494 lines
15 KiB
C++
494 lines
15 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "wheelArchHeigthMeasure_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//version 1.0.0 : base version release to customer
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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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}
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//相机水平安装计算地面调平参数。
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//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
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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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SSG_planeCalibPara wd_horizonCamera_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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return sg_HCameraVScan_getGroundCalibPara(scanLines);
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}
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//相机水平时姿态调平，并去除地面
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void wd_horizonCamera_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH)
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{
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HCamera_lineDataRT_vector(a_line, camPoseR, groundH);
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}
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SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, const double matrix3d[9])
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{
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SVzNL3DPoint _r_pt;
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_r_pt.x = pt3D.x * matrix3d[0] + pt3D.y * matrix3d[1] + pt3D.z * matrix3d[2];
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_r_pt.y = pt3D.x * matrix3d[3] + pt3D.y * matrix3d[4] + pt3D.z * matrix3d[5];
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_r_pt.z = pt3D.x * matrix3d[6] + pt3D.y * matrix3d[7] + pt3D.z * matrix3d[8];
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return _r_pt;
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}
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bool compareByPtSize(const SWD_clustersInfo& a, const SWD_clustersInfo& b) {
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return a.ptSize > b.ptSize;
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}
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//提取轮眉区域的下端点
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void _getArcEndings(std::vector< std::vector<SVzNL3DPosition>>& scanLines, const int cluster_arc_id, std::vector<SVzNL2DPoint>& contourPts)
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{
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int lineNum = (int)scanLines.size();
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for (int i = 0; i < lineNum; i++)
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{
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int ptNum = (int)scanLines[i].size();
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int lastIdx = -1;
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for (int j = 0; j < ptNum; j++)
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{
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if ((i == 380) && (j > 288))
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int kkk = 1;
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if ( (scanLines[i][j].nPointIdx == cluster_arc_id) && (scanLines[i][j].pt3D.z >1e-4))
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lastIdx = j;
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}
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if (lastIdx >= 0)
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{
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SVzNL2DPoint a_pt = { i, lastIdx};
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contourPts.push_back(a_pt);
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}
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}
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}
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//提取轮眉种子点，定义为y最小的端点
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int _getArcEndingsCenterPos(std::vector< std::vector<SVzNL3DPosition>>& scanLines, std::vector<SVzNL2DPoint>& contourPts)
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{
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double minY = DBL_MAX;
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int seedPosIdx = 0;
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for (int i = 0, i_max = (int)contourPts.size(); i < i_max; i++)
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{
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SVzNL2DPoint& a_pos = contourPts[i];
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double y = scanLines[a_pos.x][a_pos.y].pt3D.y;
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if ((minY > y) && (scanLines[a_pos.x][a_pos.y].pt3D.z > 1e-4))
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{
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seedPosIdx = i;
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minY = y;
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}
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}
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return seedPosIdx;
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}
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//使用端点直线，检查点到直线的距离，大于门限的分割
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int computeMaxDistPos(
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int ptStartIdx, int ptEndIdx,
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std::vector< SVzNL3DPosition>& lineData)
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{
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SVzNL3DPoint pt1 = lineData[ptStartIdx].pt3D;
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SVzNL3DPoint pt2 = lineData[ptEndIdx].pt3D;
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if ((pt1.z < 1e-4) || (pt2.z < 1e-4))
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return -1;
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double _a, _b, _c;
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compute2ptLine_2(
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pt1.y, pt1.z,
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pt2.y, pt2.z,
