1940 lines
57 KiB
C++
1940 lines
57 KiB
C++
// bagPositioning_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "SG_bagPositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
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{
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SVzNL3DPoint _r_pt;
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_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
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_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
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_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
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return _r_pt;
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}
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#define DATA_VER_OLD 0
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#define DATA_VER_NEW 1
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#define DATA_VER_FROM_CUSTOM 2
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#define VZ_LASER_LINE_PT_MAX_NUM 4096
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SVzNLXYZRGBDLaserLine* vzReadLaserScanPointFromFile_XYZRGB(const char* fileName, int* scanLineNum, float* scanV,
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int* dataCalib, int* scanMaxStamp, int* canClockUnit)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return NULL;
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SVzNLXYZRGBDLaserLine* _scanLines = NULL;
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int lines = 0;
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int dataElements = 4;
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int firstIndex = -1;
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int dataFileVer = DATA_VER_OLD;
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std::getline(inputFile, linedata); //第一行
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int lineNum = 0;
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if (0 == strncmp("LineNum:", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_NEW;
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sscanf_s(linedata.c_str(), "LineNum:%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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else if (0 == strncmp("LineNum_", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_OLD;
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sscanf_s(linedata.c_str(), "LineNum_%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNLXYZRGBDLaserLine*)malloc(sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNLXYZRGBDLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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if (_scanLines == NULL)
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return NULL;
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int ptNum = 0;
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int lineIdx = -1;
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int ptIdx = 0;
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SVzNLPointXYZRGBA* p3DPoint = NULL;
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if (dataFileVer == DATA_VER_NEW)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV);
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if (scanV)
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*scanV = (float)lineV;
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}
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else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12))
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{
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int ptAdjusted = 0;
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sscanf_s(linedata.c_str(), "PointAdjust:%d", &ptAdjusted);
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if (dataCalib)
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*dataCalib = ptAdjusted;
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}
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else if (0 == strncmp("MaxTimeStamp:", linedata.c_str(), 13))
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{
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unsigned int maxTimeStamp = 0;
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unsigned int timePerStamp = 0;
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sscanf_s(linedata.c_str(), "MaxTimeStamp:%u_%u", &maxTimeStamp, &timePerStamp);
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if (scanMaxStamp)
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*scanMaxStamp = maxTimeStamp;
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if (canClockUnit)
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*canClockUnit = timePerStamp;
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}
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else if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int lineIndex;
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unsigned int timeStamp;
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sscanf_s(linedata.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum);
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if (firstIndex < 0)
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firstIndex = lineIndex;
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lineIndex = lineIndex - firstIndex;
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if ((lineIndex < 0) || (lineIndex >= lines))
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break;
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//new Line
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lineIdx++;
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if (ptNum > 0)
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{
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p3DPoint = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * ptNum);
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memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum);
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}
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else
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p3DPoint = NULL;
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_scanLines[lineIdx].nPointCnt = 0;
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_scanLines[lineIdx].nTimeStamp = timeStamp;
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_scanLines[lineIdx].p3DPoint = p3DPoint;
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}
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else if (0 == strncmp("{", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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float leftX, leftY;
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float rightX, rightY;
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int r = -1, g = -1, b = -1;
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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);
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int id = _scanLines[lineIdx].nPointCnt;
