wheelArchHeigthMeasure version 1.3.1 :

添加了一个检测轮毂是否存在的函数

BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.cpp

@@ -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.yDeviation_max = 5.0;
-			growParam.maxSkipDistance = 10.0;
+			growParam.maxSkipDistance = 5.0;
-			growParam.zDeviation_max = 10.0;// algoParam.bagParam.bagH / 2; //袋子高度1/2
+			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(

BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.vcxproj

@@ -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>

baseAlgorithm/baseAlgorithm.vcxproj

@@ -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'">

sourceCode/SG_baseDataType.h

@@ -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

sourceCode/wheelArchHeigthMeasure.cpp

@@ -9,7 +9,8 @@
 //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 1.3.1 : 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,

sourceCode/wheelArchHeigthMeasure_Export.h

@@ -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,

wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp

@@ -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++)
+			SVzNL3DRangeD wheelRoi3d = { {-1000, 1000}, {-2000, 2000}, {500, 2500} };
-			{
-				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
 			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_wheelArchInfo wheelArcHeight = wd_wheelArchHeigthMeasure(
+			memset(&wheelArcHeight, 0, sizeof(WD_wheelArchInfo));
-				scanData,
-				cornerParam,
-				lineSegPara,
-				filterParam,
-				growParam,
-				poseCalibPara,
-				&errCode);
 
+			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
 

wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.vcxproj

@@ -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>

wheelArchHeigthMeaure/wheelArchHeigthMeaure.vcxproj

@@ -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>