1175 lines
36 KiB
C++
1175 lines
36 KiB
C++
// motorStatorPosition_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 "beltTearingDetection_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* _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;
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gridData[gridLine].p3DPosition[pt_id].pt3D.y = r_pt.y;
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gridData[gridLine].p3DPosition[pt_id].pt3D.z = r_pt.z;
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}
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}
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}
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return gridData;
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}
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SVzNL3DLaserLine* _yRngFilterData_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, double y_min, double y_max, int* outLineNum)
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{
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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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}
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int vldLineNum = validEndLine - validStartLine + 1;
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*outLineNum = vldLineNum;
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SVzNL3DLaserLine* filterData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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memset(filterData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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for (int line = validStartLine; line <= validEndLine; line++)
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{
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std::vector<SVzNLPointXYZRGBA> vldPts;
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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) && (a_pt.y >= y_min) && (a_pt.y <= y_max))
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{
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vldPts.push_back(a_pt);
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}
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}
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int filterLine = line - validStartLine;
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int ptNum = vldPts.size();
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filterData[filterLine].nPositionCnt = ptNum;
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filterData[filterLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
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filterData[filterLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
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memset(filterData[filterLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * ptNum);
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for(int i = 0, i_max = vldPts.size(); i < i_max; i ++)
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{
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filterData[filterLine].p3DPosition[i].nPointIdx = i;
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filterData[filterLine].p3DPosition[i].pt3D.x = vldPts[i].x;
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filterData[filterLine].p3DPosition[i].pt3D.y = vldPts[i].y;
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filterData[filterLine].p3DPosition[i].pt3D.z = vldPts[i].z;
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}
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}
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return filterData;
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}
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SVzNL3DLaserLine* _linesDownSample_XYZRGB(SVzNLXYZRGBDLaserLine* laser3DPoints, int lineNum, int* outLineNum)
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{
