wheelArchHeigthMeasure version 1.4.3 : 根据5.18数据进行轮毂检测算法优化,修改了参数。
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@ -18,7 +18,8 @@
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//version 1.4.0 : 添加了标定块凹槽长度计算API。
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//version 1.4.1 : 优化了标定块凹槽长度计算方法，使用前部1/4和后部1/4点计算，跳开中间波动比较大的点。
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//version 1.4.2 : 优化标定块凹槽长度计算方法，添加了噪点滤除。
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std::string m_strVersion = "1.4.2";
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//version 1.4.3 : 根据5.18数据进行轮毂检测算法优化,修改了参数。
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std::string m_strVersion = "1.4.3";
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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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@ -590,7 +591,10 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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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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{
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isGridData = false;
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break;
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}
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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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@ -732,14 +736,16 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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std::vector<std::vector<SWDIndexingVzPoint>> downEndings;
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 319)
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if (line == 281)
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int kkk = 1;
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std::vector<SWDIndexingVzPoint> line_upEnding;
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std::vector<SWDIndexingVzPoint> line_downEnding;
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_lineProc_getWheelEnding(scanLines[line], line, line_upEnding, line_downEnding);
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_lineProc_getWheelEnding(scanLines[line], line, line_upEnding, line_downEnding,
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scale_segGap, scale_endingAngleLen, wheel_endingAngleTh);
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upEndings.push_back(line_upEnding);
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downEndings.push_back(line_downEnding);
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}
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//生长聚类
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std::vector<SSG_endingTree> upEndingTrees;
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_getWheelEndingGrowingTrees(upEndings, upEndingTrees, growParam);
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@ -769,11 +775,43 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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}
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}
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double downEnding_maxBtmY = -DBL_MAX;
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int minBtmIdx = -1;
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for (int i = 0; i < (int)downEndingTrees.size(); i++)
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{
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double btmY_0 = _getBtmY(downEndingTrees[i]);
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if (downEnding_maxBtmY < btmY_0)
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{
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downEnding_maxBtmY = btmY_0;
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minBtmIdx = i;
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}
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}
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if(minBtmIdx < 0)
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{
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*errCode = SX_ERR_INVALID_WHEEL_EDGE;
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return result;
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}
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double downEnding_maxYopY = _getTopY(downEndingTrees[minBtmIdx]);
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int downEnding_maxLeft = downEndingTrees[minBtmIdx].treeNodes[0].lineIdx;
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int downEnding_maxRight = downEndingTrees[minBtmIdx].treeNodes.back().lineIdx;
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for (int i = 0; i < (int)downEndingTrees.size(); i++)
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{
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if (i == minBtmIdx)
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continue;
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double topY_0 = _getTopY(downEndingTrees[i]);
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double btmY_0 = _getBtmY(downEndingTrees[i]);
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int left_0 = downEndingTrees[i].treeNodes[0].lineIdx;
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int right_0 = downEndingTrees[i].treeNodes.back().lineIdx;
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if((downEnding_maxRight > left_0) && (right_0 > downEnding_maxLeft)) //与最下方交叠
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downEndingTrees[i].treeType = -1;
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else
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{
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if(btmY_0 < downEnding_maxYopY )
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downEndingTrees[i].treeType = -1;
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}
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#if 0
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for (int j = i + 1; j < (int)downEndingTrees.size(); j++)
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{
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if (downEndingTrees[j].treeType < 0)
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@ -790,7 +828,9 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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downEndingTrees[j].treeType = -1;
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}
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}
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#endif
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}
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std::vector<SSG_endingTree> validDownEndingTrees;
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for (int i = 0; i < (int)downEndingTrees.size(); i++)
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{
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@ -2730,11 +2730,11 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine * scanData
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}