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&_a, &_b, &_c);
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//compute2ptLine(pt1, pt2, &_a, &_b, &_c);
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double denominator = sqrt(_a * _a + _b * _b);
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//归一化
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_a = _a / denominator;
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_b = _b / denominator;
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_c = _c / denominator;
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double maxDist = 0;
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int maxPos = 0;
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for (int i = ptStartIdx; i <= ptEndIdx; i++)
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{
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SVzNL3DPoint a_pt = lineData[i].pt3D;
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if (a_pt.z > 1e-4)
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{
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double dist = abs(a_pt.y * _a + a_pt.z * _b + _c);
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if (maxDist < dist)
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{
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maxDist = dist;
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maxPos = i;
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}
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}
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}
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return maxPos;
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}
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void _extractArcFittingPts(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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std::vector<SVzNL2DPoint>& contourPts,
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double chkWin,
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int seedPosIdx,
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std::vector< SVzNL2DPoint>& arcFittingPos)
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{
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int size = (int)contourPts.size();
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arcFittingPos.push_back(contourPts[seedPosIdx]);
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SVzNL3DPoint seedPt = scanLines[contourPts[seedPosIdx].x][contourPts[seedPosIdx].y].pt3D;
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for (int i = seedPosIdx - 1; i >= 0; i--)
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{
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SVzNL2DPoint chkPos = contourPts[i];
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SVzNL3DPoint chkPt = scanLines[chkPos.x][chkPos.y].pt3D;
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double len = sqrt(pow(chkPt.x - seedPt.x, 2) + pow(chkPt.y - seedPt.y, 2));
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if (len > chkWin)
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break;
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arcFittingPos.insert(arcFittingPos.begin(), chkPos);
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}
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for (int i = seedPosIdx + 1; i < size; i++)
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{
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SVzNL2DPoint chkPos = contourPts[i];
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SVzNL3DPoint chkPt = scanLines[chkPos.x][chkPos.y].pt3D;
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double len = sqrt(pow(chkPt.x - seedPt.x, 2) + pow(chkPt.y - seedPt.y, 2));
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if (len > chkWin)
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break;
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arcFittingPos.push_back(chkPos);
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}
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//检查正确的端点，检查20mm
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double chkLen = 20;
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for (int i = 0, i_max = (int)arcFittingPos.size(); i < i_max; i++)
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{
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SVzNL2DPoint chkPos = arcFittingPos[i];
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SVzNL3DPoint chkPt = scanLines[chkPos.x][chkPos.y].pt3D;
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int endIdx = chkPos.y;
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int startIdx = endIdx;
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for (int m = endIdx - 1; m >= 0; m--)
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{
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SVzNL3DPoint a_pt = scanLines[chkPos.x][m].pt3D;
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if (a_pt.z > 1e-4)
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{
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double len = sqrt(pow(a_pt.y - chkPt.y, 2) + pow(a_pt.z - chkPt.z, 2));
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if (len > chkLen)
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break;
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startIdx = m;
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}
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}
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if (startIdx != endIdx)
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{
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int maxPos = computeMaxDistPos(startIdx, endIdx, scanLines[chkPos.x]);
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SVzNL3DPoint max_pt = scanLines[chkPos.x][maxPos].pt3D;
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double len1 = sqrt(pow(max_pt.y - chkPt.y, 2) + pow(max_pt.z - chkPt.z, 2));
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//构建等腰三角形，重新寻找点到底边的距离最高点
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for (int m = maxPos - 1; m >= 0; m--)
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{
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SVzNL3DPoint a_pt = scanLines[chkPos.x][m].pt3D;
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if (a_pt.z > 1e-4)
