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algoLib/sourceCode/SX_lapWeldDetection.cpp

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#include <vector>
#include "SG_baseDataType.h"
#include "SG_baseAlgo_Export.h"
#include "SX_lapWeldDetection_Export.h"
#include <opencv2/opencv.hpp>
#include <limits>
//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD><D0BF><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD>Ͳο<CDB2><CEBF><EFBFBD>ƽƽ<C6BD>棬<EFBFBD><E6A3AC><EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD>ƽ
//<2F><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>淨<EFBFBD><E6B7A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>
SSG_planeCalibPara sx_getBaseCalibPara(
std::vector< std::vector<SVzNL3DPosition>>& scanLines)
{
return sg_getPlaneCalibPara2(scanLines);
}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void sx_lineDataR(
std::vector< SVzNL3DPosition>& a_line,
const double* camPoseR,
double groundH)
{
lineDataRT_vector(a_line, camPoseR, groundH);
}
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SVzNL2DPoint getFootPoint(double x0, double y0, double k, double b)
{
double A = k;
double B = -1;
double C = b;
SVzNL2DPoint foot;
foot.x = (B * B * x0 - A * B * y0 - A * C) / (A * A + B * B);
foot.y = (-A * B * x0 + A * A * y0 - B * C) / (A * A + B * B);
return foot;
}
double getWinMeanZ(std::vector<SVzNL3DPoint>& points, int startIdx, int win)
{
int size = (int)points.size();
double sumZ = 0;
double sumSize = 0;
for (int i = 0; i < win; i++)
{
int idx = i + startIdx;
if (idx < size)
{
if (points[idx].z > 1e-4)
{
sumZ += points[idx].z;
sumSize++;
}
}
}
if (sumSize > 0)
sumZ = sumZ / (double)sumSize;
return sumZ;
}
//<2F>Ӻ<EFBFBD><D3BA><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD><C9A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD><D5B5><EFBFBD>Ϣ
void getWeldPoint(std::vector<SVzNL3DPoint>& a_weld_contour, int midPtNum, std::vector<SVzNL3DPoint>& a_weld)
{
if (a_weld_contour.size() == 0)
return;
//<2F><><EFBFBD><EFBFBD>ֱ<EFBFBD><D6B1>
double k, b;
lineFitting(a_weld_contour, &k, &b);
//Ѱ<><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>յ<EFBFBD>
SVzNL3DPoint startPt = a_weld_contour[0];
SVzNL3DPoint endPt = a_weld_contour.back();
SVzNL2DPoint foot_s = getFootPoint(startPt.x, startPt.y, k, b);
SVzNL2DPoint foot_e = getFootPoint(endPt.x, endPt.y, k, b);
double meanZ_s = getWinMeanZ(a_weld_contour, 0, 5);
double meanZ_e = getWinMeanZ(a_weld_contour, (int)a_weld_contour.size()-1-5, 5);
SVzNL3DPoint pt_0 = { foot_s.x, foot_s.y, meanZ_s };
SVzNL3DPoint pt_1 = { foot_e.x, foot_e.y, meanZ_e };
a_weld.push_back(pt_0);
double ratio = 1.0 / ((double)midPtNum + 1.0);
for (int i = 1; i <= midPtNum; i++)
{
SVzNL3DPoint a_pt;
a_pt.x = (double)i * ratio * (pt_1.x - pt_0.x) + pt_0.x;
a_pt.y = (double)i * ratio * (pt_1.y - pt_0.y) + pt_0.y;
a_pt.z = (double)i * ratio * (pt_1.z - pt_0.z) + pt_0.z;
a_weld.push_back(a_pt);
}
a_weld.push_back(pt_1);
}
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//<2F><>ȡ<EFBFBD><C8A1><EFBFBD>Ӻ<EFBFBD><D3BA><EFBFBD>
void sx_getLapWeldPostion(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
const SSG_cornerParam cornerPara,
SSG_treeGrowParam growParam,
SSX_lapWeldParam lapWeldParam,
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SSG_planeCalibPara groundCalibPara,
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std::vector<std::vector<SVzNL3DPoint>>& objOps,
int* errCode)
{
*errCode = 0;
int lineNum = (int)scanLines.size();
if (lineNum == 0)
{
*errCode = SG_ERR_3D_DATA_NULL;
return;
}
int linePtNum = (int)scanLines[0].size();
bool isGridData = true;
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//<2F><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
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std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_v;
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if ((keSX_ScanMode_V == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum; line++)
{
if (line == 400)
int kkk = 1;
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
if (linePtNum != (int)lineData.size())
isGridData = false;
std::vector<SSG_basicFeature1D> a_line_features;
int dataSize = (int)lineData.size();
sg_getLineJumpFeature_cornerMethod(
&scanLines[line][0],
dataSize,
line,
cornerPara, //scaleͨ<65><CDA8>ȡbagH<67><48>1/4
a_line_features);
//<2F>˳<EFBFBD><CBB3><EFBFBD><EFBFBD><EFBFBD>
std::vector<SSG_basicFeature1D> vld_features;
