356 lines
11 KiB
C++
356 lines
11 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 "SX_lapWeldDetection_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//计算一个平面调平参数。
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//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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SSG_planeCalibPara sx_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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return sg_getPlaneCalibPara2(scanLines);
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}
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//相机姿态调平，并去除地面
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void sx_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH)
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{
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lineDataRT_vector(a_line, camPoseR, groundH);
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}
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SVzNL2DPoint getFootPoint(double x0, double y0, double k, double b)
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{
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double A = k;
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double B = -1;
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double C = b;
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SVzNL2DPoint foot;
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foot.x = (B * B * x0 - A * B * y0 - A * C) / (A * A + B * B);
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foot.y = (-A * B * x0 + A * A * y0 - B * C) / (A * A + B * B);
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return foot;
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}
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double getWinMeanZ(std::vector<SVzNL3DPoint>& points, int startIdx, int win)
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{
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int size = (int)points.size();
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double sumZ = 0;
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double sumSize = 0;
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for (int i = 0; i < win; i++)
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{
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int idx = i + startIdx;
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if (idx < size)
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{
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if (points[idx].z > 1e-4)
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{
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sumZ += points[idx].z;
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sumSize++;
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}
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}
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}
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if (sumSize > 0)
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sumZ = sumZ / (double)sumSize;
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return sumZ;
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}
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//从焊缝的扫描点获取焊缝的起点和终点信息
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void getWeldPoint(std::vector<SVzNL3DPoint>& a_weld_contour, int midPtNum, std::vector<SVzNL3DPoint>& a_weld)
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{
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if (a_weld_contour.size() == 0)
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return;
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//拟合直线
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double k, b;
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lineFitting(a_weld_contour, &k, &b);
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//寻找起点和终点
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SVzNL3DPoint startPt = a_weld_contour[0];
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SVzNL3DPoint endPt = a_weld_contour.back();
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SVzNL2DPoint foot_s = getFootPoint(startPt.x, startPt.y, k, b);
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SVzNL2DPoint foot_e = getFootPoint(endPt.x, endPt.y, k, b);
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double meanZ_s = getWinMeanZ(a_weld_contour, 0, 5);
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double meanZ_e = getWinMeanZ(a_weld_contour, (int)a_weld_contour.size()-1-5, 5);
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SVzNL3DPoint pt_0 = { foot_s.x, foot_s.y, meanZ_s };
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SVzNL3DPoint pt_1 = { foot_e.x, foot_e.y, meanZ_e };
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a_weld.push_back(pt_0);
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double ratio = 1.0 / ((double)midPtNum + 1.0);
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for (int i = 1; i <= midPtNum; i++)
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{
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SVzNL3DPoint a_pt;
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a_pt.x = (double)i * ratio * (pt_1.x - pt_0.x) + pt_0.x;
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a_pt.y = (double)i * ratio * (pt_1.y - pt_0.y) + pt_0.y;
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a_pt.z = (double)i * ratio * (pt_1.z - pt_0.z) + pt_0.z;
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a_weld.push_back(a_pt);
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}
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a_weld.push_back(pt_1);
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}
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//提取搭接焊缝
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void sx_getLapWeldPostion(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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SSG_treeGrowParam growParam,
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SSX_lapWeldParam lapWeldParam,
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SSG_planeCalibPara groundCalibPara,
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std::vector<std::vector<SVzNL3DPoint>>& objOps,
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int* errCode)
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{
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*errCode = 0;
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return;
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}
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int linePtNum = (int)scanLines[0].size();
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bool isGridData = true;
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//垂直跳变特征提取
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std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_v;
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if ((keSX_ScanMode_V == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 400)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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if (linePtNum != (int)lineData.size())
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isGridData = false;
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std::vector<SSG_basicFeature1D> a_line_features;
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int dataSize = (int)lineData.size();
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sg_getLineJumpFeature_cornerMethod(
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&scanLines[line][0],
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dataSize,
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line,
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cornerPara, //scale通常取bagH的1/4
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a_line_features);
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//滤除地面
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std::vector<SSG_basicFeature1D> vld_features;
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for (int i = 0, i_max = a_line_features.size(); i < i_max; i++)
