孔检测HoleDetection 做了算法更新
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yiyi
parent
512c72b895
commit
de7df9398d
@ -211,19 +211,21 @@ int HoleDetectionPresenter::InitAlgoParams()
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xmlParams.detectionParam.maxRadius,
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xmlParams.detectionParam.expansionSize1,
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xmlParams.detectionParam.expansionSize2);
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LOG_INFO("Loaded XML params - Detection: minVTransitionPoints=%d\n",
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xmlParams.detectionParam.minVTransitionPoints);
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LOG_INFO("Loaded XML params - Detection: minVTransitionPoints=%d, edgeBoundaryFilterDist=%.2f\n",
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xmlParams.detectionParam.minVTransitionPoints,
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xmlParams.detectionParam.edgeBoundaryFilterDist);
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// 打印过滤参数
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LOG_INFO("Loaded XML params - Filter: maxEccentricity=%.5f, minAngularCoverage=%.1f, maxRadiusFitRatio=%.2f\n",
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xmlParams.filterParam.maxEccentricity,
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xmlParams.filterParam.minAngularCoverage,
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xmlParams.filterParam.maxRadiusFitRatio);
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LOG_INFO("Loaded XML params - Filter: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f\n",
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LOG_INFO("Loaded XML params - Filter: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f, minHoleDepth=%.2f\n",
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xmlParams.filterParam.minQualityScore,
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xmlParams.filterParam.maxPlaneResidual,
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xmlParams.filterParam.maxAngularGap,
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xmlParams.filterParam.minInlierRatio);
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xmlParams.filterParam.minInlierRatio,
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xmlParams.filterParam.minHoleDepth);
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LOG_INFO("Loaded XML params - SortMode: %d\n", xmlParams.sortMode);
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@ -5,7 +5,7 @@
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#define HOLEDETECTION_APP_NAME "孔洞检测"
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// 版本字符串
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#define HOLEDETECTION_VERSION_STRING "1.1.0"
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#define HOLEDETECTION_VERSION_STRING "1.1.1"
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#define HOLEDETECTION_BUILD_STRING "1"
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#define HOLEDETECTION_FULL_VERSION_STRING "V" HOLEDETECTION_VERSION_STRING "_" HOLEDETECTION_BUILD_STRING
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@ -1,3 +1,7 @@
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# 1.1.1 2026-04-02
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## build_1
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1. 更新算法
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# 1.1.0 2026-03-25
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## build_1
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1. 算法优化
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@ -319,6 +319,7 @@ void DialogAlgoarg::LoadDetectionParamToUI(const VrHoleDetectionParam& param)
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ui->lineEdit_expansionSize1->setText(QString::number(param.expansionSize1));
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ui->lineEdit_expansionSize2->setText(QString::number(param.expansionSize2));
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ui->lineEdit_minVTransitionPoints->setText(QString::number(param.minVTransitionPoints));
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ui->lineEdit_edgeBoundaryFilterDist->setText(QString::number(param.edgeBoundaryFilterDist));
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}
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void DialogAlgoarg::LoadFilterParamToUI(const VrHoleFilterParam& param)
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@ -332,6 +333,7 @@ void DialogAlgoarg::LoadFilterParamToUI(const VrHoleFilterParam& param)
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ui->lineEdit_maxPlaneResidual->setText(QString::number(param.maxPlaneResidual));
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ui->lineEdit_maxAngularGap->setText(QString::number(param.maxAngularGap));
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ui->lineEdit_minInlierRatio->setText(QString::number(param.minInlierRatio));
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ui->lineEdit_minHoleDepth->setText(QString::number(param.minHoleDepth));
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}
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void DialogAlgoarg::LoadSortModeToUI(int sortMode)
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@ -377,6 +379,9 @@ bool DialogAlgoarg::SaveDetectionParamFromUI(VrHoleDetectionParam& param)
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param.minVTransitionPoints = ui->lineEdit_minVTransitionPoints->text().toInt(&ok);
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if (!ok) return false;
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param.edgeBoundaryFilterDist = ui->lineEdit_edgeBoundaryFilterDist->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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@ -405,6 +410,9 @@ bool DialogAlgoarg::SaveFilterParamFromUI(VrHoleFilterParam& param)
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param.minInlierRatio = ui->lineEdit_minInlierRatio->text().toDouble(&ok);
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if (!ok) return false;
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param.minHoleDepth = ui->lineEdit_minHoleDepth->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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@ -182,6 +182,16 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
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<item row="8" column="1">
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<widget class="QLineEdit" name="lineEdit_minVTransitionPoints"/>
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</item>
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<item row="9" column="0">
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<widget class="QLabel" name="label_edgeBoundaryFilterDist">
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<property name="text">
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<string>边缘过滤距离 (mm):</string>
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</property>
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</widget>
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</item>
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<item row="9" column="1">
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<widget class="QLineEdit" name="lineEdit_edgeBoundaryFilterDist"/>
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</item>
