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jerryzeng 2025-06-08 11:10:24 +08:00
parent 1e55d01f11
commit d68fd8f7da
10 changed files with 3609 additions and 0 deletions
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1
.gitignore vendored
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**/ipch
**/.vs
*.db
*.png
*.aps
*.user
*.filters

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SieveNodeDetection_test/SieveNodeDetection_test.cpp Normal file
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157
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fireBrickPositioning_test/fireBrickPositioning_test.cpp Normal file
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// fireBrickPositioning_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 "SG_fireBrick_Export.h"
#define DATA_VER_OLD 0
#define DATA_VER_NEW 1
#define DATA_VER_FROM_CUSTOM 2
#define VZ_LASER_LINE_PT_MAX_NUM 4096
SVzNLXYZRGBDLaserLine* vzReadLaserScanPointFromFile_XYZRGB(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;
SVzNLXYZRGBDLaserLine* _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 = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (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 = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
if (scanLineNum)
*scanLineNum = lines;
}
if (_scanLines == NULL)
return NULL;
int ptNum = 0;
int lineIdx = -1;
int ptIdx = 0;
SVzNLPointXYZRGBA* 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 = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * ptNum);
memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum);
}
else
p3DPoint = NULL;
_scanLines[lineIdx].nPointCnt = 0;
_scanLines[lineIdx].nTimeStamp = timeStamp;
_scanLines[lineIdx].p3DPoint = p3DPoint;
}
else if (0 == strncmp("{", linedata.c_str(), 1))
{
float X, Y, Z;
int imageY = 0;
float leftX, leftY;
float rightX, rightY;
int r = -1, g = -1, b = -1;
//sscanf(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}-{%d,%d,%d}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY, &r, &g, &b);
int id = _scanLines[lineIdx].nPointCnt;
if (id < ptNum)
{
p3DPoint[id].x = X;
p3DPoint[id].y = Y;
p3DPoint[id].z = Z;
p3DPoint[id].nRGB = 0;
_scanLines[lineIdx].nPointCnt = 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 = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
_scanLines[lineIdx].nPointCnt = 0;
_scanLines[lineIdx].nTimeStamp = timeStamp;
_scanLines[lineIdx].p3DPoint = 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].nPointCnt;
if (id < VZ_LASER_LINE_PT_MAX_NUM)
{
p3DPoint[id].x = X;
p3DPoint[id].y = Y;
p3DPoint[id].z = Z;
p3DPoint[id].nRGB = 0;
_scanLines[lineIdx].nPointCnt = id + 1;
}
}
}
}
inputFile.close();
return _scanLines;
}
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;
}
SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F)
{
int min_y = 100000000;
int max_y = -10000000;
for (int line = 0; line < lineNum; line++)
{
for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
{
SVzNLPointXYZRGBA* a_pt = &laser3DPoints[line].p3DPoint[i];
if (a_pt->z > 1e-4)
{
a_pt->nRGB = (int)(_F * a_pt->y / a_pt->z + 2000 + 0.5);
max_y = max_y < (int)a_pt->nRGB ? (int)a_pt->nRGB : max_y;
min_y = min_y > (int)a_pt->nRGB ? (int)a_pt->nRGB : min_y;
}
}
}
if (min_y == 100000000)
return NULL;
int pt_counter = max_y - min_y + 1;
SVzNL3DLaserLine* gridData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
memset(gridData, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
for (int line = 0; line < lineNum; line++)
{
gridData[line].nPositionCnt = pt_counter;
gridData[line].nTimeStamp = laser3DPoints[line].nTimeStamp;
gridData[line].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * pt_counter);
memset(gridData[line].p3DPosition, 0, sizeof(SVzNL3DPosition) * pt_counter);
for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
{
SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
if (a_pt.z > 1e-4)
{
int pt_id = a_pt.nRGB - min_y;
gridData[line].p3DPosition[pt_id].pt3D.x = a_pt.x;
gridData[line].p3DPosition[pt_id].pt3D.y = a_pt.y;
