wheelArcMeasure version 1.1.0 :
添加了轮眉到地面高度输出
This commit is contained in:
parent
7e51432bd2
commit
a320f6747e
@ -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
|
||||
|
||||
@ -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,
|
||||
|
||||
@ -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;
|
||||
}
|
||||
@ -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);
|
||||
|
||||
@ -15,6 +15,7 @@ typedef struct
|
||||
SVzNL3DPoint downLine[2];
|
||||
SVzNL3DPoint centerLine[2];
|
||||
double archToCenterHeigth;
|
||||
double archToGroundHeigth;
|
||||
}WD_wheelArchInfo;
|
||||
|
||||
//读版本号
|
||||
|
||||
@ -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));
|
||||
|
||||
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user