7-17 现场 增加车高约束，测出过高>1900通常意味着噪点影响，返回失败等待重测

error_code/error_code.h

@@ -115,6 +115,7 @@ enum Error_code
     LOCATER_Y_OUT_RANGE_BY_PLC,
     LOCATER_MEASURE_HEIGHT_CLOUD_UNINIT,
     LOCATER_MEASURE_HEIGHT_CLOUD_EMPTY,
+    LOCATER_MEASURE_HEIGHT_OUT_RANGE,
     LOCATER_INPUT_CLOUD_UNINIT,
 
 

locate/locater.cpp

@@ -288,6 +288,12 @@ Error_manager Locater::measure_height(pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_
     pcl::getMinMax3D(*cloud_car,min_point,max_point);
     //限制车高的范围,检验结果
     height=max_point.z;
+    if(height>=1900 || height<=1000)
+    {
+        char description[255]={0};
+        sprintf(description,"height is out of range, retry :%.2f",height);
+        return Error_manager(LOCATER_MEASURE_HEIGHT_OUT_RANGE,NORMAL,description);
+    }
 
     return SUCCESS;
 }