wheelArcMeasure version 1.1.0 :
添加了轮眉到地面高度输出
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@ -157,7 +157,7 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition", "BQ_a
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "BQ_assemblyPosition_test", "BQ_assemblyPosition_test\BQ_assemblyPosition_test.vcxproj", "{BC38D1E5-10CB-438B-AC72-6012303CE139}"
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeaure", "wheelArchHeigthMeaure\wheelArchHeigthMeaure.vcxproj", "{CFE11556-106A-4216-BF62-FDA980528F7A}"
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeasure", "wheelArchHeigthMeaure\wheelArchHeigthMeaure.vcxproj", "{CFE11556-106A-4216-BF62-FDA980528F7A}"
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ProjectSection(ProjectDependencies) = postProject
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{95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD}
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EndProjectSection
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@ -168,6 +168,10 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "wheelArchHeigthMeasure_test
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{CFE11556-106A-4216-BF62-FDA980528F7A} = {CFE11556-106A-4216-BF62-FDA980528F7A}
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EndProjectSection
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure", "HC_channelSpaceMeausre\HC_channelSpaceMeausre.vcxproj", "{52A65444-8505-4FD5-9501-E2D297E2EB2C}"
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure_test", "HC_chanelSpaceMeasure_test\HC_chanelSpaceMeasure_test.vcxproj", "{3EC47D19-2562-4303-82B9-6B1C93C5A37A}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|x64 = Debug|x64
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@ -440,6 +444,22 @@ Global
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{BBF5341E-8447-45E9-ADA3-3E8A9B52F5EF}.Release|x64.Build.0 = Release|x64
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{BBF5341E-8447-45E9-ADA3-3E8A9B52F5EF}.Release|x86.ActiveCfg = Release|Win32
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{BBF5341E-8447-45E9-ADA3-3E8A9B52F5EF}.Release|x86.Build.0 = Release|Win32
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x64.ActiveCfg = Debug|x64
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x64.Build.0 = Debug|x64
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x86.ActiveCfg = Debug|Win32
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Debug|x86.Build.0 = Debug|Win32
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x64.ActiveCfg = Release|x64
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x64.Build.0 = Release|x64
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x86.ActiveCfg = Release|Win32
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{52A65444-8505-4FD5-9501-E2D297E2EB2C}.Release|x86.Build.0 = Release|Win32
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x64.ActiveCfg = Debug|x64
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x64.Build.0 = Debug|x64
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x86.ActiveCfg = Debug|Win32
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Debug|x86.Build.0 = Debug|Win32
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x64.ActiveCfg = Release|x64
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x64.Build.0 = Release|x64
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x86.ActiveCfg = Release|Win32
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{3EC47D19-2562-4303-82B9-6B1C93C5A37A}.Release|x86.Build.0 = Release|Win32
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE
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@ -488,6 +488,10 @@ SG_APISHARED_EXPORT SSG_planeCalibPara adjustPlaneToXYPlane(
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SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara2(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//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
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SG_APISHARED_EXPORT SSG_planeCalibPara sg_getHolePlaneCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//计算一个平面调平参数。
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//以数据输入中ROI以内的点进行平面拟合，计算调平参数
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//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
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@ -536,7 +540,7 @@ SG_APISHARED_EXPORT void sg_pointClustering(
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//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
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//使用vector构成2维结构体数组
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SG_APISHARED_EXPORT void wd_pointClustering2D(
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SG_APISHARED_EXPORT void wd_gridPointClustering(
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std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
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std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
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int clusterCheckWin, //搜索窗口
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@ -546,6 +550,15 @@ SG_APISHARED_EXPORT void wd_pointClustering2D(
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SVzNL3DRangeD& clusterRoi //roi3D
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);
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//使用聚类方法完成8连通连通域分析
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SG_APISHARED_EXPORT void wd_gridPointClustering_labelling(
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std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
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std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
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int clusterID, //当前Cluster的ID
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std::vector< SVzNL2DPoint>& a_cluster, //result
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SVzNLRect& clusterRoi //roi2D
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);
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//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
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SG_APISHARED_EXPORT void pointClout2DProjection(
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std::vector< std::vector<SVzNL3DPosition>>& gridScanData,
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@ -67,7 +67,7 @@ void sg_pointClustering(
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return;
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}
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void wd_pointClustering2D(
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void wd_gridPointClustering(
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std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
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std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
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int clusterCheckWin, //搜索窗口
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@ -108,7 +108,7 @@ void wd_pointClustering2D(
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if ((chk_seed.featurType ==0) || (chk_seed.clusterID > 0)) //只检查未聚类的特征点
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continue;
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SVzNL3DPoint& chkValue = feature3DInfo[x][y];;
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SVzNL3DPoint& chkValue = feature3DInfo[x][y];
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double y_diff = abs(seedValue.y - chkValue.y);
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double z_diff = abs(seedValue.z - chkValue.z);
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double x_diff = abs(seedValue.x - chkValue.x);
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@ -139,3 +139,65 @@ void wd_pointClustering2D(
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}
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return;
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}
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//使用聚类方法完成8连通连通域分析
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void wd_gridPointClustering_labelling(
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std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
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std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
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int clusterID, //当前Cluster的ID
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std::vector< SVzNL2DPoint>& a_cluster, //result
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SVzNLRect& clusterRoi //roi2D
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)
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{
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int i = 0;
