wheelArcMeasure version 1.1.0 :

添加了轮眉到地面高度输出

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

sourceCode/wheelArchHeigthMeasure.cpp

@@ -6,7 +6,8 @@
 #include <limits>
 
 //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); 

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

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<std::vector< SVzNL3DPosition>> scanData;
 			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData);
 			if (scanData.size() == 0)
@@ -2769,7 +2769,7 @@ int main()
 					int kkk = 1;
 				//行处理
 				//调平，去除地面
-				wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
+				wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight-5);
 			}
 #if 0  //数据转存
 			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));
 
 
 		}