diff --git a/SG_Algorithm.sln b/SG_Algorithm.sln index ebdea36..1484cdd 100644 --- a/SG_Algorithm.sln +++ b/SG_Algorithm.sln @@ -157,7 +157,7 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition", "BQ_a EndProject Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition_test", "BQ_assemblyPosition_test\BQ_assemblyPosition_test.vcxproj", "{BC38D1E5-10CB-438B-AC72-6012303CE139}" EndProject -Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeaure", "wheelArchHeigthMeaure\wheelArchHeigthMeaure.vcxproj", "{CFE11556-106A-4216-BF62-FDA980528F7A}" +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeasure", "wheelArchHeigthMeaure\wheelArchHeigthMeaure.vcxproj", "{CFE11556-106A-4216-BF62-FDA980528F7A}" ProjectSection(ProjectDependencies) = postProject {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD} EndProjectSection @@ -168,6 +168,10 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeasure_test {CFE11556-106A-4216-BF62-FDA980528F7A} = {CFE11556-106A-4216-BF62-FDA980528F7A} EndProjectSection EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure", "HC_channelSpaceMeausre\HC_channelSpaceMeausre.vcxproj", "{52A65444-8505-4FD5-9501-E2D297E2EB2C}" +EndProject +Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure_test", "HC_chanelSpaceMeasure_test\HC_chanelSpaceMeasure_test.vcxproj", "{3EC47D19-2562-4303-82B9-6B1C93C5A37A}" +EndProject Global GlobalSection(SolutionConfigurationPlatforms) = preSolution Debug|x64 = Debug|x64 @@ -440,6 +444,22 @@ Global {BBF5341E-8447-45E9-ADA3-3E8A9B52F5EF}.Release|x64.Build.0 = Release|x64 {BBF5341E-8447-45E9-ADA3-3E8A9B52F5EF}.Release|x86.ActiveCfg = Release|Win32 {BBF5341E-8447-45E9-ADA3-3E8A9B52F5EF}.Release|x86.Build.0 = Release|Win32 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x64.ActiveCfg = Debug|x64 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x64.Build.0 = Debug|x64 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x86.ActiveCfg = Debug|Win32 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x86.Build.0 = Debug|Win32 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x64.ActiveCfg = Release|x64 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x64.Build.0 = Release|x64 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x86.ActiveCfg = Release|Win32 + {52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x86.Build.0 = Release|Win32 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x64.ActiveCfg = Debug|x64 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x64.Build.0 = Debug|x64 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x86.ActiveCfg = Debug|Win32 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x86.Build.0 = Debug|Win32 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x64.ActiveCfg = Release|x64 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x64.Build.0 = Release|x64 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x86.ActiveCfg = Release|Win32 + {3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x86.Build.0 = Release|Win32 EndGlobalSection GlobalSection(SolutionProperties) = preSolution HideSolutionNode = FALSE diff --git a/sourceCode/wheelArchHeigthMeasure.cpp b/sourceCode/wheelArchHeigthMeasure.cpp index f563f84..79be6fe 100644 --- a/sourceCode/wheelArchHeigthMeasure.cpp +++ b/sourceCode/wheelArchHeigthMeasure.cpp @@ -6,7 +6,8 @@ #include //version 1.0.0 : base version release to customer -std::string m_strVersion = "1.0.0"; +//version 1.1.0 : 添加了轮眉到地面高度输出 +std::string m_strVersion = "1.1.0"; const char* wd_wheelArchHeigthMeasureVersion(void) { return m_strVersion.c_str(); @@ -346,7 +347,7 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure( SVzNL2DPoint a_seedPos = { x, y }; std::vector< SVzNL2DPoint> a_cluster; a_cluster.push_back(a_seedPos); - wd_pointClustering2D( + wd_gridPointClustering( featureInfoMask,//int，记录特征标记和clusterID，附加一个flag feature3DInfo,//double,记录坐标信息 clusterCheckWin, //搜索窗口 @@ -474,6 +475,7 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure( result.centerLine[0] = { downWheelPt.x - outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z }; result.centerLine[1] = { downWheelPt.x + outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z }; result.archToCenterHeigth = centerY - arcPt.y; + result.archToGroundHeigth = groundCalibPara.planeHeight - arcPt.y; //将数据重新投射回原来的坐标系，以保持手眼标定结果正确 for (int i = 0; i < lineNum; i++) lineDataRT_vector(scanLines[i], groundCalibPara.invRMatrix, -1); diff --git a/sourceCode/wheelArchHeigthMeasure_Export.h b/sourceCode/wheelArchHeigthMeasure_Export.h index 4bcf7df..05af0bf 100644 --- a/sourceCode/wheelArchHeigthMeasure_Export.h +++ b/sourceCode/wheelArchHeigthMeasure_Export.h @@ -15,6 +15,7 @@ typedef struct SVzNL3DPoint downLine[2]; SVzNL3DPoint centerLine[2]; double archToCenterHeigth; + double archToGroundHeigth; }WD_wheelArchInfo; //读版本号 diff --git a/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp b/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp index 69a2212..4cb4b58 100644 --- a/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp +++ b/wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp @@ -2752,7 +2752,7 @@ int main() for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { //fidx = 193; - sprintf_s(_scan_file, "%sLaserLine1_grid.txt", dataPath[grp], fidx); + sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx); std::vector> scanData; vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData); if (scanData.size() == 0) @@ -2769,7 +2769,7 @@ int main() int kkk = 1; //琛屽鐞 //璋冨钩锛屽幓闄ゅ湴闈 - wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight); + wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight-5); } #if 0 //鏁版嵁杞瓨 sprintf_s(_scan_file, "%sLaserLine%d_grid_RTadjust.txt", dataPath[grp], fidx); @@ -2818,7 +2818,7 @@ int main() sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx); _outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight); #endif - printf("%s: height=%f, %d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, (int)(t2 - t1)); + printf("%s: height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1)); }