wheelArchHeigthMeasure version 1.3.5：

改进轮眉取点方法

sourceCode/wheelArchHeigthMeasure.cpp

@@ -13,7 +13,8 @@
 //version 1.3.2 : 针对不理想点云改进了算法，增强鲁棒性 
 //version 1.3.3 : 轮眉点的提取进行了改进，修正了可能的取点错误
 //version 1.3.4 : 轮眉到轮心高度计算方法进行了修正，由Y高度差修改为两点距离
-std::string	m_strVersion = "1.3.4";
+//version 1.3.5 : 改进轮眉取点方法。
+std::string	m_strVersion = "1.3.5";
 const char* wd_wheelArchHeigthMeasureVersion(void)
 {
 	return m_strVersion.c_str();
@@ -519,6 +520,40 @@ void _genEdgeContinuousPos(SSG_endingTree&edgeTree, std::vector<SVzNL2DPoint>& e
 	}
 }
 
+SVzNL2DPoint _getRealArcPos(SVzNL2DPoint seedPos, double a, double b, double c, std::vector<SVzNL3DPosition>& lineData, double chkRng_Y)
+{
+	SVzNL3DPosition seedPt = lineData[seedPos.y];
+
+	double minDist = -1;
+	int idx = -1;
+	for (int i = seedPos.y; i >= 0; i--)
+	{
+		if ( lineData[i].pt3D.z < 1e-4) 
+			continue;
+		if (lineData[i].nPointIdx != 2)
+			break;
+
+		double yLen = abs(lineData[i].pt3D.y - seedPt.pt3D.y);
+		if (yLen > chkRng_Y)
+			break;
+
+		double dist = abs(lineData[i].pt3D.y * a + lineData[i].pt3D.z * b + c);
+		if (minDist < 0)
+		{
+			minDist = dist;
+			idx = i;
+		}
+		else if(minDist > dist)
+		{
+			minDist = dist;
+			idx = i;
+		}
+	}
+	if (idx >= 0)
+		seedPos.y = idx;
+	return seedPos;
+}
+
 //轮眉高度测量
 WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
@@ -937,6 +972,29 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 		*errCode = SX_ERR_NO_WHEEL_ARC;
 		return result;
 	}
+
+	//检查轮眉点：使用45方向的线作切线，取切点作为轮眉点
+	double chkRng_Y = 50.0;
+#if 0
+	double vLine_a = downWheelPt.z - upWheelPt.z;
+	double vLine_b = upWheelPt.y - downWheelPt.y;
+	double vLine_c  = downWheelPt.y * upWheelPt.z - upWheelPt.y * downWheelPt.z;
+	//旋转45度
+	// 旋转后直线的系数（基于数学推导）
+	double r_a = vLine_a + vLine_b;
+	double r_b = vLine_b - vLine_a;
+	double r_c = -r_a * upWheelPt.y - r_b * upWheelPt.z;
+#else
+	//旋转30度
+	double vAngle = atan2(downWheelPt.z - upWheelPt.z, downWheelPt.y - upWheelPt.y);
+	vAngle += (60.0 / 180.0) * PI;
+	double r_a = tan(vAngle);
+	double r_b = -1.0;
+	double r_c = upWheelPt.z - r_a * upWheelPt.y;
+#endif
+	arcPos = _getRealArcPos(arcPos, r_a, r_b, r_c, scanLines[arcPos.x], chkRng_Y);
+
+
 	//在XY平面生成拟合点
 	double outLineLen = 200;
 	SVzNL3DPoint arcPt = scanLines[arcPos.x][arcPos.y].pt3D;

wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp

@@ -973,7 +973,7 @@ void _outputScanDataFile_RGBD_obj(char* fileName, std::vector<std::vector< SVzNL
 	}
 	//if (objOps.size() > 0)
 	{
-		int ptNum = 3;
+		int ptNum = 4;
 		sw << "Line_" << lineNum << "_" << (nTimeStamp + 1000) << "_" << ptNum << std::endl;
 
 		rgb = { 255, 0, 0 };
@@ -1000,6 +1000,13 @@ void _outputScanDataFile_RGBD_obj(char* fileName, std::vector<std::vector< SVzNL
 		sw << "{0,0}-{0,0}-";
 		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
 
+		x = (float)(wheelArcHeight.centerLine[0].x + wheelArcHeight.centerLine[1].x) / 2.0f;
+		y = (float)(wheelArcHeight.centerLine[0].y + wheelArcHeight.centerLine[1].y) / 2.0f;
+		z = (float)(wheelArcHeight.centerLine[0].z + wheelArcHeight.centerLine[1].z) / 2.0f;
+		sw << "{" << x << "," << y << "," << z << "}-";
+		sw << "{0,0}-{0,0}-";
+		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
+
 		x = (float)wheelArcHeight.wheelArchPos.x;
 		y = (float)wheelArcHeight.wheelArchPos.y;
 		z = (float)wheelArcHeight.wheelArchPos.z;
@@ -2725,7 +2732,7 @@ int main()
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = {
-		{1,2}, {1,4}, {8,9}, {8,9}, {8,9},{9,9}
+		{1,2}, {1,4}, {1,9}, {5,9}, {1,10},{1,10}
 	};
 
 	SSG_planeCalibPara poseCalibPara;
@@ -2749,7 +2756,7 @@ int main()
 	char _scan_file[256];
 
 	int endGroup = TEST_GROUP - 1;
-	for (int grp = 5; grp <= endGroup; grp++)
+	for (int grp = 2; grp <= endGroup; grp++)
 	{
 		char calibFile[250];
 		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);