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{
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//将与地面形成的跳变去除
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if (a_line_features[i].featureValue < (groundCalibPara.planeHeight - 0.25))
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{
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vld_features.push_back(a_line_features[i]);
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}
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}
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jumpFeatures_v.push_back(vld_features);
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}
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}
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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//生成水平扫描
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std::vector<std::vector<SVzNL3DPosition>> hLines;
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hLines.resize(linePtNum);
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for (int i = 0; i < linePtNum; i++)
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hLines[i].resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0; j < linePtNum; j++)
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{
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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hLines[j][line] = scanLines[line][j];
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hLines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
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hLines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
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}
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}
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//水平arc特征提取
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std::vector<std::vector<SSG_basicFeature1D>> jumpFeatures_h;
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int lineNum_h = (int)hLines.size();
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if ((keSX_ScanMode_H == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum_h; line++)
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{
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std::vector<SVzNL3DPosition>& lineData = hLines[line];
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std::vector<SSG_basicFeature1D> a_line_features;
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int dataSize = (int)lineData.size();
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sg_getLineJumpFeature_cornerMethod(
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&hLines[line][0],
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dataSize,
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line,
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cornerPara, //scale通常取bagH的1/4
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a_line_features);
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//滤除地面
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std::vector<SSG_basicFeature1D> vld_features;
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for (int i = 0, i_max = a_line_features.size(); i < i_max; i++)
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{
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//将与地面形成的跳变去除
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if (a_line_features[i].featureValue < (groundCalibPara.planeHeight - 0.25))
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{
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vld_features.push_back(a_line_features[i]);
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}
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}
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jumpFeatures_h.push_back(vld_features);
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}
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}
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//特征生长
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//垂直方向特征生长（激光线方向）
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std::vector<SSG_featureTree> v_trees;
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if ((keSX_ScanMode_V == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum; line++)
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{
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bool isLastLine = false;
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if (line == lineNum - 1)
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isLastLine = true;
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std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_v[line];
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if (a_lineJumpFeature.size() > 0)
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int kkk = 1;
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if (line == 400)
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int kkk = 1;
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sg_lineFeaturesGrowing(
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line,
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isLastLine,
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a_lineJumpFeature,
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v_trees,
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growParam);
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}
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}
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//水平方向特征生长（扫描运动方向）
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std::vector<SSG_featureTree> h_trees;
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if ((keSX_ScanMode_H == lapWeldParam.scanMode) || (keSX_ScanMode_Both == lapWeldParam.scanMode))
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{
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for (int line = 0; line < lineNum_h; line++)
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{
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if (line == 650)
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int kkk = 1;
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bool isLastLine = false;
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if (line == lineNum_h - 1)
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isLastLine = true;
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std::vector<SSG_basicFeature1D>& a_lineJumpFeature = jumpFeatures_h[line];
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sg_lineFeaturesGrowing(
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line,
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isLastLine,
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a_lineJumpFeature,
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h_trees,
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growParam);
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}
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}
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//tree信息
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std::vector<SSG_treeInfo> allTreesInfo; //不包含边界
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SSG_treeInfo a_nullTree;
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memset(&a_nullTree, 0, sizeof(SSG_treeInfo));
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allTreesInfo.push_back(a_nullTree); //保持存储位置与treeIdx相同位置，方便索引
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//标记，根据起点的生长树进行标注
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int hvTreeIdx = 1;
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for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
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{
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SSG_featureTree* a_vTree = &v_trees[i];
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//记录Tree的信息
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SSG_treeInfo a_treeInfo;
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a_treeInfo.vTreeFlag = 1;
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a_treeInfo.treeIdx = hvTreeIdx;