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if (id < ptNum)
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{
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p3DPoint[id].x = X;
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p3DPoint[id].y = Y;
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p3DPoint[id].z = Z;
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p3DPoint[id].nRGB = 0;
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_scanLines[lineIdx].nPointCnt = id + 1;
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}
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}
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}
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}
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else if (dataFileVer == DATA_VER_OLD)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("DataElements_", linedata.c_str(), 13))
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{
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sscanf_s(linedata.c_str(), "DataElements_%d", &dataElements);
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if ((dataElements != 3) && (dataElements != 4))
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break;
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}
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if (0 == strncmp("LineV_", linedata.c_str(), 6))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "LineV_%lf", &lineV);
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}
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else if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int lineIndex;
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unsigned int timeStamp;
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sscanf_s(linedata.c_str(), "Line_%d_%u", &lineIndex, &timeStamp);
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#if 0
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if (scanLineListTail == NULL)
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firstIndex = lineIndex;
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#endif
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lineIndex = lineIndex - firstIndex;
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if ((lineIndex < 0) || (lineIndex >= lines))
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break;
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//new Line
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//new Line
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lineIdx++;
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p3DPoint = (SVzNLPointXYZRGBA*)malloc(sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
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memset(p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * VZ_LASER_LINE_PT_MAX_NUM);
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_scanLines[lineIdx].nPointCnt = 0;
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_scanLines[lineIdx].nTimeStamp = timeStamp;
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_scanLines[lineIdx].p3DPoint = p3DPoint;
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}
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else if (0 == strncmp("(", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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if (dataElements == 4)
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sscanf_s(linedata.c_str(), "(%f,%f,%f,%d)", &X, &Y, &Z, &imageY);
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else
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sscanf_s(linedata.c_str(), "(%f,%f,%f)", &X, &Y, &Z);
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int id = _scanLines[lineIdx].nPointCnt;
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if (id < VZ_LASER_LINE_PT_MAX_NUM)
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{
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p3DPoint[id].x = X;
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p3DPoint[id].y = Y;
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p3DPoint[id].z = Z;
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p3DPoint[id].nRGB = 0;
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_scanLines[lineIdx].nPointCnt = id + 1;
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}
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}
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}
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}
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inputFile.close();
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return _scanLines;
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}
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SVzNL3DLaserLine* vzReadLaserScanPointFromFile_XYZ(const char* fileName, int* scanLineNum, float* scanV,
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int* dataCalib, int* scanMaxStamp, int* canClockUnit)
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{
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std::ifstream inputFile(fileName);
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std::string linedata;
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if (inputFile.is_open() == false)
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return NULL;
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SVzNL3DLaserLine* _scanLines = NULL;
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int lines = 0;
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int dataElements = 4;
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int firstIndex = -1;
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int dataFileVer = DATA_VER_OLD;
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std::getline(inputFile, linedata); //第一行
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int lineNum = 0;
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if (0 == strncmp("LineNum:", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_NEW;
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sscanf_s(linedata.c_str(), "LineNum:%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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else if (0 == strncmp("LineNum_", linedata.c_str(), 8))
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{
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dataFileVer = DATA_VER_OLD;
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sscanf_s(linedata.c_str(), "LineNum_%d", &lines);
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if (lines == 0)
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return NULL;
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lineNum = lines;
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_scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
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if (scanLineNum)
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*scanLineNum = lines;
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}
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if (_scanLines == NULL)
