1171 lines
34 KiB
C++
1171 lines
34 KiB
C++
#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_sieveNodeDetection_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);
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gridData[gridLine].p3DPosition[pt_id].pt3D.x = r_pt.x;
|
||
gridData[gridLine].p3DPosition[pt_id].pt3D.y = r_pt.y;
|
||
gridData[gridLine].p3DPosition[pt_id].pt3D.z = r_pt.z;
|
||
}
|
||
}
|
||
}
|
||
return gridData;
|
||
}
|
||
|
||
void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
|
||
float lineV, int maxTimeStamp, int clockPerSecond)
|
||
{
|
||
std::ofstream sw(fileName);
|
||
sw << "LineNum:" << lineNum << std::endl;
|
||
sw << "DataType: 0" << std::endl;
|
||
sw << "ScanSpeed:" << lineV << std::endl;
|
||
sw << "PointAdjust: 1" << std::endl;
|
||
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
|
||
|
||
for (int line = 0; line < lineNum; line++)
|
||
{
|
||
sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
|
||
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
||
{
|
||
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
||
float x = (float)pt3D->pt3D.x;
|
||
float y = (float)pt3D->pt3D.y;
|
||
float z = (float)pt3D->pt3D.z;
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}" << std::endl;
|
||
}
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
typedef struct
|
||
{
|
||
int r;
|
||
int g;
|
||
int b;
|
||
}SG_color;
|
||
void _outputScanDataFile_RGBD_obj_XYZ(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
|
||
float lineV, int maxTimeStamp, int clockPerSecond, std::vector<SVzNL3DPoint>& 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 = { 0, 0, 255 };
|
||
size = 20;
|
||
}
|
||
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) //已经焊接过
|
||
{
|
||
rgb = { 255, 255, 0 };
|
||
size = 20;
|
||
}
|
||
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].x;
|
||
float y = (float)objOps[i].y;
|
||
float z = (float)objOps[i].z;
|
||
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
if (i == 0)
|
||
{
|
||
sw << "{" << x << "," << y << "," << z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
|
||
}
|
||
}
|
||
}
|
||
sw.close();
|
||
}
|
||
|
||
void _XOYprojection_nodePos(cv::Mat& img, std::vector<std::vector< SVzNL3DPosition>>& dataLines, std::vector<SVzNL3DPoint>& 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) & 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].x - x_range.min) / x_scale + x_skip);
|
||
int py = (int)((objOps[i].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);
|
||
}
|
||
}
|
||
|
||
}
|
||
|
||
void _genXOYProjectionImage_nodePos(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum, std::vector<SVzNL3DPoint>& nodeOps)
|
||
{
|
||
//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;
|
||
//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;
|
||
if (x_scale > y_scale)
|
||
{
|
||
x_scale = y_scale;
|
||
int nx_cols = (int)((x_range.max - x_range.min) / x_scale) + 1;
|
||
if ( (nx_cols % 2) > 0)
|
||
nx_cols += 1;
|
||
x_cols = nx_cols;
|
||
imgCols = x_cols + 32.0;
|
||
}
|
||
else
|
||
{
|
||
y_scale = x_scale;
|
||
int ny_rows = (int)((y_range.max - y_range.min) / y_scale) + 1;
|
||
if ((ny_rows % 2) > 0)
|
||
ny_rows += 1;
|
||
y_rows = ny_rows;
|
||
imgRows = y_rows + 32.0;
|
||
}
|
||
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
||
_XOYprojection_nodePos(img, scan_lines, nodeOps, x_scale, y_scale, x_range, y_range);
|
||
|
||
cv::imwrite(fileName, img);
|
||
return;
|
||
}
|
||
|
||
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;
|
||
}
|
||
|
||
#define TEST_CONVERT_TO_GRID 0
|
||
#define TEST_COMPUTE_SIEVE_NODES 1
|
||
#define TEST_COMPUTE_CALIB_PARA 0
|
||
#define TEST_GROUP 2
|
||
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\\项目\\筛孔节点检测\\20250303 筛网数据\\");
|
||
char _scan_file[256];
|
||
double _F = 1295.6; //f
|
||
for (int i = 1; i <= 12; i++)
|
||
{
|
||
sprintf_s(_scan_file, "%s%d_LaserData_Ik256139.txt", _scan_dir, i);
|
||
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
||
if (laser3DPoints_RGBD == NULL)
|
||
continue;
|
||
|
||
#if 0
|
||
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);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i);
|
||
_outputScanDataFile_self(_out_file, gridData, vldLineNum,