gridData[line].p3DPosition[pt_id].pt3D.z = a_pt.z;
}
}
}
return gridData;
}
void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
float lineV, int dataCalib, int maxTimeStamp, int clockPerSecond)
{
std::ofstream sw(fileName);
sw << "LineNum:" << lineNum << std::endl;
sw << "DataType: 0" << std::endl;
sw << "ScanSpeed:" << lineV << std::endl;
sw << "PointAdjust: 1" << std::endl;
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << 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();
}
int main()
{
#if 0
//将数据转换成栅格格式格式
const double f = 1729.0;
char _scan_file[256];
int lineNum = 0;
float lineV = 0.0f;
int dataCalib = 0;
int maxTimeStamp = 0;
int clockPerSecond = 0;
sprintf_s(_scan_file, "E:\\上古\\耐火砖\\耐火砖3D扫描数据\\1.txt");
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
if (laser3DPoints_RGBD == NULL)
return 0;
double _F = 1729.0;; //f
SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F);
char _out_file[256];
sprintf_s(_out_file, "E:\\上古\\耐火砖\\耐火砖3D扫描数据\\1_grid.txt");
_outputScanDataFile_self(_out_file, gridData, lineNum,
lineV, dataCalib, maxTimeStamp, clockPerSecond);
#endif
char _scan_file[256];
int lineNum = 0;
float lineV = 0.0f;
int dataCalib = 0;
int maxTimeStamp = 0;
int clockPerSecond = 0;
sprintf_s(_scan_file, "E:\\上古\\耐火砖\\耐火砖3D扫描数据\\1_grid.txt");
SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
ISGFireBrick* pFireBrick = nullptr;
if (false == SGCreateFireBrick(0.5, &pFireBrick))
{
return -1;
}
printf("Ver %s\n", pFireBrick->GetVersion());
double camPose[9] = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0 };
int errCode = 0;
for (int i = 0; i < lineNum; i++)
{
pFireBrick->sgScanLineProc(&laser3DPoints[i], camPose, &errCode);
if (errCode)
{
printf("Error! errCode= %d\n", errCode);
return -1;
}
}
std::vector<SSG_6AxisAttitude> brickPoses;
errCode = 0;
pFireBrick->sgGetBrickPose(laser3DPoints, lineNum, brickPoses, &errCode);
}

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// motorStatorPosition_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 "motorStatorPosition_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
{
SVzNL3DPoint _r_pt;
_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
return _r_pt;
}
#define DATA_VER_OLD 0
#define DATA_VER_NEW 1
#define DATA_VER_FROM_CUSTOM 2
#define VZ_LASER_LINE_PT_MAX_NUM 4096
SVzNLXYZRGBDLaserLine* vzReadLaserScanPointFromFile_XYZRGB(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;
SVzNLXYZRGBDLaserLine* _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 = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (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 = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
if (scanLineNum)
*scanLineNum = lines;
}
if (_scanLines == NULL)
return NULL;
int ptNum = 0;
int lineIdx = -1;
int ptIdx = 0;
SVzNLPointXYZRGBA* 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 = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * ptNum);
memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum);
}
else
p3DPoint = NULL;
_scanLines[lineIdx].nPointCnt = 0;
_scanLines[lineIdx].nTimeStamp = timeStamp;
_scanLines[lineIdx].p3DPoint = p3DPoint;
}
else if (0 == strncmp("{", linedata.c_str(), 1))
{
float X, Y, Z;
int imageY = 0;
float leftX, leftY;
float rightX, rightY;
int r = -1, g = -1, b = -1;
sscanf_s(linedata.c_str(), "{%f,%f,%f,%f,%f,%f }-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY);
int id = _scanLines[lineIdx].nPointCnt;
if (id < ptNum)
{
p3DPoint[id].x = X;
p3DPoint[id].y = Y;
p3DPoint[id].z = Z;
p3DPoint[id].nRGB = 0;
_scanLines[lineIdx].nPointCnt = 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 = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
_scanLines[lineIdx].nPointCnt = 0;
_scanLines[lineIdx].nTimeStamp = timeStamp;
_scanLines[lineIdx].p3DPoint = 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].nPointCnt;
if (id < VZ_LASER_LINE_PT_MAX_NUM)
{
p3DPoint[id].x = X;
p3DPoint[id].y = Y;
p3DPoint[id].z = Z;
p3DPoint[id].nRGB = 0;
_scanLines[lineIdx].nPointCnt = id + 1;
}
}
}
}
inputFile.close();
return _scanLines;
}
SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F, double* camPoseR, int* outLineNum)
{
int min_y = 100000000;
int max_y = -10000000;
int validStartLine = -1;
int validEndLine = -1;
for (int line = 0; line < lineNum; line++)
{
if (laser3DPoints[line].nPointCnt > 0)
{
if (validStartLine < 0)
{
validStartLine = line;
validEndLine = line;
}
else
validEndLine = line;
}
for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
{
SVzNLPointXYZRGBA* a_pt = &laser3DPoints[line].p3DPoint[i];
if (a_pt->z > 1e-4)
{
double v = _F * a_pt->y / a_pt->z + 2000;
a_pt->nRGB = (int)(v + 0.5);
max_y = max_y < (int)a_pt->nRGB ? (int)a_pt->nRGB : max_y;
min_y = min_y > (int)a_pt->nRGB ? (int)a_pt->nRGB : min_y;
}
}
}
if (min_y == 100000000)
return NULL;
int vldLineNum = validEndLine - validStartLine + 1;
*outLineNum = vldLineNum;
int pt_counter = max_y - min_y + 1;
SVzNL3DLaserLine* gridData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
memset(gridData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
for (int line = validStartLine; line <= validEndLine; line++)
{
int gridLine = line - validStartLine;
gridData[gridLine].nPositionCnt = pt_counter;
gridData[gridLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
gridData[gridLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * pt_counter);
memset(gridData[gridLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * pt_counter);
for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
{
SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
if (a_pt.z > 1e-4)
{
int pt_id = a_pt.nRGB - min_y;
SVzNL3DPoint tmp_pt = { a_pt.x, a_pt.y, a_pt.z };
SVzNL3DPoint r_pt = _ptRotate(tmp_pt, camPoseR);
gridData[gridLine].p3DPosition[pt_id].pt3D.x = r_pt.x;
gridData[gridLine].p3DPosition[pt_id].pt3D.y = r_pt.y;
gridData[gridLine].p3DPosition[pt_id].pt3D.z = r_pt.z;
}
}
}
return gridData;
}
void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
float lineV, int maxTimeStamp, int clockPerSecond)
{
std::ofstream sw(fileName);
sw << "LineNum:" << lineNum << std::endl;
sw << "DataType: 0" << std::endl;
sw << "ScanSpeed:" << lineV << std::endl;
sw << "PointAdjust: 1" << std::endl;
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << 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();
}
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;
}
typedef struct
{
int r;
int g;
int b;
}SG_color;
void _outputScanDataFile_RGBD_obj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
float lineV, int maxTimeStamp, int clockPerSecond, SSG_boxCarDimension* dimen)
{
std::ofstream sw(fileName);
int realLines = lineNum;
if (dimen)
realLines += 1;
sw << "LineNum:" << realLines << std::endl;
sw << "DataType: 0" << std::endl;
sw << "ScanSpeed:" << lineV << std::endl;
sw << "PointAdjust: 1" << std::endl;
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << 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 nTimeStamp = 0;
for (int line = 0; line < lineNum; line++)
{
sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
nTimeStamp = scanData[line].nTimeStamp;
for (int i = 0; i < scanData[line].nPositionCnt; i++)
{
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
if (pt3D->pt3D.z < 1e-4)
continue;
int vType = pt3D->nPointIdx & 0xff;
int hType = vType >> 4;
int objId = (pt3D->nPointIdx >> 8) & 0xff;
vType = vType & 0x0f;
if (LINE_FEATURE_RIGHT_ANGLE_HR == vType)
{
rgb = { 255, 97, 0 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_HF == vType)
{
rgb = { 255, 255, 0 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_RH == vType)
{
rgb = { 255, 0, 255 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_FH == vType)
{
rgb = { 160, 82, 45 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_HR == hType)
{
rgb = { 0, 0, 255 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_HF == hType)
{
rgb = { 0, 255, 255 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_RH == hType)
{
rgb = { 0, 255, 0 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_FH == hType)
{
rgb = { 85, 107, 47 };
size = 3;
}
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 (dimen)
{