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</layout>
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</widget>
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</item>
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@ -296,13 +306,23 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
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<widget class="QLineEdit" name="lineEdit_minInlierRatio"/>
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</item>
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<item row="7" column="0">
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<widget class="QLabel" name="label_minHoleDepth">
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<property name="text">
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<string>最小孔深 (mm):</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<widget class="QLineEdit" name="lineEdit_minHoleDepth"/>
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</item>
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<item row="8" column="0">
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<widget class="QLabel" name="label_sortMode">
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<property name="text">
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<string>排序模式:</string>
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</property>
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</widget>
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</item>
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<item row="7" column="1">
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<item row="8" column="1">
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<widget class="QComboBox" name="comboBox_sortMode"/>
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</item>
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</layout>
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@ -26,6 +26,7 @@ struct VrHoleDetectionParam
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int expansionSize1 = 5; // 第一环扩展大小
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int expansionSize2 = 10; // 第二环扩展大小
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int minVTransitionPoints = 1; // V形端点间最小有效过渡点数
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double edgeBoundaryFilterDist = 0.0; // 边缘过滤距离（mm）
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};
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/**
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@ -40,6 +41,7 @@ struct VrHoleFilterParam
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double maxPlaneResidual = 10.0; // 最大平面残差（mm）
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double maxAngularGap = 90.0; // 最大角度间隙（度）
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double minInlierRatio = 0.0; // 最小内点比率
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double minHoleDepth = 2.5; // 最小孔深（mm）
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};
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/**
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@ -15,6 +15,7 @@ SHoleDetectionParams ToAlgoParam(const VrHoleDetectionParam& param)
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algo.expansionSize1 = param.expansionSize1;
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algo.expansionSize2 = param.expansionSize2;
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algo.minVTransitionPoints = param.minVTransitionPoints;
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algo.edgeBoundaryFilterDist = static_cast<float>(param.edgeBoundaryFilterDist);
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return algo;
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}
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@ -28,6 +29,7 @@ SHoleFilterParams ToAlgoParam(const VrHoleFilterParam& param)
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algo.maxPlaneResidual = static_cast<float>(param.maxPlaneResidual);
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algo.maxAngularGap = static_cast<float>(param.maxAngularGap);
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algo.minInlierRatio = static_cast<float>(param.minInlierRatio);
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algo.minHoleDepth = static_cast<float>(param.minHoleDepth);
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return algo;
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}
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@ -46,15 +48,16 @@ void LogAlgoParams(const std::string& logTag,
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LOG_INFO("%s DetectionParams: angleThresholdPos=%.1f, angleThresholdNeg=%.1f, minPitDepth=%.1f\n",
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logTag.c_str(), detectionParams.angleThresholdPos,
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detectionParams.angleThresholdNeg, detectionParams.minPitDepth);
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LOG_INFO("%s DetectionParams: minRadius=%.1f, maxRadius=%.1f, expansionSize1=%d, expansionSize2=%d, minVTransitionPoints=%d\n",
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LOG_INFO("%s DetectionParams: minRadius=%.1f, maxRadius=%.1f, expansionSize1=%d, expansionSize2=%d, minVTransitionPoints=%d, edgeBoundaryFilterDist=%.2f\n",
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logTag.c_str(), detectionParams.minRadius, detectionParams.maxRadius,
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detectionParams.expansionSize1, detectionParams.expansionSize2, detectionParams.minVTransitionPoints);
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detectionParams.expansionSize1, detectionParams.expansionSize2,
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detectionParams.minVTransitionPoints, detectionParams.edgeBoundaryFilterDist);
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LOG_INFO("%s FilterParams: maxEccentricity=%.5f, minAngularCoverage=%.1f, maxRadiusFitRatio=%.2f\n",
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logTag.c_str(), filterParams.maxEccentricity, filterParams.minAngularCoverage, filterParams.maxRadiusFitRatio);
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LOG_INFO("%s FilterParams: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f\n",
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LOG_INFO("%s FilterParams: minQualityScore=%.2f, maxPlaneResidual=%.1f, maxAngularGap=%.1f, minInlierRatio=%.2f, minHoleDepth=%.2f\n",
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logTag.c_str(), filterParams.minQualityScore, filterParams.maxPlaneResidual,
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filterParams.maxAngularGap, filterParams.minInlierRatio);
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filterParams.maxAngularGap, filterParams.minInlierRatio, filterParams.minHoleDepth);
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}
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} // namespace AlgoParamConverter
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@ -84,6 +84,8 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
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configResult.algorithmParams.detectionParam.expansionSize2 = detectionParamElement->IntAttribute("expansionSize2");
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if (detectionParamElement->Attribute("minVTransitionPoints"))
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configResult.algorithmParams.detectionParam.minVTransitionPoints = detectionParamElement->IntAttribute("minVTransitionPoints");