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return NULL;
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int ptNum = 0;
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int lineIdx = -1;
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int ptIdx = 0;
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SVzNL3DPosition* p3DPoint = NULL;
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if (dataFileVer == DATA_VER_NEW)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV);
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if (scanV)
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*scanV = (float)lineV;
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}
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else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12))
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{
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int ptAdjusted = 0;
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sscanf_s(linedata.c_str(), "PointAdjust:%d", &ptAdjusted);
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if (dataCalib)
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*dataCalib = ptAdjusted;
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}
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else if (0 == strncmp("MaxTimeStamp:", linedata.c_str(), 13))
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{
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unsigned int maxTimeStamp = 0;
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unsigned int timePerStamp = 0;
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sscanf_s(linedata.c_str(), "MaxTimeStamp:%u_%u", &maxTimeStamp, &timePerStamp);
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if (scanMaxStamp)
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*scanMaxStamp = maxTimeStamp;
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if (canClockUnit)
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*canClockUnit = timePerStamp;
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}
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else if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int lineIndex;
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unsigned int timeStamp;
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sscanf_s(linedata.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum);
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if (firstIndex < 0)
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firstIndex = lineIndex;
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lineIndex = lineIndex - firstIndex;
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if ((lineIndex < 0) || (lineIndex >= lines))
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break;
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//new Line
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lineIdx++;
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if (ptNum > 0)
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{
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p3DPoint = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
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memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * ptNum);
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}
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else
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p3DPoint = NULL;
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_scanLines[lineIdx].nPositionCnt = 0;
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_scanLines[lineIdx].nTimeStamp = timeStamp;
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_scanLines[lineIdx].p3DPosition = p3DPoint;
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}
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else if (0 == strncmp("{", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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float leftX, leftY;
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float rightX, rightY;
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sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
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int id = _scanLines[lineIdx].nPositionCnt;
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if (id < ptNum)
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{
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p3DPoint[id].pt3D.x = X;
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p3DPoint[id].pt3D.y = Y;
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p3DPoint[id].pt3D.z = Z;
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_scanLines[lineIdx].nPositionCnt = id + 1;
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}
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}
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}
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}
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else if (dataFileVer == DATA_VER_OLD)
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{
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("DataElements_", linedata.c_str(), 13))
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{
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sscanf_s(linedata.c_str(), "DataElements_%d", &dataElements);
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if ((dataElements != 3) && (dataElements != 4))
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break;
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}
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if (0 == strncmp("LineV_", linedata.c_str(), 6))
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{
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double lineV = 0;
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sscanf_s(linedata.c_str(), "LineV_%lf", &lineV);
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}
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else if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int lineIndex;
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unsigned int timeStamp;
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sscanf_s(linedata.c_str(), "Line_%d_%u", &lineIndex, &timeStamp);
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#if 0
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if (scanLineListTail == NULL)
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firstIndex = lineIndex;
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#endif
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lineIndex = lineIndex - firstIndex;
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if ((lineIndex < 0) || (lineIndex >= lines))
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break;
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//new Line
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//new Line
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lineIdx++;
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p3DPoint = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