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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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}
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int vldLineNum = (validEndLine - validStartLine + 1)/2;
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*outLineNum = vldLineNum;
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SVzNL3DLaserLine* filterData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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memset(filterData, 0, sizeof(SVzNL3DLaserLine) * (vldLineNum + 1));
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int totalLines = 0;
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for (int line = validStartLine; line <= validEndLine; line+=2)
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{
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if (totalLines >= vldLineNum)
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break;
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std::vector<SVzNLPointXYZRGBA> vldPts;
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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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vldPts.push_back(a_pt);
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}
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}
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int filterLine = totalLines;
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int ptNum = vldPts.size();
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filterData[filterLine].nPositionCnt = ptNum;
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filterData[filterLine].nTimeStamp = laser3DPoints[line].nTimeStamp;
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filterData[filterLine].p3DPosition = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
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memset(filterData[filterLine].p3DPosition, 0, sizeof(SVzNL3DPosition) * ptNum);
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for (int i = 0, i_max = vldPts.size(); i < i_max; i++)
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{
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filterData[filterLine].p3DPosition[i].nPointIdx = i;
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filterData[filterLine].p3DPosition[i].pt3D.x = vldPts[i].x;
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filterData[filterLine].p3DPosition[i].pt3D.y = vldPts[i].y;
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filterData[filterLine].p3DPosition[i].pt3D.z = vldPts[i].z;
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}
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totalLines++;
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}
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return filterData;
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}
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void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
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float lineV, int maxTimeStamp, int clockPerSecond)
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{
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std::ofstream sw(fileName);
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed:" << lineV << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << scanData[line].nPositionCnt << std::endl;
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for (int i = 0; i < scanData[line].nPositionCnt; i++)
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{
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SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[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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sw << "{" << x << "," << y << "," << z << "}-";
