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搭接焊缝检测算法提交

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This commit is contained in:
jerryzeng 2025-09-11 19:37:22 +08:00
parent f855ffd70b
commit 94e8a1efe8
6 changed files with 299 additions and 94 deletions
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115
lapWeldDetection_test/lapWeldDetection_test.cpp
View File

@ -149,7 +149,8 @@ void _outputScanDataFile_vector_h(char* fileName, std::vector<std::vector<SVzNL3
void _outputRGBDScanLapWeld_RGBD(
char* fileName,
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
std::vector< std::vector<SVzNL3DPoint>> weldOPs)
std::vector< std::vector<SVzNL3DPoint>> weldOPs,
bool outDebugInfo)
{
int lineNum = (int)scanLines.size();
std::ofstream sw(fileName);
@ -191,18 +192,38 @@ void _outputRGBDScanLapWeld_RGBD(
for (int i = 0; i < linePtNum; i++)
{
SVzNL3DPosition* pt3D = &scanLines[line][i];
if (pt3D->nPointIdx > 0)
int kkk = 1;
int featureType_v = pt3D->nPointIdx & 0xffff;
int featureType_h = featureType_v >> 4;
featureType_v &= 0xff;
if (LINE_FEATURE_PEAK_TOP == featureType_v)
if (true == outDebugInfo)
{
rgb = { 255, 97, 0 };
size = 5;
}
else if (LINE_FEATURE_PEAK_TOP == featureType_h)
{
rgb = { 97, 255, 0 };
size = 5;
if (LINE_FEATURE_L_JUMP_H2L == featureType_v)
{
rgb = { 255, 97, 0 };
size = 5;
}
else if (LINE_FEATURE_L_JUMP_L2H == featureType_v)
{
rgb = objColor[7];
size = 5;
}
else if (LINE_FEATURE_L_JUMP_H2L == featureType_h)
{
rgb = objColor[6];
size = 5;
}
else if (LINE_FEATURE_L_JUMP_L2H == featureType_h)
{
rgb = { 97, 255, 0 };
size = 5;
}
else
{
rgb = { 200, 200, 200 };
size = 1;
}
}
else
{
@ -225,11 +246,10 @@ void _outputRGBDScanLapWeld_RGBD(
linePtNum += (int)weldOPs[i].size();
sw << "Line_" << lineNum << "_0_" << linePtNum + 1 << std::endl;
rgb = { 0, 0, 255 };
rgb = { 255, 0, 0 };
size = 25;
for (int i = 0; i < weldNum; i++)
{
rgb = objColor[i % 8];
for (int j = 0; j < (int)weldOPs[i].size(); j++)
{
float x = (float)weldOPs[i][j].x;
@ -241,13 +261,37 @@ void _outputRGBDScanLapWeld_RGBD(
}
}
//加一个点，用于跳过显示工具bug
rgb = objColor[0];
float x = (float)weldOPs[0][0].x;
float y = (float)weldOPs[0][0].y;
float z = (float)weldOPs[0][0].z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
double exLen = 5.0;
rgb = objColor[0];
size = 3;
for (int i = 0; i < weldNum; i++)
{
SVzNL3DPoint pt0 = weldOPs[i][0];
SVzNL3DPoint pt1 = weldOPs[i].back();
double len = sqrt(pow(pt0.x - pt1.x, 2) + pow(pt0.y - pt1.y, 2));
double k = exLen / len;
sw << "Poly_" << i << "_2" << std::endl;
double x = -k * (pt1.x - pt0.x) + pt0.x;
double y = -k * (pt1.y - pt0.y) + pt0.y;
double z = -k * (pt1.z - pt0.z) + pt0.z;
sw << "{" << (float)x << "," << (float)y << "," << (float)z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
x = -k * (pt0.x - pt1.x) + pt1.x;
y = -k * (pt0.y - pt1.y) + pt1.y;
z = -k * (pt0.z - pt1.z) + pt1.z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
}
}
sw.close();
}
@ -655,7 +699,7 @@ void _convertToGridData(std::vector< std::vector<SVzNL3DPosition>>& scanLines,
#define CONVERT_TO_GRID 0