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memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
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_scanLines[lineIdx].nPositionCnt = 0;
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_scanLines[lineIdx].nTimeStamp = timeStamp;
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_scanLines[lineIdx].p3DPosition = p3DPoint;
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}
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else if (0 == strncmp("(", linedata.c_str(), 1))
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{
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float X, Y, Z;
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int imageY = 0;
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if (dataElements == 4)
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sscanf_s(linedata.c_str(), "(%f,%f,%f,%d)", &X, &Y, &Z, &imageY);
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else
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sscanf_s(linedata.c_str(), "(%f,%f,%f)", &X, &Y, &Z);
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int id = _scanLines[lineIdx].nPositionCnt;
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if (id < VZ_LASER_LINE_PT_MAX_NUM)
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{
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p3DPoint[id].pt3D.x = X;
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p3DPoint[id].pt3D.y = Y;
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p3DPoint[id].pt3D.z = Z;
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_scanLines[lineIdx].nPositionCnt = id + 1;
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}
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}
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}
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}
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inputFile.close();
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return _scanLines;
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}
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SVzNL3DLaserLine* _convertToGridData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double _F, double* camPoseR, int* outLineNum)
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{
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int min_y = 100000000;
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int max_y = -10000000;
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int validStartLine = -1;
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int validEndLine = -1;
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for (int line = 0; line < lineNum; line++)
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{
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if (laser3DPoints[line].nPointCnt > 0)
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{
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if (validStartLine < 0)
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{
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validStartLine = line;
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validEndLine = line;
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}
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else
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validEndLine = line;
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}
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for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
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{
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SVzNLPointXYZRGBA* a_pt = &laser3DPoints[line].p3DPoint[i];
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if (a_pt->z > 1e-4)
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{
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double v = _F * a_pt->y / a_pt->z + 2000;
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a_pt->nRGB = (int)(v + 0.5);
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max_y = max_y < (int)a_pt->nRGB ? (int)a_pt->nRGB : max_y;
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min_y = min_y > (int)a_pt->nRGB ? (int)a_pt->nRGB : min_y;
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}
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}
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}
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if (min_y == 100000000)
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return NULL;
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int vldLineNum = validEndLine - validStartLine + 1;
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*outLineNum = vldLineNum;
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int pt_counter = max_y - min_y + 1;
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SVzNL3DLaserLine* gridData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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memset(gridData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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for (int line = validStartLine; line <= validEndLine; line++)
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{
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int gridLine = line - validStartLine;
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gridData[gridLine].nPositionCnt = pt_counter;
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gridData[gridLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
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gridData[gridLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * pt_counter);
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memset(gridData[gridLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * pt_counter);
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for (int i = 0; i < laser3DPoints[line].nPointCnt; i++)
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{
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SVzNLPointXYZRGBA a_pt = laser3DPoints[line].p3DPoint[i];
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if (a_pt.z > 1e-4)
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{
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int pt_id = a_pt.nRGB - min_y;
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SVzNL3DPoint tmp_pt = { a_pt.x, a_pt.y, a_pt.z };
|
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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 _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
char dataStr[250];
|
||
//调平矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
|
||
sw << dataStr << std::endl;
|
||
//地面高度
|
||
sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
|
||
sw << dataStr << std::endl;
|
||
//反向旋转矩阵
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
|
||
sw << dataStr << std::endl;
|
||
sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
|
||
sw << dataStr << std::endl;
|
||
|
||
sw.close();
|
||
}
|
||
|
||
SSG_planeCalibPara _readCalibPara(char* fileName)
