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wheelArchHeigthMeasure version 1.4.1 :

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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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jerryzeng 2026-05-18 18:59:58 +08:00
parent bbad1650f2
commit 9d3cb1c18d
2 changed files with 31 additions and 19 deletions
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40
sourceCode/wheelArchHeigthMeasure.cpp
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@ -16,7 +16,8 @@
//version 1.3.5 : 改进轮眉取点方法。 //version 1.3.5 : 改进轮眉取点方法。
//version 1.3.6 : 轮眉到轮心高度计算方法进行了修正，重新从由两点距离修改为Y高度差。 //version 1.3.6 : 轮眉到轮心高度计算方法进行了修正，重新从由两点距离修改为Y高度差。
//version 1.4.0 : 添加了标定块凹槽长度计算API。 //version 1.4.0 : 添加了标定块凹槽长度计算API。
std::string m_strVersion = "1.4.0"; //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。
std::string m_strVersion = "1.4.1";
const char* wd_wheelArchHeigthMeasureVersion(void) const char* wd_wheelArchHeigthMeasureVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -1215,27 +1216,31 @@ double wd_getCalibrationBlockLength(
validLines.push_back(lineData); validLines.push_back(lineData);
} }
double sumGaugeLen = 0; std::vector<double> gaugeLen;
int sumSize = 0;
int validLineNum = (int)validLines.size(); int validLineNum = (int)validLines.size();
for (int i = 0; i < validLineNum; i++) for (int i = 0; i < validLineNum; i++)
{ {
int validLinePtNum = (int)validLines[i].size(); int validLinePtNum = (int)validLines[i].size();
SVzNL3DPosition first_pt = validLines[i][0]; SVzNL3DPosition first_pt = validLines[i][0];
SVzNL3DPosition last_pt = validLines[i].back(); SVzNL3DPosition last_pt = validLines[i].back();
int midPtIdx_0 = validLinePtNum / 4;
int midPtIdx_1 = (validLinePtNum * 3) / 4;
SVzNL3DPosition mid_pt0 = validLines[i][midPtIdx_0];
SVzNL3DPosition mid_pt1 = validLines[i][midPtIdx_1];
double totalLen = sqrt(pow(first_pt.pt3D.x - last_pt.pt3D.x, 2) + pow(first_pt.pt3D.y - last_pt.pt3D.y, 2) + pow(first_pt.pt3D.z - last_pt.pt3D.z, 2)); double totalLen = sqrt(pow(first_pt.pt3D.x - last_pt.pt3D.x, 2) + pow(first_pt.pt3D.y - last_pt.pt3D.y, 2) + pow(first_pt.pt3D.z - last_pt.pt3D.z, 2));
double lenDiff = abs(nominalTotalLen - totalLen); double lenDiff = abs(nominalTotalLen - totalLen);
if ( (lenDiff < 10) &&(validLinePtNum>100)) if ( (lenDiff < 10) &&(validLinePtNum>100))
{ {
//计算凹槽长度 //计算凹槽长度
double _a = 0, _b = 0, _c = 0; double _a1 = 0, _b1 = 0, _c1 = 0;
compute2ptLine_2(first_pt.pt3D.y, first_pt.pt3D.z, last_pt.pt3D.y, last_pt.pt3D.z, &_a, &_b, &_c); compute2ptLine_2(first_pt.pt3D.y, first_pt.pt3D.z, mid_pt0.pt3D.y, mid_pt0.pt3D.z, &_a1, &_b1, &_c1);
double _a2 = 0, _b2 = 0, _c2 = 0;
compute2ptLine_2(mid_pt1.pt3D.y, mid_pt1.pt3D.z, last_pt.pt3D.y, last_pt.pt3D.z, &_a2, &_b2, &_c2);
SVzNL3DPosition peakPt_1 = { 0, 0, 0 }; SVzNL3DPosition peakPt_1 = { 0, 0, 0 };
double maxLen_1 = -1; double maxLen_1 = -1;
for (int j = 0; j < validLinePtNum / 2; j++) for (int j = 0; j < midPtIdx_0; j++)