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sw << "{0,0}-{0,0}" << 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 _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
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float lineV, int maxTimeStamp, int clockPerSecond)
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{
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std::ofstream sw(fileName);
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sw << "LineNum:" << lineNum << std::endl;
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sw << "DataType: 0" << std::endl;
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sw << "ScanSpeed:" << lineV << std::endl;
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sw << "PointAdjust: 1" << std::endl;
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sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
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for (int line = 0; line < lineNum; line++)
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{
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int realNum = 0;
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for (int i = 0; i < scanData[line].nPositionCnt; i++)
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{
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if (scanData[line].p3DPosition[i].pt3D.z > 1e-4)
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realNum++;
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}
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sw << "Line_" << line << "_" << scanData[line].nTimeStamp << "_" << realNum << std::endl;
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for (int i = 0; i < scanData[line].nPositionCnt; i++)
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{
|
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if (scanData[line].p3DPosition[i].pt3D.z > 1e-4)
|
|
{
|
|
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
|
float x = (float)pt3D->pt3D.x;
|
|
float y = (float)pt3D->pt3D.y;
|
|
float z = (float)pt3D->pt3D.z;
|
|
sw << "{ " << x << "," << y << "," << z << " }-";
|
|
sw << "{0,0}-{0,0}" << std::endl;
|
|
}
|
|
}
|
|
}
|
|
sw.close();
|
|
}
|
|
|
|
SVzNL3DLaserLine* vzReadLaserScanPointFromFile_XYZ(const char* fileName, int* scanLineNum, float* scanV,
|
|
int* dataCalib, int* scanMaxStamp, int* canClockUnit)
|
|
{
|
|
std::ifstream inputFile(fileName);
|
|
std::string linedata;
|
|
|
|
if (inputFile.is_open() == false)
|
|
return NULL;
|
|
|
|
SVzNL3DLaserLine* _scanLines = NULL;
|
|
|
|
int lines = 0;
|
|
int dataElements = 4;
|
|
int firstIndex = -1;
|
|
|
|
int dataFileVer = DATA_VER_OLD;
|
|
std::getline(inputFile, linedata); //第一行
|
|
int lineNum = 0;
|
|
if (0 == strncmp("LineNum:", linedata.c_str(), 8))
|
|
{
|
|
dataFileVer = DATA_VER_NEW;
|
|
sscanf_s(linedata.c_str(), "LineNum:%d", &lines);
|
|
if (lines == 0)
|
|
return NULL;
|
|
lineNum = lines;
|
|
_scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
|
|
memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
|
|
if (scanLineNum)
|
|
*scanLineNum = lines;
|
|
}
|
|
else if (0 == strncmp("LineNum_", linedata.c_str(), 8))
|
|
{
|
|
dataFileVer = DATA_VER_OLD;
|
|
sscanf_s(linedata.c_str(), "LineNum_%d", &lines);
|
|
if (lines == 0)
|
|
return NULL;
|
|
lineNum = lines;
|
|
_scanLines = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * (lineNum + 1));
|
|
memset(_scanLines, 0, sizeof(SVzNL3DLaserLine) * (lineNum + 1));
|
|
if (scanLineNum)
|
|
*scanLineNum = lines;
|
|
}
|
|
if (_scanLines == NULL)
|
|
return NULL;
|
|
|
|
int ptNum = 0;
|
|
int lineIdx = -1;
|
|
int ptIdx = 0;
|
|
SVzNL3DPosition* p3DPoint = NULL;
|
|
if (dataFileVer == DATA_VER_NEW)
|
|
{
|
|
while (getline(inputFile, linedata))
|
|
{
|
|
if (0 == strncmp("ScanSpeed:", linedata.c_str(), 10))
|
|
{
|
|
double lineV = 0;
|
|
sscanf_s(linedata.c_str(), "ScanSpeed:%lf", &lineV);
|
|
if (scanV)
|
|
*scanV = (float)lineV;
|
|
}
|
|
else if (0 == strncmp("PointAdjust:", linedata.c_str(), 12))
|
|
{
|
|
int ptAdjusted = 0;
