802 lines
23 KiB
C++
802 lines
23 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "SG_sieveNodeDetection_Export.h"
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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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{
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lineDataRT(a_line, camPoseR, groundH);
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}
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#if 0
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//扫描线处理，进行垂直方向的特征提取和生长
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void sg_sieveNodeDetection_lineProc(
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SVzNL3DLaserLine* a_line,
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int lineIdx,
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int* errCode,
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std::vector<std::vector< SSG_featureSemiCircle>>& all_vLineFeatures,
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std::vector<std::vector<int>>& noisePts,
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const SSG_sieveNodeDetectionParam sieveDetectParam)
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{
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std::vector< SSG_featureSemiCircle> a_line_features;
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//滤波，滤除异常点
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std::vector<SVzNL3DPosition> filterData;
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std::vector<int> lineNoisePts;
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sg_lineDataRemoveOutlier(a_line->p3DPosition, a_line->nPositionCnt, sieveDetectParam.filterParam, filterData, lineNoisePts);
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noisePts.push_back(lineNoisePts);
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sg_getLineUpperSemiCircleFeature(
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filterData.data(),
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filterData.size(),
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lineIdx,
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sieveDetectParam.sieveDiameter,
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sieveDetectParam.slopeParam,
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a_line_features);
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all_vLineFeatures.push_back(a_line_features); //空行也加入，保证能按行号索引
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return;
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}
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#endif
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int _checkFeatureSplit(
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SSG_featureSemiCircle& a_feaurue,
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std::vector< SSG_featureSemiCircle>& chk_line_feature,
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double splitMinDist,
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double splitMaxDist) //在此距离内为有效分叉
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{
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int split = -1;
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for (int i = 0, i_max = chk_line_feature.size(); i < i_max; i++)
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{
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if (i < i_max - 1)
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{
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if ((chk_line_feature[i].midPt.y < a_feaurue.midPt.y) && (chk_line_feature[i + 1].midPt.y > a_feaurue.midPt.y))
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{
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double dist_1 = abs(chk_line_feature[i].midPt.y - a_feaurue.midPt.y);
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double dist_2 = abs(chk_line_feature[i+1].midPt.y - a_feaurue.midPt.y);
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if ((dist_1 > splitMinDist) && (dist_1 < splitMaxDist) && (dist_2 > splitMinDist)&& (dist_2 < splitMaxDist))
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{
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split = i;
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break;
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}
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}
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}
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}
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return split;
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}
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bool compareByWidth(const SSG_featureSemiCircle& a, const SSG_featureSemiCircle& b) {
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return a.width < b.width;
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}
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SVzNL3DPoint _getMeanPt(
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std::vector<SSG_featureSemiCircle>& nodes,
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SVzNL3DLaserLine* laser3DPoints)
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{
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int nodeSize = nodes.size();
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int num = 0;
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SVzNL3DPoint meanPt = { 0.0,0.0,0.0 };