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if (detectionParamElement->Attribute("edgeBoundaryFilterDist"))
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configResult.algorithmParams.detectionParam.edgeBoundaryFilterDist = detectionParamElement->DoubleAttribute("edgeBoundaryFilterDist");
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}
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// 解析孔洞过滤参数
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@ -104,6 +106,8 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
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configResult.algorithmParams.filterParam.maxAngularGap = filterParamElement->DoubleAttribute("maxAngularGap");
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if (filterParamElement->Attribute("minInlierRatio"))
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configResult.algorithmParams.filterParam.minInlierRatio = filterParamElement->DoubleAttribute("minInlierRatio");
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if (filterParamElement->Attribute("minHoleDepth"))
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configResult.algorithmParams.filterParam.minHoleDepth = filterParamElement->DoubleAttribute("minHoleDepth");
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}
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// 解析排序模式
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@ -196,6 +200,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
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detectionParamElement->SetAttribute("expansionSize1", configResult.algorithmParams.detectionParam.expansionSize1);
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detectionParamElement->SetAttribute("expansionSize2", configResult.algorithmParams.detectionParam.expansionSize2);
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detectionParamElement->SetAttribute("minVTransitionPoints", configResult.algorithmParams.detectionParam.minVTransitionPoints);
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detectionParamElement->SetAttribute("edgeBoundaryFilterDist", configResult.algorithmParams.detectionParam.edgeBoundaryFilterDist);
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algoParamsElement->InsertEndChild(detectionParamElement);
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// 添加孔洞过滤参数
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@ -207,6 +212,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
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filterParamElement->SetAttribute("maxPlaneResidual", configResult.algorithmParams.filterParam.maxPlaneResidual);
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filterParamElement->SetAttribute("maxAngularGap", configResult.algorithmParams.filterParam.maxAngularGap);
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filterParamElement->SetAttribute("minInlierRatio", configResult.algorithmParams.filterParam.minInlierRatio);
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filterParamElement->SetAttribute("minHoleDepth", configResult.algorithmParams.filterParam.minHoleDepth);
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algoParamsElement->InsertEndChild(filterParamElement);
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// 添加排序模式
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@ -12,11 +12,13 @@
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minPitDepth="1.0" angleStep="1.0" maxScanRadius="100.0" clusterEps="5.0"
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clusterMinPoints="5" minRadius="5.0" maxRadius="50.0" expansionSize1="5"
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expansionSize2="10" validZThreshold="0.0001" minVTransitionPoints="1"
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edgeBoundaryFilterDist="0.0"
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cornerScale="2.0" cornerAngleThreshold="45.0" jumpCornerTh_1="10.0"
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jumpCornerTh_2="30.0" minEndingGap="5.0" minEndingGap_z="1.0"/>
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<FilterParam minHoleRadius="1.0" maxHoleRadius="10.0" maxEccentricity="0.99995"
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maxCornerRatio="0.15" minAngularCoverage="10.0" maxRadiusFitRatio="0.3"
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minQualityScore="0.3" maxPlaneResidual="10.0" maxAngularGap="90.0" minInlierRatio="0.3"/>
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minQualityScore="0.3" maxPlaneResidual="10.0" maxAngularGap="90.0" minInlierRatio="0.3"
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minHoleDepth="2.5"/>
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<SortMode value="0"/>
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<PlaneCalibParams>
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<CameraCalibParam cameraIndex="1" cameraName="Camera1" isCalibrated="false" planeHeight="-1.0"
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@ -1,25 +1,102 @@
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#include "mainwindow.h"
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#include "SingleInstanceManager.h"
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#include "AuthView.h"
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#include "AuthManager.h"
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#include "HolePitPositionPresenter.h"
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#include "IYHolePitPositionStatus.h"
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#include "VrLog.h"
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#include <QApplication>
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#include <QIcon>
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#include <QMessageBox>
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#include <QObject>
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#include <cstdio>
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#include <cstring>
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#ifdef Q_OS_UNIX
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#include <cstdlib>
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#include <sys/stat.h>
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#endif
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// 无桌面模式下的状态监听器，将状态信息输出到日志
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class HeadlessStatusListener : public IYHolePitPositionStatus
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{
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public:
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void OnStatusUpdate(const std::string& msg) override {
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LOG_INFO("[Headless] Status: %s\n", msg.c_str());
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}
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void OnDetectionResult(const HolePitPositionResult& result) override {
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LOG_INFO("[Headless] DetectionResult received, errorCode=%d\n", result.errorCode);
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}
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void OnCamera1StatusChanged(bool connected) override {
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LOG_INFO("[Headless] Camera1: %s\n", connected ? "connected" : "disconnected");
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}
