Merge branch 'main' of http://192.168.3.13:3000/jerryzeng/algoLib
This commit is contained in:
commit
745f4769ef
@ -2429,7 +2429,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData,
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#define TEST_COMPUTE_GRASP_POINT 1
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#define TEST_COMPUTE_CALIB_PARA 0
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#define TEST_GROUP 21
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#define TEST_GROUP 22
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#define TEST_TOP_VIEW_GROUP (TEST_GROUP - 8)
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#define TEST_TOP_ORIEN_GROUP (TEST_GROUP - 6)
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int main()
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@ -2518,7 +2518,7 @@ int main()
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#if TEST_COMPUTE_CALIB_PARA
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char _calib_datafile[256];
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sprintf_s(_calib_datafile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\底面点云\\底面点云.txt");
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sprintf_s(_calib_datafile, "F:\\ShangGu\\编织袋数据\\山东现场\\调平数据.txt");
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int lineNum = 0;
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float lineV = 0.0f;
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int dataCalib = 0;
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@ -2541,10 +2541,10 @@ int main()
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}
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//
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_calib_para.txt");
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_outputCalibPara(calibFile, calibPara);
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char _out_file[256];
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sprintf_s(_out_file, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\LaserLine1_grid_calib.txt");
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sprintf_s(_out_file, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_grid_calib.txt");
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_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
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lineV, maxTimeStamp, clockPerSecond);
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printf("%s: calib done!\n", _calib_datafile);
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@ -2567,22 +2567,23 @@ int main()
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"F:\\ShangGu\\编织袋数据\\点云11_盐袋\\", //10
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"F:\\ShangGu\\编织袋数据\\点云12_盐袋\\", //11
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"F:\\ShangGu\\编织袋数据\\点云13_现场测试\\", //12
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //13
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //14
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"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //15
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //16
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //17
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //18
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //19
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //20
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"F:\\ShangGu\\编织袋数据\\山东现场\\", //13
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //14
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //15
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"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //16
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //17
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //18
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //19
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //20
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //21
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};
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SVzNLRange fileIdx[TEST_GROUP] = {
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{0,176},{1,200},{1,166},{122,141},{1,65},
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{1,29},{108,135},{0,200}, {1,200}, {1,12},
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{2,4}, {1,5}, {1,1}, {1,21},{1,28},
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{3,3}, {1,51}, {4,83}, {1,74}, {1,61},
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{1,84}
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{2,4}, {1,5}, {1,1}, {1,1},
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{1,21},{1,28},
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{3,3}, {1,51}, {4,83}, {1,74}, {1,61}, {1,84}
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};
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SSG_planeCalibPara poseCalibPara;
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@ -2604,7 +2605,7 @@ int main()
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SG_bagPositionParam algoParam;
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int endGroup = TEST_GROUP - 1;
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for (int grp = 14; grp <= 14; grp++)
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for (int grp = 15; grp <= 15; grp++)
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{
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if (grp < 10)
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{
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@ -2630,7 +2631,19 @@ int main()
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algoParam.growParam.minLTypeTreeLen = 50.0; //mm
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algoParam.growParam.minVTypeTreeLen = 50.0; //mm
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}
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else if ( (grp >= 13) && (grp <= 14))
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else if (grp ==13)
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{
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algoParam.bagParam.bagL = 550; //袋子长65cm
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algoParam.bagParam.bagW = 400; //袋子宽40cm
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algoParam.bagParam.bagH = 100; //袋子高16cm
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algoParam.growParam.maxLineSkipNum = 5;
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algoParam.growParam.yDeviation_max = 20.0;
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algoParam.growParam.maxSkipDistance = 20.0;
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algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
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algoParam.growParam.minLTypeTreeLen = 50.0; //mm
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algoParam.growParam.minVTypeTreeLen = 50.0; //mm
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}
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else if ( (grp >= 14) && (grp <= 15))
