diff --git a/QRcode3Ddetection/QRcode3Ddetection.vcxproj b/QRcode3Ddetection/QRcode3Ddetection.vcxproj
new file mode 100644
index 0000000..a096ca7
--- /dev/null
+++ b/QRcode3Ddetection/QRcode3Ddetection.vcxproj
@@ -0,0 +1,172 @@
+
+
+
+
+ Debug
+ Win32
+
+
+ Release
+ Win32
+
+
+ Debug
+ x64
+
+
+ Release
+ x64
+
+
+
+
+
+
+
+
+
+ 16.0
+ Win32Proj
+ {a7c72ed9-b81d-4c6a-be38-d75199c824aa}
+ QRcode3Ddetection
+ 10.0
+
+
+
+ DynamicLibrary
+ true
+ v142
+ Unicode
+
+
+ DynamicLibrary
+ false
+ v142
+ true
+ Unicode
+
+
+ DynamicLibrary
+ true
+ v142
+ Unicode
+
+
+ DynamicLibrary
+ false
+ v142
+ true
+ Unicode
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+
+
+ false
+
+
+ true
+ $(SolutionDir)build\$(Platform)\$(Configuration)\
+ ..\..\thirdParty\VzNLSDK\Inc;..\sourceCode;..\sourceCode\inc;$(IncludePath)
+
+
+ false
+ $(SolutionDir)build\$(Platform)\$(Configuration)\
+ ..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)
+
+
+
+ Level3
+ true
+ WIN32;_DEBUG;QRCODE3DDETECTION_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)
+ true
+ Use
+ pch.h
+
+
+ Windows
+ true
+ false
+
+
+
+
+ Level3
+ true
+ true
+ true
+ WIN32;NDEBUG;QRCODE3DDETECTION_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)
+ true
+ Use
+ pch.h
+
+
+ Windows
+ true
+ true
+ true
+ false
+
+
+
+
+ Level3
+ true
+ SG_API_LIBRARY;_DEBUG;QRCODE3DDETECTION_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)
+ true
+ NotUsing
+ pch.h
+ ..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)
+
+
+ Windows
+ true
+ false
+ ..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)
+ opencv_world480d.lib;baseAlgorithm.lib;%(AdditionalDependencies)
+
+
+
+
+ Level3
+ true
+ true
+ true
+ SG_API_LIBRARY;NDEBUG;QRCODE3DDETECTION_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)
+ true
+ NotUsing
+ pch.h
+ ..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)
+
+
+ Windows
+ true
+ true
+ true
+ false
+ ..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)
+ opencv_world480.lib;baseAlgorithm.lib;%(AdditionalDependencies)
+
+
+
+
+
+
\ No newline at end of file
diff --git a/QRcode3Ddetection_test/QRcode3Ddetection_test.cpp b/QRcode3Ddetection_test/QRcode3Ddetection_test.cpp
new file mode 100644
index 0000000..cd8b884
--- /dev/null
+++ b/QRcode3Ddetection_test/QRcode3Ddetection_test.cpp
@@ -0,0 +1,745 @@
+// QRcode3Ddetection_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 "WD_QRcode3Ddetection_Export.h"
+#include
+#include
+
+typedef struct
+{
+ int r;
+ int g;
+ int b;
+}SG_color;
+
+void vzReadLaserScanPointFromFile_plyTxt(const char* fileName, std::vector< SVzNL3DPoint>& scanData, bool removeZeros, bool exchangeXY)
+{
+ std::ifstream inputFile(fileName);
+ std::string linedata;
+
+ if (inputFile.is_open() == false)
+ return;
+
+ while (std::getline(inputFile, linedata))
+ {
+ if (linedata.empty())
+ continue;
+
+ double X, Y, Z, tmp;
+ sscanf_s(linedata.c_str(), "%lf %lf %lf %lf", &X, &Y, &Z, &tmp);
+ if (true == removeZeros)
+ {
+ if (Z > 1e-4)
+ {
+ SVzNL3DPoint a_pt;
+ if (true == exchangeXY)
+ {
+ a_pt.x = Y; //将扫描线调整为Y方向；扫描方向为X方向
+ a_pt.y = X;
+ }
+ else
+ {
+ a_pt.x = X;
+ a_pt.y = Y;
+ }
+ a_pt.z = Z;
+ scanData.push_back(a_pt);
+ }
+ }
+ else
+ {
+ SVzNL3DPoint a_pt;
+ if (true == exchangeXY)
+ {
+ a_pt.x = Y; //将扫描线调整为Y方向；扫描方向为X方向
+ a_pt.y = X;
+ }
+ else
+ {
+ a_pt.x = X;
+ a_pt.y = Y;
+ }
+ a_pt.z = Z;
+ scanData.push_back(a_pt);
+ }
+ }
+ return;
+}
+
+void _outputScanDataFile_vector(char* fileName, std::vector>& scanLines, bool removeZeros, int* headNullLines)
+{
+ std::ofstream sw(fileName);
+ int lineNum = scanLines.size();
+ if (lineNum == 0)
+ return;
+
