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rodAndBarDetection code update: fix bugs for compile errors

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This commit is contained in:
jerryzeng 2026-01-11 21:19:52 +08:00
parent 5c42f164d3
commit c69f28ca41
4 changed files with 15 additions and 6 deletions
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7
SG_Algorithm.sln
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@ -184,8 +184,15 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "HC_channelSpaceMeasure_test
EndProjectSection EndProjectSection
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rodAndBarDetection_test", "rodAndBarDetection_test\rodAndBarDetection_test.vcxproj", "{59F9508A-4295-4A7D-858C-7B4F0A7F8C82}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rodAndBarDetection_test", "rodAndBarDetection_test\rodAndBarDetection_test.vcxproj", "{59F9508A-4295-4A7D-858C-7B4F0A7F8C82}"
ProjectSection(ProjectDependencies) = postProject
{95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD}
{AEC22DC1-FBE0-4D9C-B090-D4821A9D846B} = {AEC22DC1-FBE0-4D9C-B090-D4821A9D846B}
EndProjectSection
EndProject EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rodAndBarDetection", "rodAndBarDetection\rodAndBarDetection.vcxproj", "{AEC22DC1-FBE0-4D9C-B090-D4821A9D846B}" Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rodAndBarDetection", "rodAndBarDetection\rodAndBarDetection.vcxproj", "{AEC22DC1-FBE0-4D9C-B090-D4821A9D846B}"
ProjectSection(ProjectDependencies) = postProject
{95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD}
EndProjectSection
EndProject EndProject
Global Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution GlobalSection(SolutionConfigurationPlatforms) = preSolution

2
sourceCode/SG_baseAlgo_Export.h
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@ -554,7 +554,7 @@ SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara2_ROI(
SVzNL3DRangeD roi); SVzNL3DRangeD roi);
//根据两个向量计算旋转矩阵 //根据两个向量计算旋转矩阵
SG_APISHARED_EXPORT SSG_planeCalibPara wd_conputeRTMatrix( SG_APISHARED_EXPORT SSG_planeCalibPara wd_computeRTMatrix(
SVzNL3DPoint& vector1, SVzNL3DPoint& vector1,
SVzNL3DPoint& vector2); SVzNL3DPoint& vector2);

9
sourceCode/SG_baseFunc.cpp
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@ -2417,7 +2417,7 @@ SSG_planeCalibPara sg_HCameraVScan_getGroundCalibPara(
return planePara; return planePara;
} }
SSG_planeCalibPara wd_conputeRTMatrix(SVzNL3DPoint& vector1, SVzNL3DPoint& vector2) SSG_planeCalibPara wd_computeRTMatrix(SVzNL3DPoint& vector1, SVzNL3DPoint& vector2)
{ {
Vector3 a = Vector3(vector1.x, vector1.y, vector1.z); Vector3 a = Vector3(vector1.x, vector1.y, vector1.z);
Vector3 b = Vector3(vector2.x, vector2.y, vector2.z); Vector3 b = Vector3(vector2.x, vector2.y, vector2.z);
@ -3107,9 +3107,12 @@ bool fitLine3DLeastSquares(const std::vector<SVzNL3DPoint>& points, SVzNL3DPoint
center = { cx, cy, cz }; center = { cx, cy, cz };
// 2. 构造去中心化的协方差矩阵（3x3） // 2. 构造去中心化的协方差矩阵（3x3）
Eigen::MatrixXd centered = A.rowwise() - Eigen::Vector3d(cx, cy, cz); // 关键修复：使用RowVector3d（行向量）做rowwise减法，匹配维度
Eigen::Matrix3d cov = centered.transpose() * centered / (points.size() - 1); Eigen::RowVector3d centroid_row(cx, cy, cz);
Eigen::MatrixXd centered = A.rowwise() - centroid_row; // 维度匹配，无报错
// 协方差矩阵计算（n-1为无偏估计，工程中也可直接用n）
Eigen::Matrix3d cov = centered.transpose() * centered / (points.size() - 1);
// 3. 特征值分解：求协方差矩阵的特征值和特征向量 // 3. 特征值分解：求协方差矩阵的特征值和特征向量
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> eigensolver(cov); Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> eigensolver(cov);
if (eigensolver.info() != Eigen::Success) { if (eigensolver.info() != Eigen::Success) {

3
sourceCode/rodAndBarDetection.cpp
View File

@ -124,7 +124,6 @@ SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
int* errCode) int* errCode)
{ {
*errCode = 0; *errCode = 0;
SSX_hexHeadScrewInfo screwInfo;
memset(&screwInfo, 0, sizeof(SSX_hexHeadScrewInfo)); memset(&screwInfo, 0, sizeof(SSX_hexHeadScrewInfo));
int lineNum = (int)scanLines.size(); int lineNum = (int)scanLines.size();
if (lineNum == 0) if (lineNum == 0)
@ -250,7 +249,7 @@ SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, double matrix3d[9])
//¼ÆËãÐýתÏòÁ¿ //¼ÆËãÐýתÏòÁ¿
SVzNL3DPoint vector1 = P1_dir; SVzNL3DPoint vector1 = P1_dir;
SVzNL3DPoint vector2 = { 0, 0, -1.0 }; SVzNL3DPoint vector2 = { 0, 0, -1.0 };
SSG_planeCalibPara rotatePara = wd_conputeRTMatrix( vector1, vector2); SSG_planeCalibPara rotatePara = wd_computeRTMatrix( vector1, vector2);
// //
SSG_ROIRectD roi_xoy; SSG_ROIRectD roi_xoy;
roi_xoy.left = P0_center.x - rodRidius * 4; //2D·¶Î§ roi_xoy.left = P0_center.x - rodRidius * 4; //2D·¶Î§