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{
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algoParam.bagParam.bagL = 750; //袋子长65cm
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algoParam.bagParam.bagW = 450; //袋子宽40cm
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@ -2656,8 +2669,9 @@ int main()
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}
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#if BAG_ALGO_USE_CORNER_FEATURE
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algoParam.cornerParam.cornerTh = 30; //45度角
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algoParam.cornerParam.scale = algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
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algoParam.cornerParam.minEndingGap = algoParam.bagParam.bagW / 4;
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algoParam.cornerParam.scale = 15; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
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algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
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algoParam.cornerParam.minEndingGap_z = algoParam.bagParam.bagH / 4;
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algoParam.cornerParam.jumpCornerTh_1 = 60;
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algoParam.cornerParam.jumpCornerTh_2 = 15;
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#else
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@ -2694,12 +2708,56 @@ int main()
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poseCalibPara = _readCalibPara(calibFile);
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}
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else if (grp == 13)
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{
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\山东现场\\ground_calib_para.txt");
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poseCalibPara = _readCalibPara(calibFile);
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algoParam.bagParam.bagL = 550; //袋子长65cm
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algoParam.bagParam.bagW = 400; //袋子宽40cm
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algoParam.bagParam.bagH = 100; //袋子高16cm
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algoParam.growParam.maxLineSkipNum = 5;
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algoParam.growParam.yDeviation_max = 20.0;
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algoParam.growParam.maxSkipDistance = 20.0;
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algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
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algoParam.growParam.minLTypeTreeLen = 50.0; //mm
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algoParam.growParam.minVTypeTreeLen = 50.0; //mm
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algoParam.cornerParam.cornerTh = 30; //45度角
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algoParam.cornerParam.scale = 15; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
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algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
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algoParam.cornerParam.minEndingGap_z = algoParam.bagParam.bagH / 4;
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algoParam.cornerParam.jumpCornerTh_1 = 60;
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algoParam.cornerParam.jumpCornerTh_2 = 15;
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poseCalibPara.planeCalib[0] = 0.999975;
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poseCalibPara.planeCalib[1] = -8.27654e-05;
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poseCalibPara.planeCalib[2] = 0.00703687;
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poseCalibPara.planeCalib[3] = -8.27654e-05;
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poseCalibPara.planeCalib[4] = 0.999723;
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poseCalibPara.planeCalib[5] = 0.0235198;
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poseCalibPara.planeCalib[6] = -0.00703687;
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poseCalibPara.planeCalib[7] = -0.0235198;
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poseCalibPara.planeCalib[8] = 0.999699;
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poseCalibPara.planeHeight = 3010.61;
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poseCalibPara.invRMatrix[0] = 0.999975;
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poseCalibPara.invRMatrix[1] = -8.27654e-05;
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poseCalibPara.invRMatrix[2] = -0.00703687;
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poseCalibPara.invRMatrix[3] = -8.27654e-05;
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poseCalibPara.invRMatrix[4] = 0.999723;
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poseCalibPara.invRMatrix[5] = -0.0235198;
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poseCalibPara.invRMatrix[6] = 0.00703687;
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poseCalibPara.invRMatrix[7] = 0.0235198;
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poseCalibPara.invRMatrix[8] = 0.999699;
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}
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else if ( grp == 14)
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{
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
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poseCalibPara = _readCalibPara(calibFile);
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}
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else if (grp == 14)
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else if (grp == 15)
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{
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
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@ -2707,7 +2765,7 @@ int main()
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}
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for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
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{
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//fidx = 10;
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//fidx = 22;
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if (grp < TEST_TOP_VIEW_GROUP) //正面抓取
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{
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int lineNum = 0;
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@ -2747,6 +2805,7 @@ int main()
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//调平，去除地面
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sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
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}
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std::vector<SSG_peakRgnInfo> objOps;
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sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps);
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#endif
