From 124bf2d6034aeb0f69842cdf86147b8f85abafa3 Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Sun, 8 Jun 2025 11:03:52 +0800 Subject: [PATCH] =?UTF-8?q?=E5=88=9D=E6=AC=A1=E6=8F=90=E4=BA=A4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- bagPositioning_test/bagPositioning_test.cpp | 1939 +++++++++++++++++ .../bagPositioning_test.vcxproj | 157 ++ 2 files changed, 2096 insertions(+) create mode 100644 bagPositioning_test/bagPositioning_test.cpp create mode 100644 bagPositioning_test/bagPositioning_test.vcxproj diff --git a/bagPositioning_test/bagPositioning_test.cpp b/bagPositioning_test/bagPositioning_test.cpp new file mode 100644 index 0000000..8561b35 --- /dev/null +++ b/bagPositioning_test/bagPositioning_test.cpp @@ -0,0 +1,1939 @@ +// bagPositioning_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。 +// +#include +#include +#include +#include +#include +#include "direct.h" +#include +#include "SG_bagPositioning_Export.h" +#include +#include + +SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9]) +{ + SVzNL3DPoint _r_pt; + _r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2]; + _r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5]; + _r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8]; + return _r_pt; + +} + +#define DATA_VER_OLD 0 +#define DATA_VER_NEW 1 +#define DATA_VER_FROM_CUSTOM 2 +#define VZ_LASER_LINE_PT_MAX_NUM 4096 +SVzNLXYZRGBDLaserLine* vzReadLaserScanPointFromFile_XYZRGB(const char* fileName, int* scanLineNum, float* scanV, + int* dataCalib, int* scanMaxStamp, int* canClockUnit) +{ + std::ifstream inputFile(fileName); + std::string linedata; + + if (inputFile.is_open() == false) + return NULL; + + SVzNLXYZRGBDLaserLine* _scanLines = NULL; + + int lines = 0; + int dataElements = 4; + int firstIndex = -1; + + int dataFileVer = DATA_VER_OLD; + std::getline(inputFile, linedata); //第一行 + int lineNum = 0; + if (0 == strncmp("LineNum:", linedata.c_str(), 8)) + { + dataFileVer = DATA_VER_NEW; + sscanf_s(linedata.c_str(), "LineNum:%d", &lines); + if (lines == 0) + return NULL; + lineNum = lines; + _scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1)); + memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1)); + if (scanLineNum) + *scanLineNum = lines; + } + else if (0 == strncmp("LineNum_", linedata.c_str(), 8)) + { + dataFileVer = DATA_VER_OLD; + sscanf_s(linedata.c_str(), "LineNum_%d", &lines); + if (lines == 0) + return NULL; + lineNum = lines; + _scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1)); + memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1)); + if (scanLineNum) + *scanLineNum = lines; + } + if (_scanLines == NULL) + return NULL; + + int ptNum = 0; + int lineIdx = -1; + int ptIdx = 0; + SVzNLPointXYZRGBA* p3DPoint = NULL; + if (dataFileVer == DATA_VER_NEW) + { + while (getline(inputFile, linedata)) + { + if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10)) + { + double lineV = 0; + sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV); + if (scanV) + *scanV = (float)lineV; + } + else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12)) + { + 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 = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * ptNum); + memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum); + } + else + p3DPoint = NULL; + _scanLines[lineIdx].nPointCnt = 0; + _scanLines[lineIdx].nTimeStamp = timeStamp; + _scanLines[lineIdx].p3DPoint = p3DPoint; + + } + else if (0 == strncmp("{", linedata.c_str(), 1)) + { + float X, Y, Z; + int imageY = 0; + float leftX, leftY; + float rightX, rightY; + int r = -1, g = -1, b = -1; + sscanf_s(linedata.c_str(), "{%f,%f,%f,%f,%f,%f }-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY); + int id = _scanLines[lineIdx].nPointCnt; + if (id < ptNum) + { + p3DPoint[id].x = X; + p3DPoint[id].y = Y; + p3DPoint[id].z = Z; + p3DPoint[id].nRGB = 0; + _scanLines[lineIdx].nPointCnt = 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 = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM); + memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM); + _scanLines[lineIdx].nPointCnt = 0; + _scanLines[lineIdx].nTimeStamp = timeStamp; + _scanLines[lineIdx].p3DPoint = 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].nPointCnt; + if (id < VZ_LASER_LINE_PT_MAX_NUM) + { + p3DPoint[id].x = X; + p3DPoint[id].y = Y; + p3DPoint[id].z = Z; + p3DPoint[id].nRGB = 0; + _scanLines[lineIdx].nPointCnt = id + 1; + } + } + } + } + inputFile.close(); + return _scanLines; +} + +SVzNL3DLaserLine* vzReadLaserScanPointFromFile_XYZ(const char* fileName, int* scanLineNum, float* scanV, + int* dataCalib, int* scanMaxStamp, int* canClockUnit) +{ + std::ifstream inputFile(fileName); + std::string linedata; + + if (inputFile.is_open() == false) + return NULL; + + SVzNL3DLaserLine* _scanLines = NULL; + + int lines = 0; + int dataElements = 4; + int firstIndex = -1; + + int dataFileVer = DATA_VER_OLD; + std::getline(inputFile, linedata); //第一行 + int lineNum = 0; + if (0 == strncmp("LineNum:", linedata.c_str(), 8)) + { + dataFileVer = DATA_VER_NEW; + sscanf_s(linedata.c_str(), "LineNum:%d", &lines); + if (lines == 0) + return NULL; + lineNum = lines; + _scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1)); + memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1)); + if (scanLineNum) + *scanLineNum = lines; + } + else if (0 == strncmp("LineNum_", linedata.c_str(), 8)) + { + dataFileVer = DATA_VER_OLD; + sscanf_s(linedata.c_str(), "LineNum_%d", &lines); + if (lines == 0) + return NULL; + lineNum = lines; + _scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1)); + memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1)); + if (scanLineNum) + *scanLineNum = lines; + } + if (_scanLines == NULL) + return NULL; + + int ptNum = 