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wheelArchHeigthMeasure version 1.3.1 :

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添加了一个检测轮毂是否存在的函数
This commit is contained in:
jerryzeng 2026-03-12 23:05:59 +08:00
parent 098caff171
commit 4acb751647
9 changed files with 92 additions and 39 deletions
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16
BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.cpp
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@ -743,7 +743,7 @@ int main()
const char* ver = wd_BQWorkpieceCornerVersion();
printf("ver:%s\n", ver);
for (int grp = 8; grp <= 8; grp++)
for (int grp = 7; grp <= 7; grp++)
{
SSG_planeCalibPara poseCalibPara;
//初始化成单位阵
@ -765,7 +765,7 @@ int main()
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
fidx =7;
//fidx =2;
char _scan_file[256];
if(0 == grp)
sprintf_s(_scan_file, "%sscanData_%d_grid.txt", dataPath[grp], fidx);
@ -804,7 +804,7 @@ int main()
}
#if 0
char _out_file[256];
sprintf_s(_out_file, "%s_%d_leveling.txt", dataPath[grp], fidx);
sprintf_s(_out_file, "%s%d_leveling.txt", dataPath[grp], fidx);
int headNullLines = 0;
_outputScanDataFile_vector(_out_file, scanLines, false, &headNullLines);
#endif
@ -821,9 +821,9 @@ int main()
filterParam.outlierTh = 5;
SSG_treeGrowParam growParam;
growParam.maxLineSkipNum = 10;
growParam.yDeviation_max = 10.0;
growParam.maxSkipDistance = 10.0;
growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
growParam.yDeviation_max = 5.0;
growParam.maxSkipDistance = 5.0;
growParam.zDeviation_max = 5.0;//
growParam.minLTypeTreeLen = 100; //mm
growParam.minVTypeTreeLen = 100; //mm
SSX_BQworkpiecePara workpieceParam;
@ -831,6 +831,10 @@ int main()
workpieceParam.lineLen = 120; // 120.0; //直线段长度
else
workpieceParam.lineLen = 160.0; //直线段长度
workpieceParam.dirAngleScale = 20.0; //计算方向角的尺度
workpieceParam.lineDeviation = 10.0;//直线偏离度。工作直线边缘由于扫描和切割导致波动，此参数用于描述此波动。
workpieceParam.minCutAngleTh = 15; //最小截角。由于扫描不全导致的截角，当截角过小时无法区分真下的截角和由于点波动导致的角度波动
int errCode = 0;
std::vector<SSX_debugInfo> debug_conturs;
SSX_BQworkpieceResult workpieceCorner = sx_BQ_getWorkpieceCorners(

2
BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.vcxproj
View File

@ -48,7 +48,7 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>

6
baseAlgorithm/baseAlgorithm.vcxproj
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@ -48,7 +48,7 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
@ -78,12 +78,12 @@
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
<LinkIncremental>true</LinkIncremental>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;F:\ShangGu\ProductDev\AlgoDev\thirdParty\PCL 1.12.0\3rdParty\Eigen\eigen3;$(IncludePath)</IncludePath>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;..\..\thirdParty\PCL 1.12.0\3rdParty\Eigen\eigen3;$(IncludePath)</IncludePath>
<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
<LinkIncremental>false</LinkIncremental>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;F:\ShangGu\ProductDev\AlgoDev\thirdParty\PCL 1.12.0\3rdParty\Eigen\eigen3;$(IncludePath)</IncludePath>
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;..\..\thirdParty\PCL 1.12.0\3rdParty\Eigen\eigen3;$(IncludePath)</IncludePath>
<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
</PropertyGroup>
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">

3
sourceCode/SG_baseDataType.h
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@ -569,6 +569,7 @@ typedef struct
int pntIdx;
int forward_pntIdx;
int backward_pntIdx;
int flag;
SWD_polarPt point;
}SSG_dirCornerAngle;
@ -600,6 +601,8 @@ typedef struct
int L2_ptIndex;
double cornerAngle;
int cornerDir;
int flag;
SWD_polarPt point;
}SWD_polarPeakInfo;
typedef struct

