搭接焊缝检测算法提交

lapWeldDetection_test/lapWeldDetection_test.cpp

@@ -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 };
+				if (LINE_FEATURE_L_JUMP_H2L == featureType_v)
-				size = 5;
+				{
-			}
+					rgb = { 255, 97, 0 };
-			else if (LINE_FEATURE_PEAK_TOP == featureType_h)
+					size = 5;
-			{
+				}
-				rgb = { 97, 255, 0 };
+				else if (LINE_FEATURE_L_JUMP_L2H == featureType_v)
-				size = 5;
+				{
+					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.lapHeight = 1.5;
-			lapWeldParam.weldMinLen = 2.0;
+			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

sourceCode/SG_baseAlgo_Export.h

@@ -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,

sourceCode/SG_baseFunc.cpp

@@ -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;
 }

sourceCode/SG_lineFeature.cpp

@@ -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;
+				double height = abs(cornerFeatures[i + 1].forward_z - cornerFeatures[i].backward_z);
-				if ((dist < cornerPara.minEndingGap) && (height < -cornerPara.minEndingGap_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);
 				}
 			}

sourceCode/SX_lapWeldDetection.cpp

@@ -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)
+		for (int line = 0; line < lineNum; line++)
-			int kkk = 1;
+		{
+			if (line == 400)
+				int kkk = 1;
 
-		std::vector<SVzNL3DPosition>& lineData = scanLines[line];
+			std::vector<SVzNL3DPosition>& lineData = scanLines[line];
-		if (linePtNum != (int)lineData.size())
+			if (linePtNum != (int)lineData.size())
-			isGridData = false;
+				isGridData = false;
 
-		std::vector<SSG_basicFeature1D> a_line_features;
+			std::vector<SSG_basicFeature1D> a_line_features;
-		int dataSize = (int)lineData.size();
+			int dataSize = (int)lineData.size();
-		sg_getLineJumpFeature_cornerMethod(
+			sg_getLineJumpFeature_cornerMethod(
-			&scanLines[line][0],
+				&scanLines[line][0],
-			dataSize,
+				dataSize,
-			line,
+				line,
-			cornerPara, //scale通常取bagH的1/4
+				cornerPara, //scale通常取bagH的1/4
-			a_line_features);
+				a_line_features);
-		jumpFeatures_v.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_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;
+			std::vector<SSG_basicFeature1D> a_line_features;
-		int dataSize = (int)lineData.size();
+			int dataSize = (int)lineData.size();
-		sg_getLineJumpFeature_cornerMethod(
+			sg_getLineJumpFeature_cornerMethod(
-			&hLines[line][0],
+				&hLines[line][0],
-			dataSize,
+				dataSize,
-			line,
+				line,
-			cornerPara, //scale通常取bagH的1/4
+				cornerPara, //scale通常取bagH的1/4
-			a_line_features);
+				a_line_features);
 
-		//进行配对匹配
+			//滤除地面
-		jumpFeatures_h.push_back(a_line_features);
+			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;
+		for (int line = 0; line < lineNum; line++)
-		if (line == lineNum - 1)
+		{
-			isLastLine = true;
+			bool isLastLine = false;
-		std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
+			if (line == lineNum - 1)
-		sg_lineFeaturesGrowing(
+				isLastLine = true;
-			line,
+			std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
-			isLastLine,
+			if (a_lineJumpFeature.size() > 0)
-			a_lineJumpFeature,
+				int kkk = 1;
-			v_trees,
+			if (line == 400)
-			growParam);
+				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)
+		for (int line = 0; line < lineNum_h; line++)
-			int kkk = 1;
+		{
-		bool isLastLine = false;
+			if (line == 650)
-		if (line == lineNum_h - 1)
+				int kkk = 1;
-			isLastLine = true;
+			bool isLastLine = false;
-		std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
+			if (line == lineNum_h - 1)
-		sg_lineFeaturesGrowing(
+				isLastLine = true;
-			line,
+			std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
-			isLastLine,
+			sg_lineFeaturesGrowing(
-			a_lineJumpFeature,
+				line,
-			h_trees,
+				isLastLine,
-			growParam);
+				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
 }

sourceCode/SX_lapWeldDetection_Export.h

@@ -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);