for (int i = 0, i_max = a_line_features.size(); i < i_max; i++)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>γɵ<CEB3><C9B5><EFBFBD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5>
if (a_line_features[i].featureValue < (groundCalibPara.planeHeight - 0.25))
{
vld_features.push_back(a_line_features[i]);
}
}
jumpFeatures_v.push_back(vld_features);
}
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}
if (false == isGridData)//<2F><><EFBFBD>ݲ<EFBFBD><DDB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʽ
{
*errCode = SG_ERR_NOT_GRID_FORMAT;
return;
}
//<2F><><EFBFBD><EFBFBD>ˮƽɨ<C6BD><C9A8>
std::vector<std::vector<SVzNL3DPosition>> hLines;
hLines.resize(linePtNum);
for (int i = 0; i < linePtNum; i++)
hLines[i].resize(lineNum);
for (int line = 0; line < lineNum; line++)
{
for (int j = 0; j < linePtNum; j++)
{
scanLines[line][j].nPointIdx = 0; //<2F><>ԭʼ<D4AD><CABC><EFBFBD>ݵ<EFBFBD><DDB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><30><EFBFBD><EFBFBD>ת<EFBFBD><D7AA>ʹ<EFBFBD>ã<EFBFBD>
hLines[j][line] = scanLines[line][j];
hLines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
hLines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
}
}
//ˮƽarc<72><63><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ
std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_h;
int lineNum_h = (int)hLines.size();
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if ((keSX_ScanMode_H == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum_h; line++)
{
std::vector<SVzNL3DPosition>& lineData = hLines[line];
std::vector<SSG_basicFeature1D> a_line_features;
int dataSize = (int)lineData.size();
sg_getLineJumpFeature_cornerMethod(
&hLines[line][0],
dataSize,
line,
cornerPara, //scaleͨ<65><CDA8>ȡbagH<67><48>1/4
a_line_features);
//<2F>˳<EFBFBD><CBB3><EFBFBD><EFBFBD><EFBFBD>
std::vector<SSG_basicFeature1D> vld_features;
for (int i = 0, i_max = a_line_features.size(); i < i_max; i++)
{
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>γɵ<CEB3><C9B5><EFBFBD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5>
if (a_line_features[i].featureValue < (groundCalibPara.planeHeight - 0.25))
{
vld_features.push_back(a_line_features[i]);
}
}
jumpFeatures_h.push_back(vld_features);
}
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}
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD><EFBFBD><EFBFBD>
std::vector<SSG_featureTree> v_trees;
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if ((keSX_ScanMode_V == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum; line++)
{
bool isLastLine = false;
if (line == lineNum - 1)
isLastLine = true;
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
if (a_lineJumpFeature.size() > 0)
int kkk = 1;
if (line == 400)
int kkk = 1;
sg_lineFeaturesGrowing(
line,
isLastLine,
a_lineJumpFeature,
v_trees,
growParam);
}
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}
//ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD><C9A8><EFBFBD>˶<EFBFBD><CBB6><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
std::vector<SSG_featureTree> h_trees;
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if ((keSX_ScanMode_H == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum_h; line++)
{
if (line == 650)
int kkk = 1;
bool isLastLine = false;
if (line == lineNum_h - 1)
isLastLine = true;
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
sg_lineFeaturesGrowing(
line,
isLastLine,
a_lineJumpFeature,
h_trees,
growParam);
}
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}
//tree<65><65>Ϣ
std::vector<SSG_treeInfo> allTreesInfo; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߽<EFBFBD>
SSG_treeInfo a_nullTree;
memset(&a_nullTree, 0, sizeof(SSG_treeInfo));
allTreesInfo.push_back(a_nullTree); //<2F><><EFBFBD>ִ洢λ<E6B4A2><CEBB><EFBFBD><EFBFBD>treeIdx<64><78>ͬλ<CDAC>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD>ǣ<EFBFBD><C7A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>б<EFBFBD>ע
int hvTreeIdx = 1;
for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
{
SSG_featureTree* a_vTree = &v_trees[i];
//<2F><>¼Tree<65><65><EFBFBD><EFBFBD>Ϣ
SSG_treeInfo a_treeInfo;
a_treeInfo.vTreeFlag = 1;
a_treeInfo.treeIdx = hvTreeIdx;
a_treeInfo.treeType = a_vTree->treeType;
a_treeInfo.sLineIdx = a_vTree->sLineIdx;
a_treeInfo.eLineIdx = a_vTree->eLineIdx;
a_treeInfo.roi = a_vTree->roi;
allTreesInfo.push_back(a_treeInfo);
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std::vector<SVzNL3DPoint> a_weld_contour;
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//<2F><>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1>ǣ<EFBFBD>ͬʱ<CDAC><CAB1>Mask<73>ϱ<EFBFBD><CFB1><EFBFBD>
