diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp index 78bf618..28f41b7 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp @@ -164,28 +164,17 @@ int DetectPresenter::DetectRod( objOps.push_back(rodCenters); } - // 从点云数据生成投影图像（10cm边界） - detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, 100.0); + // 从点云数据生成投影图像（10cm边界），同时获取点云原始范围 + double margin = 100.0; // 10cm = 100mm + double xMin, xMax, yMin, yMax; + detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, margin, &xMin, &xMax, &yMin, &yMax); // 在图像上绘制棒材的轴向方向线 if (!detectionResult.image.isNull() && !rodInfo.empty()) { QPainter painter(&detectionResult.image); painter.setRenderHint(QPainter::Antialiasing); - // 计算点云范围（与PointCloudImageUtils相同的方式） - double xMin = 1e10, xMax = -1e10, yMin = 1e10, yMax = -1e10; - for (const auto& line : xyzData) { - for (const auto& pt : line) { - if (pt.pt3D.z < 1e-4) continue; - xMin = std::min(xMin, (double)pt.pt3D.x); - xMax = std::max(xMax, (double)pt.pt3D.x); - yMin = std::min(yMin, (double)pt.pt3D.y); - yMax = std::max(yMax, (double)pt.pt3D.y); - } - } - // 扩展边界（与GeneratePointCloudRetPointImage相同） - double margin = 100.0; // 10cm = 100mm xMin -= margin; xMax += margin; yMin -= margin; diff --git a/App/WheelMeasure/WheelMeasureApp/Presenter/Inc/WheelMeasurePresenter.h b/App/WheelMeasure/WheelMeasureApp/Presenter/Inc/WheelMeasurePresenter.h index 4f2938a..0b6913b 100644 --- a/App/WheelMeasure/WheelMeasureApp/Presenter/Inc/WheelMeasurePresenter.h +++ b/App/WheelMeasure/WheelMeasureApp/Presenter/Inc/WheelMeasurePresenter.h @@ -121,6 +121,11 @@ public: */ QStringList getCameraNames() const; + /** + * @brief 获取算法版本 + */ + QString GetAlgoVersion() const; + /** * @brief 重新检测 */ diff --git a/App/WheelMeasure/WheelMeasureApp/Presenter/Src/WheelMeasurePresenter.cpp b/App/WheelMeasure/WheelMeasureApp/Presenter/Src/WheelMeasurePresenter.cpp index 29aeff7..97b52eb 100644 --- a/App/WheelMeasure/WheelMeasureApp/Presenter/Src/WheelMeasurePresenter.cpp +++ b/App/WheelMeasure/WheelMeasureApp/Presenter/Src/WheelMeasurePresenter.cpp @@ -256,6 +256,12 @@ QStringList WheelMeasurePresenter::getCameraNames() const return names; } +QString WheelMeasurePresenter::GetAlgoVersion() const +{ + const char* version = wd_wheelArchHeigthMeasureVersion(); + return version ? QString::fromUtf8(version) : QString(); +} + void WheelMeasurePresenter::ResetDetect(int cameraIndex) { StopDetection(); diff --git a/App/WheelMeasure/WheelMeasureApp/Version.h b/App/WheelMeasure/WheelMeasureApp/Version.h index 4b268e0..4709cc7 100644 --- a/App/WheelMeasure/WheelMeasureApp/Version.h +++ b/App/WheelMeasure/WheelMeasureApp/Version.h @@ -2,8 +2,9 @@ #define VERSION_H -#define WHEELMEASURE_VERSION_STRING "1.0.1" -#define WHEELMEASURE_BUILD_STRING "6" +#define WHEELMEASURE_APP_NAME "轮眉高度测量" +#define WHEELMEASURE_VERSION_STRING "1.0.2" +#define WHEELMEASURE_BUILD_STRING "1" #define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING // 获取版本信息的便捷函数 diff --git a/App/WheelMeasure/WheelMeasureApp/Version.md b/App/WheelMeasure/WheelMeasureApp/Version.md index e597aa3..d838e20 100644 --- a/App/WheelMeasure/WheelMeasureApp/Version.md +++ b/App/WheelMeasure/WheelMeasureApp/Version.md @@ -1,3 +1,7 @@ +# 1.0.2 +## build_1 2026-04-01 +1. 更新算法 1.3.2 + # 1.0.1 ## build_5 2026-01-17 1. 