int ptNum = 4;
sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << ptNum << std::endl;
for (int i = 0; i < 4; i++)
{
rgb = { 255, 0, 0 };
size = 25;
float x = (float)dimen->endings[i].x;
float y = (float)dimen->endings[i].y;
float z = (float)dimen->endings[i].z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
if (i == 0)
{
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
}
}
}
sw.close();
}
void _rotateCloudPts(SVzNL3DLaserLine* scanData, int lineNum, double matrix3d[9], std::vector<std::vector< SVzNL3DPosition>>& rotateLines, SVzNLRangeD* rx_range, SVzNLRangeD* ry_range)
{
rx_range->min = 0;
rx_range->max = -1;
ry_range->min = 0;
ry_range->max = -1;
for (int line = 0; line < lineNum; line++)
{
std::vector< SVzNL3DPosition> linePts;
for (int i = 0; i < scanData[line].nPositionCnt; i++)
{
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
if (pt3D->pt3D.z < 1e-4)
continue;
SVzNL3DPosition r_pt;
r_pt.pt3D = _ptRotate(pt3D->pt3D, matrix3d);
r_pt.nPointIdx = pt3D->nPointIdx;
if (rx_range->max < rx_range->min)
{
rx_range->min = r_pt.pt3D.x;
rx_range->max = r_pt.pt3D.x;
}
else
{
if (rx_range->min > r_pt.pt3D.x)
rx_range->min = r_pt.pt3D.x;
if (rx_range->max < r_pt.pt3D.x)
rx_range->max = r_pt.pt3D.x;
}
if (ry_range->max < ry_range->min)
{
ry_range->min = r_pt.pt3D.y;
ry_range->max = r_pt.pt3D.y;
}
else
{
if (ry_range->min > r_pt.pt3D.y)
ry_range->min = r_pt.pt3D.y;
if (ry_range->max < r_pt.pt3D.y)
ry_range->max = r_pt.pt3D.y;
}
linePts.push_back(r_pt);
}
rotateLines.push_back(linePts);
}
}
void _XOYprojection(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines,
const double x_scale, const double y_scale, const SVzNLRangeD x_range, const SVzNLRangeD y_range)
{
int x_skip = 16;
int y_skip = 16;
cv::Vec3b rgb = cv::Vec3b(0, 0, 0);
cv::Vec3b 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;
for (int line = 0; line < dataLines.size(); line++)
{
std::vector< SVzNL3DPosition>& a_line = dataLines[line];
for (int i = 0; i < a_line.size(); i++)
{
SVzNL3DPosition* pt3D = &a_line[i];
if (pt3D->pt3D.z < 1e-4)
continue;
int vType = pt3D->nPointIdx & 0xff;
int hType = vType >> 4;
int objId = (pt3D->nPointIdx >> 8) & 0xff;
vType = vType & 0x0f;
if (LINE_FEATURE_RIGHT_ANGLE_HR == vType)
{
rgb = { 255, 97, 0 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_HF == vType)
{
rgb = { 255, 255, 0 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_RH == vType)
{
rgb = { 255, 0, 255 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_FH == vType)
{
rgb = { 160, 82, 45 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_HR == hType)
{
rgb = { 0, 0, 255 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_HF == hType)
{
rgb = { 0, 255, 255 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_RH == hType)
{
rgb = { 0, 255, 0 };
size = 3;
}
else if (LINE_FEATURE_RIGHT_ANGLE_FH == hType)
{
rgb = { 85, 107, 47 };
size = 3;
}
else
{
rgb = { 200, 200, 200 };
size = 1;
}
double x = pt3D->pt3D.x;
double y = pt3D->pt3D.y;
int px = (int)((x - x_range.min) / x_scale + x_skip);
int py = (int)((y - y_range.min) / y_scale + y_skip);
if (size == 1)
img.at<cv::Vec3b>(py, px) = cv::Vec3b(rgb[2], rgb[1], rgb[0]);
else
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
}
}
}
void EulerRpyToRotation1(double rpy[3], double matrix3d[9]) {
double cos0 = cos(rpy[0] * PI / 180);
double sin0 = sin(rpy[0] * PI / 180);
double cos1 = cos(rpy[1] * PI / 180);
double sin1 = sin(rpy[1] * PI / 180);
double cos2 = cos(rpy[2] * PI / 180);
double sin2 = sin(rpy[2] * PI / 180);
matrix3d[0] = cos2 * cos1;
matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0;
matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0;
matrix3d[3] = sin2 * cos1;
matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0;
matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0;
matrix3d[6] = -sin1;
matrix3d[7] = cos1 * sin0;
matrix3d[8] = cos1 * cos0;
return;
}
void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, double rpy[3])
{
//统计X和Y的范围
std::vector<std::vector< SVzNL3DPosition>> scan_lines;
SVzNLRangeD x_range = { 0, -1 };
