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。

sourceCode/wheelArchHeigthMeasure.cpp

@@ -18,7 +18,8 @@
 //version 1.4.0 : 添加了标定块凹槽长度计算API。
 //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。
 //version 1.4.2 : 优化标定块凹槽长度计算方法，添加了噪点滤除。
-std::string	m_strVersion = "1.4.2";
+//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。
+std::string	m_strVersion = "1.4.3";
 const char* wd_wheelArchHeigthMeasureVersion(void)
 {
 	return m_strVersion.c_str();
@@ -590,7 +591,10 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 	{
 		std::vector<SVzNL3DPosition>& lineData = scanLines[line];
 		if (linePtNum != (int)lineData.size())
+		{
 			isGridData = false;
+			break;
+		}
 		//滤波，滤除异常点
 		sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
 	}
@@ -732,14 +736,16 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 	std::vector<std::vector<SWDIndexingVzPoint>> downEndings;
 	for (int line = 0; line < lineNum; line++)
 	{
-		if (line == 319)
+		if (line == 281)
 			int kkk = 1;
 		std::vector<SWDIndexingVzPoint> line_upEnding;
 		std::vector<SWDIndexingVzPoint> line_downEnding;
-		_lineProc_getWheelEnding(scanLines[line], line, line_upEnding, line_downEnding);
+		_lineProc_getWheelEnding(scanLines[line], line, line_upEnding, line_downEnding, 
+			scale_segGap, scale_endingAngleLen, wheel_endingAngleTh);
 		upEndings.push_back(line_upEnding);
 		downEndings.push_back(line_downEnding);
 	}
+
 	//生长聚类
 	std::vector<SSG_endingTree> upEndingTrees;
 	_getWheelEndingGrowingTrees(upEndings, upEndingTrees, growParam);
@@ -769,11 +775,43 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 		}
 	}
 
+	double downEnding_maxBtmY = -DBL_MAX;
+	int minBtmIdx = -1;
 	for (int i = 0; i < (int)downEndingTrees.size(); i++)
 	{
+		double btmY_0 = _getBtmY(downEndingTrees[i]);
+		if (downEnding_maxBtmY < btmY_0)
+		{
+			downEnding_maxBtmY = btmY_0;
+			minBtmIdx = i;
+		}
+	}
+	if(minBtmIdx < 0)
+	{
+		*errCode = SX_ERR_INVALID_WHEEL_EDGE;
+		return result;
+	}
+
+	double downEnding_maxYopY = _getTopY(downEndingTrees[minBtmIdx]);
+	int downEnding_maxLeft = downEndingTrees[minBtmIdx].treeNodes[0].lineIdx;
+	int downEnding_maxRight = downEndingTrees[minBtmIdx].treeNodes.back().lineIdx;
+	for (int i = 0; i < (int)downEndingTrees.size(); i++)
+	{
+		if (i == minBtmIdx)
+			continue;
+
+		double topY_0 = _getTopY(downEndingTrees[i]);
 		double btmY_0 = _getBtmY(downEndingTrees[i]);
 		int left_0 = downEndingTrees[i].treeNodes[0].lineIdx;
 		int right_0 = downEndingTrees[i].treeNodes.back().lineIdx;
+		if((downEnding_maxRight > left_0) && (right_0 > downEnding_maxLeft)) //与最下方交叠
+			downEndingTrees[i].treeType = -1;
+		else
+		{
+			if(btmY_0 < downEnding_maxYopY )
+				downEndingTrees[i].treeType = -1;
+		}
+#if 0
 		for (int j = i + 1; j < (int)downEndingTrees.size(); j++)
 		{
 			if (downEndingTrees[j].treeType < 0)
@@ -790,7 +828,9 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 					downEndingTrees[j].treeType = -1;
 			}
 		}
+#endif
 	}
+
 	std::vector<SSG_endingTree> validDownEndingTrees;
 	for (int i = 0; i < (int)downEndingTrees.size(); i++)
 	{

wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp

@@ -2730,11 +2730,11 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine * scanData
 }
 