更新算法 1.3.0 diff --git a/App/WheelMeasure/WheelMeasureApp/mainwindow.cpp b/App/WheelMeasure/WheelMeasureApp/mainwindow.cpp index 9cc6afc..2b161fd 100644 --- a/App/WheelMeasure/WheelMeasureApp/mainwindow.cpp +++ b/App/WheelMeasure/WheelMeasureApp/mainwindow.cpp @@ -7,6 +7,7 @@ #include "dialogcameralevel.h" #include "dialogalgoarg.h" #include "dialogcamera.h" +#include "AboutDialog.h" #include #include @@ -148,6 +149,18 @@ void MainWindow::resizeEvent(QResizeEvent* event) QMainWindow::resizeEvent(event); } +bool MainWindow::eventFilter(QObject* watched, QEvent* event) +{ + if (watched == m_versionLabel && event->type() == QEvent::MouseButtonPress) { + const QString algoVersion = m_presenter ? m_presenter->GetAlgoVersion() : QString(); + AboutDialog dlg(WHEELMEASURE_APP_NAME, m_versionLabel->text(), algoVersion, this); + dlg.exec(); + return true; + } + + return QMainWindow::eventFilter(watched, event); +} + void MainWindow::on_btn_hide_clicked() { this->showMinimized(); @@ -554,6 +567,8 @@ void MainWindow::setupVersionDisplay() m_versionLabel->setText(versionText); m_versionLabel->setAlignment(Qt::AlignRight | Qt::AlignVCenter); + m_versionLabel->setCursor(Qt::PointingHandCursor); + m_versionLabel->installEventFilter(this); m_versionLabel->setStyleSheet("QLabel { color: rgb(239, 241, 245); font-size: 24px; margin-right: 10px; }"); diff --git a/App/WheelMeasure/WheelMeasureApp/mainwindow.h b/App/WheelMeasure/WheelMeasureApp/mainwindow.h index 2540dae..4d7f799 100644 --- a/App/WheelMeasure/WheelMeasureApp/mainwindow.h +++ b/App/WheelMeasure/WheelMeasureApp/mainwindow.h @@ -5,6 +5,7 @@ #include #include #include +#include #include #include #include @@ -48,6 +49,7 @@ public: protected: void resizeEvent(QResizeEvent* event) override; + bool eventFilter(QObject* watched, QEvent* event) override; private slots: void on_btn_hide_clicked(); diff --git a/App/WheelMeasure/WheelMeasureConfig/Inc/IVrWheelMeasureConfig.h b/App/WheelMeasure/WheelMeasureConfig/Inc/IVrWheelMeasureConfig.h index 96deaa6..7e03faf 100644 --- a/App/WheelMeasure/WheelMeasureConfig/Inc/IVrWheelMeasureConfig.h +++ b/App/WheelMeasure/WheelMeasureConfig/Inc/IVrWheelMeasureConfig.h @@ -109,10 +109,10 @@ struct WheelOutlierFilterParam */ struct WheelTreeGrowParam { - double yDeviation_max = 5.0; // 生长时允许的最大Y偏差 - double zDeviation_max = 2.0; // 生长时允许的最大Z偏差 + double yDeviation_max = 10.0; // 生长时允许的最大Y偏差 + double zDeviation_max = 10.0; // 生长时允许的最大Z偏差 int maxLineSkipNum = 10; // 生长时允许的最大跳线数 - double maxSkipDistance = 5.0; // 当maxLineSkipNum为-1时使用 + double maxSkipDistance = 10.0; // 当maxLineSkipNum为-1时使用 double minLTypeTreeLen = 100.0; // 最少的L型节点数目 double minVTypeTreeLen = 100.0; // 最少的V型节点数目 }; diff --git a/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libbaseAlgorithm.so b/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libbaseAlgorithm.so index 1b637bd..07d5d4a 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libbaseAlgorithm.so and b/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libbaseAlgorithm.so differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libwheelArchHeigthMeasure.so b/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libwheelArchHeigthMeasure.so index 561bd7c..e262cd1 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libwheelArchHeigthMeasure.so and b/AppAlgo/wheelArchHeigthMeasure/Arm/aarch64/libwheelArchHeigthMeasure.so differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Inc/SG_baseDataType.h b/AppAlgo/wheelArchHeigthMeasure/Inc/SG_baseDataType.h index 267b853..456aaba 100644 --- a/AppAlgo/wheelArchHeigthMeasure/Inc/SG_baseDataType.h +++ b/AppAlgo/wheelArchHeigthMeasure/Inc/SG_baseDataType.h @@ -39,6 +39,13 @@ typedef struct SWD3DPoint point; }SWDIndexing3DPoint; +typedef struct +{ + int lineIdx; + int ptIdx; + SVzNL3DPoint point; +}SWDIndexingVzPoint; + typedef struct { int start; @@ -124,6 +131,16 @@ struct RGB { int b; }; +struct Plane { + double A, B, C, D; // ƽ Ax+By+Cz+D=0 + Plane() : A(0), B(0), C(0), D(0) {} + Plane(double a, double b, double c, double d) : A(a), B(b), C(c), D(d) {} +}; +enum RobustType { + HUBER, + TUKEY +}; + #define LINE_FEATURE_NUM 16 #define LINE_FEATURE_UNDEF 0 #define LINE_FEATURE_L_JUMP_H2L 1 @@ -257,6 +274,18 @@ typedef struct double featureValue; }SWD_segFeature; +typedef