810 lines
23 KiB
C++
810 lines
23 KiB
C++
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// glovePositioning_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 "WD_glovePositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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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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void vzReadLaserScanPointFromFile_plyTxt(const char* fileName, std::vector< SVzNL3DPoint>& scanData, bool exchangeXY)
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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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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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double X, Y, Z;
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &X, &Y, &Z);
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SVzNL3DPoint a_pt;
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if (true == exchangeXY)
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{
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a_pt.x = Y; //将扫描线调整为Y方向；扫描方向为X方向
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a_pt.y = X;
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}
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else
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{
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a_pt.x = X;
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a_pt.y = Y;
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}
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a_pt.z = Z;
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scanData.push_back(a_pt);
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}
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return;
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}
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void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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return;
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sw << "LineNum:" << lineNum << 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 lineIdx = 0;
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int null_lines = 0;
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bool counterNull = true;
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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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if (true == removeZeros)
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{
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int vldPtNum = 0;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z > 1e-4)
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vldPtNum++;
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}
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linePtNum = vldPtNum;
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}
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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bool isNull = true;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
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if ((pt3D->z > 1e-4) && (isNull == true))
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isNull = false;
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if ((true == removeZeros) && (pt3D->z < 1e-4))
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continue;
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float x = (float)pt3D->x;
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float y = (float)pt3D->y;
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float z = (float)pt3D->z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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if (true == counterNull)
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{
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if (true == isNull)
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null_lines++;
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else
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counterNull = false;
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}
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}
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*headNullLines = null_lines;
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sw.close();