|
|
sscanf_s(linedata.c_str(), "PointAdjust:%d", &ptAdjusted);
|
|
if (dataCalib)
|
|
*dataCalib = ptAdjusted;
|
|
}
|
|
else if (0 == strncmp("MaxTimeStamp:", linedata.c_str(), 13))
|
|
{
|
|
unsigned int maxTimeStamp = 0;
|
|
unsigned int timePerStamp = 0;
|
|
sscanf_s(linedata.c_str(), "MaxTimeStamp:%u_%u", &maxTimeStamp, &timePerStamp);
|
|
if (scanMaxStamp)
|
|
*scanMaxStamp = maxTimeStamp;
|
|
if (canClockUnit)
|
|
*canClockUnit = timePerStamp;
|
|
}
|
|
else if (0 == strncmp("Line_", linedata.c_str(), 5))
|
|
{
|
|
int lineIndex;
|
|
unsigned int timeStamp;
|
|
sscanf_s(linedata.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum);
|
|
if (firstIndex < 0)
|
|
firstIndex = lineIndex;
|
|
|
|
lineIndex = lineIndex - firstIndex;
|
|
if ((lineIndex < 0) || (lineIndex >= lines))
|
|
break;
|
|
|
|
//new Line
|
|
lineIdx++;
|
|
if (ptNum > 0)
|
|
{
|
|
p3DPoint = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * ptNum);
|
|
memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * ptNum);
|
|
}
|
|
else
|
|
p3DPoint = NULL;
|
|
_scanLines[lineIdx].nPositionCnt = 0;
|
|
_scanLines[lineIdx].nTimeStamp = timeStamp;
|
|
_scanLines[lineIdx].p3DPosition = p3DPoint;
|
|
|
|
}
|
|
else if (0 == strncmp("{", linedata.c_str(), 1))
|
|
{
|
|
float X, Y, Z;
|
|
int imageY = 0;
|
|
float leftX, leftY;
|
|
float rightX, rightY;
|
|
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
|
|
int id = _scanLines[lineIdx].nPositionCnt;
|
|
if (id < ptNum)
|
|
{
|
|
p3DPoint[id].pt3D.x = X;
|
|
p3DPoint[id].pt3D.y = Y;
|
|
p3DPoint[id].pt3D.z = Z;
|
|
_scanLines[lineIdx].nPositionCnt = id + 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
else if (dataFileVer == DATA_VER_OLD)
|
|
{
|
|
while (getline(inputFile, linedata))
|
|
{
|
|
if (0 == strncmp("DataElements_", linedata.c_str(), 13))
|
|
{
|
|
sscanf_s(linedata.c_str(), "DataElements_%d", &dataElements);
|
|
if ((dataElements != 3) && (dataElements != 4))
|
|
break;
|
|
}
|
|
if (0 == strncmp("LineV_", linedata.c_str(), 6))
|
|
{
|
|
double lineV = 0;
|
|
sscanf_s(linedata.c_str(), "LineV_%lf", &lineV);
|
|
}
|
|
else if (0 == strncmp("Line_", linedata.c_str(), 5))
|
|
{
|
|
int lineIndex;
|
|
unsigned int timeStamp;
|
|
sscanf_s(linedata.c_str(), "Line_%d_%u", &lineIndex, &timeStamp);
|
|
#if 0
|
|
if (scanLineListTail == NULL)
|
|
firstIndex = lineIndex;
|
|
#endif
|
|
lineIndex = lineIndex - firstIndex;
|
|
if ((lineIndex < 0) || (lineIndex >= lines))
|
|
break;
|
|
//new Line
|
|
//new Line
|
|
lineIdx++;
|
|
p3DPoint = (SVzNL3DPosition*)malloc(sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
|
|
memset(p3DPoint, 0, sizeof(SVzNL3DPosition) * VZ_LASER_LINE_PT_MAX_NUM);
|
|
_scanLines[lineIdx].nPositionCnt = 0;
|
|
_scanLines[lineIdx].nTimeStamp = timeStamp;
|
|
_scanLines[lineIdx].p3DPosition = p3DPoint;
|
|
}
|
|
else if (0 == strncmp("(", linedata.c_str(), 1))
|
|
{
|
|
float X, Y, Z;
|
|
int imageY = 0;
|
|
if (dataElements == 4)
|
|
sscanf_s(linedata.c_str(), "(%f,%f,%f,%d)", &X, &Y, &Z, &imageY);
|
|
else
|
|
sscanf_s(linedata.c_str(), "(%f,%f,%f)", &X, &Y, &Z);
|
|
int id = _scanLines[lineIdx].nPositionCnt;
|
|
if (id < VZ_LASER_LINE_PT_MAX_NUM)
|
|
{
|
|
p3DPoint[id].pt3D.x = X;
|
|
p3DPoint[id].pt3D.y = Y;
|
|
p3DPoint[id].pt3D.z = Z;
|
|
_scanLines[lineIdx].nPositionCnt = id + 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
inputFile.close();
|
|
return _scanLines;
|
|
}
|
|
|
|
typedef struct
|
|
{
|
|
int r;
|
|
int g;
|
|
int b;
|
|
}SG_color;
|
|
void _outputScanDataFile_RGBD_obj(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
|
|
float lineV, int maxTimeStamp, int clockPerSecond,
|
|
std::vector<SSG_beltTearingInfo>& total_tearings)
|
|
{
|
|
std::ofstream sw(fileName);
|
|
int realLines = lineNum;
|
|
if (total_tearings.size() > 0)
|
|
realLines += 1;
|
|
|
|
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];
|
|
if (pt3D->pt3D.z < 1e-4)
|
|
continue;
|
|
|
|
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 (total_tearings.size() > 0)