#define TEST_COMPUTE_CALIB_PARA 0
#define TEST_COMPUTE_GLOVE_POSITION 1
#define TEST_COMPUTE_POSITION 1
#define TEST_GROUP 1
int main()
{
@ -665,7 +709,7 @@ int main()
};
SVzNLRange fileIdx[TEST_GROUP] = {
{0,6}
{1,6}
};
#if CONVERT_TO_GRID
@ -720,7 +764,7 @@ int main()
int kkk = 1;
//行处理
//调平，去除地面
sx_lineDataR(scanData[i], calibPara.planeCalib, -1);// calibPara.planeHeight);
sx_lineDataR(scanData[i], calibPara.planeCalib, -1); // calibPara.planeHeight);
}
//
char calibFile[250];
@ -734,7 +778,7 @@ int main()
}
#endif
#if TEST_COMPUTE_GLOVE_POSITION
#if TEST_COMPUTE_POSITION
for (int grp = 0; grp <= 0; grp++)
{
SSG_planeCalibPara poseCalibPara;
@ -771,7 +815,7 @@ int main()
int kkk = 1;
//行处理
//调平，去除地面
sx_lineDataR(scanLines[i], poseCalibPara.planeCalib, -1);// calibPara.planeHeight);
sx_lineDataR(scanLines[i], poseCalibPara.planeCalib, -1);
}
#if 0
char _out_file[256];
@ -779,24 +823,26 @@ int main()
int headNullLines = 0;
_outputScanDataFile_vector(_out_file, scanLines, false, &headNullLines);
#endif
SSG_treeGrowParam growParam;
growParam.maxLineSkipNum = 5;
growParam.yDeviation_max = 1.0;
growParam.maxSkipDistance = 5.0;
growParam.zDeviation_max = 2;// algoParam.bagParam.bagH / 2; //袋子高度1/2
growParam.minLTypeTreeLen = 30.0; //mm
growParam.minVTypeTreeLen = 30.0; //mm
SSG_cornerParam cornerParam;
cornerParam.cornerTh =30; //45度角
cornerParam.scale = 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
cornerParam.minEndingGap_z = 20; // algoParam.bagParam.bagH / 4;
cornerParam.jumpCornerTh_1 = 10;
cornerParam.jumpCornerTh_2 = 30;
SSX_lapWeldParam lapWeldParam;
lapWeldParam.lapHeight = 2.0;
lapWeldParam.weldMinLen = 2.0;
lapWeldParam.lapHeight = 1.5;
lapWeldParam.weldMinLen = 80.0;
lapWeldParam.weldRefPoints = 2;
lapWeldParam.scanMode = keSX_ScanMode_V;
SSG_cornerParam cornerParam;
cornerParam.cornerTh = 25; //45度角
cornerParam.scale = 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
cornerParam.minEndingGap = 6;// algoParam.bagParam.bagW / 4;
cornerParam.minEndingGap_z = lapWeldParam.lapHeight; // algoParam.bagParam.bagH / 4;
cornerParam.jumpCornerTh_1 = 10;
cornerParam.jumpCornerTh_2 = 25;
SSG_treeGrowParam growParam;
growParam.maxLineSkipNum = 10;
growParam.yDeviation_max = 3.0;
growParam.maxSkipDistance = 5.0;
growParam.zDeviation_max = 1.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
growParam.minLTypeTreeLen = lapWeldParam.weldMinLen; //mm
growParam.minVTypeTreeLen = lapWeldParam.weldMinLen; //mm
int errCode = 0;
std::vector<std::vector<SVzNL3DPoint>> weldOps;
sx_getLapWeldPostion(
@ -804,6 +850,7 @@ int main()
cornerParam,
growParam,
lapWeldParam,
poseCalibPara,
weldOps,
&errCode);
@ -811,7 +858,7 @@ int main()
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);
_outputRGBDScanLapWeld_RGBD(_scan_file, scanLines, weldOps);
_outputRGBDScanLapWeld_RGBD(_scan_file, scanLines, weldOps, false);
}
}
#endif

2
sourceCode/SG_baseAlgo_Export.h
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@ -74,7 +74,7 @@ SG_APISHARED_EXPORT void sg_getLineJumpFeature_cornerMethod(
int dataSize,
int lineIdx,