struct +{ + int lineIdx; + int startPtIdx; + int endPtIdx; + int peakPtIdx; + SVzNL3DPoint startPt; + SVzNL3DPoint endPt; + SVzNL3DPoint peakPt; + double featureValue; +}SWD_rodArcFeature; + typedef struct { double sameGapTh; @@ -330,6 +359,18 @@ typedef struct int angleChkScalePos; //ڼangleCheckٶ }SSG_gapFeatureTree; +typedef struct +{ + int treeState; + int treeType; + int sLineIdx; + int eLineIdx; + double tree_value; + SSG_ROIRectD roi; + std::vector< SWD_segFeature> treeNodes; + int angleChkScalePos; //ڼangleCheckٶ +}SSG_segFeatureTree; + typedef struct { int treeState; @@ -352,6 +393,15 @@ typedef struct std::vector< SWD_segFeature> treeNodes; }SWD_segFeatureTree; +typedef struct +{ + int treeState; + int sLineIdx; + int eLineIdx; + double tree_value; + std::vector< SWD_rodArcFeature> treeNodes; +}SWD_rodArcFeatureTree; + typedef struct { int vTreeFlag; @@ -359,7 +409,9 @@ typedef struct int treeType; int sLineIdx; int eLineIdx; + int data; SSG_ROIRectD roi; + SVzNLRange ptIdxRange; }SSG_treeInfo; typedef struct @@ -549,6 +601,8 @@ typedef struct typedef struct { int pntIdx; + int forwardPntIdx; + int backwardPntIdx; int type; double forwardAngle; //ǰ double backwardAngle; // @@ -557,6 +611,7 @@ typedef struct double backwardDiffZ; double pre_stepDist; double post_stepDist; + double curr_z; double forward_z; double backward_z; }SSG_pntDirAngle; diff --git a/AppAlgo/wheelArchHeigthMeasure/Inc/SG_errCode.h b/AppAlgo/wheelArchHeigthMeasure/Inc/SG_errCode.h index 2b493b5..f3052b7 100644 --- a/AppAlgo/wheelArchHeigthMeasure/Inc/SG_errCode.h +++ b/AppAlgo/wheelArchHeigthMeasure/Inc/SG_errCode.h @@ -32,6 +32,10 @@ //ü߶Ȳ #define SX_ERR_INVALID_ARC -2301 +#define SX_ERR_INVALID_WHEEL_EDGE -2302 +#define SX_ERR_NO_WHEEL_COMMON_EDGE -2303 +#define SX_ERR_NO_WHEEL_ARC -2304 + //ǴӲ #define SX_ERR_NO_MARK -2401 diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.dll b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.dll index 39a6934..469c355 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.dll and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.dll differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.lib b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.lib index 9f759a0..45d9727 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.lib and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.lib differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.pdb b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.pdb index 1e91f1a..ca2f2f7 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.pdb and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/baseAlgorithm.pdb differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.dll b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.dll index 8f85a24..ff93b46 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.dll and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.dll differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.pdb b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.pdb index 982d162..89c8993 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.pdb and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Debug/wheelArchHeigthMeasure.pdb differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.dll b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.dll index fd5f4d9..21b6137 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.dll and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.dll differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.lib b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.lib index b77e18b..c287e88 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.lib and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.lib differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.pdb