445 lines
14 KiB
C++
445 lines
14 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 "workpieceHolePositioning_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_workpieceHolePositioningVersion(void)
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{
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return m_strVersion.c_str();
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}
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//相机水平安装计算地面调平参数。
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//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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SSG_planeCalibPara wd_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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return sg_getPlaneCalibPara2(scanLines);
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}
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//相机水平时姿态调平，并去除地面
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void wd_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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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, const double matrix3d[9])
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{
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SVzNL3DPoint _r_pt;
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_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
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_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
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_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
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return _r_pt;
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}
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//搜索最接近distance的目标
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int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, double distance, double distDeviation)
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{
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int result = -1;
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int holeSize = (int)holes.size();
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double minDistDiff = DBL_MAX;
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int minDistIndex = -1;
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for (int i = 0; i < holeSize; i++)
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{
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if (holes[i].radius < 0)
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continue;
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double dist = sqrt(pow(seed.x - holes[i].center.x, 2) + pow(seed.y - holes[i].center.y, 2));
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double distDiff = abs(dist - distance);
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if (minDistDiff > distDiff)
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{
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minDistDiff = distDiff;
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minDistIndex = i;
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}
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}
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if ((minDistIndex >= 0) && (minDistDiff < distDeviation))
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result = minDistIndex;
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return result;
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}
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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int angleConditionDistanceSearch(
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SVzNL3DPoint seed, SVzNL3DPoint angleSide,
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std::vector<SWD_HoleInfo>& holes,
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double distance, double distDeviation,
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SVzNLRangeD angleRange)
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{
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int result = -1;
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int holeSize = (int)holes.size();
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std::vector< int> distValidHoleIndex;
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for (int i = 0; i < holeSize; i++)
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{
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if (holes[i].radius < 0)
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continue;
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double dist = sqrt(pow(seed.x - holes[i].center.x, 2) + pow(seed.y - holes[i].center.y, 2));
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double distDiff = abs(dist - distance);
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if (distDiff < distDeviation)
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{
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distValidHoleIndex.push_back(i);
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}
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}
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if (distValidHoleIndex.size() == 1)
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{
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int idx = distValidHoleIndex[0];
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double angle = computeXOYVertexAngle(seed, angleSide, holes[idx].center);
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if( (angle >= angleRange.min) &&(angle <= angleRange.max))
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result = idx;
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}
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else if (distValidHoleIndex.size() > 1)
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{
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double bestAngle = (angleRange.min + angleRange.max) / 2;
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double minAngleDeviateion = DBL_MAX;
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int minAngleIdx = -1;
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for (int i = 0, i_max = (int)distValidHoleIndex.size(); i < i_max; i++)
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{
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int idx = distValidHoleIndex[i];
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double angle = computeXOYVertexAngle(seed, angleSide, holes[idx].center);
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if ((angle >= angleRange.min) && (angle <= angleRange.max))
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{
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double angleDiff = abs(angle - bestAngle);
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if (minAngleDeviateion > angleDiff)
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{
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minAngleDeviateion = angleDiff;
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minAngleIdx = idx;
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}
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}
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}
