633 lines
22 KiB
C++
633 lines
22 KiB
C++
// BQ_workpieceCornerExtract_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
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//
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#include <iostream>
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#include <fstream>
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "WD_particleSizeMeasure_Export.h"
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#include <opencv2/opencv.hpp>
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#include <Windows.h>
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#include <limits>
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typedef struct
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{
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int r;
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int g;
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int b;
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}SG_color;
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typedef struct
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{
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int nPointIdx;
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double x;
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double y;
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double z;
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float r;
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float g;
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float b;
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} SPointXYZRGB;
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void vzReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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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;
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std::vector< SVzNL3DPosition> a_line;
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int ptIdx = 0;
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while (getline(inputFile, linedata))
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{
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if (0 == strncmp("Line_", linedata.c_str(), 5))
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{
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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}
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a_line.clear();
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ptIdx = 0;
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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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SVzNL3DPosition a_pt;
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a_pt.pt3D.x = X;
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a_pt.pt3D.y = Y;
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a_pt.pt3D.z = Z;
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a_pt.nPointIdx = ptIdx;
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ptIdx++;
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a_line.push_back(a_pt);
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}
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}
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//last line
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int ptSize = (int)a_line.size();
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if (ptSize > 0)
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{
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scanData.push_back(a_line);
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a_line.clear();
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}
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inputFile.close();
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return;
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}
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void _convertToGridData_XYZ_vector(std::vector<std::vector< SVzNL3DPosition>>& scanData, double _F, std::vector<std::vector< SVzNL3DPosition>>& scanData_grid)
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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 lineNum = scanData.size();
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition>& a_line = scanData[line];
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int nPointCnt = a_line.size();
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for (int i = 0; i < nPointCnt; i++)
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{
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SVzNL3DPosition* a_pt = &scanData[line][i];
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if (a_pt->pt3D.z > 1e-4)
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{
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double v = _F * a_pt->pt3D.y / a_pt->pt3D.z + 2000;
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a_pt->nPointIdx = (int)(v + 0.5);
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max_y = max_y < (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : max_y;
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min_y = min_y > (int)a_pt->nPointIdx ? (int)a_pt->nPointIdx : 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;
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int pt_counter = max_y - min_y + 1;
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for (int line = 0; line < lineNum; line++)
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{
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std::vector< SVzNL3DPosition> gridData;
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gridData.resize(pt_counter);
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for (int i = 0; i < pt_counter; i++)
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gridData[i] = { 0,{ 0.0, 0.0, 0.0} };
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std::vector< SVzNL3DPosition>& a_line = scanData[line];
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int nPointCnt = a_line.size();
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for (int i = 0; i < nPointCnt; i++)
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{
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SVzNL3DPosition a_pt = a_line[i];
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if (a_pt.pt3D.z > 1e-4)
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{
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int pt_id = a_pt.nPointIdx - min_y;
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gridData[pt_id] = a_pt;
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}
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}
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scanData_grid.push_back(gridData);
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}
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return;
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}
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void _outputScanDataFile_XYZ_vector(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
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{
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std::ofstream sw(fileName);
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int lineNum = scanData.size();
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = scanData[line].size();