for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
{
SSG_basicFeature1D* a_feature = &a_vTree->treeNodes[j];
if (scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D.z > 1e-4)//<2F><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>˺<EFBFBD><CBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0
{
int existEdgeId = scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx >> 16;
if (existEdgeId == 0)
{
scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx = a_feature->featureType;
scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx &= 0xffff;
scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx += hvTreeIdx << 16;
}
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a_weld_contour.push_back(scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D);
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}
}
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std::vector<SVzNL3DPoint> a_weld;
getWeldPoint(a_weld_contour, lapWeldParam.weldRefPoints, a_weld);
if (a_weld.size() > 0)
objOps.push_back(a_weld);
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hvTreeIdx++;
}
int hTreeStart = hvTreeIdx;
////<2F><>ע:ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD>
for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
{
SSG_featureTree* a_hTree = &h_trees[i];
//<2F><>¼Tree<65><65><EFBFBD><EFBFBD>Ϣ
SSG_treeInfo a_treeInfo;
a_treeInfo.vTreeFlag = 0;
a_treeInfo.treeIdx = hvTreeIdx;
a_treeInfo.treeType = a_hTree->treeType;
a_treeInfo.sLineIdx = a_hTree->sLineIdx;
a_treeInfo.eLineIdx = a_hTree->eLineIdx;
a_treeInfo.roi.left = a_hTree->roi.top; //ˮƽɨ<C6BD><C9A8>xy<78>ǽ<EFBFBD><C7BD><EFBFBD><EFBFBD><EFBFBD>
a_treeInfo.roi.right = a_hTree->roi.bottom;
a_treeInfo.roi.top = a_hTree->roi.left;
a_treeInfo.roi.bottom = a_hTree->roi.right;
allTreesInfo.push_back(a_treeInfo);
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std::vector<SVzNL3DPoint> a_weld_contour;
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//<2F><>ԭʼ<D4AD><CABC><EFBFBD><EFBFBD><EFBFBD>ϱ<EFBFBD><CFB1>ǣ<EFBFBD>ͬʱ<CDAC><CAB1>Mask<73>ϱ<EFBFBD><CFB1><EFBFBD>
for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
{
SSG_basicFeature1D* a_feature = &a_hTree->treeNodes[j];
if (scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D.z > 1e-4)//<2F><><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF><EFBFBD><EFBFBD><EFBFBD>˺<EFBFBD><CBBA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>0
{
int existEdgeId = scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx >> 16;
if (existEdgeId == 0)
{
scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += a_feature->featureType << 4;
scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx &= 0xffff;
scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += hvTreeIdx << 16;
}
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a_weld_contour.push_back(scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D);
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}
}
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std::vector<SVzNL3DPoint> a_weld;
getWeldPoint(a_weld_contour, lapWeldParam.weldRefPoints, a_weld);
if (a_weld.size() > 0)
objOps.push_back(a_weld);
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hvTreeIdx++;
}
int hvTreeSize = hvTreeIdx;
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͷ<EFBFBD><CDB6><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD>Ա<EFBFBD><D4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>۱궨<DBB1><EAB6A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ
for (int i = 0; i < lineNum; i++)
sx_lineDataR(scanLines[i], groundCalibPara.invRMatrix, -1);
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ͷ<EFBFBD><CDB6><EFBFBD><EFBFBD>ԭ<EFBFBD><D4AD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ
for (int i = 0, i_max = (int)objOps.size(); i < i_max; i++)
{
std::vector<SVzNL3DPoint>& a_weld = objOps[i];
for (int j = 0, j_max = a_weld.size(); j < j_max; j++)
{
double x = a_weld[j].x * groundCalibPara.invRMatrix[0] +
a_weld[j].y * groundCalibPara.invRMatrix[1] +
a_weld[j].z * groundCalibPara.invRMatrix[2];
double y = a_weld[j].x * groundCalibPara.invRMatrix[3] +
a_weld[j].y * groundCalibPara.invRMatrix[4] +
a_weld[j].z * groundCalibPara.invRMatrix[5];
double z = a_weld[j].x * groundCalibPara.invRMatrix[6] +
a_weld[j].y * groundCalibPara.invRMatrix[7] +
a_weld[j].z * groundCalibPara.invRMatrix[8];
a_weld[j].x = x;
a_weld[j].y = y;
a_weld[j].z = z;
}
}
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}
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