580 lines
16 KiB
C++
580 lines
16 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "motorStatorPosition_Export.h"
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#include <opencv2/opencv.hpp>
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#define DEBUG_OUT_IMAGE 1
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typedef struct
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{
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int objID;
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cv::Point2f pos;
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double angle;
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}SSG_objAngleInfo;
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typedef struct
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{
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bool isSide;
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double sideDist;
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}SSG_objSideInfo;
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typedef struct
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{
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int objID;
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cv::Point2f objPos;
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SVzNL3DPoint objPos3D;
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std::vector< SSG_objAngleInfo> neighbours;
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SSG_objSideInfo sideInfo[4]; //对应L，R，T，P
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}SSG_statorNeighbourInfo;
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SSG_objSideInfo _getSideX(
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int cx,
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int cy,
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cv::Mat& zSliceData,
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bool dirLeft)
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{
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int edge_x = -1;
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SSG_objSideInfo sideInfo;
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sideInfo.isSide = false;
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sideInfo.sideDist = -1;
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if (true == dirLeft)
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{
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for (int m = cx; m >= 0; m--)
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{
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if (zSliceData.at<uchar>(cy, m) > 0)
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edge_x = m;
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}
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}
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else
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{
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for (int m = cx; m < zSliceData.cols; m++)
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{
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if (zSliceData.at<uchar>(cy, m) > 0)
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edge_x = m;
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}
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}
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if(edge_x >= 0)
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{
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sideInfo.isSide = true;
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sideInfo.sideDist = edge_x;
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}
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return sideInfo;
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}
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SSG_objSideInfo _getSideY(
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int cx,
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int cy,
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cv::Mat& zSliceData,
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bool dirUp)
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{
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int edge_y = -1;
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SSG_objSideInfo sideInfo;
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sideInfo.isSide = false;
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sideInfo.sideDist = -1;
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if (true == dirUp)
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{
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for (int m = cy; m >= 0; m--)
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{
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if (zSliceData.at<uchar>(m, cx) > 0)
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edge_y = m;
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}
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}
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else
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{
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for (int m = cy; m < zSliceData.rows; m++)
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{
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if (zSliceData.at<uchar>(m, cx) > 0)
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edge_y = m;
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}
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}
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if (edge_y >= 0)
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{
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sideInfo.isSide = true;
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sideInfo.sideDist = edge_y;
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}
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sideInfo.isSide = true;
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return;
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}
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void _getNeighbouringInfo(
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const SG_motorStatorPositionParam positionParam,
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cv::Mat& zSliceData, //用于寻找边界（边框）
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std::vector<SG_fittingInfo>& Objects, //目标位置
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std::vector< SSG_statorNeighbourInfo>& neighbouringInfo //邻接关系
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)
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{
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double searchWin = positionParam.statorOuterD * 2.5;
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int objNum = Objects.size();
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neighbouringInfo.resize(objNum);
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for (int i = 0; i < objNum; i++)
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{
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SG_fittingInfo* a_obj = &Objects[i];
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SSG_statorNeighbourInfo* obj_info = &neighbouringInfo[i];
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obj_info->objID = i;
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obj_info->objPos3D = a_obj->objCenter;
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obj_info->objPos = a_obj->fittingPara.center;