|
||
{
|
||
//设置初始结果
|
||
double initCalib[9] = {
|
||
1.0, 0.0, 0.0,
|
||
0.0, 1.0, 0.0,
|
||
0.0, 0.0, 1.0 };
|
||
SSG_planeCalibPara planePara;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.planeCalib[i] = initCalib[i];
|
||
planePara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
planePara.invRMatrix[i] = initCalib[i];
|
||
|
||
std::ifstream inputFile(fileName);
|
||
std::string linedata;
|
||
|
||
if (inputFile.is_open() == false)
|
||
return planePara;
|
||
|
||
//调平矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
|
||
//地面高度
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
|
||
//反向旋转矩阵
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
|
||
std::getline(inputFile, linedata);
|
||
sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
|
||
|
||
inputFile.close();
|
||
return planePara;
|
||
}
|
||
|
||
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();
|
||
}
|
||
|
||
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, std::vector<SSG_peakRgnInfo>& objOps)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
int realLines = lineNum;
|
||
if (objOps.size() > 0)
|
||
realLines++;
|
||
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];
|
||
int vType = pt3D->nPointIdx & 0xff;
|
||
int hType = vType >> 4;
|
||
int objId = (pt3D->nPointIdx >> 16)&0xffff;
|
||
vType = vType & 0x0f;
|
||
if(LINE_FEATURE_L_JUMP_H2L == vType)
|
||
{
|
||
rgb = { 255, 97, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == vType)
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == vType)
|
||
{
|
||
rgb = { 255, 0, 255};
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == vType)
|
||
{
|
||
rgb = { 160, 82, 45 };
|
||
size = 3;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == vType)
|
||
{
|
||
rgb = { 233, 150, 122 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_H2L == hType)
|
||
{
|
||
rgb = { 0, 0, 255 };
|
||
size = 3;
|
||
}
|
||
else if ( LINE_FEATURE_L_JUMP_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 255};
|
||
size = 3;
|
||
}
|
||
else if ( LINE_FEATURE_V_SLOPE == hType)
|
||
{
|
||
rgb = { 0, 255, 0 };
|
||
size = 3;
|
||
}
|
||
else if ( LINE_FEATURE_L_SLOPE_H2L == hType)
|
||
{
|
||
rgb = { 85, 107, 47 };
|
||
size = 3;
|
||
}
|
||
else if ( LINE_FEATURE_L_SLOPE_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 154 };
|
||
size = 3;
|
||
}
|
||
else if ( (LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 3;
|
||
}
|
||
else if (objId > 0) //目标
|
||
{
|
||
rgb = objColor[objId%8];
|
||
size = 5;
|
||
}
|
||
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 (objOps.size() > 0)
|
||
{
|
||
int ptNum = objOps.size();
|
||
sw << "Line_" << lineNum << "_" << (nTimeStamp+ 1000) << "_" << ptNum << std::endl;
|
||
for (int i = 0; i < objOps.size(); i++)
|
||
{
|
||
if(i == 0)
|
||
rgb = { 255, 0, 0 };
|
||
else
|
||
rgb = { 255, 255, 0 };
|
||
size = 25;
|
||
float x = (float)objOps[i].centerPos.x;
|
||
float y = (float)objOps[i].centerPos.y;
|
||
float z = (float)objOps[i].centerPos.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;
|
||
}
|
||
}
|
||
}
|
||
//画出方向线
|
||
|
||
|
||
sw.close();
|
||
}
|
||
|
||
void _outputScanDataFile_RGBD_sideBagObj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
|
||
float lineV, int maxTimeStamp, int clockPerSecond, std::vector<SSG_sideBagInfo>& objOps)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
int realLines = lineNum;
|
||
if (objOps.size() > 0)
|
||
realLines++;
|
||
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++)
|
||
{
|
||
int nPntCount = 0;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
||
if (pt3D->pt3D.z > 1e-4)
|
||
nPntCount++;
|
||
}
|
||
sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << nPntCount << 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 >> 16) & 0xffff;
|
||
vType = vType & 0x0f;
|
||
if (LINE_FEATURE_L_JUMP_H2L == vType)
|
||
{
|
||
rgb = { 255, 97, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == vType)
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == vType)
|
||
{
|
||
rgb = { 255, 0, 255 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == vType)
|
||
{
|
||
rgb = { 160, 82, 45 };
|
||
size = 3;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == vType)
|
||
{
|
||
rgb = { 233, 150, 122 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_H2L == hType)
|
||
{
|
||
rgb = { 0, 0, 255 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 255 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == hType)
|
||
{
|
||
rgb = { 0, 255, 0 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == hType)
|
||
{
|
||
rgb = { 85, 107, 47 };
|
||
size = 3;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 154 };
|
||
size = 3;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 3;
|
||
}
|
||
else if (objId > 0) //目标
|
||
{
|
||
rgb = objColor[objId % 8];
|
||
size = 5;
|
||
}
|
||
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 (objOps.size() > 0)
|
||
{
|
||
int ptNum = objOps.size();
|
||
sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << ptNum << std::endl;
|
||
for (int i = 0; i < objOps.size(); i++)
|
||
{
|
||
if (i == 0)
|
||
rgb = { 255, 0, 0 };
|
||
else
|
||
rgb = { 255, 255, 0 };
|
||
size = 25;
|
||
float x = (float)objOps[i].graspPos.x;
|
||
float y = (float)objOps[i].graspPos.y;
|
||
float z = (float)objOps[i].graspPos.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 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 _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, std::vector<SSG_peakRgnInfo>& objOps,
|
||
const double x_scale, const double y_scale, const SVzNLRangeD x_range, const SVzNLRangeD y_range, bool drawDirAngle)
|
||
{
|
||
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 >> 16) & 0xff;
|
||
vType = vType & 0x0f;
|
||
if (LINE_FEATURE_L_JUMP_H2L == vType)
|
||
{
|
||
rgb = { 255, 97, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == vType)
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == vType)
|
||
{
|
||
rgb = { 255, 0, 255 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == vType)
|
||
{
|
||
rgb = { 160, 82, 45 };
|
||
size = 2;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == vType)
|
||
{
|
||
rgb = { 233, 150, 122 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_H2L == hType)
|
||
{
|
||
rgb = { 0, 0, 255 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 255 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == hType)
|
||
{
|
||
rgb = { 0, 255, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == hType)
|
||
{
|
||
rgb = { 85, 107, 47 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 154 };
|
||
size = 2;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
}
|
||
else if (objId > 0) //目标
|
||
{
|
||
rgb = objColor[objId % 8];
|
||
size = 1;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 60, 60, 60 };
|
||
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);
|
||
}
|
||
}
|
||
if (objOps.size() > 0)
|
||
{
|
||
for (int i = 0; i < objOps.size(); i++)
|
||
{
|
||
if (i == 0)
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 20;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 10;
|
||