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result = minAngleIdx;
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}
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return result;
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}
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//工件孔定位
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void wd_workpieceHolePositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const WD_workpieceHoleParam workpiecePara,
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const SSG_lineSegParam lineSegPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSG_planeCalibPara groundCalibPara,
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std::vector< WD_workpieceInfo>& workpiecePositioning,
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int* errCode)
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{
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*errCode = 0;
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int lineNum = (int)scanLinesInput.size();
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std::vector< std::vector<SVzNL3DPosition>> scanLines;
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scanLines.resize(lineNum);
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int linePtNum = (int)scanLinesInput[0].size();
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bool isGridData = true;
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for (int i = 0; i < lineNum; i++)
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{
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if (linePtNum != (int)scanLinesInput[i].size())
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isGridData = false;
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scanLines[i].resize(scanLinesInput[i].size());
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std::copy(scanLinesInput[i].begin(), scanLinesInput[i].end(), scanLines[i].begin()); // 使用std::copy算法
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}
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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for (int i = 0; i < lineNum; i++)
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{ //行处理
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//调平，去除地面
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wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);
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}
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//生成量化数据，以1mm为量化尺度，用于确定工件表面高度
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std::vector<std::vector<int>> pointMask;
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pointMask.resize(lineNum);
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std::vector<SVzNL3DPoint> endingPoints;
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//提取线段端点特征
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 1677)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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pointMask[line].resize(lineData.size());
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std::fill(pointMask[line].begin(), pointMask[line].end(), 0);//初始化为0
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//滤波，滤除异常点
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
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std::vector<SSG_RUN> segs;
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wd_getLineDataIntervals(
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lineData,
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lineSegPara,
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segs);
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//将seg端点作为边缘点。做了地面调平后，垂直孔的内侧在XY平面上均为边缘点。
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for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
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{
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int ptIdx = segs[i].start;
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endingPoints.push_back(lineData[ptIdx].pt3D);
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pointMask[line][ptIdx] = 1; //防止重复
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ptIdx = segs[i].start + segs[i].len - 1;
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endingPoints.push_back(lineData[ptIdx].pt3D);
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pointMask[line][ptIdx] = 1;
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}
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}
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//生成水平扫描
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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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int lineNum_h_raw = (int)hLines_raw.size();
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for (int line = 0; line < lineNum_h_raw; line++)
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{
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if (line == 974)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = hLines_raw[line];
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//滤波，滤除异常点
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int ptNum = (int)lineData.size();
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], ptNum, filterParam);
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std::vector<SSG_RUN> segs;
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wd_getLineDataIntervals(
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lineData,
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lineSegPara,
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segs);
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//将seg端点作为边缘点。做了地面调平后，垂直孔的内侧在XY平面上均为边缘点。
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for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
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{
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int ptIdx = segs[i].start;
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if (pointMask[ptIdx][line] == 0) //防止点重复
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{
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SVzNL3DPoint an_ending;
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an_ending.x = lineData[ptIdx].pt3D.y;
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an_ending.y = lineData[ptIdx].pt3D.x;
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an_ending.z = lineData[ptIdx].pt3D.z;
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endingPoints.push_back(an_ending);
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pointMask[ptIdx][line] = 1;
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}
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ptIdx = segs[i].start + segs[i].len - 1;
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if (pointMask[ptIdx][line] == 0) //防止点重复
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{
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SVzNL3DPoint an_ending;
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an_ending.x = lineData[ptIdx].pt3D.y;
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an_ending.y = lineData[ptIdx].pt3D.x;
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an_ending.z = lineData[ptIdx].pt3D.z;