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bool checkSide[4];
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for (int m = 0; m < 4; m++)
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checkSide[m] = true;
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for (int j = 0; j < objNum; j++)
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{
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if (j != i)
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{
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//计算中心点距离
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double dist = sqrt(pow(a_obj->fittingPara.center.x - Objects[j].fittingPara.center.x, 2) + pow(a_obj->fittingPara.center.y - Objects[j].fittingPara.center.y, 2));
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if (dist < searchWin)
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{
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SSG_objAngleInfo a_neighbour;
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a_neighbour.objID = j;
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a_neighbour.pos = Objects[j].fittingPara.center;
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//计算角度
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double angle = atan2(Objects[j].fittingPara.center.y - a_obj->fittingPara.center.y, Objects[j].fittingPara.center.x - a_obj->fittingPara.center.x);
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angle = angle * 180.0 / PI; //转变成角度
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if (angle < 0)
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angle += 360; //转变成0-360度范围
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a_neighbour.angle = angle;
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if ((angle > 345) || (angle < 15))
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checkSide[0] = false;
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else if ((angle > 75) && (angle < 105))
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checkSide[1] = false;
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else if ((angle > 165) && (angle < 195))
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checkSide[2] = false;
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else if ((angle > 255) && (angle < 285))
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checkSide[3] = false;
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obj_info->neighbours.push_back(a_neighbour);
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}
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}
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}
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//分析neighbour情况，判断是否要检查side情况
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int cx = (int)a_obj->fittingPara.center.x;
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int cy = (int)a_obj->fittingPara.center.y;
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if (false == checkSide[0])
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{
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obj_info->sideInfo[0].isSide = false;
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obj_info->sideInfo[0].sideDist = -1;
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}
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else
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{
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SSG_objSideInfo sideInfo = _getSideX(cx, cy, zSliceData, true);
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obj_info->sideInfo[0] = sideInfo;
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}
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if (false == checkSide[1])
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{
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obj_info->sideInfo[1].isSide = false;
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obj_info->sideInfo[1].sideDist = -1;
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}
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else
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{
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SSG_objSideInfo sideInfo = _getSideX(cx, cy, zSliceData, false);
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obj_info->sideInfo[1] = sideInfo;
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}
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if (false == checkSide[2])
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{
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obj_info->sideInfo[2].isSide = false;
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obj_info->sideInfo[2].sideDist = -1;
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}
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else
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{
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SSG_objSideInfo sideInfo = _getSideY(cx, cy, zSliceData, true);
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obj_info->sideInfo[2] = sideInfo;
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}
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if (false == checkSide[3])
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{
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obj_info->sideInfo[3].isSide = false;
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obj_info->sideInfo[3].sideDist = -1;
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}
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else
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{
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SSG_objSideInfo sideInfo = _getSideY(cx, cy, zSliceData, false);
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obj_info->sideInfo[3] = sideInfo;
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}
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}
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return;
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}
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void _getPtsApart120(cv::Point2f center, double R, double angle, cv::Point2f* testPts)
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{
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double theta_0 = angle * PI / 180;
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double theta_120 = angle + 120;
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if (theta_120 > 360)
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theta_120 = theta_120 - 360;
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theta_120 = theta_120 * PI / 180;
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double theta_240 = angle + 240;
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if (theta_240 > 360)
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theta_240 = theta_240 - 360;
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theta_240 = theta_240 *PI / 180;
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testPts[0].x = center.x + R * cos(theta_0);
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testPts[0].y = center.y - R * sin(theta_0);
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testPts[1].x = center.x + R * cos(theta_120);
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testPts[1].y = center.y - R * sin(theta_120);
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testPts[2].x = center.x + R * cos(theta_240);