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}
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//输出水平扫描数据
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void _outputScanDataFile_vector_h(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanLines[0].size();
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if (lineNum == 0)
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return;
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sw << "LineNum:" << lineNum << 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 linePtNum = (int)scanLines.size();
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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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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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bool isNull = true;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[i][line].pt3D;
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float x = (float)pt3D->y;
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float y = (float)pt3D->x;
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float z = (float)pt3D->z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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}
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sw.close();
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}
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void _outputRGBDScanDataFile_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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std::vector< SSG_peakRgnInfo> objPoints)
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{
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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if (objPoints.size() > 0)
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realLines++;
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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SG_color objColor[8] = {
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{245,222,179},//淡黄色
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{210,105, 30},//巧克力色
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{240,230,140},//黄褐色
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{135,206,235},//天蓝色
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{250,235,215},//古董白
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{189,252,201},//薄荷色
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{221,160,221},//梅红色
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{188,143,143},//玫瑰红色
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};
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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int featureType_v = pt3D->nPointIdx & 0xffff;
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int featureType_h = featureType_v >> 4;
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featureType_v &= 0xff;
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if (LINE_FEATURE_PEAK_TOP == featureType_v)
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{
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rgb = { 255, 97, 0 };
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size = 5;
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}
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else if (LINE_FEATURE_PEAK_TOP == featureType_h)
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{
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rgb = { 97, 255, 0 };
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size = 5;
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}
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else
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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 (objPoints.size() > 0)
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{
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int linePtNum = (int)objPoints.size();
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sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
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rgb = { 0, 0, 255 };
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size = 25;
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for (int i = 0; i < linePtNum; i++)
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{