0; + int lineIdx = -1; + int ptIdx = 0; + SVzNL3DPosition* p3DPoint = NULL; + if (dataFileVer == DATA_VER_NEW) + { + while (getline(inputFile, linedata)) + { + if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10)) + { + double lineV = 0; + sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV); + if (scanV) + *scanV = (float)lineV; + } + else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12)) + { + 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; +} + +SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F, double* camPoseR, int* outLineNum) +{ + int min_y = 100000000; + int max_y = -10000000; + int validStartLine = -1; + int validEndLine = -1; + for (int line = 0; line < lineNum; line++) + { + if (laser3DPoints[line].nPointCnt > 0) + { + if (validStartLine < 0) + { + validStartLine = line; + validEndLine = line; + } + else + validEndLine = line; + } + + for (int i = 0; i < laser3DPoints[line].nPointCnt; i++) + { + SVzNLPointXYZRGBA* a_pt = &laser3DPoints[line].p3DPoint[i]; + if (a_pt->z > 1e-4) + { + double v = _F * a_pt->y / a_pt->z + 2000; + a_pt->nRGB = (int)(v + 0.5); + max_y = max_y < (int)a_pt->nRGB ? (int)a_pt->nRGB : max_y; + min_y = min_y > (int)a_pt->nRGB ? (int)a_pt->nRGB : min_y; + } + } + } + if (min_y == 100000000) + return NULL; + + int vldLineNum = validEndLine - validStartLine + 1; + *outLineNum = vldLineNum; + int pt_counter = max_y - min_y + 1; + SVzNL3DLaserLine* gridData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1)); + memset(gridData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1)); + for (int line = validStartLine; line <= validEndLine; line++) + { + int gridLine = line - validStartLine; + gridData[gridLine].nPositionCnt = pt_counter; + gridData[gridLine].nTimeStamp = laser3DPoints[line].nTimeStamp; + gridData[gridLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * pt_counter); + memset(gridData[gridLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * pt_counter); + for (int i = 0; i < laser3DPoints[line].nPointCnt; i++) + { + SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i]; + if (a_pt.z > 1e-4) + { + int pt_id = a_pt.nRGB - min_y; + SVzNL3DPoint tmp_pt = { a_pt.x, a_pt.y, a_pt.z }; + SVzNL3DPoint r_pt = _ptRotate(tmp_pt, camPoseR); + gridData[gridLine].p3DPosition[pt_id].pt3D.x = r_pt.x; + gridData[gridLine].p3DPosition[pt_id].pt3D.y = r_pt.y; + gridData[gridLine].p3DPosition[pt_id].pt3D.z = r_pt.z; + } + } + } + return gridData; +} + +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 _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum, + float lineV, int maxTimeStamp, int clockPerSecond) +{ + std::ofstream sw(fileName); + sw << "LineNum:" << lineNum << std::endl; + sw << "DataType: 0" << std::endl; + sw << "ScanSpeed:" << lineV << std::endl; + sw << "PointAdjust: 1" << std::endl; + sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl; + + for (int line = 0; line < lineNum; line++) + { + sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + float x = (float)pt3D->pt3D.x; + float y = (float)pt3D->pt3D.y; + float z = (float)pt3D->pt3D.z; + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}" << std::endl; + } + } + sw.close(); +} + +typedef struct +{ + int r; + int g; + int b; +}SG_color; +void _outputScanDataFile_RGBD_obj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum, + float lineV, int maxTimeStamp, int clockPerSecond, std::vector& objOps) +{ + std::ofstream sw(fileName); + int realLines = lineNum; + if (objOps.size() > 0) + realLines++; + sw << "LineNum:" << realLines << std::endl; + sw << "DataType: 0" << std::endl; + sw << "ScanSpeed:" << lineV << std::endl; + sw << "PointAdjust: 1" << std::endl; + sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl; + + int maxLineIndex = 0; + int max_stamp = 0; + + SG_color rgb = { 0, 0, 0 }; + + SG_color objColor[8] = { + {245,222,179},//淡黄色 + {210,105, 30},//巧克力色 + {240,230,140},//黄褐色 + {135,206,235},//天蓝色 + {250,235,215},//古董白 + {189,252,201},//薄荷色 + {221,160,221},//梅红色 + {188,143,143},//玫瑰红色 + }; + int size = 1; + int nTimeStamp = 0; + for (int line = 0; line < lineNum; line++) + { + sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl; + nTimeStamp = scanData[line].nTimeStamp; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + int vType = pt3D->nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (pt3D->nPointIdx >> 16)&0xffff; + vType = vType & 0x0f; + if(LINE_FEATURE_L_JUMP_H2L == vType) + { + rgb = { 255, 97, 0 }; + size = 3; + } + else if (LINE_FEATURE_L_JUMP_L2H == vType) + { + rgb = { 255, 255, 0 }; + size = 3; + } + else if (LINE_FEATURE_V_SLOPE == vType) + { + rgb = { 255, 0, 255}; + size = 3; + } + else if (LINE_FEATURE_L_SLOPE_H2L == vType) + { + rgb = { 160, 82, 45 }; + size = 3; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) + { + rgb = { 255, 0, 0 }; + size = 3; + } + else if (LINE_FEATURE_L_SLOPE_L2H == vType) + { + rgb = { 233, 150, 122 }; + size = 3; + } + else if (LINE_FEATURE_L_JUMP_H2L == hType) + { + rgb = { 0, 0, 255 }; + size = 3; + } + else if ( LINE_FEATURE_L_JUMP_L2H == hType) + { + rgb = { 0, 255, 255}; + size = 3; + } + else if ( LINE_FEATURE_V_SLOPE == hType) + { + rgb = { 0, 255, 0 }; + size = 3; + } + else if ( LINE_FEATURE_L_SLOPE_H2L == hType) + { + rgb = { 85, 107, 47 }; + size = 3; + } + else if ( LINE_FEATURE_L_SLOPE_L2H == hType) + { + rgb = { 0, 255, 154 }; + size = 3; + } + else if ( (LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) + { + rgb = { 255, 0, 0 }; + size = 3; + } + else if (objId > 0) //目标 + { + rgb = objColor[objId%8]; + size = 5; + } + else + { + rgb = { 200, 200, 200 }; + size = 1; + } + + float x = (float)pt3D->pt3D.x; + float y = (float)pt3D->pt3D.y; + float z = (float)pt3D->pt3D.z; + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}-"; + sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; + } + } + if (objOps.size() > 0) + { + int ptNum = objOps.size(); + sw << "Line_" << lineNum << "_" << (nTimeStamp+ 1000) << "_" << ptNum << std::endl; + for (int i = 0; i < objOps.size(); i++) + { + if(i == 0) + rgb = { 255, 0, 0 }; + else + rgb = { 255, 255, 0 }; + size = 25; + float x = (float)objOps[i].centerPos.x; + float y = (float)objOps[i].centerPos.y; + float z = (float)objOps[i].centerPos.z; + + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}-"; + sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; + if (i == 0) + { + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}-"; + sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; + } + } + } + //画出方向线 + + + sw.close(); +} + +void _outputScanDataFile_RGBD_sideBagObj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum, + float lineV, int maxTimeStamp, int clockPerSecond, std::vector& objOps) +{ + std::ofstream sw(fileName); + int realLines = lineNum; + if (objOps.size() > 0) + realLines++; + sw << "LineNum:" << realLines << std::endl; + sw << "DataType: 0" << std::endl; + sw << "ScanSpeed:" << lineV << std::endl; + sw << "PointAdjust: 1" << std::endl; + sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl; + + int maxLineIndex = 0; + int max_stamp = 0; + + SG_color rgb = { 0, 0, 0 }; + + SG_color objColor[8] = { + {245,222,179},//淡黄色 + {210,105, 30},//巧克力色 + {240,230,140},//黄褐色 + {135,206,235},//天蓝色 + {250,235,215},//古董白 + {189,252,201},//薄荷色 + {221,160,221},//梅红色 + {188,143,143},//玫瑰红色 + }; + int size = 1; + int nTimeStamp = 0; + for (int line = 0; line < lineNum; line++) + { + int nPntCount = 0; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z > 1e-4) + nPntCount++; + } + sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << nPntCount << std::endl; + nTimeStamp = scanData[line].nTimeStamp; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + int vType = pt3D->nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (pt3D->nPointIdx >> 16) & 0xffff; + vType = vType & 0x0f; + if (LINE_FEATURE_L_JUMP_H2L == vType) + { + rgb = { 255, 97, 0 }; + size = 3; + } + else if (LINE_FEATURE_L_JUMP_L2H == vType) + { + rgb = { 255, 255, 0 }; + size = 3; + } + else if (LINE_FEATURE_V_SLOPE == vType) + { + rgb = { 255, 0, 255 }; + size = 3; + } + else if (LINE_FEATURE_L_SLOPE_H2L == vType) + { + rgb = { 160, 82, 45 }; + size = 3; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) + { + rgb = { 255, 0, 0 }; + size = 3; + } + else if (LINE_FEATURE_L_SLOPE_L2H == vType) + { + rgb = { 233, 150, 122 }; + size = 3; + } + else if (LINE_FEATURE_L_JUMP_H2L == hType) + { + rgb = { 0, 0, 255 }; + size = 3; + } + else if (LINE_FEATURE_L_JUMP_L2H == hType) + { + rgb = { 0, 255, 255 }; + size = 3; + } + else if (LINE_FEATURE_V_SLOPE == hType) + { + rgb = { 0, 255, 0 }; + size = 3; + } + else if (LINE_FEATURE_L_SLOPE_H2L == hType) + { + rgb = { 85, 107, 47 }; + size = 3; + } + else if (LINE_FEATURE_L_SLOPE_L2H == hType) + { + rgb = { 0, 255, 154 }; + size = 3; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) + { + rgb = { 255, 0, 0 }; + size = 3; + } + else if (objId > 0) //目标 + { + rgb = objColor[objId % 8]; + size = 5; + } + else + { + rgb = { 200, 200, 200 }; + size = 1; + } + + float x = (float)pt3D->pt3D.x; + float y = (float)pt3D->pt3D.y; + float z = (float)pt3D->pt3D.z; + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}-"; + sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; + } + } + if (objOps.size() > 0) + { + int ptNum = objOps.size(); + sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << ptNum << std::endl; + for (int i = 0; i < objOps.size(); i++) + { + if (i == 0) + rgb = { 255, 0, 0 }; + else + rgb = { 255, 255, 0 }; + size = 25; + float x = (float)objOps[i].graspPos.x; + float y = (float)objOps[i].graspPos.y; + float z = (float)objOps[i].graspPos.z; + + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}-"; + sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; + if (i == 0) + { + sw << "{" << x << "," << y << "," << z << "}-"; + sw << "{0,0}-{0,0}-"; + sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl; + } + } + } + sw.close(); +} + +void EulerRpyToRotation1(double rpy[3], double matrix3d[9]) { + double cos0 = cos(rpy[0]*PI/180); + double sin0 = sin(rpy[0]*PI/180); + double cos1 = cos(rpy[1]*PI/180); + double sin1 = sin(rpy[1]*PI/180); + double cos2 = cos(rpy[2]*PI/180); + double sin2 = sin(rpy[2]*PI/180); + matrix3d[0] = cos2 * cos1; + matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0; + matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0; + matrix3d[3] = sin2 * cos1; + matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0; + matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0; + matrix3d[6] = -sin1; + matrix3d[7] = cos1 * sin0; + matrix3d[8] = cos1 * cos0; + return; +} + +void _rotateCloudPts(SVzNL3DLaserLine* scanData, int lineNum, double matrix3d[9], std::vector>& rotateLines, SVzNLRangeD* rx_range, SVzNLRangeD* ry_range) +{ + rx_range->min = 0; + rx_range->max = -1; + ry_range->min = 0; + ry_range->max = -1; + for (int line = 0; line < lineNum; line++) + { + std::vector< SVzNL3DPosition> linePts; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + SVzNL3DPosition r_pt; + r_pt.pt3D = _ptRotate(pt3D->pt3D, matrix3d); + r_pt.nPointIdx = pt3D->nPointIdx; + if (rx_range->max < rx_range->min) + { + rx_range->min = r_pt.pt3D.x; + rx_range->max = r_pt.pt3D.x; + } + else + { + if (rx_range->min > r_pt.pt3D.x) + rx_range->min = r_pt.pt3D.x; + if (rx_range->max < r_pt.pt3D.x) + rx_range->max = r_pt.pt3D.x; + } + if (ry_range->max < ry_range->min) + { + ry_range->min = r_pt.pt3D.y; + ry_range->max = r_pt.pt3D.y; + } + else + { + if (ry_range->min > r_pt.pt3D.y) + ry_range->min = r_pt.pt3D.y; + if (ry_range->max < r_pt.pt3D.y) + ry_range->max = r_pt.pt3D.y; + } + linePts.push_back(r_pt); + + } + rotateLines.push_back(linePts); + } +} + +void _XOYprojection(cv::Mat& img, std::vector>& dataLines, std::vector& objOps, + const double x_scale, const double y_scale, const SVzNLRangeD x_range, const SVzNLRangeD y_range, bool drawDirAngle) +{ + int x_skip = 16; + int y_skip = 16; + + cv::Vec3b rgb = cv::Vec3b(0, 0, 0); + cv::Vec3b objColor[8] = { + {245,222,179},//淡黄色 + {210,105, 30},//巧克力色 + {240,230,140},//黄褐色 + {135,206,235},//天蓝色 + {250,235,215},//古董白 + {189,252,201},//薄荷色 + {221,160,221},//梅红色 + {188,143,143},//玫瑰红色 + }; + int size = 1; + for (int line = 0; line < dataLines.size(); line++) + { + std::vector< SVzNL3DPosition>& a_line = dataLines[line]; + for (int i = 0; i < a_line.size(); i++) + { + SVzNL3DPosition* pt3D = &a_line[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + int vType = pt3D->nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (pt3D->nPointIdx >> 16) & 0xff; + vType = vType & 0x0f; + if (LINE_FEATURE_L_JUMP_H2L == vType) + { + rgb = { 255, 97, 0 }; + size = 2; + } + else if (LINE_FEATURE_L_JUMP_L2H == vType) + { + rgb = { 255, 255, 0 }; + size = 2; + } + else if (LINE_FEATURE_V_SLOPE == vType) + { + rgb = { 255, 0, 255 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_H2L == vType) + { + rgb = { 160, 82, 45 }; + size = 2; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) + { + rgb = { 255, 0, 0 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_L2H == vType) + { + rgb = { 233, 150, 122 }; + size = 2; + } + else if (LINE_FEATURE_L_JUMP_H2L == hType) + { + rgb = { 0, 0, 255 }; + size = 2; + } + else if (LINE_FEATURE_L_JUMP_L2H == hType) + { + rgb = { 0, 255, 255 }; + size = 2; + } + else if (LINE_FEATURE_V_SLOPE == hType) + { + rgb = { 0, 255, 0 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_H2L == hType) + { + rgb = { 85, 107, 47 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_L2H == hType) + { + rgb = { 0, 255, 154 }; + size = 2; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) + { + rgb = { 255, 0, 0 }; + size = 2; + } + else if (objId > 0) //目标 + { + rgb = objColor[objId % 8]; + size = 1; + } + else + { + rgb = { 60, 60, 60 }; + size = 1; + } + + + double x = pt3D->pt3D.x; + double y = pt3D->pt3D.y; + + int px = (int)((x - x_range.min) / x_scale + x_skip); + int py = (int)((y - y_range.min) / y_scale + y_skip); + if (size == 1) + img.at(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]); + else + cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1); + } + } + if (objOps.size() > 0) + { + for (int i = 0; i < objOps.size(); i++) + { + if (i == 0) + { + rgb = { 255, 0, 0 }; + size = 20; + } + else + { + rgb = { 255, 255, 0 }; + size = 10; + } + int px = (int)((objOps[i].centerPos.x - x_range.min) / x_scale + x_skip); + int py = (int)((objOps[i].centerPos.y - y_range.min) / y_scale + y_skip); + cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1); + if (true == drawDirAngle) + { + //画线 + double R = 100; + const double deg2rad = PI / 180.0; + const double yaw = objOps[i].centerPos.z_yaw * deg2rad; + double cy = cos(yaw); double sy = sin(yaw); + double x1 = objOps[i].centerPos.x + R * cy; double y1 = objOps[i].centerPos.y - R * sy; + double x2 = objOps[i].centerPos.x - R * cy; double y2 = objOps[i].centerPos.y + R * sy; + int px1 = (int)((x1 - x_range.min) / x_scale + x_skip); + int py1 = (int)((y1 - y_range.min) / y_scale + y_skip); + int px2 = (int)((x2 - x_range.min) / x_scale + x_skip); + int py2 = (int)((y2 - y_range.min) / y_scale + y_skip); + cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2); + } + } + } + +} + +void _XOYprojection_sideBagInfo(cv::Mat& img, std::vector>& dataLines, std::vector& objOps, + const double x_scale, const double y_scale, const SVzNLRangeD x_range, const SVzNLRangeD y_range) +{ + int x_skip = 16; + int y_skip = 16; + + cv::Vec3b rgb = cv::Vec3b(0, 0, 0); + cv::Vec3b objColor[8] = { + {245,222,179},//淡黄色 + {210,105, 30},//巧克力色 + {240,230,140},//黄褐色 + {135,206,235},//天蓝色 + {250,235,215},//古董白 + {189,252,201},//薄荷色 + {221,160,221},//梅红色 + {188,143,143},//玫瑰红色 + }; + int size = 1; + for (int line = 0; line < dataLines.size(); line++) + { + std::vector< SVzNL3DPosition>& a_line = dataLines[line]; + for (int i = 0; i < a_line.size(); i++) + { + SVzNL3DPosition* pt3D = &a_line[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + int vType = pt3D->nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (pt3D->nPointIdx >> 16) & 0xffff; + vType = vType & 0x0f; + if (LINE_FEATURE_L_JUMP_H2L == vType) + { + rgb = { 255, 97, 0 }; + size = 2; + } + else if (LINE_FEATURE_L_JUMP_L2H == vType) + { + rgb = { 255, 255, 0 }; + size = 2; + } + else if (LINE_FEATURE_V_SLOPE == vType) + { + rgb = { 255, 0, 255 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_H2L == vType) + { + rgb = { 160, 82, 45 }; + size = 2; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) + { + rgb = { 255, 0, 0 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_L2H == vType) + { + rgb = { 233, 150, 122 }; + size = 2; + } + else if (LINE_FEATURE_L_JUMP_H2L == hType) + { + rgb = { 0, 0, 255 }; + size = 2; + } + else if (LINE_FEATURE_L_JUMP_L2H == hType) + { + rgb = { 0, 255, 255 }; + size = 2; + } + else if (LINE_FEATURE_V_SLOPE == hType) + { + rgb = { 0, 255, 0 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_H2L == hType) + { + rgb = { 85, 107, 47 }; + size = 2; + } + else if (LINE_FEATURE_L_SLOPE_L2H == hType) + { + rgb = { 0, 255, 154 }; + size = 2; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) + { + rgb = { 255, 0, 0 }; + size = 2; + } + else if ( (objId > 0) &&( objId< 1000)) //目标 + { + rgb = objColor[objId % 8]; + size = 3; + } + else + { + rgb = { 150, 150, 150 }; + size = 1; + } + + + double x = pt3D->pt3D.x; + double y = pt3D->pt3D.y; + + int px = (int)((x - x_range.min) / x_scale + x_skip); + int py = (int)((y - y_range.min) / y_scale + y_skip); + if (size == 1) + img.at(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]); + else + cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1); + } + } + if (objOps.size() > 0) + { + for (int i = 0; i < objOps.size(); i++) + { + if (i == 0) + { + rgb = { 255, 0, 0 }; + size = 20; + } + else + { + rgb = { 255, 255, 0 }; + size = 10; + } + int px = (int)((objOps[i].graspPos.x - x_range.min) / x_scale + x_skip); + int py = (int)((objOps[i].graspPos.y - y_range.min) / y_scale + y_skip); + cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1); + + //画ROI + size = 3; + cv::Point2d vec2d[4]; + vec2d[0].x = objOps[i].objROI.left; vec2d[0].y = objOps[i].objROI.top; + vec2d[1].x = objOps[i].objROI.right; vec2d[1].y = objOps[i].objROI.top; + vec2d[2].x = objOps[i].objROI.right; vec2d[2].y = objOps[i].objROI.bottom; + vec2d[3].x = objOps[i].objROI.left; vec2d[3].y = objOps[i].objROI.bottom; + cv::Point vec[4]; + for (int j = 0; j < 4; j++) + { + vec[j].x = (int)((vec2d[j].x - x_range.min) / x_scale + x_skip); + vec[j].y = (int)((vec2d[j].y - y_range.min) / y_scale + y_skip); + } + for (int j = 0; j < 4; j++) + { + int nxtIdx = (j + 1) % 4; + cv::line(img, vec[j], vec[nxtIdx], cv::Scalar(rgb[2], rgb[1], rgb[0]), size); + } + + //画倾角 + double r = 50; + double angle = objOps[i].graspPos.z_yaw; + angle = -angle * PI / 180; + cv::Point2d line_pt[2]; + line_pt[0].x = (int)(r * cos(angle) + px); + line_pt[0].y = (int)(-r * sin(angle) + py); + line_pt[1].x = (int)(-r * cos(angle) + px); + line_pt[1].y = (int)(r * sin(angle) + py); + cv::line(img, line_pt[0], line_pt[1], cv::Scalar(rgb[2], rgb[1], rgb[0]), size); + } + + + } + +} + +void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector& objOps, double rpy[3]) +{ + //统计X和Y的范围 + std::vector> scan_lines; + SVzNLRangeD x_range = {0, -1}; + SVzNLRangeD y_range = {0, -1}; + for (int line = 0; line < lineNum; line++) + { + std::vector< SVzNL3DPosition> a_line; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + a_line.push_back(*pt3D); + if (x_range.max < x_range.min) + { + x_range.min = pt3D->pt3D.x; + x_range.max = pt3D->pt3D.x; + } + else + { + if(x_range.min > pt3D->pt3D.x) + x_range.min = pt3D->pt3D.x; + if(x_range.max < pt3D->pt3D.x) + x_range.max = pt3D->pt3D.x; + } + if (y_range.max < y_range.min) + { + y_range.min = pt3D->pt3D.y; + y_range.max = pt3D->pt3D.y; + } + else + { + if (y_range.min > pt3D->pt3D.y) + y_range.min = pt3D->pt3D.y; + if (y_range.max < pt3D->pt3D.y) + y_range.max = pt3D->pt3D.y; + } + } + scan_lines.push_back(a_line); + } + + int imgRows = 992; + int imgCols = 1056; + double y_rows = 960.0; + double x_cols = 1024.0; + cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3); + //计算投影比例 + double x_scale = (x_range.max - x_range.min) / x_cols; + double y_scale = (y_range.max - y_range.min) / y_rows; + _XOYprojection(img, scan_lines, objOps, x_scale, y_scale, x_range, y_range, true); + + //旋转视角显示 + double matrix3d[9]; + EulerRpyToRotation1(rpy, matrix3d); + std::vector r_objOps; + r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end()); + for (int i = 0; i < objOps.size(); i++) + { + SVzNL3DPoint c_pt = { objOps[i].centerPos .x, objOps[i].centerPos .y, objOps[i].centerPos .z}; + SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d); + r_objOps[i].centerPos.x = r_c_pt.x; + r_objOps[i].centerPos.y = r_c_pt.y; + r_objOps[i].centerPos.z = r_c_pt.z; + } + std::vector> rotateLines; + SVzNLRangeD rx_range, ry_range; + _rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range); + cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3); + //计算投影比例 + double rx_scale = (rx_range.max - rx_range.min) / x_cols; + double ry_scale = (ry_range.max - ry_range.min) / y_rows; + _XOYprojection(r_img, rotateLines, r_objOps, rx_scale, ry_scale, rx_range, ry_range, false); + + cv::Mat dis_img; + cv::hconcat(img, r_img, dis_img); + cv::imwrite(fileName, dis_img); + return; +} + +void _genXOYProjectionImage_sideBagInfo(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector& objOps, double rpy[3]) +{ + //统计X和Y的范围 + std::vector> scan_lines; + SVzNLRangeD x_range = { 0, -1 }; + SVzNLRangeD y_range = { 0, -1 }; + for (int line = 0; line < lineNum; line++) + { + std::vector< SVzNL3DPosition> a_line; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + a_line.push_back(*pt3D); + if (x_range.max < x_range.min) + { + x_range.min = pt3D->pt3D.x; + x_range.max = pt3D->pt3D.x; + } + else + { + if (x_range.min > pt3D->pt3D.x) + x_range.min = pt3D->pt3D.x; + if (x_range.max < pt3D->pt3D.x) + x_range.max = pt3D->pt3D.x; + } + if (y_range.max < y_range.min) + { + y_range.min = pt3D->pt3D.y; + y_range.max = pt3D->pt3D.y; + } + else + { + if (y_range.min > pt3D->pt3D.y) + y_range.min = pt3D->pt3D.y; + if (y_range.max < pt3D->pt3D.y) + y_range.max = pt3D->pt3D.y; + } + } + scan_lines.push_back(a_line); + } + + double x_scale = 1.0; + double y_scale = 1.0; + int x_rows = int((x_range.max - x_range.min) / x_scale); + int y_rows = int((y_range.max - y_range.min) / y_scale); + if (x_rows % 2 > 0) + x_rows += 1; + if (y_rows % 2 > 0) + y_rows += 1; + int imgRows = y_rows + 32; + int imgCols = x_rows + 32; + + cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3); + //计算投影比例 + + _XOYprojection_sideBagInfo(img, scan_lines, objOps, x_scale, y_scale, x_range, y_range); + +#if 0 + //旋转视角显示 + double matrix3d[9]; + EulerRpyToRotation1(rpy, matrix3d); + std::vector r_objOps; + r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end()); + for (int i = 0; i < objOps.size(); i++) + { + SVzNL3DPoint