b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.pdb index 2ce77bc..3357db0 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.pdb and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/baseAlgorithm.pdb differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.dll b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.dll index d3553fc..d40efbf 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.dll and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.dll differ diff --git a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.pdb b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.pdb index 099c0d5..3abdb6d 100644 Binary files a/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.pdb and b/AppAlgo/wheelArchHeigthMeasure/Windows/x64/Release/wheelArchHeigthMeasure.pdb differ diff --git a/AppAlgo/wheelArchHeigthMeasure/wheelArchHeigthMeasure_test.cpp b/AppAlgo/wheelArchHeigthMeasure/wheelArchHeigthMeasure_test.cpp index 20081c8..6ed16b4 100644 --- a/AppAlgo/wheelArchHeigthMeasure/wheelArchHeigthMeasure_test.cpp +++ b/AppAlgo/wheelArchHeigthMeasure/wheelArchHeigthMeasure_test.cpp @@ -2637,9 +2637,9 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine * scanData #define TEST_CONVERT_TO_GRID 0 #define TEST_COMPUTE_WHEEL_ARCH 1 -#define TEST_COMPUTE_CALIB_PARA 1 +#define TEST_COMPUTE_CALIB_PARA 0 -#define TEST_GROUP 1 +#define TEST_GROUP 2 int main() { #if TEST_CONVERT_TO_GRID @@ -2716,11 +2716,12 @@ int main() #if TEST_COMPUTE_WHEEL_ARCH const char* dataPath[TEST_GROUP] = { - "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/现场数据/", //0 + "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/现场数据/", //0 + "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/部署现场数据/", //1 }; SVzNLRange fileIdx[TEST_GROUP] = { - {1,2}, + {1,2}, {1,4} }; SSG_planeCalibPara poseCalibPara; @@ -2744,14 +2745,14 @@ int main() char _scan_file[256]; int endGroup = TEST_GROUP - 1; - for (int grp = 0; grp <= endGroup; grp++) + for (int grp = 1; 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 = 193; + //fidx = 4; sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx); std::vector> scanData; vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData); @@ -2783,17 +2784,17 @@ int main() SSG_treeGrowParam growParam; growParam.maxLineSkipNum = 10; - growParam.yDeviation_max = 5.0; - growParam.maxSkipDistance = 5.0; - growParam.zDeviation_max = 2.0;// + growParam.yDeviation_max = 10.0; + growParam.maxSkipDistance = 10.0; + growParam.zDeviation_max = 10.0;// growParam.minLTypeTreeLen = 100; //mm growParam.minVTypeTreeLen = 100; //mm WD_wheelArchInfo wheelArcHeight; memset(&wheelArcHeight, 0, sizeof(WD_wheelArchInfo)); - bool wheePresense = wd_wheelPresenseDetection( scanData, wheelRoi3d); - if (true == wheePresense) + bool wheelPresense = wd_wheelPresenseDetection( scanData, wheelRoi3d); + if (true == wheelPresense) { int lineNum = (int)scanData.size(); for (int i = 0; i < lineNum; i++) @@ -2802,7 +2803,7 @@ int main() int kkk = 1; //行处理 //调平，去除地面 - wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight - 5); + wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, -1); // poseCalibPara.planeHeight - 5); } #if 0 //数据转存 sprintf_s(_scan_file, "%sLaserLine%d_grid_RTadjust.txt", dataPath[grp], fidx); @@ -2819,17 +2820,23 @@ int main() growParam, poseCalibPara, &errCode); - } + long t2 = GetTickCount64(); char _dbg_file[256]; #if 1 - sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx); - _outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight); + 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: height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1)); + printf("%s: height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1)); + } + else + { + printf("%s: no Wheel!", _scan_file); + } + } } #endif