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wheelArcMeasure version 1.1.0 :

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添加了轮眉到地面高度输出
This commit is contained in:
jerryzeng 2025-12-30 21:22:41 +08:00
parent 7e51432bd2
commit 16dfab48a2
4 changed files with 29 additions and 6 deletions
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22
SG_Algorithm.sln
View File

@ -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

6
sourceCode/wheelArchHeigthMeasure.cpp
View File

@ -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);

1
sourceCode/wheelArchHeigthMeasure_Export.h
View File

@ -15,6 +15,7 @@ typedef struct
SVzNL3DPoint downLine[2];
SVzNL3DPoint centerLine[2];
double archToCenterHeigth;
double archToGroundHeigth;
}WD_wheelArchInfo;
//读版本号

6
wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
View File

@ -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));
}