const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
std::vector< SSG_basicFeature1D> jumpFeatures);
std::vector< SSG_basicFeature1D>& jumpFeatures);
SG_APISHARED_EXPORT void wd_getLineGloveArcs(
std::vector<SVzNL3DPosition>& lineData,

10
sourceCode/SG_baseFunc.cpp
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@ -1507,6 +1507,8 @@ SSG_planeCalibPara sg_getPlaneCalibPara2(
//数据进行转换
SVzNLRangeD calibZRange = { 0, -1 };
topZRange = { 0, -1 };
double sumMeanZ = 0;
int sumSize = 0;
for (int i = 0, i_max = (int)Points3ds.size(); i < i_max; i++)
{
//z
@ -1531,6 +1533,8 @@ SSG_planeCalibPara sg_getPlaneCalibPara2(
{
calibZRange.min = a_calibPt.z;
calibZRange.max = a_calibPt.z;
sumMeanZ += a_calibPt.z;
sumSize++;
}
else
{
@ -1538,9 +1542,13 @@ SSG_planeCalibPara sg_getPlaneCalibPara2(
calibZRange.min = a_calibPt.z;
if (calibZRange.max < a_calibPt.z)
calibZRange.max = a_calibPt.z;
sumMeanZ += a_calibPt.z;
sumSize++;
}
}
planePara.planeHeight = calibZRange.min;
if (sumSize > 0)
sumMeanZ = sumMeanZ / (double)sumSize;
planePara.planeHeight = sumMeanZ; // calibZRange.min;
return planePara;
}

14
sourceCode/SG_lineFeature.cpp
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@ -1455,7 +1455,7 @@ void sg_getLineJumpFeature_cornerMethod(
int dataSize,
int lineIdx,
const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
std::vector< SSG_basicFeature1D> jumpFeatures)
std::vector< SSG_basicFeature1D>& jumpFeatures)
{
//去除零点
std::vector< SVzNL3DPosition> vldPts;
@ -1775,13 +1775,14 @@ void sg_getLineJumpFeature_cornerMethod(
int pntIdx_2 = cornerFeatures[i+1].pntIdx;
//计算距离和跳变高度
double dist = abs(vldPts[pntIdx_1].pt3D.y - vldPts[pntIdx_2].pt3D.y);
double height = cornerFeatures[i + 1].forward_z - cornerFeatures[i].backward_z;
if ((dist < cornerPara.minEndingGap) && (height < -cornerPara.minEndingGap_z))
double height = abs(cornerFeatures[i + 1].forward_z - cornerFeatures[i].backward_z);
if ((dist < cornerPara.minEndingGap) && (height > cornerPara.minEndingGap_z))
{
SSG_basicFeature1D a_feature;
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
a_feature.jumpPos = vldPts[pntIdx_1].pt3D;
a_feature.jumpPos2D = { lineIdx, pntIdx_1 };
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_1].nPointIdx };
a_feature.featureValue = cornerFeatures[i].backward_z;
jumpFeatures.push_back(a_feature);
}
}
@ -1794,13 +1795,14 @@ void sg_getLineJumpFeature_cornerMethod(
int pntIdx_2 = cornerFeatures[i + 1].pntIdx;
//计算距离和跳变高度
double dist = abs(vldPts[pntIdx_1].pt3D.y - vldPts[pntIdx_2].pt3D.y);
double height = cornerFeatures[i + 1].forward_z - cornerFeatures[i].backward_z;
double height = abs(cornerFeatures[i + 1].forward_z - cornerFeatures[i].backward_z);
if ((dist < cornerPara.minEndingGap) && (height > cornerPara.minEndingGap_z))
{
SSG_basicFeature1D a_feature;
a_feature.featureType = LINE_FEATURE_L_JUMP_H2L;
a_feature.jumpPos = vldPts[pntIdx_2].pt3D;
a_feature.jumpPos2D = { lineIdx, pntIdx_2 };
a_feature.jumpPos2D = { lineIdx, vldPts[pntIdx_2].nPointIdx };
a_feature.featureValue = cornerFeatures[i + 1].forward_z;
jumpFeatures.push_back(a_feature);