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for (int i = 0; i < nodeSize; i++)
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{
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SSG_featureSemiCircle& a_node = nodes[i];
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int lineIdx = a_node.lineIdx;
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for (int j = a_node.startPtIdx; j <= a_node.endPtIdx; j++)
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{
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if (laser3DPoints[lineIdx].p3DPosition[j].pt3D.z > 1e-4)
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{
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num++;
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meanPt.x += laser3DPoints[lineIdx].p3DPosition[j].pt3D.x;
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meanPt.y += laser3DPoints[lineIdx].p3DPosition[j].pt3D.y;
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meanPt.z += laser3DPoints[lineIdx].p3DPosition[j].pt3D.z;
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}
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}
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}
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if (num > 0)
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{
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meanPt.x = meanPt.x / num;
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meanPt.y = meanPt.y / num;
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meanPt.z = meanPt.z / num;
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}
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return meanPt;
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}
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SVzNL2DPoint _getNearestScanPt(
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std::vector<SSG_featureSemiCircle>& nodes,
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SVzNL3DLaserLine* laser3DPoints,
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SVzNL3DPoint objPt)
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{
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int nodeSize = nodes.size();
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SVzNL2DPoint bestPos = { -1, -1 };
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double minDist = -1;
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for (int i = 0; i < nodeSize; i++)
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{
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SSG_featureSemiCircle& a_node = nodes[i];
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int lineIdx = a_node.lineIdx;
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for (int j = a_node.startPtIdx; j <= a_node.endPtIdx; j++)
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{
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if (laser3DPoints[lineIdx].p3DPosition[j].pt3D.z > 1e-4)
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{
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SVzNL3DPoint& a_pt = laser3DPoints[lineIdx].p3DPosition[j].pt3D;
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double dist = sqrt(pow(a_pt.x - objPt.x, 2) + pow(a_pt.y - objPt.y, 2));
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if (minDist < 0)
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{
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minDist = dist;
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bestPos = { a_node.lineIdx, j };
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}
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else
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{
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if (minDist > dist)
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{
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minDist = dist;
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bestPos = { a_node.lineIdx, j };
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}
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}
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}
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}
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}
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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<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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for (int i = 0; i < lineNum; i++)
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{
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if (i == 19)
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int kkk = 1;
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sg_lineDataRemoveOutlier_changeOriginData(
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laser3DPoints[i].p3DPosition,
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laser3DPoints[i].nPositionCnt,
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sieveDetectParam.filterParam);
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//将nPointIdx转义使用前清零
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for (int j = 0; j < laser3DPoints[i].nPositionCnt; j++)
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laser3DPoints[i].p3DPosition[j].nPointIdx = 0;
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}
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//孔洞检测，对小的孔洞需要合并