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void OnCamera2StatusChanged(bool connected) override {
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LOG_INFO("[Headless] Camera2: %s\n", connected ? "connected" : "disconnected");
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}
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void OnRobotConnectionChanged(bool connected) override {
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LOG_INFO("[Headless] Robot: %s\n", connected ? "connected" : "disconnected");
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}
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void OnSerialConnectionChanged(bool connected) override {
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LOG_INFO("[Headless] Serial: %s\n", connected ? "connected" : "disconnected");
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}
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void OnCameraCountChanged(int count) override {
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LOG_INFO("[Headless] CameraCount: %d\n", count);
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}
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void OnWorkStatusChanged(WorkStatus status) override {
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LOG_INFO("[Headless] WorkStatus changed: %d\n", static_cast<int>(status));
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}
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};
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#ifdef Q_OS_UNIX
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// 检测设备文件是否存在
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static bool deviceExists(const char* path)
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{
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struct stat st;
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return stat(path, &st) == 0;
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}
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// 检测是否有可用的显示设备（X11、Wayland、framebuffer、DRM 任意一种即可）
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static bool detectDisplay()
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{
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// X11 / Wayland 环境变量
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const char* display = std::getenv("DISPLAY");
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const char* waylandDisp = std::getenv("WAYLAND_DISPLAY");
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if ((display && strlen(display) > 0) ||
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(waylandDisp && strlen(waylandDisp) > 0)) {
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return true;
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}
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// Framebuffer（嵌入式 ARM 常见）
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if (deviceExists("/dev/fb0")) {
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return true;
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}
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return false;
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}
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#endif
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int main(int argc, char *argv[])
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{
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bool hasDisplay = true;
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#ifdef Q_OS_UNIX
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hasDisplay = detectDisplay();
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if (!hasDisplay) {
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qputenv("QT_QPA_PLATFORM", "offscreen");
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fprintf(stderr, "[Main] No display detected, running in headless mode.\n");
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fflush(stderr);
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}
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#endif
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QApplication a(argc, argv);
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// 设置应用程序图标
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a.setWindowIcon(QIcon(":/common/resource/logo.png"));
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// 使用 SingleInstanceManager 检查单例
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SingleInstanceManager instanceManager("HolePitPositionApp_SingleInstance_Key");
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if (hasDisplay) {
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// ---- 有桌面：完整 UI 模式 ----
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a.setWindowIcon(QIcon(":/common/resource/logo.png"));
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if (instanceManager.isAnotherInstanceRunning()) {
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// 已有实例在运行，显示提示信息并退出
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QMessageBox::information(nullptr,
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QObject::tr("应用程序已运行"),
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QObject::tr("坑孔定位检测应用程序已经在运行中，请勿重复启动！"),
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@ -27,15 +104,30 @@ int main(int argc, char *argv[])
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return 0;
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}
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// 检查授权，无授权则显示授权对话框
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if (!AuthView::CheckAndShow(nullptr)) {
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// 用户取消授权或授权失败，退出程序
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return 0;
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}
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// 没有其他实例运行，正常启动应用程序
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MainWindow w;
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w.show();
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return a.exec();
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} else {
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// ---- 无桌面：只启动业务逻辑 ----
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if (instanceManager.isAnotherInstanceRunning()) {
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return 0;
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}
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// 无UI模式下直接检查授权有效性
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if (!AuthManager::CheckLicenseValid()) {
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fprintf(stderr, "[Main] Authorization check failed, exiting.\n");
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fflush(stderr);
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return 0;
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}
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static HeadlessStatusListener listener;
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static HolePitPositionPresenter presenter;
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presenter.SetStatusCallback<IYHolePitPositionStatus>(&listener);
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presenter.Init();
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return a.exec();
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}
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}
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Binary file not shown.
