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/SG_baseAlgo_Export.h

@@ -488,6 +488,10 @@ SG_APISHARED_EXPORT SSG_planeCalibPara adjustPlaneToXYPlane(
 SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara2(
     std::vector< std::vector<SVzNL3DPosition>>& scanLines);
 
+//针对孔板计算一个平面调平参数：提取不经过孔的扫描线进行平面拟合
+SG_APISHARED_EXPORT SSG_planeCalibPara sg_getHolePlaneCalibPara(
+    std::vector< std::vector<SVzNL3DPosition>>& scanLines);
+
 //计算一个平面调平参数。
 //以数据输入中ROI以内的点进行平面拟合，计算调平参数
 //旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
@@ -536,7 +540,7 @@ SG_APISHARED_EXPORT void sg_pointClustering(
 
 //基于栅格上点的窗口内的相邻点的聚类，聚类条件由3D点的邻域决定
 //使用vector构成2维结构体数组
-SG_APISHARED_EXPORT void wd_pointClustering2D(
+SG_APISHARED_EXPORT void wd_gridPointClustering(
     std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
     std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
     int clusterCheckWin, //搜索窗口
@@ -546,6 +550,15 @@ SG_APISHARED_EXPORT void wd_pointClustering2D(
     SVzNL3DRangeD& clusterRoi  //roi3D
 );
 
+//使用聚类方法完成8连通连通域分析
+SG_APISHARED_EXPORT void wd_gridPointClustering_labelling(
+    std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
+    std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
+    int clusterID, //当前Cluster的ID
+    std::vector< SVzNL2DPoint>& a_cluster,  //result
+    SVzNLRect& clusterRoi  //roi2D
+);
+
 //对栅格化数据进行XY平面上的投影量化，并对量化产生的空白点进行插值
 SG_APISHARED_EXPORT void pointClout2DProjection(
     std::vector< std::vector<SVzNL3DPosition>>& gridScanData,

sourceCode/SG_clustering.cpp

@@ -67,7 +67,7 @@ void sg_pointClustering(
 	return;
 }
 
-void wd_pointClustering2D(
+void wd_gridPointClustering(
 	std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
 	std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
 	int clusterCheckWin, //搜索窗口
@@ -108,7 +108,7 @@ void wd_pointClustering2D(
 						if ((chk_seed.featurType ==0) || (chk_seed.clusterID > 0))  //只检查未聚类的特征点
 							continue;
 
-						SVzNL3DPoint& chkValue = feature3DInfo[x][y];;
+						SVzNL3DPoint& chkValue = feature3DInfo[x][y];
 						double y_diff = abs(seedValue.y - chkValue.y);
 						double z_diff = abs(seedValue.z - chkValue.z);
 						double x_diff = abs(seedValue.x - chkValue.x);
@@ -138,4 +138,66 @@ void wd_pointClustering2D(
 		i++;
 	}
 	return;
+}
+
+//使用聚类方法完成8连通连通域分析
+void wd_gridPointClustering_labelling(
+	std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
+	std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
+	int clusterID, //当前Cluster的ID
+	std::vector< SVzNL2DPoint>& a_cluster,  //result
+	SVzNLRect& clusterRoi  //roi2D
+)
+{
+	int i = 0;
+	int lineNum = (int)featureMask.size();
+	int linePtNum = (int)featureMask[0].size();
+	while (1)
+	{
+		if (i >= a_cluster.size())
+			break;
+
+		SVzNL2DPoint a_seedPos = a_cluster[i];
+		if ((a_seedPos.x == 390) && (a_seedPos.y == 949))
+			int kkk = 1;
+
+		SSG_featureClusteringInfo& a_seed = featureMask[a_seedPos.x][a_seedPos.y];
+		if (0 == a_seed.clusterID)  //clusterID == 0, 未被处理，搜索邻域
+		{
+			//8连通
+			for (int i = -1; i <= 1; i++)
+			{
+				for (int j = -1; j <= 1; j++)
+				{
+					int y = j + a_seedPos.y;
+					int x = i + a_seedPos.x;
+					if ((x == 390) && (y == 949))
+						int kkk = 1;
+
+					if ((x >= 0) && (x < lineNum) && (y >= 0) && (y < linePtNum))
+					{
+						SSG_featureClusteringInfo& chk_seed = featureMask[x][y];
+						if ((chk_seed.featurType == 0) || (chk_seed.clusterID > 0))  //只检查未聚类的特征点
+							continue;
+
+						if (0 == chk_seed.flag)//防止被重复添加
+						{
+							chk_seed.flag = 1;
+							SVzNL2DPoint new_seed = { x, y };
+							a_cluster.push_back(new_seed);
+						}
+					}
+
+				}
+			}
+		}
+		a_seed.clusterID = clusterID;
+		//更新ROI
+		clusterRoi.left = clusterRoi.left > a_seedPos.x ? a_seedPos.x : clusterRoi.left;
+		clusterRoi.right = clusterRoi.right < a_seedPos.x ? a_seedPos.x : clusterRoi.right;
+		clusterRoi.top = clusterRoi.top > a_seedPos.y ? a_seedPos.y : clusterRoi.top;
+		clusterRoi.bottom = clusterRoi.bottom < a_seedPos.y ? a_seedPos.y : clusterRoi.bottom;
+		i++;
+	}
+	return;
 }

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));
 
 
 		}