}
}

244
sourceCode/SX_lapWeldDetection.cpp
View File

@ -23,12 +23,78 @@ void sx_lineDataR(
lineDataRT_vector(a_line, camPoseR, groundH);
}
SVzNL2DPoint getFootPoint(double x0, double y0, double k, double b)
{
double A = k;
double B = -1;
double C = b;
SVzNL2DPoint foot;
foot.x = (B * B * x0 - A * B * y0 - A * C) / (A * A + B * B);
foot.y = (-A * B * x0 + A * A * y0 - B * C) / (A * A + B * B);
return foot;
}
double getWinMeanZ(std::vector<SVzNL3DPoint>& points, int startIdx, int win)
{
int size = (int)points.size();
double sumZ = 0;
double sumSize = 0;
for (int i = 0; i < win; i++)
{
int idx = i + startIdx;
if (idx < size)
{
if (points[idx].z > 1e-4)
{
sumZ += points[idx].z;
sumSize++;
}
}
}
if (sumSize > 0)
sumZ = sumZ / (double)sumSize;
return sumZ;
}
//从焊缝的扫描点获取焊缝的起点和终点信息
void getWeldPoint(std::vector<SVzNL3DPoint>& a_weld_contour, int midPtNum, std::vector<SVzNL3DPoint>& a_weld)
{
if (a_weld_contour.size() == 0)
return;
//拟合直线
double k, b;
lineFitting(a_weld_contour, &k, &b);
//寻找起点和终点
SVzNL3DPoint startPt = a_weld_contour[0];
SVzNL3DPoint endPt = a_weld_contour.back();
SVzNL2DPoint foot_s = getFootPoint(startPt.x, startPt.y, k, b);
SVzNL2DPoint foot_e = getFootPoint(endPt.x, endPt.y, k, b);
double meanZ_s = getWinMeanZ(a_weld_contour, 0, 5);
double meanZ_e = getWinMeanZ(a_weld_contour, (int)a_weld_contour.size()-1-5, 5);
SVzNL3DPoint pt_0 = { foot_s.x, foot_s.y, meanZ_s };
SVzNL3DPoint pt_1 = { foot_e.x, foot_e.y, meanZ_e };
a_weld.push_back(pt_0);
double ratio = 1.0 / ((double)midPtNum + 1.0);
for (int i = 1; i <= midPtNum; i++)
{
SVzNL3DPoint a_pt;
a_pt.x = (double)i * ratio * (pt_1.x - pt_0.x) + pt_0.x;
a_pt.y = (double)i * ratio * (pt_1.y - pt_0.y) + pt_0.y;
a_pt.z = (double)i * ratio * (pt_1.z - pt_0.z) + pt_0.z;
a_weld.push_back(a_pt);
}
a_weld.push_back(pt_1);
}
//提取搭接焊缝
void sx_getLapWeldPostion(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
const SSG_cornerParam cornerPara,
SSG_treeGrowParam growParam,
SSX_lapWeldParam lapWeldParam,
SSG_planeCalibPara groundCalibPara,
std::vector<std::vector<SVzNL3DPoint>>& objOps,
int* errCode)
{
@ -42,26 +108,39 @@ void sx_getLapWeldPostion(
int linePtNum = (int)scanLines[0].size();
bool isGridData = true;
//垂直arc特征提取
//垂直跳变特征提取
std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_v;
for (int line = 0; line < lineNum; line++)
if ((keSX_ScanMode_V == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
{
if (line == 400)
int kkk = 1;
for (int line = 0; line < lineNum; line++)
{
if (line == 400)
int kkk = 1;
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
if (linePtNum != (int)lineData.size())
isGridData = false;
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
if (linePtNum != (int)lineData.size())
isGridData = false;
std::vector<SSG_basicFeature1D> a_line_features;
int dataSize = (int)lineData.size();
sg_getLineJumpFeature_cornerMethod(
&scanLines[line][0],
dataSize,
line,
cornerPara, //scale通常取bagH的1/4
a_line_features);
jumpFeatures_v.push_back(a_line_features);
std::vector<SSG_basicFeature1D> a_line_features;
int dataSize = (int)lineData.size();