|
|
{
|
|
int ptNum = 0;
|
|
for (int id = 0; id < total_tearings.size(); id++)
|
|
{
|
|
SSG_beltTearingInfo* a_tear = &total_tearings[id];
|
|
ptNum += total_tearings[id].pts.size();
|
|
}
|
|
sw << "Line_" << lineNum << "_" << nTimeStamp+1000 << "_" << ptNum << std::endl;
|
|
|
|
for (int id = 0; id < total_tearings.size(); id++)
|
|
{
|
|
SSG_beltTearingInfo* a_tear = &total_tearings[id];
|
|
for (int i = 0; i < a_tear->pts.size(); i++)
|
|
{
|
|
int objID = a_tear->pts[i].nPointIdx;
|
|
rgb = objColor[objID % 8];
|
|
size = 3;
|
|
float x = (float)a_tear->pts[i].pt3D.x;
|
|
float y = (float)a_tear->pts[i].pt3D.y;
|
|
float z = (float)a_tear->pts[i].pt3D.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 _rotateCloudPts(SVzNL3DLaserLine* scanData, int lineNum, double matrix3d[9], std::vector<std::vector< SVzNL3DPosition>>& rotateLines, SVzNLRangeD* rx_range, SVzNLRangeD* ry_range)
|
|
{
|
|
rx_range->min = 0;
|
|
rx_range->max = -1;
|
|
ry_range->min = 0;
|
|
ry_range->max = -1;
|
|
for (int line = 0; line < lineNum; line++)
|
|
{
|
|
std::vector< SVzNL3DPosition> linePts;
|
|
for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
|
{
|
|
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
|
|
if (pt3D->pt3D.z < 1e-4)
|
|
continue;
|
|
|
|
SVzNL3DPosition r_pt;
|
|
r_pt.pt3D = _ptRotate(pt3D->pt3D, matrix3d);
|
|
r_pt.nPointIdx = pt3D->nPointIdx;
|
|
if (rx_range->max < rx_range->min)
|
|
{
|
|
rx_range->min = r_pt.pt3D.x;
|
|
rx_range->max = r_pt.pt3D.x;
|
|
}
|
|
else
|
|
{
|
|
if (rx_range->min > r_pt.pt3D.x)
|
|
rx_range->min = r_pt.pt3D.x;
|
|
if (rx_range->max < r_pt.pt3D.x)
|
|
rx_range->max = r_pt.pt3D.x;
|
|
}
|
|
if (ry_range->max < ry_range->min)
|
|
{
|
|
ry_range->min = r_pt.pt3D.y;
|
|
ry_range->max = r_pt.pt3D.y;
|
|
}
|
|
else
|
|
{
|
|
if (ry_range->min > r_pt.pt3D.y)
|
|
ry_range->min = r_pt.pt3D.y;
|
|
if (ry_range->max < r_pt.pt3D.y)
|
|
ry_range->max = r_pt.pt3D.y;
|
|
}
|
|
linePts.push_back(r_pt);
|
|
|
|
}
|
|
rotateLines.push_back(linePts);
|
|
}
|
|
}
|
|
|
|
void _XOYprojection(cv::Mat& img,
|
|
std::vector<std::vector< SVzNL3DPosition>>& dataLines,
|
|
const double x_scale, const double y_scale,
|
|
const SVzNLRangeD x_range,
|
|
const SVzNLRangeD y_range,
|
|
std::vector<SSG_beltTearingInfo>& total_tearings)
|
|
{
|
|
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;
|
|
|
|
rgb = { 200, 200, 200 };
|
|
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);
|
|
}
|
|
}
|
|
for (int i = 0, i_max = total_tearings.size(); i < i_max; i++)
|
|
{
|
|
SSG_beltTearingInfo* a_obj = &total_tearings[i];
|
|
rgb = objColor[i % 8];
|
|
int size = 3;
|
|
for (int j = 0, j_max = a_obj->pts.size(); j < j_max; j++)
|
|
{
|
|
double x = a_obj->pts[j].pt3D.x;
|
|
double y = a_obj->pts[j].pt3D.y;
|
|
int px = (int)((x - x_range.min) / x_scale + x_skip);
|
|
int py = (int)((y - y_range.min) / y_scale + y_skip);
|
|
cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), -1);
|
|
}
|
|
//画ROI
|
|
cv::Point2d vec2d[4];
|
|
vec2d[0].x = a_obj->roi.left; vec2d[0].y = a_obj->roi.top;
|
|
vec2d[1].x = a_obj->roi.right; vec2d[1].y = a_obj->roi.top;
|
|
vec2d[2].x = a_obj->roi.right; vec2d[2].y = a_obj->roi.bottom;
|
|
vec2d[3].x = a_obj->roi.left; vec2d[3].y = a_obj->roi.bottom;
|
|
cv::Point vec[4];
|
|
for (int j = 0; j < 4; j++)
|
|
{
|
|
vec[j].x = (int)((vec2d[j].x - x_range.min) / x_scale + x_skip);
|
|
vec[j].y = (int)((vec2d[j].y - y_range.min) / y_scale + y_skip);
|
|
}
|
|
for (int j = 0; j < 4; j++)
|
|
{
|
|
int nxtIdx = (j + 1) % 4;
|
|
cv::line(img, vec[j], vec[nxtIdx], cv::Scalar(rgb[2], rgb[1], rgb[0]), size);
|
|
}
|
|
}
|
|
}
|
|
|
|
void EulerRpyToRotation1(double rpy[3], double matrix3d[9]) {
|
|
double cos0 = cos(rpy[0] * PI / 180);
|
|
double sin0 = sin(rpy[0] * PI / 180);
|
|
double cos1 = cos(rpy[1] * PI / 180);
|
|
double sin1 = sin(rpy[1] * PI / 180);
|
|
double cos2 = cos(rpy[2] * PI / 180);
|
|
double sin2 = sin(rpy[2] * PI / 180);