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int maskY = laser3DPoints[0].nPositionCnt;
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int maskX = lineNum;
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//生成孔洞标注Mask，进行目标标注
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cv::Mat bwImg = cv::Mat::zeros(maskY, maskX, CV_8UC1);//rows, cols
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for (int i = 0; i < lineNum; i++)
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{
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for (int j = 0; j < laser3DPoints[i].nPositionCnt; j++)
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{
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if(laser3DPoints[i].p3DPosition[j].pt3D.z < 1e-4)
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bwImg.at<uchar>(j, i) = 1;
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}
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}
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//孔洞目标标注
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cv::Mat labImg;
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std::vector<SSG_Region> labelRgns;
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SG_TwoPassLabel(bwImg, labImg, labelRgns, 8);
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//将孔洞目标进行标识
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cv::Mat holeMask = cv::Mat::zeros(maskY, maskX, CV_32SC1);//rows, cols
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for (int i = 0, i_max = labelRgns.size(); i < i_max; i++)
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{
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int rgnID = labelRgns[i].labelID;
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if (labelRgns[i].ptCounter < hole_max_ptSize) //孔洞
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{
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for (int m = labelRgns[i].roi.left; m <= labelRgns[i].roi.right; m++)
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{
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for (int n = labelRgns[i].roi.top; n <= labelRgns[i].roi.bottom; n++)
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{
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if (rgnID == labImg.at<int>(n, m))
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holeMask.at<int>(n, m) = rgnID;
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}
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}
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}
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}
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#if _OUTPUT_LINE_PROC_RESULT
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cv::Mat holeMaskImage;
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cv::normalize(holeMask, holeMaskImage, 0, 255, cv::NORM_MINMAX, CV_8U);
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cv::imwrite("holeMask.png", holeMaskImage);
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#endif
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std::vector<std::vector< SSG_featureSemiCircle>> all_vLineFeatures;
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for (int i = 0; i < lineNum; i++)
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{
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std::vector< SSG_featureSemiCircle> a_line_features;
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sg_getLineUpperSemiCircleFeature(
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laser3DPoints[i].p3DPosition,
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laser3DPoints[i].nPositionCnt,
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i,
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sieveDetectParam.sieveDiameter,
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sieveDetectParam.slopeParam,
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a_line_features,
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holeMask);
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//将nPointIdx转义使用前清零
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for (int j = 0; j < laser3DPoints[i].nPositionCnt; j++)
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laser3DPoints[i].p3DPosition[j].nPointIdx = 0;
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all_vLineFeatures.push_back(a_line_features); //空行也加入，保证能按行号索引
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}
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//根据筛网的特点去除无效的feature。当上下两个feature在下一条扫描线被合并成一个feature时，说明上一条扫描线的两个feature是无效feature。其相邻的feature均为无效feature
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for (int i = 0; i < lineNum; i++)
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{
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//与前一条扫描线比较,寻找开始
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std::vector< SSG_featureSemiCircle>& line_features = all_vLineFeatures[i];
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if (i > 0)
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{
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std::vector< SSG_featureSemiCircle>& pre_line_features = all_vLineFeatures[i-1];
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for (int j = 0, j_max = line_features.size(); j < j_max; j++)
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{