}
|
||
int px = (int)((objOps[i].centerPos.x - x_range.min) / x_scale + x_skip);
|
||
int py = (int)((objOps[i].centerPos.y - y_range.min) / y_scale + y_skip);
|
||
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
||
if (true == drawDirAngle)
|
||
{
|
||
//画线
|
||
double R = 100;
|
||
const double deg2rad = PI / 180.0;
|
||
const double yaw = objOps[i].centerPos.z_yaw * deg2rad;
|
||
double cy = cos(yaw); double sy = sin(yaw);
|
||
double x1 = objOps[i].centerPos.x + R * cy; double y1 = objOps[i].centerPos.y - R * sy;
|
||
double x2 = objOps[i].centerPos.x - R * cy; double y2 = objOps[i].centerPos.y + R * sy;
|
||
int px1 = (int)((x1 - x_range.min) / x_scale + x_skip);
|
||
int py1 = (int)((y1 - y_range.min) / y_scale + y_skip);
|
||
int px2 = (int)((x2 - x_range.min) / x_scale + x_skip);
|
||
int py2 = (int)((y2 - y_range.min) / y_scale + y_skip);
|
||
cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
|
||
}
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
void _XOYprojection_sideBagInfo(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines, std::vector<SSG_sideBagInfo>& objOps,
|
||
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 >> 16) & 0xffff;
|
||
vType = vType & 0x0f;
|
||
if (LINE_FEATURE_L_JUMP_H2L == vType)
|
||
{
|
||
rgb = { 255, 97, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == vType)
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == vType)
|
||
{
|
||
rgb = { 255, 0, 255 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == vType)
|
||
{
|
||
rgb = { 160, 82, 45 };
|
||
size = 2;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == vType)
|
||
{
|
||
rgb = { 233, 150, 122 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_H2L == hType)
|
||
{
|
||
rgb = { 0, 0, 255 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_JUMP_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 255 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_V_SLOPE == hType)
|
||
{
|
||
rgb = { 0, 255, 0 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_H2L == hType)
|
||
{
|
||
rgb = { 85, 107, 47 };
|
||
size = 2;
|
||
}
|
||
else if (LINE_FEATURE_L_SLOPE_L2H == hType)
|
||
{
|
||
rgb = { 0, 255, 154 };
|
||
size = 2;
|
||
}
|
||
else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType))
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 2;
|
||
}
|
||
else if ( (objId > 0) &&( objId< 1000)) //目标
|
||
{
|
||
rgb = objColor[objId % 8];
|
||
size = 3;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 150, 150, 150 };
|
||
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);
|
||
}
|
||
}
|
||
if (objOps.size() > 0)
|
||
{
|
||
for (int i = 0; i < objOps.size(); i++)
|
||
{
|
||
if (i == 0)
|
||
{
|
||
rgb = { 255, 0, 0 };
|
||
size = 20;
|
||
}
|
||
else
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 10;
|
||
}
|
||
int px = (int)((objOps[i].graspPos.x - x_range.min) / x_scale + x_skip);
|
||
int py = (int)((objOps[i].graspPos.y - y_range.min) / y_scale + y_skip);
|
||
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
||
|
||
//画ROI
|
||
size = 3;
|
||
cv::Point2d vec2d[4];
|
||
vec2d[0].x = objOps[i].objROI.left; vec2d[0].y = objOps[i].objROI.top;
|
||
vec2d[1].x = objOps[i].objROI.right; vec2d[1].y = objOps[i].objROI.top;
|
||
vec2d[2].x = objOps[i].objROI.right; vec2d[2].y = objOps[i].objROI.bottom;
|
||
vec2d[3].x = objOps[i].objROI.left; vec2d[3].y = objOps[i].objROI.bottom;
|
||
cv::Point vec[4];
|
||
for (int j = 0; j < 4; j++)
|
||
{
|
||
vec[j].x = (int)((vec2d[j].x - x_range.min) / x_scale + x_skip);
|
||
vec[j].y = (int)((vec2d[j].y - y_range.min) / y_scale + y_skip);
|
||
}
|
||
for (int j = 0; j < 4; j++)
|
||
{
|
||
int nxtIdx = (j + 1) % 4;
|
||
cv::line(img, vec[j], vec[nxtIdx], cv::Scalar(rgb[2], rgb[1], rgb[0]), size);
|
||
}
|
||
|
||
//画倾角
|
||
double r = 50;
|
||
double angle = objOps[i].graspPos.z_yaw;
|
||
angle = -angle * PI / 180;
|
||
cv::Point2d line_pt[2];
|
||
line_pt[0].x = (int)(r * cos(angle) + px);
|
||
line_pt[0].y = (int)(-r * sin(angle) + py);
|
||
line_pt[1].x = (int)(-r * cos(angle) + px);
|
||
line_pt[1].y = (int)(r * sin(angle) + py);
|
||
cv::line(img, line_pt[0], line_pt[1], cv::Scalar(rgb[2], rgb[1], rgb[0]), size);
|
||
}
|
||
|
||
|
||
}
|
||
|
||
}
|
||
|
||
void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector<SSG_peakRgnInfo>& objOps, 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, objOps, x_scale, y_scale, x_range, y_range, true);
|
||
|
||
//旋转视角显示
|
||
double matrix3d[9];
|
||
EulerRpyToRotation1(rpy, matrix3d);
|
||
std::vector<SSG_peakRgnInfo> r_objOps;
|
||
r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end());
|
||
for (int i = 0; i < objOps.size(); i++)
|
||
{
|
||
SVzNL3DPoint c_pt = { objOps[i].centerPos .x, objOps[i].centerPos .y, objOps[i].centerPos .z};
|
||
SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d);
|
||
r_objOps[i].centerPos.x = r_c_pt.x;
|
||
r_objOps[i].centerPos.y = r_c_pt.y;
|
||
r_objOps[i].centerPos.z = r_c_pt.z;
|
||
}
|
||
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, r_objOps, rx_scale, ry_scale, rx_range, ry_range, false);
|
||
|
||
cv::Mat dis_img;
|
||
cv::hconcat(img, r_img, dis_img);
|
||
cv::imwrite(fileName, dis_img);
|
||
return;
|
||
}
|
||
|
||
void _genXOYProjectionImage_sideBagInfo(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector<SSG_sideBagInfo>& objOps, 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);
|
||
}
|
||
|
||
double x_scale = 1.0;
|
||
double y_scale = 1.0;
|
||
int x_rows = int((x_range.max - x_range.min) / x_scale);
|
||
int y_rows = int((y_range.max - y_range.min) / y_scale);
|
||
if (x_rows % 2 > 0)
|
||
x_rows += 1;
|
||
if (y_rows % 2 > 0)
|
||
y_rows += 1;
|
||
int imgRows = y_rows + 32;
|
||
int imgCols = x_rows + 32;
|
||
|
||
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
||
//计算投影比例
|
||
|
||
_XOYprojection_sideBagInfo(img, scan_lines, objOps, x_scale, y_scale, x_range, y_range);
|
||
|
||
#if 0
|
||
//旋转视角显示
|
||
double matrix3d[9];
|
||
EulerRpyToRotation1(rpy, matrix3d);
|
||
std::vector<SSG_sideBagInfo> r_objOps;
|
||
r_objOps.insert(r_objOps.end(), objOps.begin(), objOps.end());
|
||
for (int i = 0; i < objOps.size(); i++)
|
||
{
|
||
SVzNL3DPoint c_pt = { objOps[i].graspPos.x, objOps[i].graspPos.y, objOps[i].graspPos.z };
|
||
SVzNL3DPoint r_c_pt = _ptRotate(c_pt, matrix3d);
|
||
r_objOps[i].graspPos.x = r_c_pt.x;
|
||
r_objOps[i].graspPos.y = r_c_pt.y;
|
||
r_objOps[i].graspPos.z = r_c_pt.z;
|
||
}
|
||
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_sideBagInfo(r_img, rotateLines, r_objOps, rx_scale, ry_scale, rx_range, ry_range);
|
||
|
||
cv::Mat dis_img;
|
||
cv::hconcat(img, r_img, dis_img);
|
||
cv::imwrite(fileName, dis_img);
|
||
#else
|
||
cv::Mat rot;
|
||
cv::rotate(img, rot, cv::ROTATE_90_CLOCKWISE); // 顺时针90°旋转
|
||
cv::flip(rot, img, 1); // 左右翻转
|
||
cv::imwrite(fileName, img);
|
||
#endif
|
||
return;
|
||
}
|
||
|
||
|
||
//量化成640*640左右大小的图像。
|
||
void project2DWithInterpolate(cv::Mat& img, SVzNL3DLaserLine* scanData, int lineNum, double fixed_xy_scale, double z_scale)
|
||
{
|
||
double namedSize = 640.0;//目标图像最大尺度为640像素
|
||
|
||