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{
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double len = sqrt(pow(a_pt.y - max_pt.y, 2) + pow(a_pt.z - max_pt.z, 2));
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if (len > len1)
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break;
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startIdx = m;
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}
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}
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maxPos = computeMaxDistPos(startIdx, endIdx, scanLines[chkPos.x]);
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arcFittingPos[i].y = maxPos;
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}
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}
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}
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SVzNL3DPoint _getWheelArcFittingPoint(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const int maskID,
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std::vector< SVzNL2DPoint>& fittingPos,
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SVzNL2DPoint& fittingPosition)
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{
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//upWheel, 在XY平面生成拟合点
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std::vector<cv::Point2d> fittingPoints;
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for (int i = 0, i_max = (int)fittingPos.size(); i < i_max; i++)
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{
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int lineIdx = fittingPos[i].x;
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int ptIdx = fittingPos[i].y;
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cv::Point2d a_pt = { scanLines[lineIdx][ptIdx].pt3D.x,scanLines[lineIdx][ptIdx].pt3D.y };
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scanLines[lineIdx][ptIdx].nPointIdx = maskID;
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fittingPoints.push_back(a_pt);
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}
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double a, b, c, mse, max_err;
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bool fitResult = leastSquareParabolaFitEigen(
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fittingPoints, a, b, c, mse, max_err);
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//计算轮毂上顶点
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SVzNL3DPoint fitPt;
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fitPt.x = -b / (2 * a);
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fitPt.y = (4 * a * c - b * b) / (4 * a);
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//在轮廓点中寻找最近的点
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SVzNL2DPoint subOptiPtPos = { 0,0 };
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double minLen = DBL_MAX;
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for (int i = 0, i_max = (int)fittingPos.size(); i < i_max; i++)
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{
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int lineIdx = fittingPos[i].x;
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int ptIdx = fittingPos[i].y;
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cv::Point2d a_pt = { scanLines[lineIdx][ptIdx].pt3D.x,scanLines[lineIdx][ptIdx].pt3D.y };
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double len = sqrt(pow(fitPt.x - a_pt.x, 2) + pow(fitPt.y - a_pt.y, 2));
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if (minLen > len)
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{
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subOptiPtPos = fittingPos[i];
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minLen = len;
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}
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}
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fittingPosition = subOptiPtPos;
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fitPt.z = scanLines[subOptiPtPos.x][subOptiPtPos.y].pt3D.z;
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return fitPt;
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}
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//轮眉高度测量
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WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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const SSG_lineSegParam lineSegPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSG_planeCalibPara groundCalibPara,
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int* errCode)
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{
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*errCode = 0;
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WD_wheelArchInfo result;
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memset(&result, 0, sizeof(WD_wheelArchInfo));
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int lineNum = (int)scanLines.size();
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int linePtNum = (int)scanLines[0].size();
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bool isGridData = true;
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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if (linePtNum != (int)lineData.size())
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isGridData = false;
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//滤波，滤除异常点
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
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}
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//生成水平扫描
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std::vector<std::vector<SVzNL3DPosition>> hLines_raw;
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hLines_raw.resize(linePtNum);
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for (int i = 0; i < linePtNum; i++)
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hLines_raw[i].resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0; j < linePtNum; j++)
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{
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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hLines_raw[j][line] = scanLines[line][j];
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hLines_raw[j][line].pt3D.x = scanLines[line][j].pt3D.y;
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hLines_raw[j][line].pt3D.y = scanLines[line][j].pt3D.x;
