代码备份
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@ -957,7 +957,7 @@ SSG_planeCalibPara sg_getPlaneCalibPara(
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if (pkTop.size() < 1)
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return planePara;
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int pntSizeTh = totalPntSize * 3 / 10;
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int pntSizeTh = totalPntSize / 10;
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SSG_intPair* vldPeak = NULL;
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for (int i = 0, i_max = pkTop.size(); i < i_max; i++)
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{
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@ -30,7 +30,7 @@ SG_APISHARED_EXPORT void sg_getSieveNodes(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SSG_sieveNodeDetectionParam sieveDetectParam,
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std::vector<SVzNL3DPoint>& nodePos);
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std::vector<std::vector<SVzNL3DPoint>>& nodePos);
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//计算一个平面调平参数。
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//以数据输入中ROI以内的点进行平面拟合，计算调平参数
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@ -5,6 +5,8 @@
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#include <opencv2/opencv.hpp>
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#include <limits>
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#define ALGO_USE_PATTERN_MATCH 0
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void sg_lineDataR(SVzNL3DLaserLine* a_line,
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const double* camPoseR,
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double groundH)
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@ -141,12 +143,162 @@ SVzNL2DPoint _getNearestScanPt(
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return bestPos;
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}
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//搜索目标在排序目标中的位置。返回的是排序目标前一位的序号，-1为最后一个
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int getObjPostPos(std::vector<int>& sortedTrees, int treeID, std::vector<SSG_semiCircleFeatureTree>& trees, bool HPos)
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{
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SSG_semiCircleFeatureTree& obj_tree = trees[treeID];
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for (int i = 0, i_max = sortedTrees.size(); i < i_max; i++)
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{
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int a_tree_id = sortedTrees[i];
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SSG_semiCircleFeatureTree& a_tree = trees[a_tree_id];
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if (((obj_tree.centerPt.x < a_tree.centerPt.x) && (true == HPos)) ||
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((obj_tree.centerPt.y < a_tree.centerPt.y) && (false == HPos)))
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{
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return i;
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}
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}
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return -1; //最后一个
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}
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typedef struct
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{
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SVzNL2DPoint nodePos;
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int LT_link;
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int RT_link;
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int LB_link;
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int RB_link;
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double LT_dist;
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double RT_dist;
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double RB_dist;
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double LB_dist;
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}NodeQuadLink;
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int getObjPostPos(std::vector<int>& sortedLine, int nodeID, std::vector<NodeQuadLink>& nodeLink, bool HPos)
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{
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SVzNL2DPoint& nodePos = nodeLink[nodeID].nodePos;
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for (int i = 0, i_max = sortedLine.size(); i < i_max; i++)
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{
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int a_node_id = sortedLine[i];
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SVzNL2DPoint& sorting_node_pos = nodeLink[a_node_id].nodePos;
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if (((nodePos.x < sorting_node_pos.x) && (true == HPos)) ||
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((nodePos.y < sorting_node_pos.y) && (false == HPos)))
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{
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return i;
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}
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}
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return -1; //最后一个
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}
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void _recursiveSorting(
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int nodeId,
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std::vector<std::vector<int>>& hSorting,
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std::vector< int>& nodeProcFlag,
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std::vector< int>& nodeSortingLineID,
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std::vector< NodeQuadLink>& nodeLinks,
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bool HPos,
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int* maxLineId)
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{
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std::vector<int> processBuff;
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processBuff.push_back(nodeId);
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while (processBuff.size() > 0)
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{
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int nodeId = processBuff.front();
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if (nodeProcFlag[nodeId] == 0)
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{
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int currLineId = nodeSortingLineID[nodeId];
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if (*maxLineId < currLineId)
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*maxLineId = currLineId;
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std::vector<int>& currLine = hSorting[currLineId];
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//将当前Node插入currLine
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int nodePos = getObjPostPos(currLine, nodeId, nodeLinks, HPos);
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if (nodePos < 0)
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currLine.push_back(nodeId);
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else
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currLine.insert(currLine.begin() + nodePos, nodeId);
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nodeProcFlag[nodeId] = 1;
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//检查Link
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NodeQuadLink& currLink = nodeLinks[nodeId];
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if ((currLink.LT_dist > 0) && (currLineId > 0))
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{