34
sourceCode/wheelArchHeigthMeasure.cpp
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@ -8,8 +8,9 @@
//version 1.0.0 : base version release to customer
//version 1.1.0 : 添加了轮眉到地面高度输出
//version 1.2.0 : 修正了地面调平，防止法向量旋转180度
//version 1.3.0 : 修正了寻找上下点使用固定门限的问题
std::string m_strVersion = "1.3.0";
//version 1.3.0 : 修正了寻找上下点使用固定门限的问题
//version 1.3.1 : 添加了一个检测轮毂是否存在的函数
std::string m_strVersion = "1.3.1";
const char* wd_wheelArchHeigthMeasureVersion(void)
{
return m_strVersion.c_str();
@ -243,6 +244,35 @@ SVzNL3DPoint _getWheelArcFittingPoint(
return fitPt;
}
bool wd_wheelPresenseDetection(
std::vector<std::vector< SVzNL3DPosition>>& scanLines,
const SVzNL3DRangeD wheelRoi3d)
{
int lines = (int)scanLines.size();
int validPtNum = 0;
for (int line = 0; line < lines; line++)
{
std::vector< SVzNL3DPosition>& a_line = scanLines[line];
int ptNum = (int)a_line.size();
for (int i = 0; i < ptNum; i++)
{
SVzNL3DPoint& a_pt3D = a_line[i].pt3D;
if ( (a_pt3D.x > wheelRoi3d.xRange.min) && (a_pt3D.x < wheelRoi3d.xRange.max)&&
(a_pt3D.y > wheelRoi3d.yRange.min) && (a_pt3D.y < wheelRoi3d.yRange.max)&&
(a_pt3D.z > wheelRoi3d.zRange.min) && (a_pt3D.z < wheelRoi3d.zRange.max) && (a_pt3D.z> 1e-4))
{
validPtNum++;
}
}
}
if (validPtNum > 1000)
return true;
else
return false;
}
//轮眉高度测量
WD_wheelArchInfo wd_wheelArchHeigthMeasure(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,

5
sourceCode/wheelArchHeigthMeasure_Export.h
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@ -33,6 +33,11 @@ SG_APISHARED_EXPORT void wd_horizonCamera_lineDataR(
const double* camPoseR,
double groundH);
//相机水平时姿态调平，并去除地面
SG_APISHARED_EXPORT bool wd_wheelPresenseDetection(
std::vector<std::vector< SVzNL3DPosition>>& scanLine,
const SVzNL3DRangeD wheelRoi3d);
//提取工件角点及定位长度信息
SG_APISHARED_EXPORT WD_wheelArchInfo wd_wheelArchHeigthMeasure(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,

57
wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
View File

@ -2762,19 +2762,8 @@ int main()
//algoParam.filterParam.outlierTh = 5;
long t1 = GetTickCount64();
int lineNum = (int)scanData.size();
for (int i = 0; i < lineNum; i++)
{
if (i == 14)
int kkk = 1;
//行处理
//调平，去除地面
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);
_outputScanDataFile_self(_scan_file, scanData, 0, 0, 0);
#endif
SVzNL3DRangeD wheelRoi3d = { {-1000, 1000}, {-2000, 2000}, {500, 2500} };
SSG_cornerParam cornerParam;
cornerParam.cornerTh = 45; //45度角
cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
@ -2784,7 +2773,7 @@ int main()
cornerParam.jumpCornerTh_2 = 60;
SSG_lineSegParam lineSegPara;
lineSegPara.maxDist = 1.0;
lineSegPara.distScale = 1.0;
lineSegPara.segGapTh_y = 5.0; //y方向间隔大于5mm认为是分段
lineSegPara.segGapTh_z = 10.0; //z方向间隔大于10mm认为是分段
@ -2800,18 +2789,40 @@ int main()
growParam.minLTypeTreeLen = 100; //mm
growParam.minVTypeTreeLen = 100; //mm
int errCode = 0;
WD_wheelArchInfo wheelArcHeight = wd_wheelArchHeigthMeasure(
scanData,
cornerParam,
lineSegPara,
filterParam,
growParam,
poseCalibPara,
&errCode);
WD_wheelArchInfo wheelArcHeight;
memset(&wheelArcHeight, 0, sizeof(WD_wheelArchInfo));
bool wheePresense = wd_wheelPresenseDetection( scanData, wheelRoi3d);
if (true == wheePresense)
{
int lineNum = (int)scanData.size();
for (int i = 0; i < lineNum; i++)
{
if (i == 14)
int kkk = 1;
//行处理
//调平，去除地面
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);
_outputScanDataFile_self(_scan_file, scanData, 0, 0, 0);
#endif
int errCode = 0;
WD_wheelArchInfo wheelArcHeight = wd_wheelArchHeigthMeasure(
scanData,
cornerParam,
lineSegPara,
filterParam,
growParam,
poseCalibPara,
&errCode);
}
long t2 = GetTickCount64();
char _dbg_file[256];
#if 1

4
wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.vcxproj
View File

@ -42,13 +42,13 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>Application</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>

4
wheelArchHeigthMeaure/wheelArchHeigthMeaure.vcxproj
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@ -49,13 +49,13 @@
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>true</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'" Label="Configuration">
<ConfigurationType>DynamicLibrary</ConfigurationType>
<UseDebugLibraries>false</UseDebugLibraries>
<PlatformToolset>v142</PlatformToolset>
<PlatformToolset>v143</PlatformToolset>
<WholeProgramOptimization>true</WholeProgramOptimization>
<CharacterSet>Unicode</CharacterSet>
</PropertyGroup>