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}
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}
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//水平arc特征提取
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for (int line = 0; line < linePtNum; line++)
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{
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if (line == 974)
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int kkk = 1;
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std::vector<SVzNL3DPosition>& lineData = hLines_raw[line];
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//滤波，滤除异常点
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int ptNum = (int)lineData.size();
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sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], ptNum, filterParam);
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}
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//聚类，聚类出前盖板和轮胎
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std::vector<std::vector<SSG_featureClusteringInfo>> featureInfoMask;
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std::vector<std::vector<SVzNL3DPoint>> feature3DInfo;
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featureInfoMask.resize(lineNum);
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feature3DInfo.resize(lineNum);
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for (int i = 0; i < lineNum; i++)
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{
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featureInfoMask[i].resize(linePtNum);
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feature3DInfo[i].resize(linePtNum);
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}
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//生成Mask
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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for (int ptIdx = 0; ptIdx < linePtNum; ptIdx++)
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{
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if (scanLines[line][ptIdx].pt3D.z > 1e-4)
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{
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SSG_featureClusteringInfo a_mask;
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memset(&a_mask, 0, sizeof(SSG_featureClusteringInfo));
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a_mask.featurType = 1;
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a_mask.lineIdx = line;
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a_mask.ptIdx = ptIdx;
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featureInfoMask[line][ptIdx] = a_mask;
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feature3DInfo[line][ptIdx] = scanLines[line][ptIdx].pt3D;
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}
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}
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}
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//聚类
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//采用迭代思想，回归思路进行高效聚类
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std::vector<std::vector< SVzNL2DPoint>> clusters; //只记录位置
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std::vector<SWD_clustersInfo> clustersInfo;
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int clusterID = 1;
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int clusterCheckWin = 5;
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for (int y = 0; y < linePtNum; y++)
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{
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for (int x = 0; x < lineNum; x++)
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{
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SSG_featureClusteringInfo& a_featureInfo = featureInfoMask[x][y];
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if ((0 == a_featureInfo.featurType) || (a_featureInfo.clusterID > 0)) //非特征或已经处理
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continue;
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SVzNL3DPoint& a_feature3DValue = feature3DInfo[x][y];
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SVzNL3DRangeD a_clusterRoi;
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a_clusterRoi.xRange.min = a_feature3DValue.x;
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a_clusterRoi.xRange.max = a_feature3DValue.x;
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a_clusterRoi.yRange.min = a_feature3DValue.y;
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a_clusterRoi.yRange.max = a_feature3DValue.y;
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a_clusterRoi.zRange.min = a_feature3DValue.z;
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a_clusterRoi.zRange.max = a_feature3DValue.z;
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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_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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growParam,//聚类条件
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clusterID, //当前Cluster的ID
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a_cluster, //result
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a_clusterRoi
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);
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clusters.push_back(a_cluster);
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SWD_clustersInfo a_info;
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a_info.clusterIdx = clusterID;
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a_info.ptSize = (int)a_cluster.size();
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a_info.roi3D = a_clusterRoi;
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clustersInfo.push_back(a_info);
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clusterID++;
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}
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}
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//聚类结果分析
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//取最大的两个聚类。上面的聚类是前盖板，下面的是车轮
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std::sort(clustersInfo.begin(), clustersInfo.end(), compareByPtSize);
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int cluseter_wheel_id, cluster_arc_id;
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if (clustersInfo[0].roi3D.yRange.max > clustersInfo[1].roi3D.yRange.max)