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endingPoints.push_back(an_ending);
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pointMask[ptIdx][line] = 1;
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}
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}
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}
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//标注
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std::vector<std::vector<SSG_featureClusteringInfo>> featureInfoMask;
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std::vector<std::vector<SVzNL3DPoint>> feature3DInfo;
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featureInfoMask.resize(lineNum);
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feature3DInfo.resize(lineNum);
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for (int i = 0; i < lineNum; i++)
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{
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featureInfoMask[i].resize(lineNum_h_raw);
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feature3DInfo[i].resize(lineNum_h_raw);
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}
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//标注
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<int>& a_lineMask = pointMask[line];
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for (int m = 0; m < lineNum_h_raw; m++)
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{
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if (a_lineMask[m] > 0)
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{
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SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[line][m];
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a_featureInfo.clusterID = 0;
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a_featureInfo.featurType = 1;
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a_featureInfo.featureIdx_v = 0;
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a_featureInfo.featureIdx_h = 0;
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a_featureInfo.lineIdx = line;
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a_featureInfo.ptIdx = m;
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a_featureInfo.flag = 0;
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feature3DInfo[line][m] = scanLines[line][m].pt3D;
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}
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}
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}
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//聚类
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//采用迭代思想，回归思路进行高效聚类
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std::vector<std::vector< SVzNL2DPoint>> clusters; //只记录位置
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std::vector<SVzNL3DRangeD> clustersRoi3D;
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int clusterID = 1;
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int clusterCheckWin = 5;
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for (int y = 0; y < lineNum_h_raw; y++)
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{
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for (int x = 0; x < lineNum; x++)
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{
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SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[x][y];
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if ((0 == a_featureInfo.featurType) || (a_featureInfo.clusterID > 0)) //非特征或已经处理
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continue;
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SVzNL3DPoint& a_feature3DValue = feature3DInfo[x][y];
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SVzNL3DRangeD a_clusterRoi;
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a_clusterRoi.xRange.min = a_feature3DValue.x;
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a_clusterRoi.xRange.max = a_feature3DValue.x;
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a_clusterRoi.yRange.min = a_feature3DValue.y;
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a_clusterRoi.yRange.max = a_feature3DValue.y;
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a_clusterRoi.zRange.min = a_feature3DValue.z;
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a_clusterRoi.zRange.max = a_feature3DValue.z;
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SVzNL2DPoint a_seedPos = { x, y };
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std::vector< SVzNL2DPoint> a_cluster;
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a_cluster.push_back(a_seedPos);
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wd_gridPointClustering(
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featureInfoMask,//int，记录特征标记和clusterID，附加一个flag
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feature3DInfo,//double,记录坐标信息
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clusterCheckWin, //搜索窗口
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growParam,//聚类条件
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clusterID, //当前Cluster的ID
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a_cluster, //result
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a_clusterRoi
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);
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clusters.push_back(a_cluster);
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clustersRoi3D.push_back(a_clusterRoi);
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clusterID++;
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}
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}
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//聚类结果分析
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std::vector<int> validCluserIndexing;
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int clusterSize = (int)clusters.size();
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for (int i = 0; i < clusterSize; i++)
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{
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SVzNL3DRangeD& a_roi = clustersRoi3D[i];
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double L = a_roi.xRange.max - a_roi.xRange.min;
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double W = a_roi.yRange.max - a_roi.yRange.min;
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if ((L > workpiecePara.holeDiameter * 0.5) && (L < workpiecePara.holeDiameter * 2) &&
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(W > workpiecePara.holeDiameter * 0.5) && (W < workpiecePara.holeDiameter * 2))
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validCluserIndexing.push_back(i);
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}
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//生成结果
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std::vector< SWD_HoleInfo> holes;
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int objectSize = (int)validCluserIndexing.size();
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for (int objIdx = 0; objIdx < objectSize; objIdx++)
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{
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std::vector<SVzNL3DPoint> pointArray;
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int clusterIdx = validCluserIndexing[objIdx];