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a_treeInfo.treeType = a_vTree->treeType;
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a_treeInfo.sLineIdx = a_vTree->sLineIdx;
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a_treeInfo.eLineIdx = a_vTree->eLineIdx;
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a_treeInfo.roi = a_vTree->roi;
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allTreesInfo.push_back(a_treeInfo);
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std::vector<SVzNL3DPoint> a_weld_contour;
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//在原始点云上标记，同时有Mask上标记
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for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
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{
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SSG_basicFeature1D* a_feature = &a_vTree->treeNodes[j];
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if (scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D.z > 1e-4)//虚假目标过滤后点会置0
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{
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int existEdgeId = scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx >> 16;
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if (existEdgeId == 0)
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{
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scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx = a_feature->featureType;
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scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx &= 0xffff;
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scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx += hvTreeIdx << 16;
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}
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a_weld_contour.push_back(scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D);
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}
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}
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std::vector<SVzNL3DPoint> a_weld;
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getWeldPoint(a_weld_contour, lapWeldParam.weldRefPoints, a_weld);
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if (a_weld.size() > 0)
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objOps.push_back(a_weld);
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hvTreeIdx++;
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}
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int hTreeStart = hvTreeIdx;
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////标注:水平特征
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for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
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{
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SSG_featureTree* a_hTree = &h_trees[i];
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//记录Tree的信息
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SSG_treeInfo a_treeInfo;
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a_treeInfo.vTreeFlag = 0;
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a_treeInfo.treeIdx = hvTreeIdx;
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a_treeInfo.treeType = a_hTree->treeType;
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a_treeInfo.sLineIdx = a_hTree->sLineIdx;
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a_treeInfo.eLineIdx = a_hTree->eLineIdx;
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a_treeInfo.roi.left = a_hTree->roi.top; //水平扫描xy是交换的
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a_treeInfo.roi.right = a_hTree->roi.bottom;
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a_treeInfo.roi.top = a_hTree->roi.left;
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a_treeInfo.roi.bottom = a_hTree->roi.right;
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allTreesInfo.push_back(a_treeInfo);
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std::vector<SVzNL3DPoint> a_weld_contour;
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//在原始点云上标记，同时有Mask上标记
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for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
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{
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SSG_basicFeature1D* a_feature = &a_hTree->treeNodes[j];
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if (scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D.z > 1e-4)//虚假目标过滤后点会置0
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{
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int existEdgeId = scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx >> 16;
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if (existEdgeId == 0)
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{
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scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += a_feature->featureType << 4;
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scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx &= 0xffff;
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scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += hvTreeIdx << 16;
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}
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a_weld_contour.push_back(scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D);
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}
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}
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std::vector<SVzNL3DPoint> a_weld;
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getWeldPoint(a_weld_contour, lapWeldParam.weldRefPoints, a_weld);
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if (a_weld.size() > 0)
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objOps.push_back(a_weld);
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hvTreeIdx++;
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}
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int hvTreeSize = hvTreeIdx;
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//将数据重新投射回原来的坐标系，以保持手眼标定结果正确
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for (int i = 0; i < lineNum; i++)
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sx_lineDataR(scanLines[i], groundCalibPara.invRMatrix, -1);
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//将检测结果重新投射回原来的坐标系
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for (int i = 0, i_max = (int)objOps.size(); i < i_max; i++)
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{
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std::vector<SVzNL3DPoint>& a_weld = objOps[i];
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for (int j = 0, j_max = a_weld.size(); j < j_max; j++)
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{
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double x = a_weld[j].x * groundCalibPara.invRMatrix[0] +
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a_weld[j].y * groundCalibPara.invRMatrix[1] +
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a_weld[j].z * groundCalibPara.invRMatrix[2];
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double y = a_weld[j].x * groundCalibPara.invRMatrix[3] +
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a_weld[j].y * groundCalibPara.invRMatrix[4] +
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a_weld[j].z * groundCalibPara.invRMatrix[5];
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double z = a_weld[j].x * groundCalibPara.invRMatrix[6] +
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a_weld[j].y * groundCalibPara.invRMatrix[7] +
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a_weld[j].z * groundCalibPara.invRMatrix[8];
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a_weld[j].x = x;
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a_weld[j].y = y;
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a_weld[j].z = z;
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}
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}
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//输出结果
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} |