297 lines
7.9 KiB
C++
297 lines
7.9 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 "WD_glovePositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//将ply格式的数据恢复成扫描行的数据形式，从而方面按行进行处理
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void wd_getScanLines(
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std::vector<SVzNL3DPoint>& scanData,
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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std::vector<SVzNL3DPosition> a_line;
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for (int i = 0, i_max = scanData.size(); i < i_max; i++)
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{
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SVzNL3DPoint a_pt = scanData[i];
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SVzNL3DPosition a_idxPt;
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a_idxPt.nPointIdx = 0;
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a_idxPt.pt3D = a_pt;
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if (a_line.size() == 0)
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a_line.push_back(a_idxPt);
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else
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{
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SVzNL3DPosition pre_pt = a_line.back();
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double x_diff = abs(pre_pt.pt3D.x - a_idxPt.pt3D.x);
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if (x_diff > 1e-4)
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{
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scanLines.push_back(a_line);
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a_line.clear();
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a_line.push_back(a_idxPt);
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}
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else
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a_line.push_back(a_idxPt);
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}
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}
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//last line
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if(a_line.size() > 0)
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scanLines.push_back(a_line);
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return;
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}
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void wd_lineDataR(std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH)
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{
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lineDataRT_vector(a_line, camPoseR, groundH);
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}
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void wd_getGloveGrabPostion(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_gloveArcParam arcPara,
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SSG_treeGrowParam growParam,
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std::vector<SSG_peakRgnInfo>& objOps,
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int* errCode)
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{
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*errCode = 0;
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return;
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}
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int linePtNum = (int)scanLines[0].size();
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bool isGridData = true;
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//垂直arc特征提取
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std::vector<std::vector<SSG_basicFeature1D>> arcFeatures;
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for(int line = 0; line < lineNum; line ++)
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{
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std::vector<SSG_basicFeature1D> lineArcFeatures;
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std::vector<SVzNL3DPosition>& lineData = scanLines[line];
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if (linePtNum != (int)lineData.size())
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isGridData = false;
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wd_getLineGloveArcs(
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lineData,
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line,
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arcPara,
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lineArcFeatures);
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arcFeatures.push_back(lineArcFeatures);
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}
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return;
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}
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//生成水平扫描
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std::vector<std::vector<SVzNL3DPosition>> hLines;
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hLines.resize(linePtNum);
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for (int i = 0; i < linePtNum; i++)
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hLines[i].resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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for (int j = 0; j < linePtNum; j++)
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{
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scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
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hLines[j][line] = scanLines[line][j];
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hLines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
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hLines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
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}
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}
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//水平arc特征提取
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std::vector<std::vector<SSG_basicFeature1D>> arcFeatures_h;
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int lineNum_h = (int)hLines.size();
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for (int line = 0; line < lineNum_h; line++)
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{
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std::vector<SSG_basicFeature1D> lineArcFeatures;
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std::vector<SVzNL3DPosition>& lineData = hLines[line];
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wd_getLineGloveArcs(
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lineData,
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line,
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arcPara,
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lineArcFeatures);
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arcFeatures_h.push_back(lineArcFeatures);
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}
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//特征生长
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//垂直方向特征生长（激光线方向）
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std::vector<SSG_featureTree> v_trees;
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for (int line = 0; line < lineNum; line++)
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{
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bool isLastLine = false;
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if (line == lineNum - 1)
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isLastLine = true;
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std::vector<SSG_basicFeature1D>& a_lineArcFeature = arcFeatures[line];
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sg_lineFeaturesGrowing(
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line,
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isLastLine,
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a_lineArcFeature,
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v_trees,
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growParam);
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}
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//水平方向特征生长（扫描运动方向）
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std::vector<SSG_featureTree> h_trees;
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for (int line = 0; line < lineNum_h; line++)
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{
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if (line == 650)
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int kkk = 1;
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bool isLastLine = false;
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if (line == lineNum_h - 1)
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isLastLine = true;
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std::vector<SSG_basicFeature1D>& a_lineArcFeature = arcFeatures_h[line];
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sg_lineFeaturesGrowing(
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line,
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isLastLine,
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a_lineArcFeature,
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h_trees,
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growParam);
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}
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//保留最大平均转角的生长树
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double maxTurn_v = 0;
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int maxTurn_v_id = -1;
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for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
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{
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int nodeSize = (int)v_trees[i].treeNodes.size();
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v_trees[i].tree_value = v_trees[i].tree_value / (double)nodeSize;
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if (maxTurn_v_id < 0)
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{
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maxTurn_v_id = i;
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maxTurn_v = v_trees[i].tree_value;
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}