SVzNLRangeD x_range = { 0, -1 };
|
||
SVzNLRangeD y_range = { 0, -1 };
|
||
SVzNLRangeD z_range = { 0, -1 };
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
||
if (pt3D->pt3D.z < 1e-4)
|
||
continue;
|
||
|
||
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;
|
||
}
|
||
if (z_range.max < z_range.min)
|
||
{
|
||
z_range.min = pt3D->pt3D.z;
|
||
z_range.max = pt3D->pt3D.z;
|
||
}
|
||
else
|
||
{
|
||
if (z_range.min > pt3D->pt3D.z)
|
||
z_range.min = pt3D->pt3D.z;
|
||
if (z_range.max < pt3D->pt3D.z)
|
||
z_range.max = pt3D->pt3D.z;
|
||
}
|
||
}
|
||
}
|
||
|
||
double xy_scale = fixed_xy_scale;
|
||
if (fixed_xy_scale < 1e-4)
|
||
{
|
||
double x_scale = (x_range.max - x_range.min) / namedSize;
|
||
double y_scale = (y_range.max - y_range.min) / namedSize;
|
||
double xy_scale;
|
||
if (x_scale < y_scale)
|
||
xy_scale = y_scale;
|
||
else
|
||
xy_scale = x_scale;
|
||
}
|
||
int img_rows = (int)((y_range.max - y_range.min) / xy_scale)+1;
|
||
if(img_rows %2 >0)
|
||
img_rows +=1;
|
||
int img_cols = (int)((x_range.max - x_range.min) / xy_scale)+ 1;
|
||
if (img_cols % 2 > 0)
|
||
img_cols += 1;
|
||
img = cv::Mat::zeros(img_rows, img_cols, CV_8UC1);
|
||
|
||
int polateWin = 5;
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
//同时进行垂直插值
|
||
int pre_py = -1;
|
||
SVzNL3DPosition* pre_pt3D = NULL;
|
||
int pre_i = -1;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
||
if (pt3D->pt3D.z < 1e-4)
|
||
continue;
|
||
double x = pt3D->pt3D.x;
|
||
double y = pt3D->pt3D.y;
|
||
int px = (int)((x - x_range.min) / xy_scale);
|
||
int py = (int)((y - y_range.min) / xy_scale);
|
||
int value = (int)((pt3D->pt3D.z - z_range.min) / z_scale);
|
||
if (value > 254)
|
||
value = 254;
|
||
value = 255 - value;
|
||
img.at<uchar>(py, px) = (uchar)value;
|
||
//检查是否需要插值
|
||
if ( (py > pre_py + 1)&& (py <= pre_py + polateWin + 1) && (pre_py >= 0) && (pre_i >= 0) && (i == pre_i + 1)) //3D点连续，量化点不连续，插值
|
||
{
|
||
double dist = double(py - pre_py);
|
||
for (int iy = pre_py + 1; iy < py; iy++)
|
||
{
|
||
double k1 = (double)(iy - pre_py) / dist;
|
||
double k0 = 1 - k1;
|
||
double inter_x = pre_pt3D->pt3D.x * k0 + pt3D->pt3D.x * k1;
|
||
double inter_y = pre_pt3D->pt3D.y * k0 + pt3D->pt3D.y * k1;
|
||
double inter_z = pre_pt3D->pt3D.z * k0 + pt3D->pt3D.z * k1;
|
||
int polate_px = (int)((inter_x - x_range.min) / xy_scale);
|
||
int polate_py = (int)((inter_y - y_range.min) / xy_scale);
|
||
int polate_value = (int)((inter_z - z_range.min) / z_scale);
|
||
if (polate_value > 254)
|
||
polate_value = 254;
|
||
polate_value = 255 - polate_value;
|
||
img.at<uchar>(polate_py, polate_px) = (uchar)polate_value;
|
||
}
|
||
}
|
||
pre_i = i;
|
||
pre_py = py;
|
||
pre_pt3D = pt3D;
|
||
}
|
||
}
|
||
//水平插值
|
||
for (int y = 0; y < img.rows; y++)
|
||
{
|
||
int pre_x = -1;
|
||
uchar pre_value = 0;
|
||
for (int x = 0; x < img.cols; x++)
|
||
{
|
||
uchar value = img.at<uchar>(y, x);
|
||
if (value > 0)
|
||
{
|
||
if ((x > pre_x + 1) && (x <= pre_x + polateWin + 1) &&(pre_x >= 0)) //水平不连续，插值
|
||
{
|
||
double dist = double(x - pre_x);
|
||
for (int ix = pre_x + 1; ix < x; ix++)
|
||
{
|
||
double k1 = (double)(ix - pre_x) / dist;
|
||
double k0 = 1 - k1;
|
||
double inter_data = (double)pre_value * k0 + (double)value * k1;
|
||
if (inter_data > 255)
|
||
inter_data = 255;
|
||
uchar polate_value = (uchar)inter_data;
|
||
img.at<uchar>(y, ix) = polate_value;
|
||
}
|
||
}
|
||
pre_x = x;
|
||
pre_value = value;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
void _outputScanDataFile_removeZeros(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++)
|
||
{
|
||
int realNum = 0;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
if (scanData[line].p3DPosition[i].pt3D.z > 1e-4)
|
||
realNum++;
|
||
}
|
||
sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << realNum << std::endl;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
if (scanData[line].p3DPosition[i].pt3D.z > 1e-4)
|
||
{
|
||
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();
|
||
}
|
||
|
||
#define TEST_CONVERT_TO_GRID 0
|
||
#define TEST_COMPUTE_GRASP_POINT 1
|
||
#define TEST_COMPUTE_CALIB_PARA 1
|
||
#define TEST_GROUP 16
|
||
int main()
|
||
{
|
||
#if TEST_CONVERT_TO_GRID
|
||
//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, "F:\\上古\\编织袋数据\\侧抓数据\\");
|
||
char _scan_file[256];
|
||
double _F = 1248.5;// 1231.2; //1729.0;; //f
|
||
for (int i = 1; i <= 2; i++)
|
||
{
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Hi228621.txt", _scan_dir, i);
|
||
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
||
if (laser3DPoints_RGBD == NULL)
|
||
continue;
|
||
|
||
#if 1
|
||
double rpy[3] = { 0,-18, 0 };
|
||
double camPoseR[9];
|
||
EulerRpyToRotation1(rpy, camPoseR);
|
||
#else
|
||
double camPoseR[9] = {
|
||
1.0, 0.0, 0.0,
|
||
0.0, 1.0, 0.0,
|
||
0.0, 0.0, 1.0 };
|
||
#endif
|
||
int vldLineNum = 0;
|
||
SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F, camPoseR, &vldLineNum);
|
||
|
||
//生成水平扫描数据
|
||
int hLineNum = gridData[0].nPositionCnt;
|
||
SVzNL3DLaserLine* hScanData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * hLineNum);
|
||
memset(hScanData, 0, sizeof(SVzNL3DLaserLine) * hLineNum);
|
||
for (int hLine = 0; hLine < hLineNum; hLine++)
|
||
{
|
||
hScanData[hLine].nPositionCnt = vldLineNum;
|
||
hScanData[hLine].nTimeStamp = hLine * 1000;
|
||
hScanData[hLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * lineNum);
|
||
memset(hScanData[hLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * lineNum);
|
||
for (int m = 0; m < vldLineNum; m++)
|
||
{
|
||
hScanData[hLine].p3DPosition[m].nPointIdx = m;
|
||
hScanData[hLine].p3DPosition[m].pt3D.x = gridData[m].p3DPosition[hLine].pt3D.y;
|
||
hScanData[hLine].p3DPosition[m].pt3D.y = gridData[m].p3DPosition[hLine].pt3D.x;
|
||
hScanData[hLine].p3DPosition[m].pt3D.z = gridData[m].p3DPosition[hLine].pt3D.z;
|
||
}
|
||
}
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i);
|
||
_outputScanDataFile_self(_out_file, gridData, vldLineNum,
|
||
lineV, maxTimeStamp, clockPerSecond);
|
||
sprintf_s(_out_file, "%sLaserLine%d_hScanData.txt", _scan_dir, i);
|
||
_outputScanDataFile_removeZeros(_out_file, hScanData, hLineNum,
|
||
lineV, maxTimeStamp, clockPerSecond);
|
||
|
||
printf("%s: convert done!\n", _scan_file);
|
||
}
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\LaserLine10_grid.txt");
|
||
int lineNum = 0;
|
||
float lineV = 0.0f;
|
||
int dataCalib = 0;
|
||
int maxTimeStamp = 0;
|
||
int clockPerSecond = 0;
|
||
SVzNL3DLaserLine* laser3DPoints = vzReadLaserScanPointFromFile_XYZ(_calib_datafile, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
||
if (laser3DPoints)
|
||
{
|
||
SSG_planeCalibPara calibPara = sg_getBagBaseCalibPara(
|
||
laser3DPoints,
|
||
lineNum);
|
||
//结果进行验证
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
sg_lineDataR(&laser3DPoints[i], calibPara.planeCalib, calibPara.planeHeight);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\LaserLine10_grid_calib.txt");
|
||
_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
|
||
lineV, maxTimeStamp, clockPerSecond);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_GRASP_POINT