+ sw << "LineNum:" << lineNum << std::endl;
+ sw << "DataType: 0" << std::endl;
+ sw << "ScanSpeed: 0" << std::endl;
+ sw << "PointAdjust: 1" << std::endl;
+ sw << "MaxTimeStamp: 0_0" << std::endl;
+
+ int lineIdx = 0;
+ int null_lines = 0;
+ bool counterNull = true;
+ for (int line = 0; line < lineNum; line++)
+ {
+ int linePtNum = scanLines[line].size();
+ if (linePtNum == 0)
+ continue;
+
+ if (true == removeZeros)
+ {
+ int vldPtNum = 0;
+ for (int i = 0; i < linePtNum; i++)
+ {
+ if (scanLines[line][i].pt3D.z > 1e-4)
+ vldPtNum++;
+ }
+ linePtNum = vldPtNum;
+ }
+ sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
+ lineIdx++;
+ bool isNull = true;
+ for (int i = 0; i < linePtNum; i++)
+ {
+ SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
+ if ((pt3D->z > 1e-4) && (isNull == true))
+ isNull = false;
+ if ((true == removeZeros) && (pt3D->z < 1e-4))
+ continue;
+ float x = (float)pt3D->x;
+ float y = (float)pt3D->y;
+ float z = (float)pt3D->z;
+ sw << "{ " << x << "," << y << "," << z << " }-";
+ sw << "{0,0}-{0,0}" << std::endl;
+ }
+ if (true == counterNull)
+ {
+ if (true == isNull)
+ null_lines++;
+ else
+ counterNull = false;
+ }
+ }
+ *headNullLines = null_lines;
+ sw.close();
+}
+
+void _outputRGBDScanDataFile_RGBD(
+ char* fileName,
+ std::vector>& scanLines,
+ std::vector< SVzNL3DPosition> objPoints)
+{
+ int lineNum = scanLines.size();
+ std::ofstream sw(fileName);
+ int realLines = lineNum;
+ if (objPoints.size() > 0)
+ realLines++;
+
+ sw << "LineNum:" << realLines << std::endl;
+ sw << "DataType: 0" << std::endl;
+ sw << "ScanSpeed: 0" << std::endl;
+ sw << "PointAdjust: 1" << std::endl;
+ sw << "MaxTimeStamp: 0_0" << 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 lineIdx = 0;
+ for (int line = 0; line < lineNum; line++)
+ {
+ int linePtNum = scanLines[line].size();
+ if (linePtNum == 0)
+ continue;
+
+ sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
+ lineIdx++;
+ for (int i = 0; i < linePtNum; i++)
+ {
+ SVzNL3DPosition* pt3D = &scanLines[line][i];
+ int featureType = pt3D->nPointIdx;
+ if (LINE_FEATURE_PEAK_TOP == featureType)
+ {
+ rgb = { 255, 97, 0 };
+ 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 (objPoints.size() > 0)
+ {
+ int linePtNum = objPoints.size();
+ sw << "Line_" << lineNum << "_0_" << linePtNum+1 << std::endl;
+
+ rgb = { 0, 0, 255 };
+ size = 25;
+ for (int i = 0; i < linePtNum; i++)
+ {
+ float x = (float)objPoints[i].pt3D.x;
+ float y = (float)objPoints[i].pt3D.y;
+ float z = (float)objPoints[i].pt3D.z;
+ sw << "{" << x << "," << y << "," << z << "}-";
+ sw << "{0,0}-{0,0}-";
+ sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
+ }
+ float x = (float)objPoints[0].pt3D.x;
+ float y = (float)objPoints[0].pt3D.y;
+ float z = (float)objPoints[0].pt3D.z;
+ sw << "{" << x << "," << y << "," << z << "}-";
+ sw << "{0,0}-{0,0}-";
+ sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
+ }
+ sw.close();
+}
+
+
+void _outputScanDataFile_ptr(char* fileName, SVzNL3DLaserLine* scanData, int lineNum)
+{
+ std::ofstream sw(fileName);
+ sw << "LineNum:" << lineNum << std::endl;
+ sw << "DataType: 0" << std::endl;
+ sw << "ScanSpeed: 0" << std::endl;
+ sw << "PointAdjust: 1" << std::endl;
+ sw << "MaxTimeStamp: 0_0" << 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();
+}
+
+
+#define DATA_VER_OLD 0
+#define DATA_VER_NEW 1
+#define DATA_VER_FROM_CUSTOM 2
+#define VZ_LASER_LINE_PT_MAX_NUM 4096
+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;
+}
+
+void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector< SVzNL3DPoint>& scanData)
+{
+ std::ifstream inputFile(fileName);
+ std::string linedata;