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int split = _checkFeatureSplit(line_features[j], pre_line_features, sieveDetectParam.sieveDiameter/2, sieveDetectParam.sieveHoleSize);
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if (split >= 0)
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{
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pre_line_features[split].flag = FEATURE_FLAG_INVLD_END;
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pre_line_features[split + 1].flag = FEATURE_FLAG_INVLD_END;
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line_features[j].flag = FEATURE_FLAG_VALID_START;
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}
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}
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}
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//与后一条扫描线比较,寻找结束
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if (i < lineNum - 1)
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{
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std::vector< SSG_featureSemiCircle>& post_line_features = all_vLineFeatures[i + 1];
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for (int j = 0, j_max = line_features.size(); j < j_max; j++)
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{
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int split = _checkFeatureSplit(line_features[j], post_line_features, sieveDetectParam.sieveDiameter/2, sieveDetectParam.sieveHoleSize);
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if (split >= 0)
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{
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post_line_features[split].flag = FEATURE_FLAG_INVLD_START;
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post_line_features[split + 1].flag = FEATURE_FLAG_INVLD_START;
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line_features[j].flag = FEATURE_FLAG_VALID_END;
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}
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}
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}
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}
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//feature生长。碰到无效feature生长停止。无效生长可以作为生长起点。其生长树上的所有feature均为无效feature
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std::vector<SSG_semiCircleFeatureTree> trees;
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std::vector<SSG_semiCircleFeatureTree> stopTrees; //停止生长的树
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std::vector<SSG_semiCircleFeatureTree> invalidTrees; //被移除的树，这些树可能将目标分成多个树，从而被移除。需要保存下来迭代分析
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for (int i = 0; i < lineNum; i++)
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{
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//与前一条扫描线比较,寻找开始
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std::vector< SSG_featureSemiCircle>& line_features = all_vLineFeatures[i];
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sg_getFeatureGrowingTrees_semiCircle(
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line_features,
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i,
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lineNum,
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trees,
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stopTrees,
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invalidTrees,
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sieveDetectParam.growParam);
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}
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//精确确定焊接点
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||
for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
|
||
{
|
||
//焊接定为为所有点的（x,y,z)的平均处（质心）。
|
||
SSG_semiCircleFeatureTree& a_tree = stopTrees[i];
|
||
a_tree.centerPt = _getMeanPt(a_tree.treeNodes, laser3DPoints);
|
||
a_tree.centerPos = _getNearestScanPt(a_tree.treeNodes, laser3DPoints, a_tree.centerPt);
|
||
//判断焊点是否被焊接过：以中间点的高度与左右两边的中间高度比较
|
||
|
||
|
||
}
|
||
|
||
|
||
//按行排序
|
||
#if 1
|
||
// (1)量化到2D,建立2D索引实现有序搜索
|
||
SVzNL3DRangeD ROI = sg_getScanDataROI(laser3DPoints, lineNum);
|
||
double scale_x = 1.0;
|
||
double scale_y = 1.0;
|
||
int rows = (int)((ROI.yRange.max - ROI.yRange.min) / scale_y) + 1;
|
||
int cols = (int)((ROI.xRange.max - ROI.xRange.min) / scale_x) + 1;
|
||
if ((rows == 0) || (cols == 0))
|
||
return;
|
||
cv::Mat objMask = cv::Mat(rows, cols, CV_32SC1, -1);//rows, cols
|
||
for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
|
||
{
|
||
SVzNL3DPoint treeCenter = laser3DPoints[stopTrees[i].centerPos.x].p3DPosition[stopTrees[i].centerPos.y].pt3D;
|
||
int px = (int)((treeCenter.x - ROI.xRange.min) / scale_x);
|
||
int py = (int)((treeCenter.y - ROI.yRange.min) / scale_y);
|
||
objMask.at<int>(py, px) = i;
|
||
}
|
||
#endif
|
||
|
||
std::vector< NodeQuadLink> nodeLinks(stopTrees.size(), { {0,0},-1,-1,-1,-1, -1.0, -1.0, -1.0, -1.0});
|
||
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
|
||
for (int i = 0, i_max = stopTrees.size(); i < i_max; i++)
|
||
{
|
||
SSG_semiCircleFeatureTree& tree_1 = stopTrees[i];
|
||
NodeQuadLink& link_1 = nodeLinks[i];
|
||
link_1.nodePos = tree_1.centerPos;
|
||
for (int j = i + 1; j < i_max; j++)
|
||
{
|
||
SSG_semiCircleFeatureTree& tree_2 = stopTrees[j];
|
||
NodeQuadLink& link_2 = nodeLinks[j];
|
||
double dist = sqrt(pow(tree_1.centerPt.x - tree_2.centerPt.x, 2) + pow(tree_1.centerPt.y - tree_2.centerPt.y, 2));
|
||
if (dist < neighbourDistTh)
|
||
{
|
||
