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planeLocalization

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version 1.3.0 : 修正了取发动机点特征点的一个Bug
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jerryzeng 2026-07-17 19:36:08 +08:00
parent c31b4d35cf
commit 168c0e92a9
2 changed files with 9 additions and 5 deletions
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2
HC_planeLocalization_test/HC_planeLocalization_test.cpp
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@ -633,7 +633,7 @@ int main()
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
//fidx =7;
//fidx =31;
char _scan_file[256];
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);

6
sourceCode/planeLocalization.cpp
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@ -8,7 +8,8 @@
//version 1.0.0 : base version release to customer
//version 1.1.0 : 优化了机鼻点提取（迭代），增加了没有飞机的输出
//version 1.2.0 : 修正了回归测试中发现的问题
std::string m_strVersion = " PlaneLocalization 1.2.0";
//version 1.3.0 : 修正了取发动机点特征点的一个Bug
std::string m_strVersion = " PlaneLocalization 1.3.0";
const char* wd_PlaneLocalizationVersion(void)
{
return m_strVersion.c_str();
@ -698,12 +699,15 @@ SSX_planeInfo wd_planeLocalization(
continue;
for (int i = 0; i < (int)objClusters[clusterIdx].size(); i++)
{
if (objClusters[clusterIdx][i].pt3D.z > nosePoint.pt3D.z)
{
double dist = sqrt(pow(nosePoint.pt3D.x - objClusters[clusterIdx][i].pt3D.x, 2) + pow(nosePoint.pt3D.z - objClusters[clusterIdx][i].pt3D.z, 2));
if ((dist >= engineToNoseDistRange.min) && (dist <= engineToNoseDistRange.max))
distanceValidData[idx].push_back(objClusters[clusterIdx][i]);
}
}
}
//计算ROI
std::vector<SVzNLRangeD> dataROIs;
std::vector<int> validFlags;