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float x = (float)objPoints[i].centerPos.x;
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float y = (float)objPoints[i].centerPos.y;
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float z = (float)objPoints[i].centerPos.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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//加一个点，用于跳过显示工具bug
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float x = (float)objPoints[0].centerPos.x;
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float y = (float)objPoints[0].centerPos.y;
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float z = (float)objPoints[0].centerPos.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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sw.close();
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}
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void _outputScanDataFile_ptr(char* fileName, SVzNL3DLaserLine* scanData, int lineNum)
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{
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std::ofstream sw(fileName);
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sw << "LineNum:" << lineNum << 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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for (int line = 0; line < lineNum; line++)
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{
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sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
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for (int i = 0; i < scanData[line].nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[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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#define DATA_VER_OLD 0
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#define DATA_VER_NEW 1
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#define DATA_VER_FROM_CUSTOM 2
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#define VZ_LASER_LINE_PT_MAX_NUM 4096
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SVzNL3DLaserLine* vzReadLaserScanPointFromFile_XYZ(const char* fileName, int* scanLineNum, float* scanV,
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int* dataCalib, int* scanMaxStamp, int* canClockUnit)
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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 NULL;
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SVzNL3DLaserLine* _scanLines = NULL;
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int lines = 0;
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int dataElements = 4;
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int firstIndex = -1;
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int dataFileVer = DATA_VER_OLD;
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std::getline(inputFile, linedata); //第一行
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int lineNum = 0;
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if (0 == strncmp("LineNum:", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_NEW;
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sscanf_s(linedata.c_str(), "LineNum:%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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else if (0 == strncmp("LineNum_", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_OLD;
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sscanf_s(linedata.c_str(), "LineNum_%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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if (_scanLines == NULL)
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return NULL;
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int ptNum = 0;
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int lineIdx = -1;
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int ptIdx = 0;
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SVzNL3DPosition* p3DPoint = NULL;
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if (dataFileVer == DATA_VER_NEW)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV);
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if (scanV)
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*scanV = (float)lineV;
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}
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else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12))