|
||
const char* dataPath[TEST_GROUP] = {
|
||
"F:\\上古\\编织袋数据\\点云1\\", //0
|
||
"F:\\上古\\编织袋数据\\点云2\\", //1
|
||
"F:\\上古\\编织袋数据\\点云3\\", //2
|
||
"F:\\上古\\编织袋数据\\点云4_广东\\", //3
|
||
"F:\\上古\\编织袋数据\\点云5_广东\\", //4
|
||
"F:\\上古\\编织袋数据\\点云6_河南平顶山\\", //5
|
||
"F:\\上古\\编织袋数据\\点云7_广东1214\\", //6
|
||
"F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\", //7
|
||
"F:\\上古\\编织袋数据\\点云9_广东1219数据\\", //8
|
||
"F:\\上古\\编织袋数据\\点云10\\", //9
|
||
"F:\\上古\\编织袋数据\\侧抓数据\\", //10
|
||
"F:\\上古\\编织袋数据\\侧抓数据_现场\\20250419\\", //11
|
||
"F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //12
|
||
"F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //13
|
||
"F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //14
|
||
"F:\\上古\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //15
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{0,176},{1,200},{1,166},{122,141},{1,65},
|
||
{1,29},{108,135},{0,200}, {1,200}, {1,12},
|
||
{3,3}, {1,51}, {4,83}, {1,74}, {1,61},
|
||
{1,84}
|
||
};
|
||
|
||
SSG_planeCalibPara poseCalibPara;
|
||
//初始化成单位阵
|
||
poseCalibPara.planeCalib[0] = 1.0;
|
||
poseCalibPara.planeCalib[1] = 0.0;
|
||
poseCalibPara.planeCalib[2] = 0.0;
|
||
poseCalibPara.planeCalib[3] = 0.0;
|
||
poseCalibPara.planeCalib[4] = 1.0;
|
||
poseCalibPara.planeCalib[5] = 0.0;
|
||
poseCalibPara.planeCalib[6] = 0.0;
|
||
poseCalibPara.planeCalib[7] = 0.0;
|
||
poseCalibPara.planeCalib[8] = 1.0;
|
||
poseCalibPara.planeHeight = -1.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
|
||
SG_bagPositionParam algoParam;
|
||
algoParam.bagParam.bagL = 650; //袋子长65cm
|
||
algoParam.bagParam.bagW = 450; //袋子宽40cm
|
||
algoParam.bagParam.bagH = 160; //袋子高16cm
|
||
|
||
#if BAG_ALGO_USE_CORNER_FEATURE
|
||
algoParam.cornerParam.cornerTh = 30; //45度角
|
||
algoParam.cornerParam.scale = 15; // 30; // algoParam.bagParam.bagH / 8;
|
||
algoParam.cornerParam.minEndingGap = algoParam.bagParam.bagW / 4;
|
||
algoParam.cornerParam.jumpCornerTh_1 = 60;
|
||
algoParam.cornerParam.jumpCornerTh_2 = 15;
|
||
#else
|
||
algoParam.slopeParam.LSlopeZWin = 10.0;
|
||
algoParam.slopeParam.validSlopeH = 10.0;
|
||
algoParam.slopeParam.minLJumpH = 20.0;
|
||
algoParam.slopeParam.minEndingGap = algoParam.bagParam.bagW / 4; ///当没有中间袋子，只有左右袋子时，有两组Ending。此参数确定两个ending最小间距
|
||
algoParam.valleyPara.valleyMinH = 10.0;
|
||
algoParam.valleyPara.valleyMaxW = 80.0; //取袋子宽度的1/5
|
||
#endif
|
||
algoParam.growParam.maxLineSkipNum = 5;
|
||
algoParam.growParam.yDeviation_max = 20.0;
|
||
algoParam.growParam.maxSkipDistance = 20.0;
|
||
algoParam.growParam.zDeviation_max = 80.0; //袋子高度1/2
|
||
algoParam.growParam.minLTypeTreeLen = 50.0; //mm
|
||
algoParam.growParam.minVTypeTreeLen = 50.0; //mm
|
||
|
||
char _scan_file[256];
|
||
|
||
int endGroup = TEST_GROUP - 1;
|
||
for (int grp = 0; grp <= 9; grp++)
|
||
{
|
||
if (grp == 7)
|
||
{
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:\\上古\\编织袋数据\\点云8_广东1213-1215数据\\ground_calib_para.txt");
|
||
poseCalibPara = _readCalibPara(calibFile);
|
||
}
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx = 102;
|
||
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;
|
||
|
||
if (grp < 10) //正面抓取
|
||
{
|
||
algoParam.filterParam.continuityTh = 20.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
algoParam.filterParam.outlierTh = 5;
|
||
|
||
long t1 = GetTickCount64();
|
||
#if 0
|
||
int errCode = 0;
|
||
std::vector<SSG_lineFeature> all_vLineFeatures;
|
||
std::vector<std::vector<int>> all_vLineNoises;
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
sg_lineDataR(&laser3DPoints[i], camPoseR);
|
||
//sg_bagPositioning_lineProc(&laser3DPoints[i], i, &errCode, all_vLineFeatures, all_vLineNoises, algoParam);
|
||
}
|
||
std::vector<SSG_peakRgnInfo> objOps;
|
||
sg_getBagPosition(laser3DPoints, lineNum, all_vLineFeatures, all_vLineNoises, algoParam, objOps);
|
||
#else
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
|
||
}
|
||
std::vector<SSG_peakRgnInfo> objOps;
|
||
sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps);
|
||
#endif
|
||
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, 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 }; //
|
||
_genXOYProjectionImage(imgName, laser3DPoints, lineNum, objOps, rpy);
|
||
#endif
|
||
#if 0
|
||
//量化成2D图像作为训练样本
|
||
cv::Mat project2D_img;
|
||
double z_scale = 3.0;
|
||
double xy_scale = 2.0;
|
||
project2DWithInterpolate(project2D_img, laser3DPoints, lineNum, xy_scale, z_scale);
|
||
cv::Mat project2D_color;
|
||
cv::applyColorMap(project2D_img, project2D_color, cv::COLORMAP_JET);
|
||
sprintf_s(_dbg_file, "%simg2D_JET\\LaserLine%d_img2D.png", dataPath[grp], fidx);
|
||
cv::String img2DName(_dbg_file);
|
||
cv::imwrite(img2DName, project2D_color);
|
||
cv::Mat project2D_color_HOT;
|
||
cv::applyColorMap(project2D_img, project2D_color_HOT, cv::COLORMAP_HOT);
|
||
sprintf_s(_dbg_file, "%simg2D\\LaserLine%d_img2D.png", dataPath[grp], fidx);
|
||
cv::String img2DName_HOT(_dbg_file);
|
||
cv::imwrite(img2DName_HOT, project2D_color_HOT);
|
||
#endif
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
}
|
||
else if (grp >= 10) //侧面抓取
|
||
{
|
||
algoParam.filterParam.continuityTh = 5.0; //噪声滤除。当相邻点的距离大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
|
||
algoParam.filterParam.outlierTh = 5;
|
||
|
||
algoParam.bagParam.bagL = 650; //袋子长65cm
|
||
algoParam.bagParam.bagW = 450; //袋子宽40cm
|
||
algoParam.bagParam.bagH = 80; //袋子高16cm
|
||
|
||
algoParam.growParam.maxLineSkipNum = 5;
|
||
algoParam.growParam.yDeviation_max = 20.0;
|
||
algoParam.growParam.zDeviation_max = 8.0;
|
||
|
||
long t1 = GetTickCount64();
|
||
int errCode = 0;
|
||
|
||
SSG_stackBaseParam stackBaseParam = {200, 260, 550};
|
||
SSG_treeGrowParam stackBaseGrowParam;
|
||
memset(&stackBaseGrowParam, 0, sizeof(SSG_treeGrowParam));
|
||
stackBaseGrowParam.maxLineSkipNum = 10;
|
||
stackBaseGrowParam.yDeviation_max = 20.0;
|
||
stackBaseGrowParam.zDeviation_max = 20.0;
|
||
SSG_6DOF stackBasePosition;
|
||
sg_getSideBagStackBasePosition(
|
||
laser3DPoints,
|
||
lineNum,
|
||
stackBaseParam,
|
||
stackBaseGrowParam,
|
||
&stackBasePosition //垛的托盘的中心位置和角度
|
||
);
|
||
|
||
//行列转置。侧面扫描时激光线水平，所以要按列处理
|
||
std::vector<SSG_sideBagInfo> objOps;
|
||
//sg_sideBagPosition(laser3DPoints, lineNum, algoParam, objOps);
|
||
long t2 = GetTickCount64();
|
||
|
||
char _dbg_file[256];
|
||
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputScanDataFile_RGBD_sideBagObj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, 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 }; //
|
||
_genXOYProjectionImage_sideBagInfo(imgName, laser3DPoints, lineNum, objOps, rpy);
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
|
||
}
|
||
}
|
||
}
|
||
|
||
#endif
|
||
printf("all done!\n");
|
||
}
|
||
|
||
|
||
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
|
||
// 调试程序: F5 或调试 >“开始调试”菜单
|
||
|
||
// 入门使用技巧:
|
||
// 1. 使用解决方案资源管理器窗口添加/管理文件
|
||
// 2. 使用团队资源管理器窗口连接到源代码管理
|
||
// 3. 使用输出窗口查看生成输出和其他消息
|
||
// 4. 使用错误列表窗口查看错误
|
||
// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
|
||
// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件
|