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sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &scanData[line][i];
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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char str[250];
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sprintf_s(str, "{ %f, %f, %f } - { 0, 0 } - { 0, 0 }", x, y, z);
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sw << str << std::endl;
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}
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}
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sw.close();
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}
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void _getRoiData_XYZ_vector(
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std::vector<std::vector< SVzNL3DPosition>>& scanData,
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std::vector<std::vector< SVzNL3DPosition>>& roiData,
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SVzNL3DRangeD roi)
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{
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int lineNum = scanData.size();
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for (int line = 0; line < lineNum; line++)
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{
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int nPositionCnt = scanData[line].size();
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std::vector< SVzNL3DPosition> linePts;
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for (int i = 0; i < nPositionCnt; i++)
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{
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SVzNL3DPosition pt3D = scanData[line][i];
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if ((pt3D.pt3D.z >= roi.zRange.min) &&
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(pt3D.pt3D.z <= roi.zRange.max) &&
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(pt3D.pt3D.y >= roi.yRange.min) &&
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(pt3D.pt3D.y <= roi.yRange.max))
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{
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linePts.push_back(pt3D);
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}
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}
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roiData.push_back(linePts);
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}
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}
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void _outputCalibPara(char* fileName, SSG_planeCalibPara calibPara)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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//调平矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[0], calibPara.planeCalib[1], calibPara.planeCalib[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[3], calibPara.planeCalib[4], calibPara.planeCalib[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.planeCalib[6], calibPara.planeCalib[7], calibPara.planeCalib[8]);
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sw << dataStr << std::endl;
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//地面高度
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sprintf_s(dataStr, 250, "%g", calibPara.planeHeight);
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sw << dataStr << std::endl;
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//反向旋转矩阵
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[0], calibPara.invRMatrix[1], calibPara.invRMatrix[2]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[3], calibPara.invRMatrix[4], calibPara.invRMatrix[5]);
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sw << dataStr << std::endl;
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sprintf_s(dataStr, 250, "%g, %g, %g", calibPara.invRMatrix[6], calibPara.invRMatrix[7], calibPara.invRMatrix[8]);
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sw << dataStr << std::endl;
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sw.close();
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}
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void _outputParticleSizeInfo(char* fileName, std::vector<SWD_ParticlePosInfo>& particles)
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{
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int particleSize = (int)particles.size();
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if (particleSize == 0)
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return;
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std::ofstream sw(fileName);
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char dataStr[250];
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sprintf_s(dataStr, 250, "particleNum: %d", particleSize);
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sw << dataStr << std::endl;
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for (int i = 0; i < particleSize; i++)
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{
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sprintf_s(dataStr, 250, " id_%d: (%g, %g, %g)", i, particles[i].size.length, particles[i].size.width, particles[i].size.height);
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sw << dataStr << std::endl;
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}
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sw.close();
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}
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void _outputScanDataFile_vector(char* fileName, std::vector<std::vector<SVzNL3DPosition>>& scanLines, bool removeZeros, int* headNullLines)
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{
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std::ofstream sw(fileName);
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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return;
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int lineIdx = 0;
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int null_lines = 0;
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bool counterNull = true;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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if (true == removeZeros)
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{
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int vldPtNum = 0;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z > 1e-4)
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vldPtNum++;
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}
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linePtNum = vldPtNum;
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}
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sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
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lineIdx++;
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bool isNull = true;
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for (int i = 0; i < linePtNum; i++)
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{
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SVzNL3DPoint* pt3D = &scanLines[line][i].pt3D;
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if ((pt3D->z > 1e-4) && (isNull == true))
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isNull = false;
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if ((true == removeZeros) && (pt3D->z < 1e-4))
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continue;