|
|
matrix3d[0] = cos2 * cos1;
|
|
matrix3d[1] = cos2 * sin1 * sin0 - sin2 * cos0;
|
|
matrix3d[2] = cos2 * sin1 * cos0 + sin2 * sin0;
|
|
matrix3d[3] = sin2 * cos1;
|
|
matrix3d[4] = sin2 * sin1 * sin0 + cos2 * cos0;
|
|
matrix3d[5] = sin2 * sin1 * cos0 - cos2 * sin0;
|
|
matrix3d[6] = -sin1;
|
|
matrix3d[7] = cos1 * sin0;
|
|
matrix3d[8] = cos1 * cos0;
|
|
return;
|
|
}
|
|
|
|
void _genXOYProjectionImage(cv::String& fileName, SVzNL3DLaserLine* scanData, int lineNum,
|
|
std::vector<SSG_beltTearingInfo>& total_tearings)
|
|
{
|
|
//统计X和Y的范围
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std::vector<std::vector< SVzNL3DPosition>> scan_lines;
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SVzNLRangeD x_range = { 0, -1 };
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|
SVzNLRangeD y_range = { 0, -1 };
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for (int line = 0; line < lineNum; line++)
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|
{
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|
std::vector< SVzNL3DPosition> a_line;
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for (int i = 0; i < scanData[line].nPositionCnt; i++)
|
|
{
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|
SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i];
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|
if (pt3D->pt3D.z < 1e-4)
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continue;
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|
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|
a_line.push_back(*pt3D);
|
|
if (x_range.max < x_range.min)
|
|
{
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|
x_range.min = pt3D->pt3D.x;
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|
x_range.max = pt3D->pt3D.x;
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|
}
|
|
else
|
|
{
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|
if (x_range.min > pt3D->pt3D.x)
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x_range.min = pt3D->pt3D.x;
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|
if (x_range.max < pt3D->pt3D.x)
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|
x_range.max = pt3D->pt3D.x;
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|
}
|
|
if (y_range.max < y_range.min)
|
|
{
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|
y_range.min = pt3D->pt3D.y;
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|
y_range.max = pt3D->pt3D.y;
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|
}
|
|
else
|
|
{
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|
if (y_range.min > pt3D->pt3D.y)
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|
y_range.min = pt3D->pt3D.y;
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|
if (y_range.max < pt3D->pt3D.y)
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|
y_range.max = pt3D->pt3D.y;
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|
}
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|
}
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|
scan_lines.push_back(a_line);
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|
}
|
|
|
|
//固定量化比例（因为皮带长度未知）
|
|
double x_scale = 0.5;
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|
double y_scale = 0.5;
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|
double x_rows = (x_range.max - x_range.min) / x_scale;
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|
double y_rows = (y_range.max - y_range.min) / y_scale;
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|
int imgRows = (int)(y_rows + 0.5);
|
|
if (imgRows % 2 != 0)
|
|
imgRows += 1;
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|
int imgCols = (int)(x_rows + 0.5);
|
|
if (imgCols % 2 != 0)
|
|
imgCols += 1;
|
|
|
|
imgRows += 32;
|
|
imgCols += 32;
|
|
cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
|
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_XOYprojection(img, scan_lines, x_scale, y_scale, x_range, y_range, total_tearings);