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@ -5,18 +5,20 @@
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#include "ErrorCodes.h"
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#include "../include/VZNL_Types.h"
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// Export macro for Windows DLL
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// Export macro for shared library
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#ifdef _WIN32
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#ifdef HOLE_DETECTION_EXPORTS
|
||||
#define HOLE_DETECTION_API __declspec(dllexport)
|
||||
#else
|
||||
#define HOLE_DETECTION_API __declspec(dllimport)
|
||||
#endif
|
||||
#elif defined(__GNUC__) || defined(__clang__)
|
||||
#else
|
||||
#ifdef HOLE_DETECTION_EXPORTS
|
||||
#define HOLE_DETECTION_API __attribute__((visibility("default")))
|
||||
#else
|
||||
#define HOLE_DETECTION_API
|
||||
#endif
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @brief Boundary point with grid location (for debug callbacks)
|
||||
@ -82,6 +84,16 @@ struct SClusterInfo {
|
||||
int count; // Number of points in this cluster
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Plane segmentation information for debug callbacks
|
||||
*/
|
||||
struct SPlaneSegmentInfo {
|
||||
float normalX, normalY, normalZ; // 平面法向量 (归一化)
|
||||
int pointCount; // 该平面的点数
|
||||
const int* pointIndices; // 点索引数组 (在原始grid中的索引)
|
||||
float normalAngleDeg; // 法向量与参考方向的夹角 (度)
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief Debug callbacks for visualization and debugging
|
||||
*
|
||||
@ -149,10 +161,47 @@ struct SHoleDetectionDebugCallbacks {
|
||||
void* userData
|
||||
);
|
||||
|
||||
/**
|
||||
* @brief Called after RANSAC plane segmentation and normal filtering
|
||||
* @param planes Array of plane segment information
|
||||
* @param planeCount Number of planes
|
||||
* @param totalPointCount Total number of points in the grid (rows * cols)
|
||||
* @param userData User-provided context pointer
|
||||
*/
|
||||
void (*onPlanesSegmented)(
|
||||
const SPlaneSegmentInfo* planes,
|
||||
int planeCount,
|
||||
int totalPointCount,
|
||||
void* userData
|
||||
);
|
||||
|
||||
/**
|
||||
* @brief Called after masked points grid is built for a plane
|
||||
* @param points Masked point array (grid format, rows * cols)
|
||||
* @param rows Row count
|
||||
* @param cols Column count
|
||||
* @param planeIndex Index of the current plane (0-based)
|
||||
* @param userData User-provided context pointer
|
||||
*/
|
||||
void (*onMaskedPointsReady)(
|
||||
const SVzNLPointXYZ* points,
|
||||
int rows,
|
||||
int cols,
|
||||
int planeIndex,
|
||||
void* userData
|
||||
);
|
||||
|
||||
/**
|
||||
* @brief User-provided context pointer, passed to all callbacks
|
||||
*/
|
||||
void* userData;
|
||||
|
||||
/**
|
||||
* @brief If non-null, each cluster's boundary points are saved as a CSV file
|
||||
* in this directory before fitting. Files are named cluster_0.csv, cluster_1.csv, ...