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//取cluster上的点
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int clusterPtSize = (int)clusters[clusterIdx].size();
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double minZ = DBL_MAX;
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for (int i = 0; i < clusterPtSize; i++)
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{
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SVzNL2DPoint a_pos = clusters[clusterIdx][i];
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SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[a_pos.x][a_pos.y];
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int lineIdx = a_featureInfo.lineIdx;
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int ptIdx = a_featureInfo.ptIdx;
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SVzNL3DPoint a_pt3d = scanLines[lineIdx][ptIdx].pt3D;
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if (minZ > a_pt3d.z)
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minZ = a_pt3d.z;
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pointArray.push_back(a_pt3d);
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}
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//圆拟合
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SVzNL3DPoint center;
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double radius;
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double err = fitCircleByLeastSquare(pointArray, center, radius);
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center.z = minZ;
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SWD_HoleInfo a_hole;
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a_hole.center = { center.x, center.y, center.z };
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a_hole.radius = radius;
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holes.push_back(a_hole);
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}
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//分割
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//方法：先搜索与W最接近的点，然后条件搜索（垂直）与L最接近的点
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double distDeviation = 5.0; //距离搜索的合格门限。小于此距离，认为搜索到的目标为有效
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for (int objIdx = 0; objIdx < objectSize; objIdx++)
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{
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if (holes[objIdx].radius < 0)
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continue;
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holes[objIdx].radius = -1;
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SWD_HoleInfo& p0 = holes[objIdx];
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int idx1 = distanceSearchObject(p0.center, holes, workpiecePara.holeDist_W, distDeviation);
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if (idx1 < 0)
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continue;
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SVzNLRangeD angleRange = { 85, 95 }; //垂直，5度范围
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SWD_HoleInfo& p1 = holes[idx1];
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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int idx2 = angleConditionDistanceSearch(
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p0.center, p1.center,
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holes,
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workpiecePara.holeDist_L, distDeviation,
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angleRange);
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if (idx2 < 0)
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continue;
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SWD_HoleInfo& p2 = holes[idx2];
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//搜索最接近distance且角度为angle的目标, 以角度为优先
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int idx3 = angleConditionDistanceSearch(
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p1.center, p0.center,
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holes,
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workpiecePara.holeDist_L, distDeviation,
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angleRange);
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if (idx3 < 0)
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continue;
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SWD_HoleInfo& p3 = holes[idx3];
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p1.radius = -1;
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p2.radius = -1;
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p3.radius = -1;
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//重新计算Z值。因为沉孔的原因，Z值会不准确。取四条边的中点处的Z值的均值作为整个的Z值
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WD_workpieceInfo a_workpiece;
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a_workpiece.workpieceType = workpiecePara.workpieceType;
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a_workpiece.holes.push_back(p0.center);
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a_workpiece.holes.push_back(p1.center);
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a_workpiece.holes.push_back(p2.center);
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a_workpiece.holes.push_back(p3.center);
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a_workpiece.center = { (p0.center.x + p1.center.x + p2.center.x + p3.center.x) / 4,
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(p0.center.y + p1.center.y + p2.center.y + p3.center.y) / 4,
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(p0.center.z + p1.center.z + p2.center.z + p3.center.z) / 4 };
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SVzNL3DPoint y_dir;
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if (p0.center.y < p2.center.y)
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y_dir = { p0.center.x - p2.center.x, p0.center.y - p2.center.y, a_workpiece.center.z };
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else
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y_dir = { p2.center.x - p0.center.x, p2.center.y - p0.center.y, a_workpiece.center.z };
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a_workpiece.y_dir = { y_dir.x + a_workpiece.center.x, y_dir.y + a_workpiece.center.y, y_dir.z };
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a_workpiece.z_dir = { a_workpiece.center.x, a_workpiece.center.y, a_workpiece.center.z - 10 };
|
||
workpiecePositioning.push_back(a_workpiece);
|
||
}
|
||
|
||
int workpieceNum = (int)workpiecePositioning.size();
|
||
//旋转回去
|
||
for (int i = 0; i < workpieceNum; i++)
|
||
{
|
||
SVzNL3DPoint rpt;
|
||
rpt = _ptRotate(workpiecePositioning[i].center, groundCalibPara.invRMatrix);
|
||
workpiecePositioning[i].center = rpt;
|
||
rpt = _ptRotate(workpiecePositioning[i].y_dir, groundCalibPara.invRMatrix);
|
||
workpiecePositioning[i].y_dir = rpt;
|
||
rpt = _ptRotate(workpiecePositioning[i].z_dir, groundCalibPara.invRMatrix);
|
||
workpiecePositioning[i].z_dir = rpt;
|
||
for (int j = 0, j_max = (int)workpiecePositioning[i].holes.size(); j < j_max; j++)
|
||
{
|
||
rpt = _ptRotate(workpiecePositioning[i].holes[j], groundCalibPara.invRMatrix);
|
||
workpiecePositioning[i].holes[j] = rpt;
|
||
}
|
||
}
|
||
return;
|
||
|
||
} |