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int linkNode = currLink.LT_link;
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int lineId = currLineId - 1;
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nodeSortingLineID[linkNode] = lineId;
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processBuff.push_back(linkNode);
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currLink.LT_dist = -1.0;
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nodeLinks[linkNode].RB_dist = -1.0; //取消
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}
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if ((currLink.RT_dist > 0) && (currLineId > 0))
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{
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int linkNode = currLink.RT_link;
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int lineId = currLineId - 1;
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nodeSortingLineID[linkNode] = lineId;
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processBuff.push_back(linkNode);
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currLink.RT_dist = -1.0;
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nodeLinks[linkNode].LB_dist = -1.0; //取消
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}
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if ((currLink.LB_dist > 0) && (currLineId < hSorting.size() - 1))
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{
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int linkNode = currLink.LB_link;
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int lineId = currLineId + 1;
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nodeSortingLineID[linkNode] = lineId;
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processBuff.push_back(linkNode);
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currLink.LB_dist = -1.0;
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nodeLinks[linkNode].RT_dist = -1.0; //取消
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}
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if ((currLink.RB_dist > 0) && (currLineId < hSorting.size() - 1))
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{
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int linkNode = currLink.RB_link;
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int lineId = currLineId + 1;
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nodeSortingLineID[linkNode] = lineId;
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processBuff.push_back(linkNode);
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currLink.RB_dist = -1.0;
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nodeLinks[linkNode].LT_dist = -1.0; //取消
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}
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}
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processBuff.erase(processBuff.begin());
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}
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}
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void _lineFillNullNode(
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std::vector<SVzNL3DPosition>& sortingNodes_line,
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std::vector< NodeQuadLink>& nodeLinks,
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const double lineNodeDistMean
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)
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{
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for (int i = 0; i < sortingNodes_line.size() -1; i++)
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{
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SVzNL3DPosition node_1 = sortingNodes_line[i];
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if (node_1.nPointIdx < 0)
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continue;
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SVzNL3DPosition node_2 = sortingNodes_line[i + 1];
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double dist = sqrt(pow(node_1.pt3D.x - node_2.pt3D.x, 2) + pow(node_1.pt3D.y - node_2.pt3D.y, 2));
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int n = (int)(dist / lineNodeDistMean + 0.5) - 1;
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if (n > 0)
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{
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//判断遗漏几个目标
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double x_step = (node_2.pt3D.x - node_1.pt3D.x) / (n + 1);
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double y_step = (node_2.pt3D.y - node_1.pt3D.y) / (n + 1);
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double z_step = (node_2.pt3D.z - node_1.pt3D.z) / (n + 1);
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for (int m = 0; m < n; m++)
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{
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SVzNL3DPosition a_newNode;
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a_newNode.nPointIdx = -1;
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a_newNode.pt3D.x = x_step * (m + 1) + node_1.pt3D.x;
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a_newNode.pt3D.y = y_step * (m + 1) + node_1.pt3D.y;
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a_newNode.pt3D.z = z_step * (m + 1) + node_1.pt3D.z;
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sortingNodes_line.insert(sortingNodes_line.begin() + i + 1 + m, a_newNode);
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}
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}
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}
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}
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void sg_getSieveNodes(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SSG_sieveNodeDetectionParam sieveDetectParam,
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std::vector<SVzNL3DPoint>& nodePos)
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std::vector<std::vector<SVzNL3DPoint>>& nodePos)
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{
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const int hole_max_ptSize = 20;
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int errCode = 0;
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@ -287,19 +439,332 @@ void sg_getSieveNodes(
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}
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//按行排序
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// (1)建立2D索引实现有序搜索
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//（2）从
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std::vector<std::vector<SSG_semiCircleFeatureTree>> sortedTrees;
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#if 1
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// (1)量化到2D,建立2D索引实现有序搜索
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SVzNL3DRangeD ROI = sg_getScanDataROI(laser3DPoints, lineNum);
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double scale_x = 1.0;
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double scale_y = 1.0;
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int rows = (int)((ROI.yRange.max - ROI.yRange.min) / scale_y) + 1;
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int cols = (int)((ROI.xRange.max - ROI.xRange.min) / scale_x) + 1;
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if ((rows == 0) || (cols == 0))
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return;
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cv::Mat objMask = cv::Mat(rows, cols, CV_32SC1, -1);//rows, cols
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for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
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{
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//if(stopTrees[i].)
