jerryzeng/algoLib
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Compare commits

base: jerryzeng:c888554ed97035581db04dbcad8c18881043ea5d
Branches Tags
jerryzeng:main
..
compare: jerryzeng:06d145374970be97893e6af992b0fb5fc45336ae
Branches Tags
jerryzeng:main

3 Commits
c888554ed9 ... 06d1453749

Author SHA1 Message Date
jerryzeng
06d1453749 Merge branch 'main' of http://gitea.mnutil.com/jerryzeng/algoLib 2026-04-16 15:42:43 +08:00
jerryzeng
be3516262f wheelArchHeigthMeasure.cpp version 1.3.6 
重新提交代码
 2026-04-16 15:41:48 +08:00
jerryzeng
6ab3f80d99 wheelArchHeigthMeasure 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。
 2026-04-16 15:38:46 +08:00
2 changed files with 7 additions and 5 deletions
Show Stats Expand all files Collapse all files

8
sourceCode/wheelArchHeigthMeasure.cpp
View File

@ -14,7 +14,8 @@
//version 1.3.3 : 轮眉点的提取进行了改进，修正了可能的取点错误 //version 1.3.3 : 轮眉点的提取进行了改进，修正了可能的取点错误
//version 1.3.4 : 轮眉到轮心高度计算方法进行了修正，由Y高度差修改为两点距离 //version 1.3.4 : 轮眉到轮心高度计算方法进行了修正，由Y高度差修改为两点距离
//version 1.3.5 : 改进轮眉取点方法。 //version 1.3.5 : 改进轮眉取点方法。
std::string m_strVersion = "1.3.5"; //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。
std::string m_strVersion = "1.3.6";
const char* wd_wheelArchHeigthMeasureVersion(void) const char* wd_wheelArchHeigthMeasureVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -28,7 +29,7 @@ SSG_planeCalibPara wd_horizonCamera_getGroundCalibPara(
{ {
return sg_HCameraVScan_getGroundCalibPara(scanLines); return sg_HCameraVScan_getGroundCalibPara(scanLines);
} }
//相机水平时姿态调平，并去除地面 //相机水平时姿态调平，并去除地面
void wd_horizonCamera_lineDataR( void wd_horizonCamera_lineDataR(
std::vector< SVzNL3DPosition>& a_line, std::vector< SVzNL3DPosition>& a_line,
@ -1025,7 +1026,8 @@ WD_wheelArchInfo wd_wheelArchHeigthMeasure(
} }
result.centerLine[0] = { downWheelPt.x - outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z }; result.centerLine[0] = { downWheelPt.x - outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z };
result.centerLine[1] = { downWheelPt.x + outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z }; result.centerLine[1] = { downWheelPt.x + outLineLen, centerY, scanLines[searchLine][minPtIdx].pt3D.z };
result.archToCenterHeigth = sqrt(pow(centerY - arcPt.y, 2) + pow(scanLines[searchLine][minPtIdx].pt3D.z - arcPt.z, 2)); // centerY - arcPt.y; //result.archToCenterHeigth = sqrt(pow(centerY - arcPt.y, 2) + pow(scanLines[searchLine][minPtIdx].pt3D.z - arcPt.z, 2)); // centerY - arcPt.y;
result.archToCenterHeigth = centerY - arcPt.y;
result.archToGroundHeigth = groundCalibPara.planeHeight - arcPt.y; result.archToGroundHeigth = groundCalibPara.planeHeight - arcPt.y;
//将数据重新投射回原来的坐标系，以保持手眼标定结果正确 //将数据重新投射回原来的坐标系，以保持手眼标定结果正确
for (int i = 0; i < lineNum; i++) for (int i = 0; i < lineNum; i++)

4
wheelArchHeigthMeasure_test/wheelArchHeigthMeasure_test.cpp
View File

@ -2732,7 +2732,7 @@ int main()
}; };
SVzNLRange fileIdx[TEST_GROUP] = { SVzNLRange fileIdx[TEST_GROUP] = {
{1,2}, {1,4}, {1,9}, {5,9}, {1,10},{1,10} {1,2}, {1,4}, {11,15}, {11,15}, {11,15},{16,16}
}; };
SSG_planeCalibPara poseCalibPara; SSG_planeCalibPara poseCalibPara;
@ -2756,7 +2756,7 @@ int main()
char _scan_file[256]; char _scan_file[256];
int endGroup = TEST_GROUP - 1; int endGroup = TEST_GROUP - 1;
for (int grp = 2; grp <= endGroup; grp++) for (int grp = 5; grp <= endGroup; grp++)
{ {
char calibFile[250]; char calibFile[250];
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]); sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);