|
|
cv::imwrite(fileName, img);
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|
return;
|
|
}
|
|
|
|
void _outputObjInfo(char* fileName, std::vector<SSG_beltTearingInfo>& total_tearings)
|
|
{
|
|
std::ofstream sw(fileName);
|
|
int objNum = total_tearings.size();
|
|
sw << "撕裂数目:" << objNum << std::endl;
|
|
for (int i = 0; i < objNum; i++)
|
|
{
|
|
sw << " obj_" << i << std::endl;
|
|
sw << " Depth=" << total_tearings[i].tearDepth << std::endl;
|
|
sw << " Width=" << total_tearings[i].tearWidth << std::endl;
|
|
sw << " ROI={" << total_tearings[i].roi.left << "," << total_tearings[i].roi.right << "," << total_tearings[i].roi.top << "," << total_tearings[i].roi.bottom << "}" << std::endl;
|
|
sw << " start=" << total_tearings[i].statLineIdx << ", end=" << total_tearings[i].endLineIdx << std::endl;
|
|
}
|
|
sw.close();
|
|
}
|
|
|
|
#define TEST_GROUP 3
|
|
int main()
|
|
{
|
|
#if 0
|
|
#if 1
|
|
//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\\皮带撕裂点云\\SaveData\\");
|
|
char _scan_file[256];
|
|
double _F = 983.42; //f
|
|
for (int i = 11; i <= 11; i++)
|
|
{
|
|
sprintf_s(_scan_file, "%sSaveData_%d.txt", _scan_dir, i);
|
|
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
|
if (laser3DPoints_RGBD == NULL)
|
|
continue;
|
|
|
|
double camPoseR[9] = {
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0 };
|
|
|
|
int vldLineNum = 0;
|
|
SVzNL3DLaserLine* gridData = _convertToGridData_XYZRGB(laser3DPoints_RGBD, lineNum, _F, camPoseR, &vldLineNum);
|
|
//生成水平扫描数据
|
|
int hLineNum = gridData[0].nPositionCnt;
|
|
SVzNL3DLaserLine* hScanData = (SVzNL3DLaserLine*)malloc(sizeof(SVzNL3DLaserLine) * hLineNum);
|
|
memset(hScanData, 0, sizeof(SVzNL3DLaserLine) * hLineNum);
|
|
for (int hLine = 0; hLine < hLineNum; hLine++)
|
|
{
|
|
hScanData[hLine].nPositionCnt = lineNum;
|
|
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 < lineNum; m++)
|
|
{
|
|
hScanData[hLine].p3DPosition[m].nPointIdx = m;
|
|
hScanData[hLine].p3DPosition[m].pt3D = gridData[m].p3DPosition[hLine].pt3D;
|
|
}
|
|
}
|
|
char _out_file[256];
|
|
sprintf_s(_out_file, "%sLaserLine%d_grid.txt", _scan_dir, i);
|
|
_outputScanDataFile_self(_out_file, gridData, vldLineNum,
|
|
lineV, maxTimeStamp, clockPerSecond);
|
|
//sprintf_s(_out_file, "%sLaserLine%d_hScanData.txt", _scan_dir, i);
|
|
//_outputScanDataFile_removeZeros(_out_file, hScanData, hLineNum,
|
|
// lineV, maxTimeStamp, clockPerSecond);
|
|
printf("%s: convert done!\n", _scan_file);
|
|
}
|
|
#else
|
|
#if 0
|
|
//点云过滤Y范围过滤
|
|
//double y_min = -210.0, y_max = 50; //正面3
|
|
//double y_min = -178.0, y_max = 90; //正面4
|
|
//double y_min = -180.0, y_max = 60; //侧面3
|
|
double y_min = -190.0, y_max = 70; //侧面4
|
|
char _scan_file[256];
|
|
int lineNum = 0;
|
|
float lineV = 0.0f;
|
|
int dataCalib = 0;
|
|
int maxTimeStamp = 0;
|
|
int clockPerSecond = 0;
|
|
sprintf_s(_scan_file, "F:\\3D数据\\铸造件(1)\\铸造件\\侧面\\侧面4.txt");
|
|
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
|
|
|
int vldLineNum = 0;
|
|
SVzNL3DLaserLine* filterData = _yRngFilterData_XYZRGB(laser3DPoints_RGBD, lineNum, y_min, y_max, &vldLineNum);
|
|
|
|
char _out_file[256];
|
|
sprintf_s(_out_file, "F:\\3D数据\\铸造件(1)\\铸造件\\侧面\\侧面4_filter.txt");
|
|
_outputScanDataFile_self(_out_file, filterData, vldLineNum,
|
|
lineV, maxTimeStamp, clockPerSecond);
|
|
printf("%s: convert done!\n", _scan_file);
|
|
#else
|
|
char _scan_file[256];
|
|
int lineNum = 0;
|
|
float lineV = 0.0f;
|
|
int dataCalib = 0;
|
|
int maxTimeStamp = 0;
|
|
int clockPerSecond = 0;
|
|
sprintf_s(_scan_file, "F:\\客户\\天津阳润\\b侧替换标定数据\\004-b-u.txt");
|
|
SVzNLXYZRGBDLaserLine* laser3DPoints_RGBD = vzReadLaserScanPointFromFile_XYZRGB(_scan_file, &lineNum, &lineV, &dataCalib, &maxTimeStamp, &clockPerSecond);
|
|
|
|
int vldLineNum = 0;
|
|
SVzNL3DLaserLine* filterData = _linesDownSample_XYZRGB(laser3DPoints_RGBD, lineNum, &vldLineNum);
|
|
|
|
char _out_file[256];
|
|
sprintf_s(_out_file, "F:\\客户\\天津阳润\\b侧替换标定数据\\004-b-u-filter.txt");