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#define TEST_CONVERT_TO_GRID 0
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#define TEST_COMPUTE_WHEEL_ARCH 0
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#define TEST_CAMERA_ADJUSTING 1
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#define TEST_COMPUTE_WHEEL_ARCH 1
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#define TEST_CAMERA_ADJUSTING 0
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#define TEST_COMPUTE_CALIB_PARA 0
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#define TEST_GROUP 7
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#define TEST_GROUP 11
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int main()
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{
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#if TEST_CONVERT_TO_GRID
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@ -2819,11 +2819,15 @@ int main()
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场数据2/15_C552/", //4
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场数据2/17_C586/", //5
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场2数据/", //6
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场2数据2/右后轮/", //7
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场2数据2/右前轮/", //8
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场2数据2/左后轮/", //9
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"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场2数据2/左前轮/", //10
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};
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SVzNLRange fileIdx[TEST_GROUP] = {
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{1,2}, {1,4}, {27,41}, {27,41}, {27,41},{27,41}, {7,7}
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{1,2}, {1,4}, {27,41}, {27,41}, {27,41},{27,41}, {7,7},
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{1,37}, {1,37},{1,36},{1,38}
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};
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SSG_planeCalibPara poseCalibPara;
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@ -2847,16 +2851,24 @@ int main()
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char _scan_file[256];
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int endGroup = TEST_GROUP - 1;
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for (int grp = 6; grp <= endGroup; grp++)
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for (int grp = 7; grp <= endGroup; grp++)
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{
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char calibFile[250];
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sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
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poseCalibPara = _readCalibPara(calibFile);
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for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
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{
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//fidx = 2;
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//fidx = 38;
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if(6 == grp)
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sprintf_s(_scan_file, "%s%d_LaserData_Jl26C575.txt", dataPath[grp], fidx);
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else if(7 == grp)
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sprintf_s(_scan_file, "%s%d_右后轮.txt", dataPath[grp], fidx);
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else if (8 == grp)
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sprintf_s(_scan_file, "%s%d_右前轮.txt", dataPath[grp], fidx);
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else if (9 == grp)
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sprintf_s(_scan_file, "%s%d_左后轮.txt", dataPath[grp], fidx);
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else if (10 == grp)
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sprintf_s(_scan_file, "%s%d_左前轮.txt", dataPath[grp], fidx);
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else
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sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
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std::vector<std::vector< SVzNL3DPosition>> scanData;
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@ -2892,7 +2904,7 @@ int main()
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growParam.maxLineSkipNum = 10;
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growParam.yDeviation_max = 20.0;
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growParam.maxSkipDistance = 10.0;
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growParam.zDeviation_max = 20.0;//
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growParam.zDeviation_max = 40.0;//
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growParam.minLTypeTreeLen = 100; //mm
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growParam.minVTypeTreeLen = 100; //mm
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@ -2936,7 +2948,16 @@ int main()
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sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
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_outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight);
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#endif
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printf("%s: arcY=%f, upPtY=%f, height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.wheelArchPos.y, wheelArcHeight.wheelUpPos.y, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1));
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if(SG_ERR_NOT_GRID_FORMAT == errCode)
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printf("%s: arcY=%f, upPtY=%f, height=%f, arcToGrund=%f, time=%d(ms), errCode=不是栅格数据\n", _scan_file,
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wheelArcHeight.wheelArchPos.y, wheelArcHeight.wheelUpPos.y,
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wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth,
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(int)(t2 - t1));
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else
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printf("%s: arcY=%f, upPtY=%f, height=%f, arcToGrund=%f, time=%d(ms), errCode=%d\n", _scan_file,
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wheelArcHeight.wheelArchPos.y, wheelArcHeight.wheelUpPos.y,
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wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth,
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(int)(t2 - t1), errCode);
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double len = sqrt(pow(wheelArcHeight.wheelUpPos.x - wheelArcHeight.wheelDownPos.x, 2) +
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pow(wheelArcHeight.wheelUpPos.y - wheelArcHeight.wheelDownPos.y, 2) +
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pow(wheelArcHeight.wheelUpPos.z - wheelArcHeight.wheelDownPos.z, 2));
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