 #define TEST_CONVERT_TO_GRID		0
-#define TEST_COMPUTE_WHEEL_ARCH		0
+#define TEST_COMPUTE_WHEEL_ARCH		1
-#define TEST_CAMERA_ADJUSTING		1
+#define TEST_CAMERA_ADJUSTING		0
 #define TEST_COMPUTE_CALIB_PARA		0
 
-#define TEST_GROUP 7
+#define TEST_GROUP 11
 int main()
 {
 #if TEST_CONVERT_TO_GRID
@@ -2819,11 +2819,15 @@ int main()
 		"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
 		"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
 		"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场2数据/",  //6
-		
+		"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
+		"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
+		"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
+		"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
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = {
-		{1,2}, {1,4}, {27,41}, {27,41}, {27,41},{27,41}, {7,7}
+		{1,2}, {1,4}, {27,41}, {27,41}, {27,41},{27,41}, {7,7},
+		{1,37}, {1,37},{1,36},{1,38}
 	};
 
 	SSG_planeCalibPara poseCalibPara;
@@ -2847,16 +2851,24 @@ int main()
 	char _scan_file[256];
 
 	int endGroup = TEST_GROUP - 1;
-	for (int grp = 6; grp <= endGroup; grp++)
+	for (int grp = 7; grp <= endGroup; grp++)
 	{
 		char calibFile[250];
 		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
 		poseCalibPara = _readCalibPara(calibFile);
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx = 2;
+			//fidx = 38;
 			if(6 == grp)
 				sprintf_s(_scan_file, "%s%d_LaserData_Jl26C575.txt", dataPath[grp], fidx);
+			else if(7 == grp)
+				sprintf_s(_scan_file, "%s%d_右后轮.txt", dataPath[grp], fidx);
+			else if (8 == grp)
+				sprintf_s(_scan_file, "%s%d_右前轮.txt", dataPath[grp], fidx);
+			else if (9 == grp)
+				sprintf_s(_scan_file, "%s%d_左后轮.txt", dataPath[grp], fidx);
+			else if (10 == grp)
+				sprintf_s(_scan_file, "%s%d_左前轮.txt", dataPath[grp], fidx);
 			else
 				sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
 			std::vector<std::vector< SVzNL3DPosition>> scanData;
@@ -2892,7 +2904,7 @@ int main()
 			growParam.maxLineSkipNum = 10;
 			growParam.yDeviation_max = 20.0;
 			growParam.maxSkipDistance = 10.0;
-			growParam.zDeviation_max = 20.0;// 
+			growParam.zDeviation_max = 40.0;// 
 			growParam.minLTypeTreeLen = 100; //mm
 			growParam.minVTypeTreeLen = 100; //mm
 
@@ -2936,7 +2948,16 @@ int main()
 				sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
 				_outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight);
 #endif
-				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));
+				if(SG_ERR_NOT_GRID_FORMAT == errCode)
+					printf("%s: arcY=%f, upPtY=%f, height=%f, arcToGrund=%f, time=%d(ms), errCode=不是栅格数据\n", _scan_file, 
+						wheelArcHeight.wheelArchPos.y, wheelArcHeight.wheelUpPos.y, 
+						wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, 
+						(int)(t2 - t1));
+				else
+					printf("%s: arcY=%f, upPtY=%f, height=%f, arcToGrund=%f, time=%d(ms), errCode=%d\n", _scan_file,
+						wheelArcHeight.wheelArchPos.y, wheelArcHeight.wheelUpPos.y,
+						wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth,
+						(int)(t2 - t1), errCode);
 				double len = sqrt(pow(wheelArcHeight.wheelUpPos.x - wheelArcHeight.wheelDownPos.x, 2) +
 					pow(wheelArcHeight.wheelUpPos.y - wheelArcHeight.wheelDownPos.y, 2) +
 					pow(wheelArcHeight.wheelUpPos.z - wheelArcHeight.wheelDownPos.z, 2));