|
|
_outputScanDataFile_self(_out_file, filterData, vldLineNum,
|
|
lineV, maxTimeStamp, clockPerSecond);
|
|
printf("%s: convert done!\n", _scan_file);
|
|
#endif
|
|
#endif
|
|
#else
|
|
|
|
const char* dataPath[TEST_GROUP] = {
|
|
"F:\\上古\\皮带撕裂点云\\1-500-2000\\", //0
|
|
"F:\\上古\\皮带撕裂点云\\2-1700-2000\\", //1
|
|
"F:\\上古\\皮带撕裂点云\\SaveData\\"
|
|
};
|
|
|
|
SVzNLRange fileIdx[TEST_GROUP] = {
|
|
{10,24}, {2, 18}, {15,15} };
|
|
|
|
double camPoseR[9] = {
|
|
1.0, 0.0, 0.0,
|
|
0.0, 1.0, 0.0,
|
|
0.0, 0.0, 1.0 };
|
|
|
|
SSG_beltTearingParam algoParam;
|
|
algoParam.differnceBinTh = 1.0;
|
|
algoParam.extractPara.gapChkWin = 7;
|
|
algoParam.extractPara.sameGapTh = 20.0;
|
|
algoParam.scanXScale = 4.0;
|
|
algoParam.scanYScale = 0.6;
|
|
algoParam.tearingMinGap = 50.0; //两个同位置的纵撕的最小间隔。大于此门限视为两个撕裂
|
|
algoParam.tearingMinLen = 30.0;
|
|
|
|
char _scan_file[256];
|
|
int endGroup = TEST_GROUP - 1;
|
|
for (int grp = 2; grp <= endGroup; grp++)
|
|
{
|
|
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
|
|
{
|
|
//fidx = 4;
|
|
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;
|
|
|
|
std::vector<SSG_beltTearingInfo> total_tearings;
|
|
|
|
printf("%s: \n", _scan_file);
|
|
int errCode = 0;
|
|
int nPointNum = laser3DPoints->nPositionCnt;
|
|
std::vector<SSG_hLineProInfo> hLineWorkers;
|
|
hLineWorkers.resize(nPointNum);
|
|
std::vector<SSG_beltTearingInfo> beltTearings_new;
|
|
std::vector<SSG_beltTearingInfo> beltTearings_growing;
|
|
std::vector<SSG_beltTearingInfo> beltTearings_ended;
|
|
std::vector<SSG_beltTearingInfo> beltTearings_unknown; //未判明，应用无需处理。
|
|
int lineIdx = 0;
|
|
long t1 = GetTickCount64();
|
|
|
|
beltTearings_new.clear();
|
|
beltTearings_new.shrink_to_fit();
|
|
beltTearings_growing.clear();
|
|
beltTearings_growing.shrink_to_fit();
|
|
beltTearings_ended.clear();
|
|
beltTearings_ended.shrink_to_fit();
|
|
beltTearings_unknown.clear();
|
|
beltTearings_unknown.shrink_to_fit();
|
|
sg_detectBeltTearing(
|
|
NULL, //空扫描线，用于复位内部静态变量
|
|
0,
|
|
0,
|
|
&errCode,
|
|
hLineWorkers,
|
|
beltTearings_new,
|
|
beltTearings_growing,
|
|
beltTearings_ended,
|
|
beltTearings_unknown, //未判明，应用无需处理。
|
|
algoParam);
|
|
|
|
for (int lineIdx = 0; lineIdx < lineNum; lineIdx++)
|
|
{
|
|
if ((lineIdx == 56) || (lineIdx == 857))
|
|
int kkk = 1;
|
|
SVzNL3DLaserLine* a_line = &laser3DPoints[lineIdx];
|
|
sg_detectBeltTearing(
|
|
a_line, //一条扫描线
|
|
lineIdx,
|
|
a_line->nPositionCnt,
|
|
&errCode,
|
|
hLineWorkers,
|
|
beltTearings_new,
|
|
beltTearings_growing,
|
|
beltTearings_ended,
|
|
beltTearings_unknown, //未判明，应用无需处理。
|
|
algoParam);
|
|
|
|
long t2 = GetTickCount64();
|
|
if (beltTearings_new.size() > 0)
|
|
int kkk = 1;
|
|
int newTearNum = beltTearings_new.size();
|
|
if (newTearNum > 0)
|
|
printf(" line_%d: %d(ms), newTearNum=%d!\n", lineIdx, (int)(t2 - t1), newTearNum);
|
|
#if OUTPUT_TEARING_POINTS
|
|
if (beltTearings_ended.size() > 0) //收集撕裂点
|
|
{
|
|
total_tearings.insert(total_tearings.end(), beltTearings_ended.begin(), beltTearings_ended.end());
|
|
}
|
|
else if (lineIdx == lineNum - 1) //测试数据最后一条扫描线。（实际中没有）
|
|
{
|
|
total_tearings.insert(total_tearings.end(), beltTearings_growing.begin(), beltTearings_growing.end());
|
|
}
|
|
#endif
|
|
}
|
|
|
|
printf(" totalTearNum=%d!\n", (int)total_tearings.size());
|
|
char _dbg_file[256];
|
|
#if 1
|
|
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
|
|
_outputScanDataFile_RGBD_obj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, total_tearings);
|
|
|
|
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx);
|
|
cv::String imgName(_dbg_file);
|
|
double rpy[3] = { 0, 0, 0 }; //{ 0,-45, 0 }; //
|
|
_genXOYProjectionImage(imgName, laser3DPoints, lineNum, total_tearings);
|
|
sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_info.txt", dataPath[grp], fidx);
|
|
_outputObjInfo(_dbg_file, total_tearings);
|
|
#endif
|
|
|
|
}
|
|
}
|
|
|
|
#endif
|
|
printf("all done!\n");
|
|
}
|
|
|