轮毂检测算法更新

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;

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
      */

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();

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

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

App/WheelMeasure/WheelMeasureApp/mainwindow.cpp

@@ -7,6 +7,7 @@
 #include "dialogcameralevel.h"
 #include "dialogalgoarg.h"
 #include "dialogcamera.h"
+#include "AboutDialog.h"
 
 #include <QImage>
 #include <QStringList>
@@ -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; }");
 

App/WheelMeasure/WheelMeasureApp/mainwindow.h

@@ -5,6 +5,7 @@
 #include <QStringList>
 #include <QSplitter>
 #include <QResizeEvent>
+#include <QEvent>
 #include <QMessageBox>
 #include <QPushButton>
 #include <QStringListModel>
@@ -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();

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
 };

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; // ƽÃæ 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; //仅用于加速angleCheck的速度
 }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; //½öÓÃÓÚ¼ÓËÙangleCheckµÄËÙ¶È
+}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;  //前向角
 	double backwardAngle;  //后向角
@@ -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;

AppAlgo/wheelArchHeigthMeasure/Inc/SG_errCode.h

@@ -32,6 +32,10 @@
 
 //汽车轮眉高度测量
 #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
+
 
 //糖袋子拆线
 #define SX_ERR_NO_MARK				-2401

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<std::vector< SVzNL3DPosition>> 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