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{
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int ptAdjusted = 0;
|
|||
|
|
sscanf_s(linedata.c_str(), "PointAdjust:%d", &ptAdjusted);
|
|||
|
|
if (dataCalib)
|
|||
|
|
*dataCalib = ptAdjusted;
|
|||
|
|
}
|
|||
|
|
else if (0 == strncmp("MaxTimeStamp:", linedata.c_str(), 13))
|
|||
|
|
{
|
|||
|
|
unsigned int maxTimeStamp = 0;
|
|||
|
|
unsigned int timePerStamp = 0;
|
|||
|
|
sscanf_s(linedata.c_str(), "MaxTimeStamp:%u_%u", &maxTimeStamp, &timePerStamp);
|
|||
|
|
if (scanMaxStamp)
|
|||
|
|
*scanMaxStamp = maxTimeStamp;
|
|||
|
|
if (canClockUnit)
|
|||
|
|
*canClockUnit = timePerStamp;
|
|||
|
|
}
|
|||
|
|
else if (0 == strncmp("Line_", linedata.c_str(), 5))
|
|||
|
|
{
|
|||
|
|
int lineIndex;
|
|||
|
|
unsigned int timeStamp;
|
|||
|
|
sscanf_s(linedata.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum);
|
|||
|
|
if (firstIndex < 0)
|
|||
|
|
firstIndex = lineIndex;
|
|||
|
|
|
|||
|
|
lineIndex = lineIndex - firstIndex;
|
|||
|
|
if ((lineIndex < 0) || (lineIndex >= lines))
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
//new Line
|
|||
|
|
lineIdx++;
|
|||
|
|
if (ptNum > 0)
|
|||
|
|
{
|
|||
|
|
p3DPoint = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
|
|||
|
|
memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * ptNum);
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
p3DPoint = NULL;
|
|||
|
|
_scanLines[lineIdx].nPositionCnt = 0;
|
|||
|
|
_scanLines[lineIdx].nTimeStamp = timeStamp;
|
|||
|
|
_scanLines[lineIdx].p3DPosition = p3DPoint;
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (0 == strncmp("{", linedata.c_str(), 1))
|
|||
|
|
{
|
|||
|
|
float X, Y, Z;
|
|||
|
|
int imageY = 0;
|
|||
|
|
float leftX, leftY;
|
|||
|
|
float rightX, rightY;
|
|||
|
|
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
|
|||
|
|
int id = _scanLines[lineIdx].nPositionCnt;
|
|||
|
|
if (id < ptNum)
|
|||
|
|
{
|
|||
|
|
p3DPoint[id].pt3D.x = X;
|
|||
|
|
p3DPoint[id].pt3D.y = Y;
|
|||
|
|
p3DPoint[id].pt3D.z = Z;
|
|||
|
|
_scanLines[lineIdx].nPositionCnt = id + 1;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
else if (dataFileVer == DATA_VER_OLD)
|
|||
|
|
{
|
|||
|
|
while (getline(inputFile, linedata))
|
|||
|
|
{
|
|||
|
|
if (0 == strncmp("DataElements_", linedata.c_str(), 13))
|
|||
|
|
{
|
|||
|
|
sscanf_s(linedata.c_str(), "DataElements_%d", &dataElements);
|
|||
|
|
if ((dataElements != 3) && (dataElements != 4))
|
|||
|
|
break;
|
|||
|
|
}
|
|||
|
|
if (0 == strncmp("LineV_", linedata.c_str(), 6))
|
|||
|
|
{
|
|||
|
|
double lineV = 0;
|
|||
|
|
sscanf_s(linedata.c_str(), "LineV_%lf", &lineV);
|
|||
|
|
}
|
|||
|
|
else if (0 == strncmp("Line_", linedata.c_str(), 5))
|
|||
|
|
{
|
|||
|
|
int lineIndex;
|
|||
|
|
unsigned int timeStamp;
|
|||
|
|
sscanf_s(linedata.c_str(), "Line_%d_%u", &lineIndex, &timeStamp);
|
|||
|
|
#if 0
|
|||
|
|
if (scanLineListTail == NULL)
|
|||
|
|
firstIndex = lineIndex;
|
|||
|
|
#endif
|
|||
|
|
lineIndex = lineIndex - firstIndex;
|
|||
|
|
if ((lineIndex < 0) || (lineIndex >= lines))
|
|||
|
|
break;
|
|||
|
|
//new Line
|
|||
|
|
//new Line
|
|||
|
|
lineIdx++;
|
|||
|
|
p3DPoint = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
|
|||
|
|
memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
|
|||
|
|
_scanLines[lineIdx].nPositionCnt = 0;
|
|||
|
|
_scanLines[lineIdx].nTimeStamp = timeStamp;
|
|||
|
|
_scanLines[lineIdx].p3DPosition = p3DPoint;
|
|||
|
|
}
|
|||
|
|
else if (0 == strncmp("(", linedata.c_str(), 1))
|
|||
|
|
{
|
|||
|
|
float X, Y, Z;
|
|||
|
|
int imageY = 0;
|
|||
|
|
if (dataElements == 4)
|
|||
|
|
sscanf_s(linedata.c_str(), "(%f,%f,%f,%d)", &X, &Y, &Z, &imageY);
|
|||
|
|
else
|
|||
|
|
sscanf_s(linedata.c_str(), "(%f,%f,%f)", &X, &Y, &Z);
|
|||
|
|
int id = _scanLines[lineIdx].nPositionCnt;
|
|||
|
|
if (id < VZ_LASER_LINE_PT_MAX_NUM)
|
|||
|
|
{
|
|||
|
|
p3DPoint[id].pt3D.x = X;
|
|||
|
|
p3DPoint[id].pt3D.y = Y;
|
|||
|
|
p3DPoint[id].pt3D.z = Z;
|
|||
|
|
_scanLines[lineIdx].nPositionCnt = id + 1;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
inputFile.close();
|
|||
|
|
return _scanLines;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
|
|||
|
|
{
|
|||
|
|
std::ifstream inputFile(fileName);
|
|||
|
|
std::string linedata;
|
|||
|
|
|
|||
|
|
if (inputFile.is_open() == false)
|
|||
|
|
return;
|
|||
|
|
|
|||
|
|
std::vector< SVzNL3DPosition> a_line;
|
|||
|
|
int ptIdx = 0;
|
|||