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else
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{
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if (maxTurn_v < v_trees[i].tree_value)
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{
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maxTurn_v_id = i;
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maxTurn_v = v_trees[i].tree_value;
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}
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}
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}
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double maxTurn_h = 0;
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int maxTurn_h_id = -1;
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for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
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{
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int nodeSize = (int)h_trees[i].treeNodes.size();
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h_trees[i].tree_value = h_trees[i].tree_value / (double)nodeSize;
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if (maxTurn_h_id < 0)
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{
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maxTurn_h_id = i;
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maxTurn_h = h_trees[i].tree_value;
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}
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else
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{
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if (maxTurn_h < h_trees[i].tree_value)
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{
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maxTurn_h_id = i;
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maxTurn_h = h_trees[i].tree_value;
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}
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}
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}
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if ((maxTurn_v_id >= 0) && (maxTurn_h_id < 0))
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{
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SSG_featureTree bestTree = v_trees[maxTurn_v_id];
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v_trees.clear();
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v_trees.push_back(bestTree);
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}
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else if ((maxTurn_v_id < 0) && (maxTurn_h_id >= 0))
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{
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SSG_featureTree bestTree = h_trees[maxTurn_h_id];
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h_trees.clear();
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h_trees.push_back(bestTree);
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}
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else if ((maxTurn_v_id >= 0) && (maxTurn_h_id >= 0))
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{
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if (maxTurn_h <= maxTurn_v)
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{
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h_trees.clear();
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SSG_featureTree bestTree = v_trees[maxTurn_v_id];
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v_trees.clear();
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v_trees.push_back(bestTree);
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}
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else
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{
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v_trees.clear();
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SSG_featureTree bestTree = h_trees[maxTurn_h_id];
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h_trees.clear();
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h_trees.push_back(bestTree);
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}
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}
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//tree信息
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std::vector<SSG_treeInfo> allTreesInfo; //不包含边界
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SSG_treeInfo a_nullTree;
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memset(&a_nullTree, 0, sizeof(SSG_treeInfo));
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allTreesInfo.push_back(a_nullTree); //保持存储位置与treeIdx相同位置，方便索引
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//标记，根据起点的生长树进行标注
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int hvTreeIdx = 1;
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for (int i = 0, i_max = (int)v_trees.size(); i < i_max; i++)
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{
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SSG_featureTree* a_vTree = &v_trees[i];
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//记录Tree的信息
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SSG_treeInfo a_treeInfo;
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a_treeInfo.vTreeFlag = 1;
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a_treeInfo.treeIdx = hvTreeIdx;
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a_treeInfo.treeType = a_vTree->treeType;
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a_treeInfo.sLineIdx = a_vTree->sLineIdx;
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a_treeInfo.eLineIdx = a_vTree->eLineIdx;
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a_treeInfo.roi = a_vTree->roi;
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allTreesInfo.push_back(a_treeInfo);
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//在原始点云上标记，同时有Mask上标记
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for (int j = 0, j_max = (int)a_vTree->treeNodes.size(); j < j_max; j++)
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{
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SSG_basicFeature1D* a_feature = &a_vTree->treeNodes[j];
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if (scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].pt3D.z > 1e-4)//虚假目标过滤后点会置0
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{
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int existEdgeId = scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx >> 16;
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if (existEdgeId == 0)
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{
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scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx = a_feature->featureType;
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scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx &= 0xffff;
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scanLines[a_feature->jumpPos2D.x][a_feature->jumpPos2D.y].nPointIdx += hvTreeIdx << 16;
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}
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}
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}
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hvTreeIdx++;
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}
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int hTreeStart = hvTreeIdx;
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////标注:水平特征
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for (int i = 0, i_max = (int)h_trees.size(); i < i_max; i++)
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{
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SSG_featureTree* a_hTree = &h_trees[i];
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//记录Tree的信息
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SSG_treeInfo a_treeInfo;
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a_treeInfo.vTreeFlag = 0;
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a_treeInfo.treeIdx = hvTreeIdx;
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a_treeInfo.treeType = a_hTree->treeType;
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a_treeInfo.sLineIdx = a_hTree->sLineIdx;
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a_treeInfo.eLineIdx = a_hTree->eLineIdx;
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a_treeInfo.roi.left = a_hTree->roi.top; //水平扫描xy是交换的
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a_treeInfo.roi.right = a_hTree->roi.bottom;
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a_treeInfo.roi.top = a_hTree->roi.left;
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a_treeInfo.roi.bottom = a_hTree->roi.right;
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allTreesInfo.push_back(a_treeInfo);
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//在原始点云上标记，同时有Mask上标记
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for (int j = 0, j_max = (int)a_hTree->treeNodes.size(); j < j_max; j++)
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{
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SSG_basicFeature1D* a_feature = &a_hTree->treeNodes[j];
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if (scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].pt3D.z > 1e-4)//虚假目标过滤后点会置0
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{
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int existEdgeId = scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx >> 16;
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if (existEdgeId == 0)
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{
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scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += a_feature->featureType << 4;
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scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx &= 0xffff;
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scanLines[a_feature->jumpPos2D.y][a_feature->jumpPos2D.x].nPointIdx += hvTreeIdx << 16;
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}
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}
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}
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hvTreeIdx++;
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}
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int hvTreeSize = hvTreeIdx;
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} |