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修正对opencv320版本的兼容问题

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jerryzeng 2025-09-15 21:22:32 +08:00
parent 94e8a1efe8
commit da7d2a16cf
6 changed files with 109 additions and 43 deletions
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18
bagPositioning/bagPositioning.vcxproj
View File

@ -78,12 +78,12 @@
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<LinkIncremental>true</LinkIncremental>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<LinkIncremental>false</LinkIncremental>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
@ -128,14 +128,15 @@
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableUAC>false</EnableUAC>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world480d.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320d.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@ -148,7 +149,8 @@
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
@ -156,8 +158,8 @@
<OptimizeReferences>true</OptimizeReferences>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableUAC>false</EnableUAC>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world480.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemGroup>

72
bagPositioning_test/bagPositioning_test.cpp
View File

@ -715,6 +715,21 @@ SSG_planeCalibPara _readCalibPara(char* fileName)
return planePara;
}
void _outputObjResult(char* fileName, std::vector<SSG_peakRgnInfo>& objOps)
{
std::ofstream sw(fileName);
char dataStr[250];
int objSize = (int)objOps.size();
for (int i = 0; i < objSize; i++)
{
sw << "obj_" << i << std::endl;
sprintf_s(dataStr, 250, " %g, %g, %g, %g", objOps[i].centerPos.x, objOps[i].centerPos.y, objOps[i].centerPos.z, objOps[i].centerPos.z_yaw);
sw << dataStr << std::endl;
}
sw.close();
}
void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
float lineV, int maxTimeStamp, int clockPerSecond)
{
@ -2511,7 +2526,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData,
#define TEST_COMPUTE_GRASP_POINT 1
#define TEST_COMPUTE_CALIB_PARA 0
#define TEST_GROUP 27
#define TEST_GROUP 28
#define TEST_TOP_VIEW_GROUP (TEST_GROUP - 8)
#define TEST_TOP_ORIEN_GROUP (TEST_GROUP - 6)
int main()
@ -2655,22 +2670,23 @@ int main()
"F:\\ShangGu\\纸箱拆垛数据\\380×480mm纸箱RGB点云及2D图像\\", //16
"F:\\ShangGu\\纸箱拆垛数据\\380×580mm纸箱RGB点云及2d图像\\", //17
"F:\\ShangGu\\纸箱拆垛数据\\480×580mm纸箱rgb点云及2d图像\\", //18
"F:\\ShangGu\\编织袋数据\\科一现场\\", //19
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //19
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //20
"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //21
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //22
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //23
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //24
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //25
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //26
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //20
"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //21
"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //22
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //23
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //24
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //25
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //26
"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //27
};
SVzNLRange fileIdx[TEST_GROUP] = {
{0,176},{1,200},{1,166},{122,141},{1,65},
{1,29},{108,135},{0,200}, {1,200}, {1,12},
{2,4}, {1,5}, {1,1}, {1,3}, {11,11},
{5,22},{1, 15},{1,15}, {1, 15},
{5,22},{1, 15},{1,15}, {1, 15},{1,2},
{1,21},{1,28},
{3,3}, {1,51}, {4,83}, {1,74}, {1,61}, {1,84}
};
@ -2694,7 +2710,7 @@ int main()
SG_bagPositionParam algoParam;
int endGroup = TEST_GROUP - 1;
for (int grp = 17; grp <= 18; grp++)
for (int grp = 19; grp <= 19; grp++)
{
if (grp < 10)
{
@ -2792,7 +2808,19 @@ int main()
algoParam.growParam.minLTypeTreeLen = 50.0; //mm
algoParam.growParam.minVTypeTreeLen = 50.0; //mm
}
else if ( (grp >= 19) && (grp <= 20))
else if (grp == 19) //纸箱拆垛数据\vizum数据
{
algoParam.bagParam.bagL = 420; //袋子长65cm
algoParam.bagParam.bagW = 320; //袋子宽40cm
algoParam.bagParam.bagH = 70; //袋子高16cm
algoParam.growParam.maxLineSkipNum = 5;
algoParam.growParam.yDeviation_max = 20.0;
algoParam.growParam.maxSkipDistance = 20.0;
algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
algoParam.growParam.minLTypeTreeLen = 50.0; //mm
algoParam.growParam.minVTypeTreeLen = 50.0; //mm
}
else if ( (grp >= 20) && (grp <= 21))
{
algoParam.bagParam.bagL = 750; //袋子长65cm
algoParam.bagParam.bagW = 450; //袋子宽40cm
@ -2915,13 +2943,26 @@ int main()
algoParam.cornerParam.jumpCornerTh_1 = 60;
algoParam.cornerParam.jumpCornerTh_2 = 15;
}
else if ( grp == 19)
else if (grp == 19)
{
char calibFile[250];
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\科一现场\\ground_calib_para.txt");
poseCalibPara = _readCalibPara(calibFile);
algoParam.cornerParam.cornerTh = 45; //45度角
algoParam.cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
algoParam.cornerParam.minEndingGap_z = 40; // algoParam.bagParam.bagH / 4;
algoParam.cornerParam.jumpCornerTh_1 = 60;
algoParam.cornerParam.jumpCornerTh_2 = 15;
}
else if ( grp == 20)
{
char calibFile[250];
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
poseCalibPara = _readCalibPara(calibFile);
}
else if (grp == 20)
else if (grp == 21)
{
char calibFile[250];
sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
@ -2997,7 +3038,8 @@ int main()
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
_outputScanDataFile_RGBD_obj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, objOps);
sprintf_s(_dbg_file, "%sresult\\obj%d_result.txt", dataPath[grp], fidx);
_outputObjResult(_dbg_file, objOps);
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 }; //

