int i = 0; i < vldPtNum; i++)
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roiData[line][i] = scanData[line + lineStart][i + globalPtStart];
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}
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return;
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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 _outputChanneltInfo(char* fileName, std::vector<SSX_bagThreadInfo>& threadInfo)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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int objNum = (int)threadInfo.size();
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for (int i = 0; i < objNum; i++)
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{
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sprintf_s(dataStr, 250, "线头_%d: 位置( %g, %g, %g ), 下刀位置_( %g, %g, %g ), 角度_%g",
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i + 1, threadInfo[i].threadPos.x, threadInfo[i].threadPos.y, threadInfo[i].threadPos.z,
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threadInfo[i].operatePos.x, threadInfo[i].operatePos.y, threadInfo[i].operatePos.z, threadInfo[i].rotateAngle);
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sw << dataStr << std::endl;
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}
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sw.close();
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}
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void _outputRGBDScan_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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std::vector<SSX_bagThreadInfo>& threadInfo,
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std::vector< SVzNL3DPoint>& markPoints
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)
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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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int objNum = (int)threadInfo.size();
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if (objNum > 0)
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realLines += 1;
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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 = objColor[pt3D->nPointIdx];
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size = 3;
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}
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else if (pt3D->nPointIdx == 2)
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{
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rgb = { 250, 0, 0 };
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size = 3;
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}
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else if (pt3D->nPointIdx == 3)
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{
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rgb = { 250, 250, 0 };
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size = 3;
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}
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else if (pt3D->nPointIdx == 4)
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{
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rgb = { 0, 250, 250 };
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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 (objNum > 0)
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{
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int markNum = (int)markPoints.size();
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sw << "Line_" << lineIdx << "_0_" << (objNum*2 + markNum) << std::endl;
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size = 10;
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for (int i = 0; i < objNum; i++)
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{
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rgb = { 250, 0, 0 };
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float x = (float)threadInfo[i].threadPos.x;
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float y = (float)threadInfo[i].threadPos.y;
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float z = (float)threadInfo[i].threadPos.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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rgb = { 250, 250, 0 };
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x = (float)threadInfo[i].operatePos.x;
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y = (float)threadInfo[i].operatePos.y;
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z = (float)threadInfo[i].operatePos.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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for (int i = 0; i < markNum; i++)
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{
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rgb = { 250, 0, 0 };
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float x = (float)markPoints[i].x;
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float y = (float)markPoints[i].y;
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float z = (float)markPoints[i].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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//多输出一个，修正显示工具bug