+
+ if (inputFile.is_open() == false)
+ return;
+
+ while (getline(inputFile, linedata))
+ {
+ 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);
+ SVzNL3DPoint a_pt;
+ a_pt.x = X;
+ a_pt.y = Y;
+ a_pt.z = Z;
+ scanData.push_back(a_pt);
+ }
+ }
+ 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>& scanLines,
+ int startLine,
+ int endLine,
+ int startPtIdx,
+ int endPtIdx,
+ std::vector< std::vector>& roiScanLines)
+{
+ for (int i = startLine; i < endLine; i++)
+ {
+ if (i >= scanLines.size())
+ break;
+
+ std::vector cut_line;
+ std::vector& 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;
+}
+
+#define TEST_COMPUTE_CALIB_PARA 0
+#define TEST_COMPUTE_QRCODE_IMG 1
+#define TEST_GROUP 1
+int main()
+{
+ const char* dataPath[TEST_GROUP] = {
+ "F:\\ShangGu\\项目\\工件端部圆点二维码\\", //0
+
+ };
+
+ SVzNLRange fileIdx[TEST_GROUP] = {
+ {3,3}
+ };
+
+#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_QRCODE_IMG
+ for (int grp = 0; grp <= 0; grp++)
+ {
+ int cloud_rows = 4200;
+ int cloud_cols = 2160;
+ 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, "%s%d_Cloud.txt", dataPath[grp], fidx);
+ std::vector< SVzNL3DPoint> scanData;
+ bool removeZeros = false;
+ bool exchangeXY = true;
+ if (fidx < 3)
+ {
+ cloud_cols = 1; //单行测试文件
+ exchangeXY = false;
+ }
+ else
+ {
+ cloud_cols = 2160; //单行测试文件
+ exchangeXY = true;
+ }
+ if (fidx == 2)
+ {
+ vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData);
+ cloud_cols = 1100;
+ cloud_rows = 1300;
+ if (scanData.size() != (cloud_rows * cloud_cols))
+ continue;
+ }
+ else
+ {
+ vzReadLaserScanPointFromFile_plyTxt(_scan_file, scanData, removeZeros, exchangeXY);
+ if (scanData.size() != (cloud_rows * cloud_cols))
+ continue;
+ }
+ //将数据恢复为按扫描线存储格式
+ std::vector< std::vector> scanLines;
+ wd_getScanLines(scanData, scanLines, cloud_rows);
+
+#if 0
+ //点云裁剪
+ std::vector< std::vector> roiScanLines;
+ _getRoiClouds(scanLines, 700, 1800, 400, 1700, roiScanLines);
+ sprintf_s(_scan_file, "%sLaserLine4_grid.txt", dataPath[grp]);
+ int headNullLines = 0;
+ _outputScanDataFile_vector(_scan_file, roiScanLines, false, &headNullLines);
+#endif
+#if 0
+ sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
+ int headNullLines = 0;
+ _outputScanDataFile_vector(_scan_file, scanLines, false, &headNullLines);
+ printf("%s: head null lines = %d\n", _scan_file, headNullLines);
+#endif
+ WD_QRcodeParam qrcode_param;
+ qrcode_param.rows = 14;
+ qrcode_param.cols = 14;
+ qrcode_param.row_space = 30.0 / 14;
+ qrcode_param.col_space = 30.0 / 14;
+ qrcode_param.pointHoleDepth = 1.0;
+ qrcode_param.pointHoleR = 0.6;
+
+ long t1 = GetTickCount64();//统计时间
+
+ for (int i = 0, i_max= 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);
+ }
+ //
+#if 0
+ sprintf_s(_scan_file, "%sresult\\LaserLine%d_calib_data.txt", dataPath[grp], fidx);
+ int headNulls = 0;
+ _outputScanDataFile_vector(_scan_file, scanLines, true, &headNulls);
+#endif
+ cv::Mat dmCodeImg;
+ std::vector< SVzNL3DPosition> objPoints;
+ wd_QRcode3Ddetection(
+ scanLines,
+ qrcode_param,
+ objPoints,
+ dmCodeImg);
+
+ long t2 = 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, objPoints);
+ if (!dmCodeImg.empty())
+ {
+ sprintf_s(_scan_file, "%sresult\\LaserLine%d_img.png", dataPath[grp], fidx);
+ cv::Mat normDmCodeImg;
+ cv::normalize(dmCodeImg, normDmCodeImg, 0, 255, cv::NORM_MINMAX, CV_8U);
+ cv::imwrite(_scan_file, normDmCodeImg);
+ }
+ }
+ }
+#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
diff --git a/QRcode3Ddetection_test/QRcode3Ddetection_test.vcxproj b/QRcode3Ddetection_test/QRcode3Ddetection_test.vcxproj
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