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SVzNL3DPoint treeCenter = laser3DPoints[stopTrees[i].centerPos.x].p3DPosition[stopTrees[i].centerPos.y].pt3D;
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int px = (int)((treeCenter.x - ROI.xRange.min) / scale_x);
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int py = (int)((treeCenter.y - ROI.yRange.min) / scale_y);
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objMask.at<int>(py, px) = i;
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}
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#endif
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std::vector< NodeQuadLink> nodeLinks(stopTrees.size(), { {0,0},-1,-1,-1,-1, -1.0, -1.0, -1.0, -1.0});
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double neighbourDistTh = sieveDetectParam.sieveHoleSize * 1.2; //以正方形为模型，边长为1，则对角线为1.414，取1.2为长度门限
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for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
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{
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SSG_semiCircleFeatureTree& tree_1 = stopTrees[i];
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NodeQuadLink& link_1 = nodeLinks[i];
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link_1.nodePos = tree_1.centerPos;
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for (int j = i + 1; j < i_max; j++)
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{
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SSG_semiCircleFeatureTree& tree_2 = stopTrees[j];
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NodeQuadLink& link_2 = nodeLinks[j];
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double dist = sqrt(pow(tree_1.centerPt.x - tree_2.centerPt.x, 2) + pow(tree_1.centerPt.y - tree_2.centerPt.y, 2));
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if (dist < neighbourDistTh)
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{
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if (tree_1.centerPt.x < tree_2.centerPt.x) //left
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{
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if (tree_1.centerPt.y < tree_2.centerPt.y) //top
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{
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//tree1:RB link is tree_2
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//tree2:LT link is tree_1
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if ( (link_1.RB_link >= 0) || (link_2.LT_link >= 0))
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{
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bool currIsBest = true;
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//判断最佳关系
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if ((link_1.RB_link >= 0) && (dist > link_1.RB_dist))
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currIsBest = false;
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if ((link_2.LT_link >= 0) && (dist > link_2.LT_dist))
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currIsBest = false;
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if (true == currIsBest)
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{
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if (link_1.RB_link >= 0)
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{
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nodeLinks[link_1.RB_link].LT_link = -1;
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nodeLinks[link_1.RB_link].LT_dist = 0;
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}
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link_1.RB_link = j;
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link_1.RB_dist = dist;
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if (link_2.LT_link >= 0)
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{
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nodeLinks[link_2.LT_link].RB_link = -1;
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nodeLinks[link_2.LT_link].RB_dist = 0;
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}
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link_2.LT_link = i;
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link_2.LT_dist = dist;
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}
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}
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else
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{
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link_1.RB_link = j;
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link_1.RB_dist = dist;
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link_2.LT_link = i;
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link_2.LT_dist = dist;
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}
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}
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else//bottom
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{
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//tree1:RT link is tree_2
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//tree2:LB link is tree_1
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if ((link_1.RT_link >= 0) || (link_2.LB_link >= 0))
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{
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bool currIsBest = true;
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//判断最佳关系
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if ((link_1.RT_link >= 0) && (dist > link_1.RT_dist))
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currIsBest = false;
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if ((link_2.LB_link >= 0) && (dist > link_2.LB_dist))
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currIsBest = false;
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if (true == currIsBest)
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{
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if (link_1.RT_link >= 0)
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{
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nodeLinks[link_1.RT_link].LB_link = -1;
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nodeLinks[link_1.RT_link].LB_dist = 0;
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}
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link_1.RT_link = j;
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link_1.RT_dist = dist;
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if (link_2.LB_link >= 0)
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{