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rgb = { 250, 0, 0 };
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float x = (float)threadInfo[0].threadPos.x;
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float y = (float)threadInfo[0].threadPos.y;
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float z = (float)threadInfo[0].threadPos.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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//输出法向
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size = 1;
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double len = 60;
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lineIdx = 0;
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for (int i = 0; i < objNum; i++)
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{
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SVzNL3DPoint pt0 = threadInfo[i].threadPos;
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SVzNL3DPoint pt1 = threadInfo[i].operatePos;
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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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//多输出一个，修正显示工具bug
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SVzNL3DPoint pt0 = threadInfo[0].threadPos;
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SVzNL3DPoint pt1 = threadInfo[0].operatePos;
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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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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)
|
||
{
|
||
if ((a_line[j].pt3D.x < roi2D.left) || (a_line[j].pt3D.x > roi2D.right) ||
|
||
(a_line[j].pt3D.y < roi2D.top) || (a_line[j].pt3D.y > roi2D.bottom))
|
||
dstLines[line][j].pt3D = { 0, 0, 0 };
|
||
}
|
||
}
|
||
}
|
||
return;
|
||
}
|
||
|
||
void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
//调平矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
|
||
sw << dataStr << std::endl;
|
||
//地面高度
|
||
sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
|
||
sw << dataStr << std::endl;
|
||
//反向旋转矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
|
||
sw << dataStr << std::endl;
|
||
|
||
sw.close();
|
||
}
|
||
|
||
SSG_planeCalibPara _readCalibPara(char* fileName)
|
||
{
|
||
//设置初始结果
|
||
double initCalib[9] = {
|
||
1.0, 0.0, 0.0,
|
||
0.0, 1.0, 0.0,
|
||
0.0, 0.0, 1.0 };
|
||
SSG_planeCalibPara planePara;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.planeCalib[i] = initCalib[i];
|
||
planePara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.invRMatrix[i] = initCalib[i];
|
||
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return planePara;
|
||
|
||
//调平矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
|
||
//地面高度
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
|
||
//反向旋转矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
|
||
|
||
inputFile.close();
|
||
return planePara;
|
||
}
|
||
|
||
|
||
#define CONVERT_TO_GRID 0
|
||
#define COMPUTE_CALIB_PARA 0
|
||
#define BAG_THREAD_POSITIONING 1
|
||
#define TEST_GROUP 3
|
||
int main()
|
||
{
|
||
const char* dataPath[TEST_GROUP] = {
|
||
"F:/ShangGu/项目/吕宁项目/袋子拆线/模拟数据/", //0
|
||
"F:/ShangGu/项目/吕宁项目/袋子拆线/现场数据/", //1
|
||
"F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/", //2
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{1,13},
|
||
{2,5},
|
||
{1,10}
|
||
};
|
||
|
||
const char* ver = wd_bagThreadPositioningVersion();
|
||
printf("ver:%s\n", ver);
|
||
|
||
#if CONVERT_TO_GRID
|
||
int convertGrp = 2;
|
||
for (int fidx = 1; fidx <= 10; fidx++)
|
||
{
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%s%dheightline_mm.txt", dataPath[convertGrp], fidx);
|
||
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
double lineStep = 0.032;
|
||
double baseZ = 350.0;
|
||
vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
|
||
bool isGridData = checkGridFormat(scanData);
|
||
int gridFormat = (true == isGridData) ? 1 : 0;
|
||
printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
|
||
removeNullLines(scanData);
|
||
std::vector<std::vector< SVzNL3DPosition>> sampleData;
|
||
downSampleGridData(scanData, 3, sampleData);
|
||
//将数据恢复为按扫描线存储格式
|
||
sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[convertGrp], fidx);
|
||
_outputScanDataFile(_scan_file, sampleData,0, 0, 0);
|
||
printf("%s: done.\n", _scan_file);
|
||
}
|
||
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sgroundData.txt", dataPath[convertGrp]);
|
||
|
||
std::vector<std::vector< SVzNL3DPosition>> scanData;
|
||
double lineStep = 0.032;
|
||
double baseZ = 350.0;
|
||
vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
|
||
bool isGridData = checkGridFormat(scanData);
|
||
int gridFormat = (true == isGridData) ? 1 : 0;
|
||
printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
|
||
removeNullLines(scanData);
|
||
std::vector<std::vector< SVzNL3DPosition>> sampleData;
|
||
downSampleGridData(scanData, 3, sampleData);
|
||
//将数据恢复为按扫描线存储格式
|
||
sprintf_s(_scan_file, "%sgroundData_grid.txt", dataPath[convertGrp]);
|
||
_outputScanDataFile(_scan_file, sampleData, 0, 0, 0);
|
||
printf("%s: done.\n", _scan_file);
|
||
|
||
#endif
|
||
|
||
#if COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/groundData_grid.txt");