c_pt = { objOps[i].graspPos.x, objOps[i].graspPos.y, objOps[i].graspPos.z }; + SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d); + r_objOps[i].graspPos.x = r_c_pt.x; + r_objOps[i].graspPos.y = r_c_pt.y; + r_objOps[i].graspPos.z = r_c_pt.z; + } + std::vector> rotateLines; + SVzNLRangeD rx_range, ry_range; + _rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range); + cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3); + //计算投影比例 + double rx_scale = (rx_range.max - rx_range.min) / x_cols; + double ry_scale = (ry_range.max - ry_range.min) / y_rows; + _XOYprojection_sideBagInfo(r_img, rotateLines, r_objOps, rx_scale, ry_scale, rx_range, ry_range); + + cv::Mat dis_img; + cv::hconcat(img, r_img, dis_img); + cv::imwrite(fileName, dis_img); +#else + cv::Mat rot; + cv::rotate(img, rot, cv::ROTATE_90_CLOCKWISE); // 顺时针90°旋转 + cv::flip(rot, img, 1); // 左右翻转 + cv::imwrite(fileName, img); +#endif + return; +} + + +//量化成640*640左右大小的图像。 +void project2DWithInterpolate(cv::Mat& img, SVzNL3DLaserLine* scanData, int lineNum, double fixed_xy_scale, double z_scale) +{ + double namedSize = 640.0;//目标图像最大尺度为640像素 + + SVzNLRangeD x_range = { 0, -1 }; + SVzNLRangeD y_range = { 0, -1 }; + SVzNLRangeD z_range = { 0, -1 }; + for (int line = 0; line < lineNum; line++) + { + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + + if (x_range.max < x_range.min) + { + x_range.min = pt3D->pt3D.x; + x_range.max = pt3D->pt3D.x; + } + else + { + if (x_range.min > pt3D->pt3D.x) + x_range.min = pt3D->pt3D.x; + if (x_range.max < pt3D->pt3D.x) + x_range.max = pt3D->pt3D.x; + } + if (y_range.max < y_range.min) + { + y_range.min = pt3D->pt3D.y; + y_range.max = pt3D->pt3D.y; + } + else + { + if (y_range.min > pt3D->pt3D.y) + y_range.min = pt3D->pt3D.y; + if (y_range.max < pt3D->pt3D.y) + y_range.max = pt3D->pt3D.y; + } + if (z_range.max < z_range.min) + { + z_range.min = pt3D->pt3D.z; + z_range.max = pt3D->pt3D.z; + } + else + { + if (z_range.min > pt3D->pt3D.z) + z_range.min = pt3D->pt3D.z; + if (z_range.max < pt3D->pt3D.z) + z_range.max = pt3D->pt3D.z; + } + } + } + + double xy_scale = fixed_xy_scale; + if (fixed_xy_scale < 1e-4) + { + double x_scale = (x_range.max - x_range.min) / namedSize; + double y_scale = (y_range.max - y_range.min) / namedSize; + double xy_scale; + if (x_scale < y_scale) + xy_scale = y_scale; + else + xy_scale = x_scale; + } + int img_rows = (int)((y_range.max - y_range.min) / xy_scale)+1; + if(img_rows %2 >0) + img_rows +=1; + int img_cols = (int)((x_range.max - x_range.min) / xy_scale)+ 1; + if (img_cols % 2 > 0) + img_cols += 1; + img = cv::Mat::zeros(img_rows, img_cols, CV_8UC1); + + int polateWin = 5; + for (int line = 0; line < lineNum; line++) + { + //同时进行垂直插值 + int pre_py = -1; + SVzNL3DPosition* pre_pt3D = NULL; + int pre_i = -1; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) + continue; + double x = pt3D->pt3D.x; + double y = pt3D->pt3D.y; + int px = (int)((x - x_range.min) / xy_scale); + int py = (int)((y - y_range.min) / xy_scale); + int value = (int)((pt3D->pt3D.z - z_range.min) / z_scale); + if (value > 254) + value = 254; + value = 255 - value; + img.at(py, px) = (uchar)value; + //检查是否需要插值 + if ( (py > pre_py + 1)&& (py <= pre_py + polateWin + 1) && (pre_py >= 0) && (pre_i >= 0) && (i == pre_i + 1)) //3D点连续，量化点不连续，插值 + { + double dist = double(py - pre_py); + for (int iy = pre_py + 1; iy < py; iy++) + { + double k1 = (double)(iy - pre_py) / dist; + double k0 = 1 - k1; + double inter_x = pre_pt3D->pt3D.x * k0 + pt3D->pt3D.x * k1; + double inter_y = pre_pt3D->pt3D.y * k0 + pt3D->pt3D.y * k1; + double inter_z = pre_pt3D->pt3D.z * k0 + pt3D->pt3D.z * k1; + int polate_px = (int)((inter_x - x_range.min) / xy_scale); + int polate_py = (int)((inter_y - y_range.min) / xy_scale); + int polate_value = (int)((inter_z - z_range.min) / z_scale); + if (polate_value > 254) + polate_value = 254; + polate_value = 255 - polate_value; + img.at(polate_py, polate_px) = (uchar)polate_value; + } + } + pre_i = i; + pre_py = py; + pre_pt3D = pt3D; + } + } + //水平插值 + for (int y = 0; y < img.rows; y++) + { + int pre_x = -1; + uchar pre_value = 0; + for (int x = 0; x < img.cols; x++) + { + uchar value = img.at(y, x); + if (value > 0) + { + if ((x > pre_x + 1) && (x <= pre_x + polateWin + 1) &&(pre_x >= 0)) //水平不连续，插值 + { + double dist = double(x - pre_x); + for (int ix = pre_x + 1; ix < x; ix++) + { + double k1 = (double)(ix - pre_x) / dist; + double k0 = 1 - k1; + double inter_data = (double)pre_value * k0 + (double)value * k1; + if (inter_data > 255) + inter_data = 255; + uchar polate_value = (uchar)inter_data; + img.at(y, ix) = polate_value; + } + } + pre_x = x; + pre_value = value; + } + } + } +} +void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData, int lineNum, + float lineV, int maxTimeStamp, int clockPerSecond) +{ + std::ofstream sw(fileName); + sw << "LineNum:" << lineNum << std::endl; + sw << "DataType: 0" << std::endl; + sw << "ScanSpeed:" << lineV << std::endl; + sw << "PointAdjust: 1" << std::endl; + sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl; + + for (int line = 0; line < lineNum; line++) + { + int realNum = 0; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + if (scanData[line].p3DPosition[i].pt3D.z > 1e-4) + realNum++; + } + sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << realNum << std::endl; + for (int i = 0; i < scanData[line].nPositionCnt; i++) + { + if (scanData[line].p3DPosition[i].pt3D.z > 1e-4) + { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + float x = (float)pt3D->pt3D.x; + float y = (float)pt3D->pt3D.y; + float z = (float)pt3D->pt3D.z; + sw << "{ " << x << "," << y << "," << z << " }-"; + sw << "{0,0}-{0,0}" << std::endl; + } + } + } + sw.close(); +} + +#define TEST_CONVERT_TO_GRID 0 +#define