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testPts[2].y = center.y - R * sin(theta_240);
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}
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double _getMinDist(
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SSG_statorNeighbourInfo& neighbouringInfo,
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cv::Point2f* testPts
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)
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{
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double min_dist = -1;
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for (int i = 0; i < 3; i++)
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{
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cv::Point2f* a_pt = &testPts[i];
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for (int j = 0; j < neighbouringInfo.neighbours.size(); j++)
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{
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cv::Point2f* n_pt = &(neighbouringInfo.neighbours[j].pos);
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double dist = sqrt(pow(a_pt->x - n_pt->x, 2) + pow(a_pt->y - n_pt->y, 2));
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if (min_dist < 0)
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min_dist = dist;
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else if (min_dist > dist)
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min_dist = dist;
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}
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if (true == neighbouringInfo.sideInfo[0].isSide)
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{
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double dist = a_pt->x - neighbouringInfo.sideInfo[0].sideDist;//外边界
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dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
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if (dist < 0)
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dist = 0;
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if (min_dist < 0)
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min_dist = dist;
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else if (min_dist > dist)
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min_dist = dist;
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}
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if (true == neighbouringInfo.sideInfo[1].isSide)
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{
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double dist = neighbouringInfo.sideInfo[1].sideDist - a_pt->x;//外边界
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dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
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if (dist < 0)
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dist = 0;
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if (min_dist < 0)
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min_dist = dist;
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else if (min_dist > dist)
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min_dist = dist;
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}
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if (true == neighbouringInfo.sideInfo[2].isSide)
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{
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double dist = a_pt->y - neighbouringInfo.sideInfo[2].sideDist;//外边界
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dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
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if (dist < 0)
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dist = 0;
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if (min_dist < 0)
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min_dist = dist;
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else if (min_dist > dist)
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min_dist = dist;
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}
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if (true == neighbouringInfo.sideInfo[3].isSide)
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{
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double dist = neighbouringInfo.sideInfo[3].sideDist - a_pt->y;//外边界
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dist = dist - 10; //内边界处需要外边界减去壁厚。此处壁厚使用10mm
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if (dist < 0)
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dist = 0;
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if (min_dist < 0)
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min_dist = dist;
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else if (min_dist > dist)
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min_dist = dist;
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}
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}
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return min_dist;
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}
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void _computeGripperPose(
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SSG_statorNeighbourInfo& neighbouringInfo,
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double gripperR,
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double* opAngle,
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double* obstacleDist)
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{
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//根据相邻目标数量确定抓取点
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//圆周扫描获取距离相邻目标最小距离最大的点
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double searchStepping = 0.5; //搜索精度为0.5度
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int steps = (int)(360.0 / searchStepping);
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double max_dist = -1;
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double max_angle = -1;
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for (int i = 0; i < steps; i++)
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{
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double angle = i * searchStepping;
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cv::Point2f testPts[3];
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_getPtsApart120(neighbouringInfo.objPos, gripperR, angle, testPts);
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//计算最小距离，相邻目标和边界统一在一起计算
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double min_dist = _getMinDist(neighbouringInfo, testPts);
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//获取最小距离的最大值，对应的角度为操作角度
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if (max_dist < 0)
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{
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max_dist = min_dist;
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max_angle = angle;
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}
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else if(max_dist < min_dist)
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{
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max_dist = min_dist;
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max_angle = angle;
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}
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}
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*opAngle = max_angle;