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
wdReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
|
||
if (scanLines.size() > 0)
|
||
{
|
||
//getROIdata
|
||
std::vector<std::vector< SVzNL3DPosition>> roiScanLines;
|
||
SSG_ROIRectD roi2D = {91.0, 190.0, -10, 37};
|
||
|
||
getROIdata(roi2D, scanLines, roiScanLines);
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/groundData_grid_ROI.txt");
|
||
_outputScanDataFile(calibFile, roiScanLines, 0, 0, 0);
|
||
|
||
SSG_planeCalibPara calibPara = wd_bagThread_getBaseCalibPara(roiScanLines);
|
||
//结果进行验证
|
||
int lineNum = (int)scanLines.size();
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_bagThread_lineDataR(scanLines[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
|
||
}
|
||
//
|
||
sprintf_s(calibFile, "F:/ShangGu/项目/吕宁项目/袋子拆线/袋子3D数据/ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
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");
|
||
_outputScanDataFile(_out_file, scanLines, 0, 0, 0);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
|
||
#endif
|
||
|
||
#if BAG_THREAD_POSITIONING
|
||
for (int grp = 2; grp <= 2; grp++)
|
||
{
|
||
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
char _scan_file[256];
|
||
SSG_planeCalibPara poseCalibPara;
|
||
//初始化成单位阵
|
||
poseCalibPara.planeCalib[0] = 1.0;
|
||
poseCalibPara.planeCalib[1] = 0.0;
|
||
poseCalibPara.planeCalib[2] = 0.0;
|
||
poseCalibPara.planeCalib[3] = 0.0;
|
||
poseCalibPara.planeCalib[4] = 1.0;
|
||
poseCalibPara.planeCalib[5] = 0.0;
|
||
poseCalibPara.planeCalib[6] = 0.0;
|
||
poseCalibPara.planeCalib[7] = 0.0;
|
||
poseCalibPara.planeCalib[8] = 1.0;
|
||
poseCalibPara.planeHeight = 2600.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
if (grp == 2)
|
||
{
|
||
sprintf_s(_scan_file, "%sground_calib_para.txt", dataPath[grp]);
|
||
poseCalibPara = _readCalibPara(_scan_file);
|
||
}
|
||
|
||
sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
|
||
SSG_cornerParam cornerParam;
|
||
cornerParam.cornerTh = 90;
|
||
cornerParam.scale = 4; //袋子缝的尺度1.5mm比较合适
|
||
cornerParam.minEndingGap = 1.0; //
|
||
cornerParam.minEndingGap_z = 3.5;
|
||
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
|
||
cornerParam.jumpCornerTh_2 = 60;
|
||
|
||
SSG_raisedFeatureParam raisedFeatureParam;
|
||
raisedFeatureParam.minJumpZ = 1.5;
|
||
raisedFeatureParam.minK = 2.0; //对应63度
|
||
raisedFeatureParam.widthRange.min = 1.0;
|
||
raisedFeatureParam.widthRange.max = 4.0;
|
||
|
||
SSG_outlierFilterParam filterParam;
|
||
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
|
||
filterParam.outlierTh = 3;
|
||
|
||
SSG_treeGrowParam growParam;
|
||
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
|
||
growParam.maxSkipDistance = 5.0;
|
||
growParam.yDeviation_max = 1.0;
|
||
growParam.zDeviation_max = 1.0;//
|
||
growParam.minLTypeTreeLen = 10; //mm,
|
||
growParam.minVTypeTreeLen = 10; //mm
|
||
|
||
SSX_ScanInfo scanInfo;
|
||
if (grp == 1)
|
||
{
|
||
scanInfo.isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
|
||
scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
|
||
scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
|
||
scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
|
||
scanInfo.mark_diameter = 6.0; //mark外径
|
||
scanInfo.mark_height = 3.5;//mark高
|
||
scanInfo.mark_distance = 53.0; //两个Mark的距离
|
||
}
|
||
else if(grp == 2 )
|
||
{
|
||
scanInfo.isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
|
||
scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
|
||
scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
|
||
scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
|
||
scanInfo.mark_diameter = 18.0; //mark外径
|
||
scanInfo.mark_height = 18.0;//mark高
|
||
scanInfo.mark_distance = 39.0; //两个Mark的距离
|
||
}
|
||
else
|
||
{
|
||
scanInfo.isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
|
||
scanInfo.scanFromThreadHead = true; //true:线袋子线缝头部开始扫描。
|
||
scanInfo.stitchWidth = 1.0; //mm，线头扫描后的最小宽度
|
||
scanInfo.operateDist = 3.0; //mm，下刀位置距离线头位置
|
||
scanInfo.mark_diameter = 18.0; //mark外径
|
||
scanInfo.mark_height = 16.5;//mark高
|
||
scanInfo.mark_distance = 39.0; //两个Mark的距离
|
||
}
|
||
|
||
int errCode = 0;
|
||
std::vector<SSX_bagThreadInfo> bagThreadInfo;
|
||
std::vector<SSX_bagThreadInfo> bagThreadInfo_relative; //相对于Mark的坐标
|
||
std::vector<SVzNL3DPoint> output_markCenter;
|
||
wd_bagThreadPositioning(
|
||
scanLines,
|
||
scanInfo, //true:激光线平行线缝；false:激光线垂直线缝
|
||
poseCalibPara,
|
||
filterParam, //噪点过滤参数
|
||
cornerParam, //V型特征参数
|
||
raisedFeatureParam,//线尾凸起参数
|
||
growParam, //特征生长参数
|
||
bagThreadInfo,
|
||
bagThreadInfo_relative,
|
||
output_markCenter,
|
||
&errCode);
|
||
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
|
||
_outputRGBDScan_RGBD(_scan_file, scanLines, bagThreadInfo, output_markCenter);
|
||
sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
|
||
_outputChanneltInfo(_scan_file, bagThreadInfo);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
|
||
// 调试程序: F5 或调试 >“开始调试”菜单
|
||
|
||
// 入门使用技巧:
|
||
// 1. 使用解决方案资源管理器窗口添加/管理文件
|
||
// 2. 使用团队资源管理器窗口连接到源代码管理
|
||
// 3. 使用输出窗口查看生成输出和其他消息
|
||
// 4. 使用错误列表窗口查看错误
|
||
// 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
|
||
// 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
|