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int lineNum = (int)featureMask.size();
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int linePtNum = (int)featureMask[0].size();
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while (1)
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{
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if (i >= a_cluster.size())
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break;
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SVzNL2DPoint a_seedPos = a_cluster[i];
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if ((a_seedPos.x == 390) && (a_seedPos.y == 949))
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int kkk = 1;
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SSG_featureClusteringInfo& a_seed = featureMask[a_seedPos.x][a_seedPos.y];
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if (0 == a_seed.clusterID) //clusterID == 0, 未被处理，搜索邻域
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{
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//8连通
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for (int i = -1; i <= 1; i++)
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{
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for (int j = -1; j <= 1; j++)
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{
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int y = j + a_seedPos.y;
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int x = i + a_seedPos.x;
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if ((x == 390) && (y == 949))
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int kkk = 1;
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if ((x >= 0) && (x < lineNum) && (y >= 0) && (y < linePtNum))
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{
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SSG_featureClusteringInfo& chk_seed = featureMask[x][y];
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if ((chk_seed.featurType == 0) || (chk_seed.clusterID > 0)) //只检查未聚类的特征点
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continue;
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if (0 == chk_seed.flag)//防止被重复添加
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{
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chk_seed.flag = 1;
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SVzNL2DPoint new_seed = { x, y };
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a_cluster.push_back(new_seed);
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}
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}
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}
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}
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}
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a_seed.clusterID = clusterID;
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//更新ROI
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clusterRoi.left = clusterRoi.left > a_seedPos.x ? a_seedPos.x : clusterRoi.left;
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clusterRoi.right = clusterRoi.right < a_seedPos.x ? a_seedPos.x : clusterRoi.right;
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clusterRoi.top = clusterRoi.top > a_seedPos.y ? a_seedPos.y : clusterRoi.top;
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clusterRoi.bottom = clusterRoi.bottom < a_seedPos.y ? a_seedPos.y : clusterRoi.bottom;
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i++;
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}
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return;
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}
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@ -6,7 +6,8 @@
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#include <limits>
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//version 1.0.0 : base version release to customer
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std::string m_strVersion = "1.0.0";
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//version 1.1.0 : 添加了轮眉到地面高度输出
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std::string m_strVersion = "1.1.0";
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const char* wd_wheelArchHeigthMeasureVersion(void)
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{
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return m_strVersion.c_str();
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@ -346,7 +347,7 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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SVzNL2DPoint a_seedPos = { x, y };
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std::vector< SVzNL2DPoint> a_cluster;
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a_cluster.push_back(a_seedPos);
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wd_pointClustering2D(
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wd_gridPointClustering(
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featureInfoMask,//int，记录特征标记和clusterID，附加一个flag
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feature3DInfo,//double,记录坐标信息
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clusterCheckWin, //搜索窗口
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@ -474,6 +475,7 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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result.centerLine[0] = { downWheelPt.x - outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z };
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result.centerLine[1] = { downWheelPt.x + outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z };
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result.archToCenterHeigth = centerY - arcPt.y;
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result.archToGroundHeigth = groundCalibPara.planeHeight - arcPt.y;
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//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
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for (int i = 0; i < lineNum; i++)
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lineDataRT_vector(scanLines[i], groundCalibPara.invRMatrix, -1);
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@ -15,6 +15,7 @@ typedef struct
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SVzNL3DPoint downLine[2];
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SVzNL3DPoint centerLine[2];
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double archToCenterHeigth;
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double archToGroundHeigth;
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}WD_wheelArchInfo;
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//读版本号
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@ -2752,7 +2752,7 @@ int main()
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for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
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{
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//fidx = 193;
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sprintf_s(_scan_file, "%sLaserLine1_grid.txt", dataPath[grp], fidx);
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sprintf_s(_scan_file, "%sLaserLine%d_grid.txt", dataPath[grp], fidx);
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std::vector<std::vector< SVzNL3DPosition>> scanData;
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vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData);
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if (scanData.size() == 0)
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@ -2769,7 +2769,7 @@ int main()
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int kkk = 1;
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//行处理
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//调平，去除地面
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wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
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wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight-5);
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}
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#if 0 //数据转存
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sprintf_s(_scan_file, "%sLaserLine%d_grid_RTadjust.txt", dataPath[grp], fidx);
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@ -2818,7 +2818,7 @@ int main()
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sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
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_outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight);
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#endif
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printf("%s: height=%f, %d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, (int)(t2 - t1));
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printf("%s: height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1));
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}
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