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@ -2832,6 +2891,13 @@ int main()
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//调平，去除地面
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sg_lineDataR_RGBD(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
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}
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#if 0
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char _out_file[256];
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sprintf_s(_out_file, "%sresult\\LaserLine%d_ground_calib.txt", dataPath[grp], fidx);
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std::vector<SSG_peakOrienRgnInfo> nullObjs;
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_outputRGBDScanDataFile_RGBD_obj(_out_file, laser3DPoints, lineNum,
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lineV, maxTimeStamp, clockPerSecond, nullObjs);
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#endif
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#if 0
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//产生一个调平后的2D图像，核对颜色
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char _tst_file[256];
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@ -2383,10 +2383,16 @@ void sg_getBagPosition(
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//逐行提取特征
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for (int hLine = 0; hLine < hLineNum; hLine++)
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{
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if (hLine == 116)
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if (hLine == 14)
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int kkk = 1;
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std::vector<SVzNL3DPosition> smoothData;
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sg_lineDataSmoothing(hLines[hLine], 5, smoothData);
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sg_lineSegSmoothing(
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hLines[hLine],
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algoParam.cornerParam.minEndingGap, //分段的Y间隔。大于此间隔，为新的分段
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algoParam.cornerParam.minEndingGap_z,//分段的Z间隔。大于此间隔，为新的分段
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5,
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smoothData);
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//sg_lineDataSmoothing(hLines[hLine], 5, smoothData);
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SSG_lineFeature a_hLine_featrues;
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a_hLine_featrues.lineIdx = hLine;
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#if BAG_ALGO_USE_CORNER_FEATURE
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@ -3214,6 +3220,7 @@ if (col == 586)
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sg_getLocalPeaks_distTransform(distTransform, dt_peaks, searchWin);
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//获取Peaks
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int invlidDistToEdge = 50; //距离边缘近的Peak是非法点。
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double minPeakValue = algoParam.bagParam.bagW / 8;
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std::vector<SSG_2DValueI> peaks;
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for (int i = 0; i < dt_peaks.size(); i++)
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{
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@ -3223,7 +3230,8 @@ if (col == 586)
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int y_diff_0 = dt_peaks[i].y;//距上边距离
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int y_diff_1 = distTransform.rows - dt_peaks[i].y;//距下边距离
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if ((x_diff_0 < invlidDistToEdge) || (x_diff_1 < invlidDistToEdge) ||
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(y_diff_0 < invlidDistToEdge) || (y_diff_1 < invlidDistToEdge))
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(y_diff_0 < invlidDistToEdge) || (y_diff_1 < invlidDistToEdge) ||
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(dt_peaks[i].valueD < minPeakValue))
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continue;
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//在distTranformIndexing中回找坐标
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@ -3251,7 +3259,7 @@ if (col == 586)
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int peakRgnId = 1;
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for (int i = 0, i_max = peaks.size(); i < i_max; i++)
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{
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if (i == 2)
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if (i == 3)
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int kkk = 1;
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SVzNL3DPosition* pk_pt = &(laser3DPoints[peaks[i].x].p3DPosition[peaks[i].y]);
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@ -44,6 +44,13 @@ SG_APISHARED_EXPORT void sg_lineDataSmoothing(
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std::vector<SVzNL3DPosition>& input,
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int smoothWin,
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std::vector<SVzNL3DPosition>& output);
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//分段平滑，这样不会影响分段端点
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SG_APISHARED_EXPORT void sg_lineSegSmoothing(
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std::vector<SVzNL3DPosition>& input,
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double seg_y_deltaTh, //分段的Y间隔。大于此间隔，为新的分段
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double seg_z_deltaTh,//分段的Z间隔。大于此间隔，为新的分段
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int smoothWin,
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std::vector<SVzNL3DPosition>& output);
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//VZ_APISHARED_EXPORT void sg_getLineMeanVar();
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SG_APISHARED_EXPORT void sg_getLineLVFeature(
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@ -148,7 +148,8 @@ typedef struct
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typedef struct
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{
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double minEndingGap; //连续段门限。大于此门限，为不连续
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double minEndingGap; //y方向连续段门限。大于此门限，为不连续
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double minEndingGap_z; //z方向连续段门限。大于此门限，为不连续
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double scale; //计算方向角的窗口比例尺
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double cornerTh; //拐角门限，大于此门限，为有效拐点
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double jumpCornerTh_1; //判断拐角是否为跳变的两个门限。当一个门限大于jumpCornerTh_1且另一个小于jumpCornerTh_2时跳变
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@ -62,7 +62,10 @@ SSG_meanVar _computeMeanVar(double* data, int size)
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return a_meanVar;
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}