|
||||
* Fields: row,col,x,y,z
|
||||
*/
|
||||
const char* clusterOutputDir;
|
||||
};
|
||||
|
||||
/**
|
||||
@ -200,12 +249,4 @@ HOLE_DETECTION_API int DetectMultipleHoles(
|
||||
*/
|
||||
HOLE_DETECTION_API void PrintDetectionResults(const SMultiHoleResult& result, bool verbose = true);
|
||||
|
||||
/**
|
||||
* @brief Print a single hole result to console
|
||||
*
|
||||
* @param [in] hole Single hole result
|
||||
* @param [in] index Hole index (for display purposes)
|
||||
*/
|
||||
HOLE_DETECTION_API void PrintHoleResult(const SHoleResult& hole, int index);
|
||||
|
||||
#endif // HOLE_DETECTION_H
|
||||
|
||||
@ -2,7 +2,7 @@
|
||||
#define HOLE_DETECTION_PARAMS_H
|
||||
|
||||
#include <cmath>
|
||||
#include "VZNL_Types.h" // 使用 VZNL_Types.h 中定义的类型
|
||||
#include "../include/VZNL_Types.h" // 使用 VZNL_Types.h 中定义的类型
|
||||
|
||||
/**
|
||||
* @brief 孔洞检测算法的检测参数
|
||||
@ -33,6 +33,9 @@ struct SHoleDetectionParams {
|
||||
// 当曲率角未超过 angleThreshold 时，若前后参考点间的
|
||||
// 净 Z 坡度角超过此阈值，则将该点判定为下降或上升趋势。
|
||||
// 设置为 0 可禁用坡度补充判断。
|
||||
float edgeBoundaryFilterDist; // 边缘过滤距离，单位：mm（默认值：0.0，即不过滤）
|
||||
// pair 中任意端点到首/尾有效线（行扫描取 y，列扫描取 x）
|
||||
// 的距离小于此值时，该 pair 将被剔除。
|
||||
|
||||
// 构造函数，设置默认值
|
||||
SHoleDetectionParams()
|
||||
@ -51,6 +54,7 @@ struct SHoleDetectionParams {
|
||||
, minFeatureSpan(2.0f)
|
||||
, residualSmoothWindow(5)
|
||||
, slopeAngleThreshold(3.0f)
|
||||
, edgeBoundaryFilterDist(0.0f)
|
||||
{}
|
||||
};
|
||||
|
||||
@ -78,6 +82,10 @@ struct SHoleFilterParams {
|
||||
float minInlierRatio; // 圆拟合的最小内点比率（默认值：0.0）
|
||||
// 表示落在拟合圆容差范围内的点所占比例。
|
||||
|
||||
// 深度验证
|
||||
float minHoleDepth; // 圆孔内部最大 Z 与参考平面 Z 的最小差值，单位：mm（默认值：2.5）
|
||||
// 若差值小于此阈值则认为是假孔，返回失败。<=0 表示不过滤。
|
||||
|
||||
// 构造函数，设置默认值
|
||||
SHoleFilterParams()
|
||||
: maxEccentricity(0.99995f)
|
||||
@ -87,6 +95,7 @@ struct SHoleFilterParams {
|
||||
, maxPlaneResidual(10.0f)
|
||||
, maxAngularGap(90.0f)
|
||||
, minInlierRatio(0.f)
|
||||
, minHoleDepth(2.5f)
|
||||
{}
|
||||
};
|
||||
|
||||
|
||||
@ -282,4 +282,109 @@ int ComputeRowZDiffFluctuation(
|
||||
int* errCode
|
||||
);
|
||||
|
||||
// ========== RANSAC 平面分割 ==========
|
||||
|
||||
/**
|
||||
* @brief RANSAC平面分割参数
|
||||
*/
|
||||
struct RansacPlaneSegmentationParams {
|
||||
float distanceThreshold; // 点到平面距离阈值 (mm), 建议 0.5-2.0
|
||||
int maxIterations; // RANSAC最大迭代次数, 建议 100-1000
|
||||
int minPlanePoints; // 最小平面点数, 建议 50-200
|
||||
int maxPlanes; // 最大提取平面数量, 建议 3-10
|
||||
float growthZThreshold; // 区域生长时相邻点Z差阈值 (mm), 建议 0.5-2.0
|
||||
float minPlaneRatio; // 平面最小点数占比 (相对最大平面), 建议 0.05-0.2
|
||||
|
||||
RansacPlaneSegmentationParams()
|
||||
: distanceThreshold(1.0f)