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*obstacleDist = max_dist;
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return;
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}
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bool compareByNeighbourDist(const SSG_motorStatorPosition& a, const SSG_motorStatorPosition& b)
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{
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return a.obstacleDist > b.obstacleDist;
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}
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bool compareByNeighbourNum(const SSG_motorStatorPosition& a, const SSG_motorStatorPosition& b)
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{
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return a.neighbourNum < b.neighbourNum;
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}
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typedef struct
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{
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cv::RotatedRect fittingPara;
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SVzNL3DPoint objCenter;
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}SG_fittingInfo;
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void sg_motorStatorPosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SG_motorStatorPositionParam positionParam,
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int* errCode,
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std::vector<SSG_motorStatorPosition>& resultOpPositions
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)
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{
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/// 统计整个视野大小，在滤噪之后进行
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SVzNL3DRangeD roi3D = sg_getScanDataROI(
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laser3DPoints,
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lineNum);
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SVzNLRangeD z_range = roi3D.zRange;
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//Z方向统计。粒度为1mm
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int zHistSize = (int)(z_range.max - z_range.min) + 1;
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std::vector<int> zHist;
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zHist.resize(zHistSize);
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int totalPtNum = 0;
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for (int line = 0; line < lineNum; line++)
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{
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for (int i = 0; i < laser3DPoints[line].nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &laser3DPoints[line].p3DPosition[i];
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if (pt3D->pt3D.z < 1e-4)
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continue;
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totalPtNum++;
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int zPos = (int)(pt3D->pt3D.z - z_range.min);
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zHist[zPos] ++;
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}
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}
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//取定子顶面：取5mm统计区间，zHist数量大于总数量的10%
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std::vector<int> sumHist;
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sumHist.resize(zHistSize);
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for (int i = 0; i < zHistSize; i++)
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{
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int data = 0;
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for (int j = i - 2; j < i + 2; j++)
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{
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if ((j >= 0) && (j < zHistSize))
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data += zHist[j];
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}
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sumHist[i] = data;
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}
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//取第一个大于大于10%的极值点
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int dataTh = totalPtNum / 10;
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int maxPos = -1;
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for (int i = 1; i < zHistSize-1; i++)
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{
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int preData = sumHist[i-1];
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int data = sumHist[i];
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int nxtData = sumHist[i+1];
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if ((data > preData) && (data > nxtData) && (data > dataTh))
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{
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maxPos = i;
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break;
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}
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}
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if (maxPos < 0)
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return;
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//取定子顶面截面
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double zSliceTop = (double)maxPos - 10 + z_range.min;
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double zSliceBtm = (double)maxPos + 8 + z_range.min;
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//在XOY面上投影
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//距离变换Mask，以1mm为量化尺度
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int maskX = (int)(roi3D.xRange.max - roi3D.xRange.min) + 1;
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int maskY = (int)(roi3D.yRange.max - roi3D.yRange.min) + 1;
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cv::Mat zSliceData = cv::Mat::zeros(maskY, maskX, CV_8U);
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cv::Mat distTranformMask(maskY, maskX, CV_32FC1, 1e+6); //距离变换Mask，初始化为一个极大值1e+6
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//标记坐标索引，用于距离变换后回找坐标
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cv::Mat distTranformIndexing(maskY, maskX, CV_32SC2, cv::Vec2i(0, 0)); //坐标索引
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for (int line = 0; line < lineNum; line++)
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{
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for (int i = 0; i < laser3DPoints[line].nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &laser3DPoints[line].p3DPosition[i];
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if ( (pt3D->pt3D.z < zSliceTop) || (pt3D->pt3D.z > zSliceBtm))
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continue;
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double x = pt3D->pt3D.x;
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double y = pt3D->pt3D.y;
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int px = (int)(x - roi3D.xRange.min);
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int py = (int)(y - roi3D.yRange.min);
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cv::Vec2i v2i = { line, i };
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zSliceData.at<uchar>(py, px) = (uchar)255;