if (tree_1.centerPt.x < tree_2.centerPt.x) //left
|
||
{
|
||
if (tree_1.centerPt.y < tree_2.centerPt.y) //top
|
||
{
|
||
//tree1:RB link is tree_2
|
||
//tree2:LT link is tree_1
|
||
if ( (link_1.RB_link >= 0) || (link_2.LT_link >= 0))
|
||
{
|
||
bool currIsBest = true;
|
||
//判断最佳关系
|
||
if ((link_1.RB_link >= 0) && (dist > link_1.RB_dist))
|
||
currIsBest = false;
|
||
if ((link_2.LT_link >= 0) && (dist > link_2.LT_dist))
|
||
currIsBest = false;
|
||
if (true == currIsBest)
|
||
{
|
||
if (link_1.RB_link >= 0)
|
||
{
|
||
nodeLinks[link_1.RB_link].LT_link = -1;
|
||
nodeLinks[link_1.RB_link].LT_dist = 0;
|
||
}
|
||
link_1.RB_link = j;
|
||
link_1.RB_dist = dist;
|
||
if (link_2.LT_link >= 0)
|
||
{
|
||
nodeLinks[link_2.LT_link].RB_link = -1;
|
||
nodeLinks[link_2.LT_link].RB_dist = 0;
|
||
}
|
||
link_2.LT_link = i;
|
||
link_2.LT_dist = dist;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
link_1.RB_link = j;
|
||
link_1.RB_dist = dist;
|
||
link_2.LT_link = i;
|
||
link_2.LT_dist = dist;
|
||
}
|
||
|
||
}
|
||
else//bottom
|
||
{
|
||
//tree1:RT link is tree_2
|
||
//tree2:LB link is tree_1
|
||
if ((link_1.RT_link >= 0) || (link_2.LB_link >= 0))
|
||
{
|
||
bool currIsBest = true;
|
||
//判断最佳关系
|
||
if ((link_1.RT_link >= 0) && (dist > link_1.RT_dist))
|
||
currIsBest = false;
|
||
if ((link_2.LB_link >= 0) && (dist > link_2.LB_dist))
|
||
currIsBest = false;
|
||
if (true == currIsBest)
|
||
{
|
||
if (link_1.RT_link >= 0)
|
||
{
|
||
nodeLinks[link_1.RT_link].LB_link = -1;
|
||
nodeLinks[link_1.RT_link].LB_dist = 0;
|
||
}
|
||
link_1.RT_link = j;
|
||
link_1.RT_dist = dist;
|
||
if (link_2.LB_link >= 0)
|
||
{
|
||
nodeLinks[link_2.LB_link].RT_link = -1;
|
||
nodeLinks[link_2.LB_link].RT_dist = 0;
|
||
}
|
||
link_2.LB_link = i;
|
||
link_2.LB_dist = dist;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
link_1.RT_link = j;
|
||
link_1.RT_dist = dist;
|
||
link_2.LB_link = i;
|
||
link_2.LB_dist = dist;
|
||
}
|
||
}
|
||
}
|
||
else //right
|
||
{
|
||
if (tree_1.centerPt.y < tree_2.centerPt.y) //top
|
||
{
|
||
//tree1:LB link is tree_2
|
||
//tree2:RT link is tree_1
|
||
if ((link_1.LB_link >= 0) || (link_2.RT_link >= 0))
|
||
{
|
||
bool currIsBest = true;
|
||
//判断最佳关系
|
||
if ((link_1.LB_link >= 0) && (dist > link_1.LB_dist))
|
||
currIsBest = false;
|
||
if ((link_2.RT_link >= 0) && (dist > link_2.RT_dist))
|
||
currIsBest = false;
|
||
if (true == currIsBest)
|
||
{
|
||
if (link_1.LB_link >= 0)
|
||
{
|
||
nodeLinks[link_1.LB_link].RT_link = -1;
|
||
nodeLinks[link_1.LB_link].RT_dist = 0;
|
||
}
|
||
link_1.LB_link = j;
|
||
link_1.LB_dist = dist;
|
||
if (link_2.RT_link >= 0)
|
||
{
|
||
nodeLinks[link_2.RT_link].LB_link = -1;
|
||
nodeLinks[link_2.RT_link].LB_dist = 0;
|
||
}
|
||
link_2.RT_link = i;
|
||
link_2.RT_dist = dist;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
link_1.LB_link = j;
|
||
link_1.LB_dist = dist;
|
||
link_2.RT_link = i;
|
||
link_2.RT_dist = dist;
|
||
}
|
||
}
|
||
else //bottom
|
||
{
|
||
//tree1:LT link is tree_2
|
||
//tree2:RB link is tree_1
|
||
if ((link_1.LT_link >= 0) || (link_2.RB_link >= 0))
|
||
{
|
||
bool currIsBest = true;
|
||
//判断最佳关系
|
||
if ((link_1.LT_link >= 0) && (dist > link_1.LT_dist))
|
||
currIsBest = false;
|
||
if ((link_2.RB_link >= 0) && (dist > link_2.RB_dist))
|
||
currIsBest = false;
|
||
if (true == currIsBest)
|
||
{
|
||
if (link_1.LT_link >= 0)
|
||
{
|
||
nodeLinks[link_1.LT_link].RB_link = -1;
|
||
nodeLinks[link_1.LT_link].RB_dist = 0;
|
||
}
|
||
link_1.LT_link = j;
|
||
link_1.LT_dist = dist;
|
||
if (link_2.RB_link >= 0)
|
||
{
|
||
nodeLinks[link_2.RB_link].LT_link = -1;
|
||
nodeLinks[link_2.RB_link].LT_dist = 0;
|
||
}
|
||
link_2.RB_link = i;
|
||
link_2.RB_dist = dist;
|
||
}
|
||
}
|
||
else
|
||
{
|
||
link_1.LT_link = j;
|
||
link_1.LT_dist = dist;
|
||
link_2.RB_link = i;
|
||
link_2.RB_dist = dist;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
}
|
||
//（2）建立节点间的相互关系
|
||
std::vector< int> nodeSortingLineID(stopTrees.size(), -1 ); //排序后的行位置
|
||
std::vector< int> nodeProcFlag(stopTrees.size(), 0); //已经处理标志，”1“已经处理
|
||
std::vector<std::vector<int>> hSorting;
|
||
hSorting.resize(stopTrees.size());
|
||
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
|
||
int gMaxLineId = 0;
|
||
for (int y = 0; y < rows; y++)
|
||
{
|
||
for (int x = 0; x < cols; x++)
|
||
{
|
||
int nodeId = objMask.at<int>(y, x);
|
||
if (nodeId >= 0)
|
||
{
|
||
if (nodeProcFlag[nodeId] > 0)
|
||
continue;
|
||
|
||
std::vector<int> processBuff;
|
||
processBuff.push_back(nodeId);
|
||
if (startSortingLine < 0)
|
||
startSortingLine = 0;
|
||
else
|
||
{
|
||
//确定行序号
|
||
startSortingLine = 0; //TBD
|
||
|
||
}
|
||
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);
|
||
}
|
||
|
||
//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++)
|
||
{
|
||
std::vector< SSG_featureSemiCircle>& a_tree_features = stopTrees[i].treeNodes;
|
||
for (int j = 0, j_max = a_tree_features.size(); j < j_max; j++)
|
||
{
|
||
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 = 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
|
||
|
||
}
|
||
}
|
||
#endif
|
||
|
||
|
||
}
|
||
|
||
//计算一个平面调平参数。
|
||
//以数据输入中ROI以内的点进行平面拟合，计算调平参数
|
||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||
SSG_planeCalibPara sg_getSieveBaseCalibPara(
|
||
SVzNL3DLaserLine* laser3DPoints,
|
||
int lineNum,
|
||
std::vector<SVzNL3DRangeD>& ROIs)
|
||
{
|
||
return sg_getPlaneCalibPara_ROIs(laser3DPoints, lineNum, ROIs);
|
||
} |