TEST_COMPUTE_GRASP_POINT 1 +#define TEST_COMPUTE_CALIB_PARA 1 +#define TEST_GROUP 16 +int main() +{ +#if TEST_CONVERT_TO_GRID + //将数据转换成栅格格式格式 + char _scan_dir[256]; + int lineNum = 0; + float lineV = 0.0f; + int dataCalib = 0; + int maxTimeStamp = 0; + int clockPerSecond = 0; + sprintf_s(_scan_dir, "F:\\上古\\编织袋数据\\侧抓数据\\"); + char _scan_file[256]; + double _F = 1248.5;// 1231.2; //1729.0;; //f + for (int i = 1; i <= 2; i++) + { + sprintf_s(_scan_file, "%s%d_LaserData_Hi228621.txt", _scan_dir, i); + SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond); + if (laser3DPoints_RGBD == NULL) + continue; + +#if 1 + double rpy[3] = { 0,-18, 0 }; + double camPoseR[9]; + EulerRpyToRotation1(rpy, camPoseR); +#else + double camPoseR[9] = { + 1.0, 0.0, 0.0, + 0.0, 1.0, 0.0, + 0.0, 0.0, 1.0 }; +#endif + int vldLineNum = 0; + SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F, camPoseR, &vldLineNum); + + //生成水平扫描数据 + int hLineNum = gridData[0].nPositionCnt; + SVzNL3DLaserLine* hScanData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * hLineNum); + memset(hScanData, 0, sizeof(SVzNL3DLaserLine) * hLineNum); + for (int hLine = 0; hLine < hLineNum; hLine++) + { + hScanData[hLine].nPositionCnt = vldLineNum; + hScanData[hLine].nTimeStamp = hLine * 1000; + hScanData[hLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * lineNum); + memset(hScanData[hLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * lineNum); + for (int m = 0; m < vldLineNum; m++) + { + hScanData[hLine].p3DPosition[m].nPointIdx = m; + hScanData[hLine].p3DPosition[m].pt3D.x = gridData[m].p3DPosition[hLine].pt3D.y; + hScanData[hLine].p3DPosition[m].pt3D.y = gridData[m].p3DPosition[hLine].pt3D.x; + hScanData[hLine].p3DPosition[m].pt3D.z = gridData[m].p3DPosition[hLine].pt3D.z; + } + } + char _out_file[256]; + sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i); + _outputScanDataFile_self(_out_file, gridData, vldLineNum, + lineV, maxTimeStamp, clockPerSecond); + sprintf_s(_out_file, "%sLaserLine%d_hScanData.txt", _scan_dir, i); + _outputScanDataFile_removeZeros(_out_file, hScanData, hLineNum, + lineV, maxTimeStamp, clockPerSecond); + + printf("%s: convert done!\n", _scan_file); + } +#endif + +#if TEST_COMPUTE_CALIB_PARA + char _calib_datafile[256]; + sprintf_s(_calib_datafile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\LaserLine10_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 = sg_getBagBaseCalibPara( + 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 + sg_lineDataR(&laser3DPoints[i], calibPara.planeCalib, calibPara.planeHeight); + } + // + char calibFile[250]; + sprintf_s(calibFile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\ground_calib_para.txt"); + _outputCalibPara(calibFile, calibPara); + char _out_file[256]; + sprintf_s(_out_file, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\LaserLine10_grid_calib.txt"); + _outputScanDataFile_self(_out_file, laser3DPoints, lineNum, + lineV, maxTimeStamp, clockPerSecond); + printf("%s: calib done!\n", _calib_datafile); + } + +#endif + +#if TEST_COMPUTE_GRASP_POINT + const char* dataPath[TEST_GROUP] = { + "F:\\上古\\编织袋数据\\点云1\\", //0 + "F:\\上古\\编织袋数据\\点云2\\", //1 + "F:\\上古\\编织袋数据\\点云3\\", //2 + "F:\\上古\\编织袋数据\\点云4_广东\\", //3 + "F:\\上古\\编织袋数据\\点云5_广东\\", //4 + "F:\\上古\\编织袋数据\\点云6_河南平顶山\\", //5 + "F:\\上古\\编织袋数据\\点云7_广东1214\\", //6 + "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\", //7 + "F:\\上古\\编织袋数据\\点云9_广东1219数据\\", //8 + "F:\\上古\\编织袋数据\\点云10\\", //9 + "F:\\上古\\编织袋数据\\侧抓数据\\", //10 + "F:\\上古\\编织袋数据\\侧抓数据_现场\\20250419\\", //11 + "F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //12 + "F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //13 + "F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //14 + "F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //15 + }; + + SVzNLRange fileIdx[TEST_GROUP] = { + {0,176},{1,200},{1,166},{122,141},{1,65}, + {1,29},{108,135},{0,200}, {1,200}, {1,12}, + {3,3}, {1,51}, {4,83}, {1,74}, {1,61}, + {1,84} + }; + + 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]; + + SG_bagPositionParam algoParam; + algoParam.bagParam.bagL = 650; //袋子长65cm + algoParam.bagParam.bagW = 450; //袋子宽40cm + algoParam.bagParam.bagH = 160; //袋子高16cm + +#if BAG_ALGO_USE_CORNER_FEATURE + algoParam.cornerParam.cornerTh = 30; //45度角 + algoParam.cornerParam.scale = 15; // 30; // algoParam.bagParam.bagH / 8; + algoParam.cornerParam.minEndingGap = algoParam.bagParam.bagW / 4; + algoParam.cornerParam.jumpCornerTh_1 = 60; + algoParam.cornerParam.jumpCornerTh_2 = 15; +#else + algoParam.slopeParam.LSlopeZWin = 10.0; + algoParam.slopeParam.validSlopeH = 10.0; + algoParam.slopeParam.minLJumpH = 20.0; + algoParam.slopeParam.minEndingGap = algoParam.bagParam.bagW / 4; ///当没有中间袋子，只有左右袋子时，有两组Ending。此参数确定两个ending最小间距 + algoParam.valleyPara.valleyMinH = 10.0; + algoParam.valleyPara.valleyMaxW = 80.0; //取袋子宽度的1/5 +#endif + algoParam.growParam.maxLineSkipNum = 5; + algoParam.growParam.yDeviation_max = 20.0; + algoParam.growParam.maxSkipDistance = 20.0; + algoParam.growParam.zDeviation_max = 80.0; //袋子高度1/2 + algoParam.growParam.minLTypeTreeLen = 50.0; //mm + algoParam.growParam.minVTypeTreeLen = 50.0; //mm + + char _scan_file[256]; + + int endGroup = TEST_GROUP - 1; + for (int grp = 0; grp <= 9; grp++) + { + if (grp == 7) + { + char calibFile[250]; + sprintf_s(calibFile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\ground_calib_para.txt"); + poseCalibPara = _readCalibPara(calibFile); + } + for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) + { + //fidx = 102; + int lineNum = 0; + float lineV = 0.0f; + int dataCalib = 0; + int maxTimeStamp = 0; + int clockPerSecond = 0; + sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx); + SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond); + if (laser3DPoints == NULL) + continue; + + if (grp < 10) //正面抓取 + { + algoParam.filterParam.continuityTh = 20.0; //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 + algoParam.filterParam.outlierTh = 5; + + long t1 = GetTickCount64(); +#if 0 + int errCode = 0; + std::vector all_vLineFeatures; + std::vector> all_vLineNoises; + for (int i = 0; i < lineNum; i++) + { + if (i == 14) + int kkk = 1; + //行处理 + sg_lineDataR(&laser3DPoints[i], camPoseR); + //sg_bagPositioning_lineProc(&laser3DPoints[i], i, &errCode, all_vLineFeatures, all_vLineNoises, algoParam); + } + std::vector objOps; + sg_getBagPosition(laser3DPoints, lineNum, all_vLineFeatures, all_vLineNoises, algoParam, objOps); +#else + for (int i = 0; i < lineNum; i++) + { + if (i == 14) + int kkk = 1; + //行处理 + //调平，去除地面 + sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight); + } + std::vector objOps; + sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps); +#endif + long t2 = GetTickCount64(); + + char _dbg_file[256]; +#if 1 + + sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx); + _outputScanDataFile_RGBD_obj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, objOps); + + sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx); + cv::String imgName(_dbg_file); + double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; // + _genXOYProjectionImage(imgName, laser3DPoints, lineNum, objOps, rpy); +#endif +#if 0 + //量化成2D图像作为训练样本 + cv::Mat project2D_img; + double z_scale = 3.0; + double xy_scale = 2.0; + project2DWithInterpolate(project2D_img, laser3DPoints, lineNum, xy_scale, z_scale); + cv::Mat project2D_color; + cv::applyColorMap(project2D_img, project2D_color, cv::COLORMAP_JET); + sprintf_s(_dbg_file, "%simg2D_JET\\LaserLine%d_img2D.png", dataPath[grp], fidx); + cv::String img2DName(_dbg_file); + cv::imwrite(img2DName, project2D_color); + cv::Mat project2D_color_HOT; + cv::applyColorMap(project2D_img, project2D_color_HOT, cv::COLORMAP_HOT); + sprintf_s(_dbg_file, "%simg2D\\LaserLine%d_img2D.png", dataPath[grp], fidx); + cv::String img2DName_HOT(_dbg_file); + cv::imwrite(img2DName_HOT, project2D_color_HOT); +#endif + printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1)); + } + else if (grp >= 10) //侧面抓取 + { + algoParam.filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的距离大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声 + algoParam.filterParam.outlierTh = 5; + + algoParam.bagParam.bagL = 650; //袋子长65cm + algoParam.bagParam.bagW = 450; //袋子宽40cm + algoParam.bagParam.bagH = 80; //袋子高16cm + + algoParam.growParam.maxLineSkipNum = 5; + algoParam.growParam.yDeviation_max = 20.0; + algoParam.growParam.zDeviation_max = 8.0; + + long t1 = GetTickCount64(); + int errCode = 0; + + SSG_stackBaseParam stackBaseParam = {200, 260, 550}; + SSG_treeGrowParam stackBaseGrowParam; + memset(&stackBaseGrowParam, 0, sizeof(SSG_treeGrowParam)); + stackBaseGrowParam.maxLineSkipNum = 10; + stackBaseGrowParam.yDeviation_max = 20.0; + stackBaseGrowParam.zDeviation_max = 20.0; + SSG_6DOF stackBasePosition; + sg_getSideBagStackBasePosition( + laser3DPoints, + lineNum, + stackBaseParam, + stackBaseGrowParam, + &stackBasePosition //垛的托盘的中心位置和角度 + ); + + //行列转置。侧面扫描时激光线水平，所以要按列处理 + std::vector objOps; + //sg_sideBagPosition(laser3DPoints, lineNum, algoParam, objOps); + long t2 = GetTickCount64(); + + char _dbg_file[256]; + sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx); + _outputScanDataFile_RGBD_sideBagObj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, objOps); + + sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx); + cv::String imgName(_dbg_file); + double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; // + _genXOYProjectionImage_sideBagInfo(imgName, laser3DPoints, lineNum, objOps, rpy); + printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1)); + + } + } + } + +#endif + printf("all done!\n"); +} + + +// 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 diff --git a/bagPositioning_test/bagPositioning_test.vcxproj b/bagPositioning_test/bagPositioning_test.vcxproj new file mode 100644 index 0000000..e04a52d --- /dev/null +++ b/bagPositioning_test/bagPositioning_test.vcxproj @@ -0,0 +1,157 @@ + + + + + Debug + Win32 + + + Release + Win32 + + + Debug + x64 + + + Release + x64 + + + + 16.0 + Win32Proj + {42f0ae50-cc70-4f1b-88c4-78fca6d033b4} + bagPositioningtest + 10.0 + + + + Application + true + v142 + Unicode + + + Application + false + v142 + true + Unicode + + + Application + true + v142 + Unicode + + + Application + false + v142 + true + Unicode + + + + + + + + + + + + + + + + + + + + + true + + + false + + + true + ..\..\..\codeHub\VzNLSDK\Inc;..\sourceCode;..\sourceCode\inc;$(IncludePath) + $(SolutionDir)build\$(Platform)\$(Configuration)\ + + + false + ..\..\..\codeHub\VzNLSDK\Inc;..\sourceCode;..\sourceCode\inc;$(IncludePath) + $(SolutionDir)build\$(Platform)\$(Configuration)\ + + + + Level3 + true + WIN32;_DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + + + + + Level3 + true + true + true + WIN32;NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + + + Console + true + true + true + + + + + Level3 + true + _DEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + ..\..\..\codeHub\opencv\build\include; + + + Console + true + ..\..\..\codeHub\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories) + opencv_world480d.lib;bagPositioning.lib;%(AdditionalDependencies) + + + + + Level3 + true + true + true + NDEBUG;_CONSOLE;%(PreprocessorDefinitions) + true + ..\..\..\codeHub\opencv\build\include; + + + Console + true + true + true + ..\..\..\codeHub\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories) + opencv_world480.lib;bagPositioning.lib;%(AdditionalDependencies) + + + + + + + + + \ No newline at end of file