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distTranformIndexing.at<cv::Vec2i>(py, px) = v2i;
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distTranformMask.at<float>(py, px) = 0;
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}
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}
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cv::Mat zSliceData_origin = zSliceData.clone();
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//距离变换
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cv::Mat distTransform;
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sg_distanceTrans(distTranformMask, distTransform, 0);
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#if DEBUG_OUT_IMAGE //debug
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cv::Mat dtImage;
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cv::normalize(distTranformMask, dtImage, 0, 255, cv::NORM_MINMAX, CV_8U);
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cv::imwrite("distTransform.png", dtImage);
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//cv::normalize(zSliceData, dtImage, 64, 255, cv::NORM_MINMAX, CV_8U);
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cv::imwrite("zSliceImage.png", zSliceData);
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#endif
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//对zSliceData进行处理：（1）填充（2）腐蚀（3）连通域处理得到目标（4）椭圆拟合得到中心点
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cv::Mat invertSliceData;
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cv::bitwise_not(zSliceData, invertSliceData);
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#if DEBUG_OUT_IMAGE
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cv::imwrite("zSliceImage_invert.png", invertSliceData);
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#endif
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//连通域
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cv::Mat labels, centroids, stats;
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int nccomps = connectedComponentsWithStats(invertSliceData, labels, stats, centroids, 4);
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for (int i = 1; i < nccomps; i++)
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{
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int size = stats.at<int>(i, cv::CC_STAT_AREA);
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if (size < 20)
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{
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int roi_x = stats.at<int>(i, cv::CC_STAT_LEFT);
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int roi_y = stats.at<int>(i, cv::CC_STAT_TOP);
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int roi_w = stats.at<int>(i, cv::CC_STAT_WIDTH);
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int roi_h = stats.at<int>(i, cv::CC_STAT_HEIGHT);
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//对小于20的区域填充
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for (int row = roi_y; row < roi_y+roi_h; row++)
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{
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for (int col = roi_x; col < roi_x+roi_w; col++)
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{
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if (labels.at<int>(row, col) == i)
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zSliceData.at<uchar>(row, col) = (uchar)255;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
#if DEBUG_OUT_IMAGE
|
||
cv::imwrite("zSliceImage_filled.png", zSliceData);
|
||
#endif
|
||
|
||
//腐蚀
|
||
cv::Mat test = cv::Mat::zeros(64, 64, CV_8UC1);
|
||
cv::rectangle(test, cv::Rect(30, 30, 5, 5), 255, -1);
|
||
|
||
cv::Mat element = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(3, 3));
|
||
cv::Mat zSliceData_erode;
|
||
cv::erode(zSliceData, zSliceData_erode, element, cv::Point(-1,-1),2);
|
||
#if DEBUG_OUT_IMAGE
|
||
cv::imwrite("zSliceImage_erode.png", zSliceData_erode);
|
||
#endif
|
||
//提取目标
|
||
nccomps = connectedComponentsWithStats(zSliceData_erode, labels, stats, centroids, 4);
|
||
//目标大小的门限
|
||
int obj_size_min = (int)(positionParam.statorInnerD * 0.75);
|
||
int obj_size_max = (int)(positionParam.statorOuterD * 1.25);
|
||
std::vector<SG_fittingInfo> fittingObs;
|
||
for (int i = 1; i < nccomps; i++)
|
||
{
|
||
int roi_x = stats.at<int>(i, cv::CC_STAT_LEFT);
|
||
int roi_y = stats.at<int>(i, cv::CC_STAT_TOP);
|
||
int roi_w = stats.at<int>(i, cv::CC_STAT_WIDTH);
|
||
int roi_h = stats.at<int>(i, cv::CC_STAT_HEIGHT);
|
||
if( (roi_w > obj_size_min) && (roi_w < obj_size_max) && (roi_h > obj_size_min) && (roi_h < obj_size_max))
|
||
{
|
||
//合格的目标
|
||
//取轮廓点
|
||
std::vector<cv::Point > contourPts;
|
||
for (int row = roi_y; row < roi_y + roi_h; row++)
|
||
{
|
||
for (int col = roi_x; col < roi_x + roi_w; col++)
|
||
{
|
||
if (labels.at<int>(row, col) == i)
|
||
contourPts.push_back(cv::Point(col, row));
|
||
}
|
||
}
|
||
cv::RotatedRect ellipse = cv::fitEllipse(contourPts);
|
||
SG_fittingInfo a_fitting;
|
||
a_fitting.fittingPara = ellipse;
|
||
//根据轮廓点计算高度Z
|
||
double z_sum = 0;
|
||
double z_counter = 0;
|
||
for (int m = 0; m < contourPts.size(); m++)
|
||
{
|
||
cv::Vec2i ptIndexing = distTranformIndexing.at<cv::Vec2i>(contourPts[m].y, contourPts[m].x);
|
||
int line = ptIndexing[0];
|
||
int ptIdx = ptIndexing[1];
|
||
SVzNL3DPosition* pt3D = &laser3DPoints[line].p3DPosition[ptIdx];
|
||
if (pt3D->pt3D.z < 1e-4)
|
||
continue;
|
||
z_sum += pt3D->pt3D.z;
|
||
z_counter++;
|
||
}
|
||
if (z_counter > 0)
|
||
{
|
||
a_fitting.objCenter.x = ellipse.center.x + roi3D.xRange.min;
|
||
a_fitting.objCenter.y = ellipse.center.y + roi3D.yRange.min;
|
||
z_sum = z_sum / z_counter;
|
||
a_fitting.objCenter.z = z_sum;
|
||
a_fitting.fittingPara = ellipse;
|
||
fittingObs.push_back(a_fitting);
|
||
}
|
||
|
||
}
|
||
}
|
||
#if DEBUG_OUT_IMAGE
|
||
cv::Mat fittingImage;
|
||
cv::cvtColor(zSliceData_origin, fittingImage, cv::COLOR_GRAY2BGR);
|
||
for(int i = 0; i < fittingObs.size(); i ++)
|
||
cv::ellipse(fittingImage, fittingObs[i].fittingPara, cv::Scalar(0, 255, 0), 2); // 在原图上绘制椭圆
|
||
cv::imwrite("zSliceImage_fitting.png", fittingImage);
|
||
#endif
|
||
//根据邻接关系确定最佳抓取点
|
||
std::vector< SSG_statorNeighbourInfo> neighbouringInfo;
|
||
_getNeighbouringInfo(
|
||
positionParam,
|
||
zSliceData_origin, //用于寻找边界（边框）
|
||
fittingObs, //目标位置
|
||
neighbouringInfo //邻接关系
|
||
);
|
||
|
||
//根据邻接关系确定抓取点
|
||
std::vector< SSG_motorStatorPosition> grabPoses; //小于等于3个相邻目标的抓取点（按距离排序）
|
||
std::vector< SSG_motorStatorPosition> grabPoses_2; //大于3个相邻目标的抓取点（按数量排序）
|
||
//grabPoses.resize(neighbouringInfo.size());
|
||
for (int i = 0; i < neighbouringInfo.size(); i++)
|
||
{
|
||
double opAngle = -1;
|
||
double obstacleDist = -1;
|
||
_computeGripperPose(neighbouringInfo[i], positionParam.gripperR, &opAngle, &obstacleDist);
|
||
SSG_motorStatorPosition opPos;
|
||
memset(&opPos, 0, sizeof(SSG_motorStatorPosition));
|
||
opPos.neighbourNum = neighbouringInfo[i].neighbours.size();
|
||
opPos.obstacleDist = obstacleDist;
|
||
opPos.opAngle = opAngle;
|
||
opPos.opCenter = neighbouringInfo[i].objPos3D;
|
||
if (opPos.neighbourNum <= 3)
|
||
grabPoses.push_back(opPos);
|
||
else
|
||
grabPoses_2.push_back(opPos);
|
||
}
|
||
|
||
//选取抓取点：（1）周边邻居最少（2）距离边的距离最大
|
||
std::sort(grabPoses.begin(), grabPoses.end(),compareByNeighbourDist);
|
||
std::sort(grabPoses_2.begin(), grabPoses_2.end(), compareByNeighbourNum);
|
||
//合并
|
||
grabPoses.insert(grabPoses.end(), grabPoses_2.begin(), grabPoses_2.end());
|
||
return;
|
||
} |