SVzNLRangeD y_range = { 0, -1 };
for (int line = 0; line < lineNum; line++)
{
std::vector< SVzNL3DPosition> a_line;
for (int i = 0; i < scanData[line].nPositionCnt; i++)
{
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
if (pt3D->pt3D.z < 1e-4)
continue;
a_line.push_back(*pt3D);
if (x_range.max < x_range.min)
{
x_range.min = pt3D->pt3D.x;
x_range.max = pt3D->pt3D.x;
}
else
{
if (x_range.min > pt3D->pt3D.x)
x_range.min = pt3D->pt3D.x;
if (x_range.max < pt3D->pt3D.x)
x_range.max = pt3D->pt3D.x;
}
if (y_range.max < y_range.min)
{
y_range.min = pt3D->pt3D.y;
y_range.max = pt3D->pt3D.y;
}
else
{
if (y_range.min > pt3D->pt3D.y)
y_range.min = pt3D->pt3D.y;
if (y_range.max < pt3D->pt3D.y)
y_range.max = pt3D->pt3D.y;
}
}
scan_lines.push_back(a_line);
}
int imgRows = 992;
int imgCols = 1056;
double y_rows = 960.0;
double x_cols = 1024.0;
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
//计算投影比例
double x_scale = (x_range.max - x_range.min) / x_cols;
double y_scale = (y_range.max - y_range.min) / y_rows;
_XOYprojection(img, scan_lines, x_scale, y_scale, x_range, y_range);
//旋转视角显示
double matrix3d[9];
EulerRpyToRotation1(rpy, matrix3d);
std::vector<std::vector< SVzNL3DPosition>> rotateLines;
SVzNLRangeD rx_range, ry_range;
_rotateCloudPts(scanData, lineNum, matrix3d, rotateLines, &rx_range, &ry_range);
cv::Mat r_img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
//计算投影比例
double rx_scale = (rx_range.max - rx_range.min) / x_cols;
double ry_scale = (ry_range.max - ry_range.min) / y_rows;
_XOYprojection(r_img, rotateLines, rx_scale, ry_scale, rx_range, ry_range);
cv::Mat dis_img;
cv::hconcat(img, r_img, dis_img);
cv::imwrite(fileName, dis_img);
return;
}
#define TEST_GROUP 1
int main()
{
#if 0
//将数据转换成栅格格式格式
char _scan_dir[256];
int lineNum = 0;
float lineV = 0.0f;
int dataCalib = 0;
int maxTimeStamp = 0;
int clockPerSecond = 0;
sprintf_s(_scan_dir, "E:\\上古\\电机定子\\");
char _scan_file[256];
double _F = 1300; //f
for (int i = 1; i <= 1; i++)
{
sprintf_s(_scan_file, "%sLaserLine%d.txt", _scan_dir, i);
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
if (laser3DPoints_RGBD == NULL)
continue;
double camPoseR[9] = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0 };
int vldLineNum = 0;
SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F, camPoseR, &vldLineNum);
char _out_file[256];
sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i);
_outputScanDataFile_self(_out_file, gridData, vldLineNum,
lineV, maxTimeStamp, clockPerSecond);
printf("%s: convert done!\n", _scan_file);
}
#else
const char* dataPath[TEST_GROUP] = {
"E:\\上古\\电机定子\\", //0
};
SVzNLRange fileIdx[TEST_GROUP] = {
{1,1} };
double camPoseR[9] = {
1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0 };
SG_motorStatorPositionParam algoParam;
algoParam.statorOuterD = 85.0;
algoParam.statorInnerD = 50.0;
char _scan_file[256];
int endGroup = TEST_GROUP - 1;
for (int grp = 0; grp <= endGroup; grp++)
{
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
//fidx = 4;
int lineNum = 0;
float lineV = 0.0f;
int dataCalib = 0;
int maxTimeStamp = 0;
int clockPerSecond = 0;
sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
if (laser3DPoints == NULL)
continue;
long t1 = GetTickCount64();
int errCode = 0;
std::vector<SSG_motorStatorPosition> resultOpPositions;
sg_motorStatorPosition(
laser3DPoints,
lineNum,
algoParam,
&errCode,
resultOpPositions);
long t2 = GetTickCount64();
char _dbg_file[256];
#if 1
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
_outputScanDataFile_RGBD_obj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, NULL);
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx);
cv::String imgName(_dbg_file);
double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
_genXOYProjectionImage(imgName, laser3DPoints, lineNum, rpy);
#endif
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
}
}
#endif
printf("all done!\n");
}

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motorStatorPosition_test/motorStatorPosition_test.vcxproj Normal file
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