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修正拆包算法中一处bug

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jerryzeng 2025-11-01 23:32:20 +08:00
parent ab632226fe
commit 90840cb696
1 changed files with 12 additions and 12 deletions
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24
sourceCode/SG_bagPositioning.cpp
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@ -2879,8 +2879,8 @@ if (hLine == 14)
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vEdgeTree->treeType; featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vEdgeTree->treeType;
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1; //vscan featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1; //vscan
int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min); int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min) + x_skip;
int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min); int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min) + y_skip;
distTranformMask.at<float>(py, px) = 0; distTranformMask.at<float>(py, px) = 0;
} }
} }
@ -2939,8 +2939,8 @@ if (hLine == 14)
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vEdgeTree->treeType; featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vEdgeTree->treeType;
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1; //vscan featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1; //vscan
int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min); int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min)+ x_skip;
int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min); int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min) + y_skip;
distTranformMask.at<float>(py, px) = 0; distTranformMask.at<float>(py, px) = 0;
} }
} }
@ -3005,8 +3005,8 @@ if (hLine == 14)
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hEdgeTree->treeType << 4; featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hEdgeTree->treeType << 4;
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag
int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min); int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min) + x_skip;
int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min); int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min) + y_skip;
distTranformMask.at<float>(py, px) = 0; distTranformMask.at<float>(py, px) = 0;
} }
} }
@ -3071,8 +3071,8 @@ if (hLine == 14)
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hEdgeTree->treeType << 4; featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hEdgeTree->treeType << 4;
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag
int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min); int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min) + x_skip;
int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min); int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min) + y_skip;
distTranformMask.at<float>(py, px) = 0; distTranformMask.at<float>(py, px) = 0;
} }
@ -3113,8 +3113,8 @@ if (hLine == 14)
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vTree->treeType; featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[1] = a_vTree->treeType;
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1; //vscan featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.y, a_feature->jumpPos2D.x)[2] = 1; //vscan
int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min); int px = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.x - x_range.min) + x_skip;
int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min); int py = (int)(laser3DPoints[a_feature->jumpPos2D.x].p3DPosition[a_feature->jumpPos2D.y].pt3D.y - y_range.min) + y_skip;
distTranformMask.at<float>(py, px) = 0; distTranformMask.at<float>(py, px) = 0;
} }
} }
@ -3154,8 +3154,8 @@ if (hLine == 14)
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hTree->treeType << 4; featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[1] += a_hTree->treeType << 4;
featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag featureMask.at<cv::Vec4i>(a_feature->jumpPos2D.x, a_feature->jumpPos2D.y)[2] = 2;//hsan flag
int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min); int px = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.x - x_range.min) + x_skip;
int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min); int py = (int)(laser3DPoints[a_feature->jumpPos2D.y].p3DPosition[a_feature->jumpPos2D.x].pt3D.y - y_range.min) + y_skip;
distTranformMask.at<float>(py, px) = 0; distTranformMask.at<float>(py, px) = 0;
} }
} }