sg_getLineJumpFeature_cornerMethod(
&scanLines[line][0],
dataSize,
line,
cornerPara, //scale通常取bagH的1/4
a_line_features);
//滤除地面
std::vector<SSG_basicFeature1D> vld_features;
for (int i = 0, i_max = a_line_features.size(); i < i_max; i++)
{
//将与地面形成的跳变去除
if (a_line_features[i].featureValue < (groundCalibPara.planeHeight - 0.25))
{
vld_features.push_back(a_line_features[i]);
}
}
jumpFeatures_v.push_back(vld_features);
}
}
if (false == isGridData)//数据不是网格格式
@ -88,55 +167,77 @@ void sx_getLapWeldPostion(
//水平arc特征提取
std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_h;
int lineNum_h = (int)hLines.size();
for (int line = 0; line < lineNum_h; line++)
if ((keSX_ScanMode_H == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
{
std::vector<SVzNL3DPosition>& lineData = hLines[line];
for (int line = 0; line < lineNum_h; line++)
{
std::vector<SVzNL3DPosition>& lineData = hLines[line];
std::vector<SSG_basicFeature1D> a_line_features;
int dataSize = (int)lineData.size();
sg_getLineJumpFeature_cornerMethod(
&hLines[line][0],
dataSize,
line,
cornerPara, //scale通常取bagH的1/4
a_line_features);
std::vector<SSG_basicFeature1D> a_line_features;
int dataSize = (int)lineData.size();
sg_getLineJumpFeature_cornerMethod(
&hLines[line][0],
dataSize,
line,
cornerPara, //scale通常取bagH的1/4
a_line_features);
//进行配对匹配
jumpFeatures_h.push_back(a_line_features);
//滤除地面
std::vector<SSG_basicFeature1D> vld_features;
for (int i = 0, i_max = a_line_features.size(); i < i_max; i++)
{
//将与地面形成的跳变去除
if (a_line_features[i].featureValue < (groundCalibPara.planeHeight - 0.25))
{
vld_features.push_back(a_line_features[i]);
}
}
jumpFeatures_h.push_back(vld_features);
}
}
//特征生长
//垂直方向特征生长（激光线方向）
std::vector<SSG_featureTree> v_trees;
for (int line = 0; line < lineNum; line++)
if ((keSX_ScanMode_V == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
{
bool isLastLine = false;
if (line == lineNum - 1)
isLastLine = true;
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
sg_lineFeaturesGrowing(
line,
isLastLine,
a_lineJumpFeature,
v_trees,
growParam);
for (int line = 0; line < lineNum; line++)
{
bool isLastLine = false;
if (line == lineNum - 1)
isLastLine = true;
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
if (a_lineJumpFeature.size() > 0)
int kkk = 1;
if (line == 400)
int kkk = 1;
sg_lineFeaturesGrowing(
line,
isLastLine,
a_lineJumpFeature,
v_trees,
growParam);
}
}
//水平方向特征生长（扫描运动方向）
std::vector<SSG_featureTree> h_trees;
for (int line = 0; line < lineNum_h; line++)
if ((keSX_ScanMode_H == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
{
if (line == 650)
int kkk = 1;
bool isLastLine = false;
if (line == lineNum_h - 1)
isLastLine = true;
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
sg_lineFeaturesGrowing(
line,
isLastLine,
a_lineJumpFeature,
h_trees,
growParam);
for (int line = 0; line < lineNum_h; line++)
{
if (line == 650)
int kkk = 1;
bool isLastLine = false;
if (line == lineNum_h - 1)
isLastLine = true;
std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
sg_lineFeaturesGrowing(
line,
isLastLine,
