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QRCode（DM code) algorithm and test projects initial check in

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jerryzeng 2025-07-15 21:35:15 +08:00
parent 1026adaa5c
commit 71e8f12480
3 changed files with 1074 additions and 0 deletions
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172
QRcode3Ddetection/QRcode3Ddetection.vcxproj Normal file
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745
QRcode3Ddetection_test/QRcode3Ddetection_test.cpp Normal file
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// 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 <iostream>
#include <fstream>
#include <vector>
#include <stdio.h>
#include <VZNL_Types.h>
#include "direct.h"
#include <string>
#include "WD_QRcode3Ddetection_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
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<std::vector<SVzNL3DPosition>>& 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<std::vector<SVzNL3DPosition>>& 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<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;
}
#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<SVzNL3DPosition>> scanLines;
wd_getScanLines(scanData, scanLines, cloud_rows);
#if 0
//点云裁剪
std::vector< std::vector<SVzNL3DPosition>> 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

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