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{
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cluseter_wheel_id = clustersInfo[0].clusterIdx;
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cluster_arc_id = clustersInfo[1].clusterIdx;
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}
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else
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{
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cluseter_wheel_id = clustersInfo[1].clusterIdx;
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cluster_arc_id = clustersInfo[0].clusterIdx;
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}
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std::vector< SVzNL2DPoint>& cluster_wheel = clusters[cluseter_wheel_id - 1];
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std::vector< SVzNL2DPoint>& cluster_arc = clusters[cluster_arc_id - 1];
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for (int i = 0, i_max = (int)cluster_wheel.size(); i < i_max; i++)
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{
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int lineIdx = cluster_wheel[i].x;
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int ptIdx = cluster_wheel[i].y;
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scanLines[lineIdx][ptIdx].nPointIdx = 1;
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}
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for (int i = 0, i_max = (int)cluster_arc.size(); i < i_max; i++)
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{
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int lineIdx = cluster_arc[i].x;
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int ptIdx = cluster_arc[i].y;
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scanLines[lineIdx][ptIdx].nPointIdx = 2;
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}
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//寻找轮眉点
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//(1)快速寻找下端点（2）取中间区域，精确确定端点（3）抛物线拟合（4）计算轮眉点（最高点）
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std::vector<SVzNL2DPoint> arcEndings;
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_getArcEndings(scanLines, 2, arcEndings); //轮眉的ID是2
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if (arcEndings.size() == 0)
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{
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*errCode = SX_ERR_INVALID_ARC;
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return result;
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}
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int arcMidPos = _getArcEndingsCenterPos(scanLines, arcEndings);
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//取两侧固定长度（100mm内的点，进行精确边界提取，拟合）
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double chkWin = 100.0;
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std::vector< SVzNL2DPoint> arcFittingPos;
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_extractArcFittingPts(
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scanLines,
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arcEndings,
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chkWin,
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arcMidPos,
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arcFittingPos);
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//在XY平面生成拟合点
|
||
double outLineLen = 200;
|
||
SVzNL2DPoint arcPtPos;
|
||
SVzNL3DPoint arcPt = _getWheelArcFittingPoint(scanLines, 3, arcFittingPos, arcPtPos);
|
||
result.wheelArchPos = arcPt;
|
||
result.arcLine[0] = { arcPt.x - outLineLen, arcPt.y, arcPt.z };
|
||
result.arcLine[1] = { arcPt.x + outLineLen, arcPt.y, arcPt.z };
|
||
|
||
//提取轮毂特征：V型槽。连长6mm，角度最大的V型槽
|
||
std::vector< SVzNL2DPoint> upWheelPos;
|
||
std::vector< SVzNL2DPoint> downWheelPos;
|
||
int startLine = arcFittingPos[0].x;
|
||
int endLine = arcFittingPos.back().x;
|
||
SSG_cornerParam wheelCornerPara;
|
||
memset(&wheelCornerPara, 0, sizeof(SSG_cornerParam));
|
||
wheelCornerPara.scale = 6.0;
|
||
wheelCornerPara.cornerTh = 75.0;
|
||
for (int line = startLine; line <= endLine; line++)
|
||
{
|
||
std::vector<SSG_basicFeature1D> cornerFeatures;
|
||
sg_maskData_getLineCornerFeature(
|
||
scanLines[line],
|
||
line,
|
||
1, //车轮的ID为1
|
||
wheelCornerPara, //scale通常取bagH的1/4
|
||
cornerFeatures);
|
||
//取第一个为up
|
||
if (cornerFeatures.size() >= 2)
|
||
{
|
||
upWheelPos.push_back(cornerFeatures[0].jumpPos2D);
|
||
downWheelPos.push_back(cornerFeatures.back().jumpPos2D);
|
||
}
|
||
}
|
||
SVzNL2DPoint upPos;
|
||
SVzNL3DPoint upWheelPt = _getWheelArcFittingPoint(scanLines, 4, upWheelPos, upPos);
|
||
result.wheelUpPos = upWheelPt;
|
||
result.upLine[0] = { upWheelPt.x - outLineLen, upWheelPt.y, upWheelPt.z };
|
||
result.upLine[1] = { upWheelPt.x + outLineLen, upWheelPt.y, upWheelPt.z };
|
||
SVzNL2DPoint downPos;
|
||
SVzNL3DPoint downWheelPt = _getWheelArcFittingPoint(scanLines, 5, downWheelPos, downPos);
|
||
result.wheelDownPos = downWheelPt;
|
||
result.downLine[0] = { downWheelPt.x - outLineLen, downWheelPt.y, downWheelPt.z };
|
||
result.downLine[1] = { downWheelPt.x + outLineLen, downWheelPt.y, downWheelPt.z };
|
||
double centerY = (upWheelPt.y + downWheelPt.y) / 2;
|
||
int searchLine = (upPos.x + downPos.x) / 2;
|
||
double minDist = DBL_MAX;
|
||
int minPtIdx = 0;
|
||
for (int i = 0; i < (int)scanLines[searchLine].size(); i++)
|
||
{
|
||
if (scanLines[searchLine][i].pt3D.z > 1e-4)
|
||
{
|
||
double dist = abs(scanLines[searchLine][i].pt3D.y - centerY);
|
||
if (minDist > dist)
|
||
{
|
||
minDist = dist;
|
||
minPtIdx = i;
|
||
}
|
||
}
|
||
}
|
||
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);
|
||
//将检测结果重新投射回原来的坐标系
|
||
result.wheelArchPos = _ptRotate(result.wheelArchPos, groundCalibPara.invRMatrix);
|
||
result.wheelUpPos = _ptRotate(result.wheelUpPos, groundCalibPara.invRMatrix);
|
||
result.wheelDownPos = _ptRotate(result.wheelDownPos, groundCalibPara.invRMatrix);
|
||
for (int i = 0; i < 2; i++)
|
||
{
|
||
result.arcLine[i] = _ptRotate(result.arcLine[i], groundCalibPara.invRMatrix);
|
||
result.centerLine[i] = _ptRotate(result.centerLine[i], groundCalibPara.invRMatrix);
|
||
result.downLine[i] = _ptRotate(result.downLine[i], groundCalibPara.invRMatrix);
|
||
result.upLine[i] = _ptRotate(result.upLine[i], groundCalibPara.invRMatrix);
|
||
}
|
||
return result;
|
||
} |