{ {
double len = computePtDistToLine(validLines[i][j].pt3D.y, validLines[i][j].pt3D.z, _a, _b, _c); double len = computePtDistToLine(validLines[i][j].pt3D.y, validLines[i][j].pt3D.z, _a1, _b1, _c1);
if (maxLen_1 < len) if (maxLen_1 < len)
{ {
peakPt_1 = validLines[i][j]; peakPt_1 = validLines[i][j];
@ -1245,9 +1250,9 @@ double wd_getCalibrationBlockLength(
SVzNL3DPosition peakPt_2 = { 0, 0, 0 }; SVzNL3DPosition peakPt_2 = { 0, 0, 0 };
double maxLen_2 = -1; double maxLen_2 = -1;
for (int j = validLinePtNum / 2; j < validLinePtNum; j++) for (int j = midPtIdx_1; j < validLinePtNum; j++)
{ {
double len = computePtDistToLine(validLines[i][j].pt3D.y, validLines[i][j].pt3D.z, _a, _b, _c); double len = computePtDistToLine(validLines[i][j].pt3D.y, validLines[i][j].pt3D.z, _a2, _b2, _c2);
if (maxLen_2 < len) if (maxLen_2 < len)
{ {
peakPt_2 = validLines[i][j]; peakPt_2 = validLines[i][j];
@ -1258,8 +1263,7 @@ double wd_getCalibrationBlockLength(
if ((maxLen_1 > 2.0) && (maxLen_2 > 2.0)) if ((maxLen_1 > 2.0) && (maxLen_2 > 2.0))
{ {
double vLen = sqrt(pow(peakPt_1.pt3D.x - peakPt_2.pt3D.x, 2) + pow(peakPt_1.pt3D.y - peakPt_2.pt3D.y, 2) + pow(peakPt_1.pt3D.z - peakPt_2.pt3D.z, 2)); double vLen = sqrt(pow(peakPt_1.pt3D.x - peakPt_2.pt3D.x, 2) + pow(peakPt_1.pt3D.y - peakPt_2.pt3D.y, 2) + pow(peakPt_1.pt3D.z - peakPt_2.pt3D.z, 2));
sumGaugeLen += vLen; gaugeLen.push_back(vLen);
sumSize++;
#if _OUTPUT_DEBUG_DATA #if _OUTPUT_DEBUG_DATA
int nPtIdx_1 = peakPt_1.nPointIdx; int nPtIdx_1 = peakPt_1.nPointIdx;
int lineIdx_1 = nPtIdx_1 >> 16; int lineIdx_1 = nPtIdx_1 >> 16;
@ -1273,12 +1277,20 @@ double wd_getCalibrationBlockLength(
} }
} }
} }
if (sumSize == 0)
if (gaugeLen.size() <= 3)
{ {
*errCode = SX_ERR_ZERO_OBJECTS; *errCode = SX_ERR_ZERO_OBJECTS;
return -1; return -1;
} }
//去除头尾
double sumGaugeLen = 0;
int sumSize = 0;
for(int i = 1; i < (int)gaugeLen.size()-1; i ++)
{
sumGaugeLen += gaugeLen[i];
sumSize++;
}
sumGaugeLen = sumGaugeLen / sumSize; sumGaugeLen = sumGaugeLen / sumSize;
return sumGaugeLen; return sumGaugeLen;
} }

10
wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
View File

@ -2968,7 +2968,7 @@ int main()
char _scan_file[256]; char _scan_file[256];
for (int grp = 0; grp <= 3; grp++) for (int grp = 2; grp <= 3; grp++)
{ {
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{ {
@ -2995,10 +2995,10 @@ int main()
filterParam.outlierTh = 5; filterParam.outlierTh = 5;
SSG_treeGrowParam growParam; SSG_treeGrowParam growParam;
growParam.maxLineSkipNum = 10; growParam.maxLineSkipNum = 5;
growParam.yDeviation_max = 20.0; growParam.yDeviation_max = 5.0;
growParam.maxSkipDistance = 10.0; growParam.maxSkipDistance = 5.0;
growParam.zDeviation_max = 20.0;// growParam.zDeviation_max = 5.0;//
growParam.minLTypeTreeLen = 100; //mm growParam.minLTypeTreeLen = 100; //mm
growParam.minVTypeTreeLen = 100; //mm growParam.minVTypeTreeLen = 100; //mm
SVzNLRangeD calibratiionBlockYRange = { -1000, 500 }; SVzNLRangeD calibratiionBlockYRange = { -1000, 500 };