|
||
lineV, maxTimeStamp, clockPerSecond);
|
||
|
||
#if 0
|
||
//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;
|
||
}
|
||
}
|
||
|
||
sprintf_s(_out_file, "%sLaserLine%d_hScanData.txt", _scan_dir, i);
|
||
_outputScanDataFile_removeZeros(_out_file, hScanData, hLineNum,
|
||
lineV, maxTimeStamp, clockPerSecond);
|
||
#endif
|
||
|
||
printf("%s: convert done!\n", _scan_file);
|
||
}
|
||
printf("all converting done!\n", _scan_file);
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_CALIB_PARA
|
||
char _calib_datafile[256];
|
||
sprintf_s(_calib_datafile, "F:\\上古\\项目\\筛孔节点检测\\20250304 筛网\\LaserLine1_grid.txt");
|
||
std::vector<SVzNL3DRangeD> dataROIs;
|
||
dataROIs.resize(4);
|
||
dataROIs[0].xRange = { -120, -107 };
|
||
dataROIs[0].yRange = { -169, -79 };
|
||
dataROIs[0].zRange = { 543, 557 };
|
||
dataROIs[1].xRange = { -105, -95 };
|
||
dataROIs[1].yRange = { 84, 208 };
|
||
dataROIs[1].zRange = { 535, 548 };
|
||
dataROIs[2].xRange = { 89, 103 };
|
||
dataROIs[2].yRange = { -180, -57 };
|
||
dataROIs[2].zRange = { 543, 557 };
|
||
dataROIs[3].xRange = { 104, 116 };
|
||
dataROIs[3].yRange = { 0, 198 };
|
||
dataROIs[3].zRange = { 535, 548 };
|
||
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_getSieveBaseCalibPara(
|
||
laser3DPoints,
|
||
lineNum,
|
||
dataROIs);
|
||
|
||
//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-1);
|
||
}
|
||
//
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "F:\\上古\\项目\\筛孔节点检测\\20250304 筛网\\ground_calib_para.txt");
|
||
_outputCalibPara(calibFile, calibPara);
|
||
char _out_file[256];
|
||
sprintf_s(_out_file, "F:\\上古\\项目\\筛孔节点检测\\20250304 筛网\\LaserLine1_grid_calib.txt");
|
||
_outputScanDataFile_self(_out_file, laser3DPoints, lineNum,
|
||
lineV, maxTimeStamp, clockPerSecond);
|
||
printf("%s: calib done!\n", _calib_datafile);
|
||
}
|
||
|
||
#endif
|
||
|
||
#if TEST_COMPUTE_SIEVE_NODES
|
||
const char* dataPath[TEST_GROUP] = {
|
||
"F:\\ShangGu\\项目\\筛孔节点检测\\20250304 筛网\\", //0
|
||
"F:\\ShangGu\\项目\\筛孔节点检测\\20250303 筛网数据\\", //1
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{1,9},{1,12}
|
||
};
|
||
|
||
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];
|
||
|
||
SSG_sieveNodeDetectionParam algoParam;
|
||
algoParam.sieveDiameter = 5; //
|
||
algoParam.sieveHoleSize = 15;
|
||
algoParam.slopeParam.LSlopeZWin = 5;
|
||
algoParam.slopeParam.minLJumpH = 4; // 30; // algoParam.bagParam.bagH / 8;
|
||
algoParam.slopeParam.minEndingGap = 2;
|
||
algoParam.slopeParam.validSlopeH = 4;
|
||
|
||
algoParam.growParam.maxLineSkipNum = 5;
|
||
algoParam.growParam.yDeviation_max = algoParam.sieveDiameter * 1.5;
|
||
algoParam.growParam.maxSkipDistance = algoParam.sieveDiameter / 2;
|
||
algoParam.growParam.zDeviation_max = algoParam.sieveDiameter * 1.5; //袋子高度1/2
|
||
algoParam.growParam.minLTypeTreeLen = algoParam.sieveDiameter * 1.5; //mm
|
||
algoParam.growParam.minVTypeTreeLen = algoParam.sieveDiameter * 1.5; //mm
|
||
|
||
char _scan_file[256];
|
||
|
||
int endGroup = TEST_GROUP - 1;
|
||
for (int grp = 0; grp <= 1; grp++)
|
||
{
|
||
if (0 == grp)
|
||
{
|
||
char calibFile[250];
|
||
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
|
||
poseCalibPara = _readCalibPara(calibFile);
|
||
poseCalibPara.planeHeight = poseCalibPara.planeHeight - 1;
|
||
}
|
||
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;
|
||
|
||
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();
|
||
|
||
//调平，去除地面
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
sg_lineDataR(&laser3DPoints[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
|
||
}
|
||
//计算节点位置
|
||
std::vector<SVzNL3DPoint> nodePos;
|
||
sg_getSieveNodes(
|
||
laser3DPoints,
|
||
lineNum,
|
||
algoParam,
|
||
nodePos);
|
||
|
||
long t2 = GetTickCount64();
|
||
|
||
char _dbg_file[256];
|
||
#if 1
|
||
|
||
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputScanDataFile_RGBD_obj_XYZ(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, nodePos);
|
||
|
||
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_nodePos(imgName, laser3DPoints, lineNum, nodePos);
|
||
#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));
|
||
}
|
||
}
|
||
|
||
#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
|