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void sg_lineDataSmoothing(std::vector<SVzNL3DPosition>& input, int smoothWin, std::vector<SVzNL3DPosition>& output)
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void sg_lineDataSmoothing(
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std::vector<SVzNL3DPosition>& input,
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int smoothWin,
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std::vector<SVzNL3DPosition>& output)
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{
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output.resize(input.size()); // 预分配足够的空间
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std::copy(input.begin(), input.end(), output.begin());
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@ -91,6 +94,65 @@ void sg_lineDataSmoothing(std::vector<SVzNL3DPosition>& input, int smoothWin, st
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return;
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}
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//对扫描线按分段进行平滑。
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void sg_lineSegSmoothing(
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std::vector<SVzNL3DPosition>& input,
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double seg_y_deltaTh, //分段的Y间隔。大于此间隔，为新的分段
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double seg_z_deltaTh,//分段的Z间隔。大于此间隔，为新的分段
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int smoothWin,
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std::vector<SVzNL3DPosition>& output)
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{
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//output.resize(input.size()); // 预分配足够的空间
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//std::copy(input.begin(), input.end(), output.begin());
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int dataSize = input.size();
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//计算分段
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std::vector<std::vector<SVzNL3DPosition>> segs;
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std::vector<SVzNL3DPosition> a_seg;
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int segStart = -1;
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for (int i = 0; i < dataSize; i++)
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{
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SVzNL3DPosition a_pt = input[i];
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//seg判断
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if (a_pt.pt3D.z > 1e-4)
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{
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if (segStart < 0)
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{
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a_seg.push_back(a_pt);
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segStart = 1;
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}
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else //检查两点距离
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{
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SVzNL3DPosition pre_pt = a_seg.back();
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double diff_z = abs(a_pt.pt3D.z - pre_pt.pt3D.z);
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double diff_y = abs(a_pt.pt3D.y - pre_pt.pt3D.y);
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if ((diff_y > seg_y_deltaTh) || (diff_z > seg_z_deltaTh))
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{
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segs.push_back(a_seg);
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a_seg.clear();
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a_seg.push_back(a_pt);
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}
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else
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a_seg.push_back(a_pt);
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}
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}
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else
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a_seg.push_back(a_pt);
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}
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//last
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if (a_seg.size() > 0)
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segs.push_back(a_seg);
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||||
|
||||
//分段平滑
|
||||
for (int i = 0, i_max = segs.size(); i < i_max; i++)
|
||||
{
|
||||
std::vector<SVzNL3DPosition> seg_output;
|
||||
sg_lineDataSmoothing(segs[i], smoothWin, seg_output);
|
||||
output.insert(output.end(), seg_output.begin(), seg_output.end());
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
//滤除离群点：z跳变门限方法
|
||||
void sg_lineDataRemoveOutlier(SVzNL3DPosition* lineData, int dataSize, SSG_outlierFilterParam filterParam, std::vector<SVzNL3DPosition>& filerData, std::vector<int>& noisePts)
|
||||
{
|
||||
@ -1094,21 +1156,40 @@ void sg_getLineCornerFeature(
|
||||
line_features->lineIdx = lineIdx;
|
||||
if (lineIdx == 538)
|
||||
int kkk = 1;
|
||||
|
||||
//去除零点
|
||||
std::vector< SVzNL3DPosition> vldPts;
|
||||
std::vector<SSG_RUN> segs;
|
||||
//修改seg的定义。seg端点是两点间距离大于门限的点
|
||||
int segStart = -1, segEnd = -1;
|
||||
for (int i = 0; i < dataSize; i++)
|
||||
{
|
||||
if ( (lineIdx == 399)&&(i==568))
|
||||
int kkk = 1;
|
||||
SVzNL3DPosition a_pt = lineData[i];
|
||||
a_pt.nPointIdx = i;
|
||||
if (lineData[i].pt3D.z > 1e-4)
|
||||
vldPts.push_back(a_pt);
|
||||
|
||||
//seg判断
|
||||
if (lineData[i].pt3D.z > 1e-4)
|
||||
{
|
||||
if (segStart < 0)
|
||||
segStart = i;
|
||||
else //检查两点距离
|
||||
{
|
||||
SVzNL3DPosition pre_pt = lineData[i-1];
|
||||
double diff_z = abs(a_pt.pt3D.z - pre_pt.pt3D.z);
|
||||
if (diff_z > cornerPara.minEndingGap_z)
|
||||
{
|
||||
SSG_RUN a_run;
|
||||
a_run.start = segStart;
|
||||
a_run.len = segEnd - segStart + 1;
|
||||
a_run.value = 1;
|
||||
segs.push_back(a_run);
|
||||
segStart = i;
|
||||
}
|
||||
}
|
||||
segEnd = i;
|
||||
vldPts.push_back(a_pt);
|
||||
}
|
||||
else
|
||||
{
|
||||
@ -1139,6 +1220,8 @@ void sg_getLineCornerFeature(
|
||||
corners.resize(vldPts.size());
|
||||
for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
|
||||
{
|
||||
if ((lineIdx == 399) && (i == 419))
|
||||
int kkk = 1;
|
||||
//前向寻找
|
||||
int pre_i = -1;
|
||||
for (int j = i - 1; j >= 0; j--)
|
||||
@ -1332,7 +1415,8 @@ void sg_getLineCornerFeature(
|
||||
int idx_1 = curr_seg->start + curr_seg->len - 1;
|
||||
int idx_2 = nxt_seg->start;
|
||||
double y_diff = abs(lineData[idx_1].pt3D.y - lineData[idx_2].pt3D.y);
|
||||
if (y_diff < cornerPara.minEndingGap) //ºÏ²¢
|
||||
double z_diff = abs(lineData[idx_1].pt3D.z - lineData[idx_2].pt3D.z);
|
||||
if ( (y_diff < cornerPara.minEndingGap) && (z_diff < cornerPara.minEndingGap_z)) //合并
|
||||
{
|
||||
int idx_end = nxt_seg->start + nxt_seg->len - 1;
|
||||
nxt_seg->start = curr_seg->start;
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user