|
|
while (getline(inputFile, linedata))
|
|||
|
|
{
|
|||
|
|
if (0 == strncmp("Line_", linedata.c_str(), 5))
|
|||
|
|
{
|
|||
|
|
int ptSize = (int)a_line.size();
|
|||
|
|
if (ptSize > 0)
|
|||
|
|
{
|
|||
|
|
scanData.push_back(a_line);
|
|||
|
|
}
|
|||
|
|
a_line.clear();
|
|||
|
|
ptIdx = 0;
|
|||
|
|
}
|
|||
|
|
else if (0 == strncmp("{", linedata.c_str(), 1))
|
|||
|
|
{
|
|||
|
|
float X, Y, Z;
|
|||
|
|
int imageY = 0;
|
|||
|
|
float leftX, leftY;
|
|||
|
|
float rightX, rightY;
|
|||
|
|
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
|
|||
|
|
SVzNL3DPosition a_pt;
|
|||
|
|
a_pt.pt3D.x = X;
|
|||
|
|
a_pt.pt3D.y = Y;
|
|||
|
|
a_pt.pt3D.z = Z;
|
|||
|
|
a_pt.nPointIdx = ptIdx;
|
|||
|
|
ptIdx++;
|
|||
|
|
a_line.push_back(a_pt);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
//last line
|
|||
|
|
int ptSize = (int)a_line.size();
|
|||
|
|
if (ptSize > 0)
|
|||
|
|
{
|
|||
|
|
scanData.push_back(a_line);
|
|||
|
|
a_line.clear();
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
inputFile.close();
|
|||
|
|
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;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void _getRoiClouds(
|
|||
|
|
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
|||
|
|
int startLine,
|
|||
|
|
int endLine,
|
|||
|
|
int startPtIdx,
|
|||
|
|
int endPtIdx,
|
|||
|
|
std::vector< std::vector<SVzNL3DPosition>>& roiScanLines)
|
|||
|
|
{
|
|||
|
|
for (int i = startLine; i < endLine; i++)
|
|||
|
|
{
|
|||
|
|
if (i >= scanLines.size())
|
|||
|
|
break;
|
|||
|
|
|
|||
|
|
std::vector<SVzNL3DPosition> cut_line;
|
|||
|
|
std::vector<SVzNL3DPosition>& a_line = scanLines[i];
|
|||
|
|
for (int j = startPtIdx; j < endPtIdx; j++)
|
|||
|
|
{
|
|||
|
|
SVzNL3DPosition a_pt;
|
|||
|
|
if (j >= a_line.size())
|
|||
|
|
{
|
|||
|
|
a_pt.nPointIdx = 0;
|
|||
|
|
a_pt.pt3D = { 0,0,0 };
|
|||
|
|
}
|
|||
|
|
else
|
|||
|
|
a_pt = a_line[j];
|
|||
|
|
cut_line.push_back(a_pt);
|
|||
|
|
}
|
|||
|
|
roiScanLines.push_back(cut_line);
|
|||
|
|
}
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
void _convertToGridData(std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
|||
|
|
std::vector< std::vector<SVzNL3DPosition>>& gridScanLines,
|
|||
|
|
double y_step)
|
|||
|
|
{
|
|||
|
|
double y_min = scanLines[0][0].pt3D.y;
|
|||
|
|
double y_max = y_min;
|
|||
|
|
int lineNum = (int)scanLines.size();
|
|||
|
|
for(int line = 0; line < lineNum; line++)
|
|||
|
|
{
|
|||
|
|
std::vector<SVzNL3DPosition>& a_line = scanLines[line];
|
|||
|
|
int ptNum = (int)a_line.size();
|
|||
|
|
for (int i = 0; i < ptNum; i++)
|
|||
|
|
{
|
|||
|
|
if (y_min > a_line[i].pt3D.y)
|
|||
|
|
y_min = a_line[i].pt3D.y;
|
|||
|
|
if (y_max < a_line[i].pt3D.y)
|
|||
|
|
y_max = a_line[i].pt3D.y;
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
double half_step = y_step / 2;
|
|||
|
|
int gridPtNum = (int)((y_max - y_min + half_step) / y_step) + 1;
|
|||
|
|
for (int line = 0; line < lineNum; line++)
|
|||
|
|
{
|
|||
|
|
std::vector<SVzNL3DPosition> grid_line;
|
|||
|
|
grid_line.resize(gridPtNum);
|
|||
|
|
for (int i = 0; i < gridPtNum; i++)
|
|||
|
|
grid_line[i] = { 0, {0.0, 0.0, 0.0} };
|
|||
|
|
|
|||
|
|
std::vector<SVzNL3DPosition>& a_line = scanLines[line];
|
|||
|
|
int ptNum = (int)a_line.size();
|
|||
|
|
for (int i = 0; i < ptNum; i++)
|
|||
|
|
{
|
|||
|
|
int ptIdx = (int)((a_line[i].pt3D.y + half_step - y_min) / y_step);
|
|||
|
|
grid_line[ptIdx] = a_line[i];
|
|||
|
|
}
|
|||
|
|
gridScanLines.push_back(grid_line);
|
|||
|
|
}
|
|||
|
|
return;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#define CONVERT_TO_GRID 0
|
|||
|
|
#define TEST_COMPUTE_CALIB_PARA 0
|
|||
|
|
#define TEST_COMPUTE_GLOVE_POSITION 1
|
|||
|
|
#define TEST_GROUP 1
|
|||
|
|
int main()
|
|||
|
|
{
|
|||
|
|
const char* dataPath[TEST_GROUP] = {
|
|||
|
|
"F:\\ShangGu\\手套抓取定位\\", //0
|
|||
|
|
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
SVzNLRange fileIdx[TEST_GROUP] = {
|
|||
|
|
{1,35}
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
#if CONVERT_TO_GRID
|
|||
|
|
int convertGrp = 0;
|
|||
|
|
for (int fidx = fileIdx[convertGrp].nMin; fidx <= fileIdx[convertGrp].nMax; fidx++)
|
|||
|
|
{
|
|||
|
|
char _scan_file[256];
|
|||
|
|
sprintf_s(_scan_file, "%sglove_%d.txt", dataPath[convertGrp], fidx);
|
|||
|
|
std::vector< SVzNL3DPoint> scanData;
|
|||
|
|
bool exchangeXY = true;
|
|||
|
|
