115 lines
3.5 KiB
C++
115 lines
3.5 KiB
C++
#include "BeltTearingAlgo.h"
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#include <climits>
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#include <iostream>
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BeltTearingAlgo::BeltTearingAlgo() {
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algoParam.differnceBinTh = 1.0;
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algoParam.extractPara.gapChkWin = 7;
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algoParam.extractPara.sameGapTh = 20.0;
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algoParam.scanXScale = 4.0;
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algoParam.scanYScale = 0.6;
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algoParam.tearingMinGap = 50.0; //两个同位置的纵撕的最小间隔。大于此门限视为两个撕裂
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algoParam.tearingMinLen = 30.0;
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lineIndex = 0;
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// 初始化
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ResetParameter();
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}
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void BeltTearingAlgo::ResetParameter() {
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total_tearings.clear();
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beltTearings_new.clear();
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beltTearings_growing.clear();
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beltTearings_ended.clear();
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beltTearings_unknown.clear();
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lineIndex = 0;
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int errCode = 0;
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sg_detectBeltTearing(
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NULL, //空扫描线，用于复位内部静态变量
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0,
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0,
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&errCode,
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hLineWorkers,
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beltTearings_new,
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beltTearings_growing,
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beltTearings_ended,
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beltTearings_unknown, //未判明，应用无需处理。
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algoParam);
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}
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void BeltTearingAlgo::Training(std::vector<SVzNL3DLaserLine> lines) {
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// 本算法无需训练
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}
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void BeltTearingAlgo::Training(SVzNL3DLaserLine* lines) {
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// 本算法无需训练
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}
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std::vector<SSG_beltTearingInfo> BeltTearingAlgo::Predit(SVzNL3DLaserLine* a_line, int lineId) {
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total_tearings.clear();
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int errCode = 0;
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sg_detectBeltTearing(
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a_line, //一条扫描线
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lineIndex,
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a_line->nPositionCnt,
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&errCode,
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hLineWorkers,
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beltTearings_new,
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beltTearings_growing,
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beltTearings_ended,
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beltTearings_unknown, //未判明，应用无需处理。
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algoParam);
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if (beltTearings_ended.size() > 0) //收集撕裂点
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{
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total_tearings.insert(total_tearings.end(), beltTearings_ended.begin(), beltTearings_ended.end());
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}
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return total_tearings;
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}
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std::vector<SSG_beltTearingInfo> BeltTearingAlgo::Predit(std::vector<SVzNL3DLaserLine> lines, int lineIdx) {
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total_tearings.clear();
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if (lines.empty()) {
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return total_tearings;
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}
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if (lineIndex >= INT_MAX - lines.size() ) {
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lineIndex = 0;
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}
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hLineWorkers.resize(lines[0].nPositionCnt);
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int errCode = 0;
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for(int i = 0; i < lines.size(); i ++) {
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SVzNL3DLaserLine* a_line = &lines[i];
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sg_detectBeltTearing(
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a_line, //一条扫描线
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lineIndex,
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a_line->nPositionCnt,
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&errCode,
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hLineWorkers,
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beltTearings_new,
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beltTearings_growing,
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beltTearings_ended,
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beltTearings_unknown, //未判明，应用无需处理。
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algoParam);
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lineIndex += 1;
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if (beltTearings_new.size() > 0) //收集撕裂点
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{
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total_tearings.insert(total_tearings.end(), beltTearings_new.begin(), beltTearings_new.end());
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}
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if (beltTearings_ended.size() > 0) //收集撕裂点
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{
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total_tearings.insert(total_tearings.end(), beltTearings_ended.begin(), beltTearings_ended.end());
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}
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else if (i == lines.size() - 1) //测试数据最后一条扫描线。（实际中没有）
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{
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total_tearings.insert(total_tearings.end(), beltTearings_growing.begin(), beltTearings_growing.end());
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}
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}
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return total_tearings;
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}
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