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nodeLinks[link_2.LB_link].RT_link = -1;
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nodeLinks[link_2.LB_link].RT_dist = 0;
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}
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link_2.LB_link = i;
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link_2.LB_dist = dist;
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}
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}
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else
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{
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link_1.RT_link = j;
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link_1.RT_dist = dist;
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link_2.LB_link = i;
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link_2.LB_dist = dist;
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}
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}
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}
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else //right
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{
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if (tree_1.centerPt.y < tree_2.centerPt.y) //top
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{
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//tree1:LB link is tree_2
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//tree2:RT link is tree_1
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if ((link_1.LB_link >= 0) || (link_2.RT_link >= 0))
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{
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bool currIsBest = true;
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//判断最佳关系
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if ((link_1.LB_link >= 0) && (dist > link_1.LB_dist))
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currIsBest = false;
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if ((link_2.RT_link >= 0) && (dist > link_2.RT_dist))
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currIsBest = false;
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if (true == currIsBest)
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{
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if (link_1.LB_link >= 0)
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{
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nodeLinks[link_1.LB_link].RT_link = -1;
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nodeLinks[link_1.LB_link].RT_dist = 0;
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}
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link_1.LB_link = j;
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link_1.LB_dist = dist;
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if (link_2.RT_link >= 0)
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{
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nodeLinks[link_2.RT_link].LB_link = -1;
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nodeLinks[link_2.RT_link].LB_dist = 0;
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}
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link_2.RT_link = i;
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link_2.RT_dist = dist;
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}
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}
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else
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{
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link_1.LB_link = j;
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link_1.LB_dist = dist;
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link_2.RT_link = i;
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link_2.RT_dist = dist;
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}
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}
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else //bottom
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{
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//tree1:LT link is tree_2
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//tree2:RB link is tree_1
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if ((link_1.LT_link >= 0) || (link_2.RB_link >= 0))
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{
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bool currIsBest = true;
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//判断最佳关系
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if ((link_1.LT_link >= 0) && (dist > link_1.LT_dist))
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currIsBest = false;
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if ((link_2.RB_link >= 0) && (dist > link_2.RB_dist))
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currIsBest = false;
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if (true == currIsBest)
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{
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if (link_1.LT_link >= 0)
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{
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nodeLinks[link_1.LT_link].RB_link = -1;
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nodeLinks[link_1.LT_link].RB_dist = 0;
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}
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link_1.LT_link = j;
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link_1.LT_dist = dist;
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if (link_2.RB_link >= 0)
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{
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nodeLinks[link_2.RB_link].LT_link = -1;
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nodeLinks[link_2.RB_link].LT_dist = 0;
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}
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link_2.RB_link = i;
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link_2.RB_dist = dist;
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}
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}
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else
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{
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link_1.LT_link = j;
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link_1.LT_dist = dist;
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link_2.RB_link = i;
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link_2.RB_dist = dist;
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}