|
||||
, maxIterations(500)
|
||||
, minPlanePoints(100)
|
||||
, maxPlanes(5)
|
||||
, growthZThreshold(1.0f)
|
||||
, minPlaneRatio(0.1f)
|
||||
{}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 法向量过滤参数
|
||||
*/
|
||||
struct NormalFilterParams {
|
||||
float maxAngleDeg; // 法向量与参考方向的最大夹角 (度), 建议 30-60
|
||||
float refNx, refNy, refNz; // 参考法向量方向 (默认Z轴)
|
||||
float maxDistFromPlane; // 点到平面的最大允许距离；超出则从 pointIndices 中移除；<=0 表示不过滤
|
||||
|
||||
NormalFilterParams()
|
||||
: maxAngleDeg(45.0f)
|
||||
, refNx(0.0f)
|
||||
, refNy(0.0f)
|
||||
, refNz(1.0f)
|
||||
, maxDistFromPlane(2.0f)
|
||||
{}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 分割出的平面信息
|
||||
*/
|
||||
struct PlaneSegment {
|
||||
float a, b, c, d; // 平面方程 ax + by + cz + d = 0 (a,b,c 已归一化)
|
||||
std::vector<int> pointIndices; // 属于该平面的点索引 (在原始grid中的索引)
|
||||
int pointCount; // 点数
|
||||
float normalAngleDeg; // 与参考法向的夹角 (度)
|
||||
|
||||
PlaneSegment()
|
||||
: a(0.0f), b(0.0f), c(1.0f), d(0.0f)
|
||||
, pointCount(0)
|
||||
, normalAngleDeg(0.0f)
|
||||
{}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 使用RANSAC方法迭代分割多个平面
|
||||
*
|
||||
* 算法流程:
|
||||
* 1. 收集所有有效点
|
||||
* 2. 迭代执行RANSAC:
|
||||
* a. 随机采样3个点拟合平面
|
||||
* b. 统计内点数
|
||||
* c. 保留最优平面模型
|
||||
* d. 提取内点，从剩余点中移除
|
||||
* 3. 重复直到剩余点不足或达到最大平面数
|
||||
*
|
||||
* @param points 输入点云 (grid格式, rows*cols)
|
||||
* @param rows 行数
|
||||
* @param cols 列数
|
||||
* @param params RANSAC参数
|
||||
* @param outPlanes 输出平面列表
|
||||
* @param errCode 错误码
|
||||
* @return 检测到的平面数量
|
||||
*/
|
||||
int SegmentPlanesByRansac(
|
||||
const SVzNLPointXYZ* points,
|
||||
int rows,
|
||||
int cols,
|
||||
const RansacPlaneSegmentationParams& params,
|
||||
std::vector<PlaneSegment>& outPlanes,
|
||||
int* errCode
|
||||
);
|
||||
|
||||
/**
|
||||
* @brief 根据法向量方向过滤平面，并去除各平面中距离平面过远的点
|
||||
*
|
||||
* 1. 计算每个平面法向量与参考方向的夹角，移除夹角超过阈值的平面。
|
||||
* 2. 对保留的平面，将 pointIndices 中签名距离绝对值超过 maxDistFromPlane 的点移除
|
||||
* （maxDistFromPlane <= 0 时跳过此步骤）。
|
||||
*
|
||||
* @param planes 平面列表 (会被原地修改)
|
||||
* @param params 法向过滤参数
|
||||
* @param points 原始点云数组
|
||||
* @param pointCount 原始点云数量
|
||||
* @return 被移除的平面数量
|
||||
*/
|
||||
int FilterPlanesByNormal(
|
||||
std::vector<PlaneSegment>& planes,
|
||||
const NormalFilterParams& params,
|
||||
const SVzNLPointXYZ* points,
|
||||
int pointCount
|
||||
);
|
||||
|
||||
#endif // PLANE_SEGMENTATION_H
|
||||
|
||||
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2
Utils
2
Utils
@ -1 +1 @@
|
||||
Subproject commit 7631f8aadce030e71321af4a4d6c9c2bf8be5b87
|
||||
Subproject commit 5e978eaea4f7891cc2f4a9ac871598cbb3178f50
|
||||
Loading…
x
Reference in New Issue
Block a user