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float x = (float)pt3D->x;
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float y = (float)pt3D->y;
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float z = (float)pt3D->z;
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sw << "{ " << x << "," << y << "," << z << " }-";
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sw << "{0,0}-{0,0}" << std::endl;
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}
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if (true == counterNull)
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{
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if (true == isNull)
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null_lines++;
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else
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counterNull = false;
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}
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}
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*headNullLines = null_lines;
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sw.close();
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}
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SSG_planeCalibPara _readCalibPara(char* fileName)
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{
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//设置初始结果
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 };
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SSG_planeCalibPara planePara;
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for (int i = 0; i < 9; i++)
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planePara.planeCalib[i] = initCalib[i];
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planePara.planeHeight = -1.0;
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for (int i = 0; i < 9; i++)
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planePara.invRMatrix[i] = initCalib[i];
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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 planePara;
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//调平矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[0], &planePara.planeCalib[1], &planePara.planeCalib[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[3], &planePara.planeCalib[4], &planePara.planeCalib[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.planeCalib[6], &planePara.planeCalib[7], &planePara.planeCalib[8]);
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//地面高度
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf", &planePara.planeHeight);
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//反向旋转矩阵
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[0], &planePara.invRMatrix[1], &planePara.invRMatrix[2]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[3], &planePara.invRMatrix[4], &planePara.invRMatrix[5]);
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std::getline(inputFile, linedata);
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sscanf_s(linedata.c_str(), "%lf, %lf, %lf", &planePara.invRMatrix[6], &planePara.invRMatrix[7], &planePara.invRMatrix[8]);
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inputFile.close();
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return planePara;
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}
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void _outputScanDataResult_RGBD(
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char* fileName,
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std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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std::vector<SWD_ParticlePosInfo>& particles)
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{
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int lineNum = (int)scanLines.size();
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std::ofstream sw(fileName);
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int realLines = lineNum;
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if (particles.size() > 0)
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realLines++;
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sw << "LineNum:" << realLines << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed: 0" << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp: 0_0" << std::endl;
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int maxLineIndex = 0;
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int max_stamp = 0;
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SG_color rgb = { 0, 0, 0 };
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int size = 1;
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int lineIdx = 0;
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for (int line = 0; line < lineNum; line++)
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{
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int linePtNum = (int)scanLines[line].size();
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if (linePtNum == 0)
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continue;
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int vldNum = 0;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z > 1e-4)
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vldNum++;
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}
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sw << "Line_" << lineIdx << "_0_" << vldNum << std::endl;
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lineIdx++;
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for (int i = 0; i < linePtNum; i++)
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{
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if (scanLines[line][i].pt3D.z <= 1e-4)
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continue;
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SVzNL3DPosition* pt3D = &scanLines[line][i];
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int mkID = pt3D->nPointIdx;
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if (mkID < 2)
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{
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rgb = { 200, 200, 200 };
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size = 1;
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}
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else
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{
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rgb.r = (mkID * 97) % 256;
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rgb.g = (mkID * 73) % 256;
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rgb.b = (mkID * 59) % 256;
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size = 1;
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}
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float x = (float)pt3D->pt3D.x;
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float y = (float)pt3D->pt3D.y;
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float z = (float)pt3D->pt3D.z;
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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
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}
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}
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rgb = { 255,0,0 };
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if (particles.size() > 0)
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{