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}
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}
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}
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}
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}
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//（2）建立节点间的相互关系
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std::vector< int> nodeSortingLineID(stopTrees.size(), -1 ); //排序后的行位置
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std::vector< int> nodeProcFlag(stopTrees.size(), 0); //已经处理标志，”1“已经处理
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std::vector<std::vector<int>> hSorting;
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hSorting.resize(stopTrees.size());
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int startSortingLine = -1; //第一个检查的Node使用最中间的排序行，这样可以向上和向下添加行
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int gMaxLineId = 0;
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for (int y = 0; y < rows; y++)
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{
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for (int x = 0; x < cols; x++)
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{
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int nodeId = objMask.at<int>(y, x);
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if (nodeId >= 0)
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{
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if (nodeProcFlag[nodeId] > 0)
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continue;
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std::vector<int> processBuff;
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processBuff.push_back(nodeId);
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if (startSortingLine < 0)
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startSortingLine = 0;
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else
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{
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//确定行序号
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startSortingLine = 0; //TBD
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|
||||
}
|
||||
nodeSortingLineID[nodeId] = startSortingLine;
|
||||
int maxLineId = startSortingLine;
|
||||
_recursiveSorting(
|
||||
nodeId,
|
||||
hSorting,
|
||||
nodeProcFlag,
|
||||
nodeSortingLineID,
|
||||
nodeLinks,
|
||||
true,
|
||||
&maxLineId);
|
||||
if (gMaxLineId < maxLineId)
|
||||
gMaxLineId = maxLineId;
|
||||
}
|
||||
}
|
||||
}
|
||||
//计算行Node的距离均值
|
||||
double lineNodeDist = 0;
|
||||
int lineNodeDistNum = 0;
|
||||
for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
|
||||
{
|
||||
NodeQuadLink& link_1 = nodeLinks[i];
|
||||
if (link_1.LB_link >= 0)
|
||||
{
|
||||
if (nodeLinks[link_1.LB_link].LT_link >= 0)
|
||||
{
|
||||
int id2 = nodeLinks[link_1.LB_link].LT_link;
|
||||
double dist = sqrt(pow(stopTrees[i].centerPt.x - stopTrees[id2].centerPt.x, 2) + pow(stopTrees[i].centerPt.y - stopTrees[id2].centerPt.y, 2));
|
||||
lineNodeDist += dist;
|
||||
lineNodeDistNum++;
|
||||
}
|
||||
}
|
||||
if (link_1.LT_link >= 0)
|
||||
{
|
||||
if (nodeLinks[link_1.LT_link].LB_link >= 0)
|
||||
{
|
||||
int id2 = nodeLinks[link_1.LT_link].LB_link;
|
||||
double dist = sqrt(pow(stopTrees[i].centerPt.x - stopTrees[id2].centerPt.x, 2) + pow(stopTrees[i].centerPt.y - stopTrees[id2].centerPt.y, 2));
|
||||
lineNodeDist += dist;
|
||||
lineNodeDistNum++;
|
||||
}
|
||||
}
|
||||
if (link_1.RB_link >= 0)
|
||||
{
|
||||
if (nodeLinks[link_1.RB_link].RT_link >= 0)
|
||||
{
|
||||
int id2 = nodeLinks[link_1.RB_link].RT_link;
|
||||
double dist = sqrt(pow(stopTrees[i].centerPt.x - stopTrees[id2].centerPt.x, 2) + pow(stopTrees[i].centerPt.y - stopTrees[id2].centerPt.y, 2));
|
||||
lineNodeDist += dist;
|
||||
lineNodeDistNum++;
|
||||
}
|
||||
}
|
||||
if (link_1.RT_link >= 0)
|
||||
{
|
||||
if (nodeLinks[link_1.RT_link].RB_link >= 0)
|
||||
{
|
||||
int id2 = nodeLinks[link_1.RT_link].RB_link;
|
||||
double dist = sqrt(pow(stopTrees[i].centerPt.x - stopTrees[id2].centerPt.x, 2) + pow(stopTrees[i].centerPt.y - stopTrees[id2].centerPt.y, 2));
|
||||
lineNodeDist += dist;
|
||||
lineNodeDistNum++;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (lineNodeDistNum > 0)
|
||||
lineNodeDist = lineNodeDist / lineNodeDistNum;
|
||||
|
||||
//生成目标坐标点,遗漏点检查
|
||||
std::vector<std::vector<SVzNL3DPosition>> sortingNodes;
|
||||
for (int i = 0; i <= gMaxLineId; i++)
|
||||
{
|
||||
std::vector<int>& a_sortingLine = hSorting[i];
|
||||
std::vector<SVzNL3DPosition> sortingNodes_line;
|
||||
for (int j = 0, j_max = a_sortingLine.size(); j < j_max; j++)
|
||||
{
|
||||
int nodeId = a_sortingLine[j];
|
||||
SVzNL3DPosition a_pt;
|
||||
a_pt.nPointIdx = nodeId;
|
||||
a_pt.pt3D = stopTrees[nodeId].centerPt;
|
||||
sortingNodes_line.push_back(a_pt);
|
||||
}
|
||||
//遗漏点检查
|
||||
_lineFillNullNode( sortingNodes_line, nodeLinks, lineNodeDist );
|
||||
sortingNodes.push_back(sortingNodes_line);
|
||||
}
|
||||
|
||||
//遗漏点检查
|
||||
|
||||
//迭代生长
|
||||
//结果数据第一行和最后一行如果不完整，不使用
|
||||
if (sortingNodes.size() > 3)
|
||||
{
|
||||
if (sortingNodes[0].size() < sortingNodes[2].size())
|
||||
sortingNodes.erase(sortingNodes.begin());
|
||||
}
|
||||
|
||||
//输出
|
||||
for (int i = 0, i_max = sortingNodes.size(); i < i_max; i++)
|
||||
{
|
||||
std::vector<SVzNL3DPosition>& sortingNodes_line = sortingNodes[i];
|
||||
if (sortingNodes_line.size() == 0)
|
||||
break;
|
||||
std::vector<SVzNL3DPoint> resultLine;
|
||||
for (int j = 0, j_max = sortingNodes_line.size(); j < j_max; j++)
|
||||
resultLine.push_back(sortingNodes_line[j].pt3D);
|
||||
nodePos.push_back(resultLine);
|
||||
}
|
||||
#if _OUTPUT_LINE_PROC_RESULT
|
||||
//输出扫描线处理结果
|
||||
for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
|
||||
@ -309,13 +774,14 @@ void sg_getSieveNodes(
|
||||
{
|
||||
SSG_featureSemiCircle& a_feature = a_tree_features[j];
|
||||
for (int m = a_feature.startPtIdx; m <= a_feature.endPtIdx; m++)
|
||||
laser3DPoints[a_feature.lineIdx].p3DPosition[m].nPointIdx = 1; //此处nPointIdx转义
|
||||
|
||||
laser3DPoints[a_feature.lineIdx].p3DPosition[m].nPointIdx = 0; //1; //此处nPointIdx转义
|
||||
#if 0
|
||||
laser3DPoints[a_feature.lineIdx].p3DPosition[a_feature.midPtIdx].nPointIdx = 2;
|
||||
if(stopTrees[i].treeType == 0)
|
||||
laser3DPoints[stopTrees[i].centerPos.x].p3DPosition[stopTrees[i].centerPos.y].nPointIdx = 3;
|
||||
else
|
||||
laser3DPoints[stopTrees[i].centerPos.x].p3DPosition[stopTrees[i].centerPos.y].nPointIdx = 4;
|
||||
#endif
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user