14
bagPositioning_test/bagPositioning_test.vcxproj
View File

@ -120,13 +120,14 @@
<SDLCheck>true</SDLCheck>
<PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;</AdditionalIncludeDirectories>
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
</ClCompile>
<Link>
<SubSystem>Console</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world480d.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320d.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@ -137,15 +138,16 @@
<SDLCheck>true</SDLCheck>
<PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
<ConformanceMode>true</ConformanceMode>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;</AdditionalIncludeDirectories>
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
</ClCompile>
<Link>
<SubSystem>Console</SubSystem>
<EnableCOMDATFolding>true</EnableCOMDATFolding>
<OptimizeReferences>true</OptimizeReferences>
<GenerateDebugInformation>true</GenerateDebugInformation>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world480.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemGroup>

18
baseAlgorithm/baseAlgorithm.vcxproj
View File

@ -78,12 +78,12 @@
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<LinkIncremental>true</LinkIncremental>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<LinkIncremental>false</LinkIncremental>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
@ -128,14 +128,15 @@
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableUAC>false</EnableUAC>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world480d.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320d.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
@ -148,7 +149,8 @@
<ConformanceMode>true</ConformanceMode>
<PrecompiledHeader>NotUsing</PrecompiledHeader>
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
</ClCompile>
<Link>
<SubSystem>Windows</SubSystem>
@ -156,8 +158,8 @@
<OptimizeReferences>true</OptimizeReferences>
<GenerateDebugInformation>true</GenerateDebugInformation>
<EnableUAC>false</EnableUAC>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world480.lib;%(AdditionalDependencies)</AdditionalDependencies>
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
<AdditionalDependencies>opencv_world320.lib;%(AdditionalDependencies)</AdditionalDependencies>
</Link>
</ItemDefinitionGroup>
<ItemGroup>

23
sourceCode/SG_bagPositioning.cpp
View File

@ -591,16 +591,33 @@ SSG_peakRgnInfo _getRgnObjInfo(
double dist_v0v3 = sqrt(pow(vertices[0].x - vertices[3].x, 2) + pow(vertices[0].y - vertices[3].y, 2));
double width_diff = abs(dist_v0v3 - width);
double pose_yaw;
if (width_diff < 10.0)
if (CV_VERSION == "3.2.0")
{
if (width_diff < 10.0)//width方向
{
pose_yaw = -rect.angle;
}
else
else //长度方向
{
pose_yaw = -rect.angle - 90;
if (pose_yaw < -90)
pose_yaw = 180 + pose_yaw;
}
}
else //if (CV_VERSION == "4.8.0")
{
if (width_diff < 10.0) //width方向
{
pose_yaw = -rect.angle;
}
else//长度方向
{
pose_yaw = -rect.angle + 90;
if (pose_yaw > 90)
pose_yaw = 180 - pose_yaw;
pose_yaw = pose_yaw - 180;
}
}
//计算vertices[0]-vertices[3]的距离，

1
sourceCode/SG_baseFunc.cpp
View File

@ -3,6 +3,7 @@
#include <vector>
#include <corecrt_math_defines.h>
#include <cmath>
#include <unordered_map>
SVzNL3DRangeD sg_getScanDataROI(
SVzNL3DLaserLine* laser3DPoints,