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int objNum = (int)particles.size();
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int lineIdx = 0;
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for (int i = 0; i < objNum; i++)
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{
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << particles[i].vertix[0].x << "," << particles[i].vertix[0].y << "," << particles[i].vertix[0].z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << particles[i].vertix[1].x << "," << particles[i].vertix[1].y << "," << particles[i].vertix[1].z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << particles[i].vertix[1].x << "," << particles[i].vertix[1].y << "," << particles[i].vertix[1].z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << particles[i].vertix[2].x << "," << particles[i].vertix[2].y << "," << particles[i].vertix[2].z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << particles[i].vertix[2].x << "," << particles[i].vertix[2].y << "," << particles[i].vertix[2].z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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sw << "{" << particles[i].vertix[3].x << "," << particles[i].vertix[3].y << "," << particles[i].vertix[3].z << "}-";
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sw << "{0,0}-{0,0}-";
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sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
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lineIdx++;
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sw << "Poly_" << lineIdx << "_2" << std::endl;
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sw << "{" << particles[i].vertix[3].x << "," << particles[i].vertix[3].y << "," << particles[i].vertix[3].z << "}-";
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sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[0].x << "," << particles[i].vertix[0].y << "," << particles[i].vertix[0].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[0].x << "," << particles[i].vertix[0].y << "," << particles[i].vertix[0].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[4].x << "," << particles[i].vertix[4].y << "," << particles[i].vertix[4].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[1].x << "," << particles[i].vertix[1].y << "," << particles[i].vertix[1].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[5].x << "," << particles[i].vertix[5].y << "," << particles[i].vertix[5].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[2].x << "," << particles[i].vertix[2].y << "," << particles[i].vertix[2].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[6].x << "," << particles[i].vertix[6].y << "," << particles[i].vertix[6].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[3].x << "," << particles[i].vertix[3].y << "," << particles[i].vertix[3].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[7].x << "," << particles[i].vertix[7].y << "," << particles[i].vertix[7].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[4].x << "," << particles[i].vertix[4].y << "," << particles[i].vertix[4].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[5].x << "," << particles[i].vertix[5].y << "," << particles[i].vertix[5].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[5].x << "," << particles[i].vertix[5].y << "," << particles[i].vertix[5].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[6].x << "," << particles[i].vertix[6].y << "," << particles[i].vertix[6].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[6].x << "," << particles[i].vertix[6].y << "," << particles[i].vertix[6].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[7].x << "," << particles[i].vertix[7].y << "," << particles[i].vertix[7].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[i].vertix[7].x << "," << particles[i].vertix[7].y << "," << particles[i].vertix[7].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[i].vertix[4].x << "," << particles[i].vertix[4].y << "," << particles[i].vertix[4].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
sw << "Poly_" << lineIdx << "_2" << std::endl;
|
||
sw << "{" << particles[0].vertix[0].x << "," << particles[0].vertix[0].y << "," << particles[0].vertix[0].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
sw << "{" << particles[0].vertix[1].x << "," << particles[0].vertix[1].y << "," << particles[0].vertix[1].z << "}-";
|
||
sw << "{0,0}-{0,0}-";
|
||
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
|
||
lineIdx++;
|
||
}
|
||
|
||
sw.close();
|
||
}
|
||
|
||
#define CONVERT_TO_GRID 0
|
||
#define TEST_COMPUTE_CALIB_PARA 0
|
||
#define TEST_COMPUTE_PARTICE_SIZE 1
|
||
#define TEST_GROUP 1
|
||
int main()
|
||
{
|
||
const char* dataPath[TEST_GROUP] = {
|
||
"F:\\ShangGu\\粒径数据\\曝光\\3D数据\\" //0
|
||
};
|
||
|
||
SVzNLRange fileIdx[TEST_GROUP] = {
|
||
{1,10}
|
||
};
|
||
|
||
#if TEST_COMPUTE_PARTICE_SIZE
|
||
for (int grp = 0; grp <= 0; grp++)
|
||
{
|
||
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 = 2600.0;
|
||
for (int i = 0; i < 9; i++)
|
||
poseCalibPara.invRMatrix[i] = poseCalibPara.planeCalib[i];
|
||
char calibFile[250];
|
||
#if 0
|
||
if (grp == 0)
|
||
{
|
||
sprintf_s(calibFile, "F:\\ShangGu\\粒径数据\\曝光\\3D数据\\ground_calib_para.txt");
|
||
poseCalibPara = _readCalibPara(calibFile);
|
||
}
|
||
#endif
|
||
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
||
{
|
||
//fidx =1;
|
||
char _scan_file[256];
|
||
sprintf_s(_scan_file, "%sgridScanData_%d.txt", dataPath[grp], fidx);
|
||
std::vector<std::vector< SVzNL3DPosition>> scanLines;
|
||
vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
|
||
|
||
long t1 = (long)GetTickCount64();//统计时间
|
||
for (int i = 0, i_max = (int)scanLines.size(); i < i_max; i++)
|
||
{
|
||
if (i == 14)
|
||
int kkk = 1;
|
||
//行处理
|
||
//调平，去除地面
|
||
wd_lineDataR(scanLines[i], poseCalibPara.planeCalib, -1);
|
||
}
|
||
|
||
SWD_paricleSizeParam paricleSizeParam;
|
||
paricleSizeParam.minSize = { 100.0, 100.0, 100.0 };
|
||
paricleSizeParam.alarmSize = { 1000.0, 1000.0, 1000.0 };
|
||
SWD_PSM_algoParam algoParam;
|
||
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;
|
||
algoParam.cornerParam.cornerTh = 60; //45度角
|
||
algoParam.cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
|
||
algoParam.cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
|
||
algoParam.cornerParam.minEndingGap_z = 20;
|
||
algoParam.cornerParam.jumpCornerTh_1 = 10; //水平角度，小于此角度视为水平
|
||
algoParam.cornerParam.jumpCornerTh_2 = 60;
|
||
algoParam.growParam.maxLineSkipNum = 10;
|
||
algoParam.growParam.yDeviation_max = 10.0;
|
||
algoParam.growParam.maxSkipDistance = 10.0;
|
||
algoParam.growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
|
||
algoParam.growParam.minLTypeTreeLen = 100; //mm
|
||
algoParam.growParam.minVTypeTreeLen = 100; //mm
|
||
|
||
int errCode = 0;
|
||
std::vector<SWD_ParticlePosInfo> particles;
|
||
wd_particleSizeMeasure(
|
||
scanLines,
|
||
paricleSizeParam,
|
||
poseCalibPara,
|
||
algoParam,
|
||
particles,
|
||
&errCode);
|
||
long t2 = (long)GetTickCount64();
|
||
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
|
||
//输出测试结果
|
||
sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
||
_outputScanDataResult_RGBD(_scan_file, scanLines, particles);
|
||
sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx);
|
||
_outputParticleSizeInfo(calibFile, particles);
|
||
}
|
||
}
|
||
#endif
|
||
}
|
||
|
||
// 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
|
||
|