a_lineJumpFeature,
h_trees,
growParam);
}
}
//tree信息
@ -159,6 +260,8 @@ void sx_getLapWeldPostion(
a_treeInfo.eLineIdx = a_vTree->eLineIdx;
a_treeInfo.roi = a_vTree->roi;
allTreesInfo.push_back(a_treeInfo);
std::vector<SVzNL3DPoint> a_weld_contour;
//在原始点云上标记，同时有Mask上标记
for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
{
@ -172,8 +275,13 @@ void sx_getLapWeldPostion(
scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx &= 0xffff;
scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx += hvTreeIdx << 16;
}
a_weld_contour.push_back(scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D);
}
}
std::vector<SVzNL3DPoint> a_weld;
getWeldPoint(a_weld_contour, lapWeldParam.weldRefPoints, a_weld);
if (a_weld.size() > 0)
objOps.push_back(a_weld);
hvTreeIdx++;
}
int hTreeStart = hvTreeIdx;
@ -193,6 +301,8 @@ void sx_getLapWeldPostion(
a_treeInfo.roi.top = a_hTree->roi.left;
a_treeInfo.roi.bottom = a_hTree->roi.right;
allTreesInfo.push_back(a_treeInfo);
std::vector<SVzNL3DPoint> a_weld_contour;
//在原始点云上标记，同时有Mask上标记
for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
{
@ -206,11 +316,41 @@ void sx_getLapWeldPostion(
scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx &= 0xffff;
scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += hvTreeIdx << 16;
}
a_weld_contour.push_back(scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D);
}
}
std::vector<SVzNL3DPoint> a_weld;
getWeldPoint(a_weld_contour, lapWeldParam.weldRefPoints, a_weld);
if (a_weld.size() > 0)
objOps.push_back(a_weld);
hvTreeIdx++;
}
int hvTreeSize = hvTreeIdx;
//将数据重新投射回原来的坐标系，以保持手眼标定结果正确
for (int i = 0; i < lineNum; i++)
sx_lineDataR(scanLines[i], groundCalibPara.invRMatrix, -1);
//将检测结果重新投射回原来的坐标系
for (int i = 0, i_max = (int)objOps.size(); i < i_max; i++)
{
std::vector<SVzNL3DPoint>& a_weld = objOps[i];
for (int j = 0, j_max = a_weld.size(); j < j_max; j++)
{
double x = a_weld[j].x * groundCalibPara.invRMatrix[0] +
a_weld[j].y * groundCalibPara.invRMatrix[1] +
a_weld[j].z * groundCalibPara.invRMatrix[2];
double y = a_weld[j].x * groundCalibPara.invRMatrix[3] +
a_weld[j].y * groundCalibPara.invRMatrix[4] +
a_weld[j].z * groundCalibPara.invRMatrix[5];
double z = a_weld[j].x * groundCalibPara.invRMatrix[6] +
a_weld[j].y * groundCalibPara.invRMatrix[7] +
a_weld[j].z * groundCalibPara.invRMatrix[8];
a_weld[j].x = x;
a_weld[j].y = y;
a_weld[j].z = z;
}
}
//输出结果
}

8
sourceCode/SX_lapWeldDetection_Export.h
View File

@ -10,11 +10,18 @@
#include <vector>
#include <opencv2/opencv.hpp>
typedef enum
{
keSX_ScanMode_V = 0, //激光线垂直焊缝扫描
keSX_ScanMode_H, //激光线平行焊缝扫描
keSX_ScanMode_Both, //既有垂直扫描，也有水平扫描
} ESX_WeldScanMode;
typedef struct
{
double lapHeight;//搭接厚度
double weldMinLen; //最小焊缝长度，用于过滤可能的虚假焊缝
int weldRefPoints; //输出的直线焊缝的参考点，默认是2个（起点和终点）
ESX_WeldScanMode scanMode;
}SSX_lapWeldParam;
//计算一个平面调平参数。
@ -35,6 +42,7 @@ SG_APISHARED_EXPORT void sx_getLapWeldPostion(
const SSG_cornerParam cornerPara,
SSG_treeGrowParam growParam,
SSX_lapWeldParam lapWeldParam,
SSG_planeCalibPara groundCalibPara,
std::vector<std::vector<SVzNL3DPoint>>& objOps,
int* errCode);