vzReadLaserScanPointFromFile_plyTxt(_scan_file, scanData, exchangeXY);
|
|||
|
|
//将数据恢复为按扫描线存储格式
|
|||
|
|
std::vector< std::vector<SVzNL3DPosition>> scanLines;
|
|||
|
|
wd_getScanLines(scanData, scanLines);
|
|||
|
|
|
|||
|
|
double y_step;
|
|||
|
|
if ( (fidx == 4)|| (fidx == 5))
|
|||
|
|
y_step = 0.106;
|
|||
|
|
else
|
|||
|
|
y_step = 0.091;
|
|||
|
|
std::vector< std::vector<SVzNL3DPosition>> grid_scanLines;
|
|||
|
|
_convertToGridData(scanLines, grid_scanLines, y_step);
|
|||
|
|
sprintf_s(_scan_file, "%sglove_%d_scanLine.txt", dataPath[convertGrp], fidx);
|
|||
|
|
int headNullLines = 0;
|
|||
|
|
_outputScanDataFile_vector(_scan_file, grid_scanLines, false, &headNullLines);
|
|||
|
|
printf("%s: head null lines = %d\n", _scan_file, headNullLines);
|
|||
|
|
#if 1
|
|||
|
|
sprintf_s(_scan_file, "%sglove_%d_scanLine_h.txt", dataPath[convertGrp], fidx);
|
|||
|
|
_outputScanDataFile_vector_h(_scan_file, grid_scanLines);
|
|||
|
|
#endif
|
|||
|
|
}
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#if TEST_COMPUTE_CALIB_PARA
|
|||
|
|
char _calib_datafile[256];
|
|||
|
|
sprintf_s(_calib_datafile, "F:\\ShangGu\\项目\\工件端部圆点二维码\\LaserLine3_grid.txt");
|
|||
|
|
int lineNum = 0;
|
|||
|
|
float lineV = 0.0f;
|
|||
|
|
int dataCalib = 0;
|
|||
|
|
int maxTimeStamp = 0;
|
|||
|
|
int clockPerSecond = 0;
|
|||
|
|
SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_calib_datafile, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
|||
|
|
if (laser3DPoints)
|
|||
|
|
{
|
|||
|
|
SSG_planeCalibPara calibPara = wd_getBaseCalibPara(
|
|||
|
|
laser3DPoints,
|
|||
|
|
lineNum);
|
|||
|
|
//结果进行验证
|
|||
|
|
for (int i = 0; i < lineNum; i++)
|
|||
|
|
{
|
|||
|
|
if (i == 14)
|
|||
|
|
int kkk = 1;
|
|||
|
|
//行处理
|
|||
|
|
//调平，去除地面
|
|||
|
|
wd_lineDataR(&laser3DPoints[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
char calibFile[250];
|
|||
|
|
sprintf_s(calibFile, "F:\\ShangGu\\项目\\工件端部圆点二维码\\ground_calib_para.txt");
|
|||
|
|
_outputCalibPara(calibFile, calibPara);
|
|||
|
|
char _out_file[256];
|
|||
|
|
sprintf_s(_out_file, "F:\\ShangGu\\项目\\工件端部圆点二维码\\LaserLine3_calib_data.txt");
|
|||
|
|
_outputScanDataFile_ptr(_out_file, laser3DPoints, lineNum);
|
|||
|
|
printf("%s: calib done!\n", _calib_datafile);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endif
|
|||
|
|
|
|||
|
|
#if TEST_COMPUTE_GLOVE_POSITION
|
|||
|
|
for (int grp = 0; grp <= 0; grp++)
|
|||
|
|
{
|
|||
|
|
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 = -1.0;
|
|||
|
|
for (int i = 0; i < 9; i++)
|
|||
|
|
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
|||
|
|
// char calibFile[250];
|
|||
|
|
// sprintf_s(calibFile, "F:\\ShangGu\\项目\\工件端部圆点二维码\\ground_calib_para.txt");
|
|||
|
|
// poseCalibPara = _readCalibPara(calibFile);
|
|||
|
|
|
|||
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|||
|
|
{
|
|||
|
|
//fidx =1;
|
|||
|
|
char _scan_file[256];
|
|||
|
|
sprintf_s(_scan_file, "%sglove_%d_scanLine.txt", dataPath[grp], fidx);
|
|||
|
|
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
|||
|
|
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
|||
|
|
|
|||
|
|
long t1 = (long)GetTickCount64();//统计时间
|
|||
|
|
|
|||
|
|
for (int i = 0, i_max = (int)scanLines.size(); i < i_max; i++)
|
|||
|
|
{
|
|||
|
|
if (i == 14)
|
|||
|
|
int kkk = 1;
|
|||
|
|
//行处理
|
|||
|
|
//调平，去除地面
|
|||
|
|
wd_lineDataR(scanLines[i], poseCalibPara.planeCalib, -1);
|
|||
|
|
}
|
|||
|
|
//
|
|||
|
|
SSG_gloveArcParam arcFeatureParam;
|
|||
|
|
arcFeatureParam.cornerTh = 120; //转角大于150
|
|||
|
|
arcFeatureParam.scale_angle = 1.0;
|
|||
|
|
arcFeatureParam.scale_corner = 5.0;
|
|||
|
|
SSG_treeGrowParam growParam;
|
|||
|
|
growParam.maxLineSkipNum = 5;
|
|||
|
|
growParam.yDeviation_max = 1.0;
|
|||
|
|
growParam.maxSkipDistance = 5.0;
|
|||
|
|
growParam.zDeviation_max = 2;// algoParam.bagParam.bagH / 2; //袋子高度1/2
|
|||
|
|
growParam.minLTypeTreeLen = 30.0; //mm
|
|||
|
|
growParam.minVTypeTreeLen = 30.0; //mm
|
|||
|
|
|
|||
|
|
int errCode = 0;
|
|||
|
|
std::vector<SSG_peakRgnInfo> objOps;
|
|||
|
|
wd_getGloveGrabPostion(
|
|||
|
|
scanLines,
|
|||
|
|
arcFeatureParam,
|
|||
|
|
growParam,
|
|||
|
|
objOps,
|
|||
|
|
&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\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
|||
|
|
_outputRGBDScanDataFile_RGBD(_scan_file, scanLines, objOps);
|
|||
|
|
}
|
|||
|
|
}
|
|||
|
|
#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
|