rodAndBarDetection version 1.3.6 :

新的定位盘中心测量功能：优化聚类前的垂直点去除算法，保证聚类结果正确

sourceCode/SG_baseAlgo_Export.h

@@ -302,12 +302,12 @@ SG_APISHARED_EXPORT void wd_getLineCorerFeature(
 /// <summary>
 /// 提取激光线上的与XY平面垂直的特征（垂直段）
 /// </summary>
-SG_APISHARED_EXPORT void wd_getXYVertialFeature_peakCornerMethod(
+SG_APISHARED_EXPORT void wd_getXYVertialFeature_dirAngleMethod(
     std::vector< SVzNL3DPosition>& lineData,
     int lineIdx,
     const double peakChkWin,
     const SSG_cornerParam cornerPara,
-    std::vector<SSG_RUN>& xyVerticalSegs  //环
+    std::vector<int>& xyVerticalFlags  //环
 );
 
 /// 提取激光线上的拐点特征。是在PSM， LVTypeFeature, BQ等拐点算法的基础上的版本。
@@ -795,9 +795,9 @@ SG_APISHARED_EXPORT Plane robustFitPlane(
 SG_APISHARED_EXPORT Plane ransacFitPlane(
     const std::vector<cv::Point3d>& points,
     std::vector<cv::Point3d>& out_inliers,
-    float dist_thresh = 0.5f,          // 内点距离阈值
+    float dist_thresh = 0.3f,          // 内点距离阈值
     int max_iter = 1000,                // 最大迭代
-    int stop_no_improve = 150           // 连续多少次无提升就提前退出
+    int stop_no_improve = 250           // 连续多少次无提升就提前退出
 );
 
 //计算一个平面调平参数。

sourceCode/SG_lineFeature.cpp

@@ -5713,109 +5713,33 @@ void wd_getLineCorerFeature(
 /// （4）判断拐角是否为跳变
 /// 
 /// </summary>
-void wd_getXYVertialFeature_peakCornerMethod(
+void wd_getXYVertialFeature_dirAngleMethod(
 	std::vector< SVzNL3DPosition>& lineData,
 	int lineIdx,
 	const double peakChkWin,
 	const SSG_cornerParam cornerPara,
-	std::vector<SSG_RUN>& xyVerticalSegs  
+	std::vector<int>& xyVerticalFlags  
 )
 {
-	double arcPerPointCornerMinValue = 5; //arc上每个点的转角最小值
+	if (lineIdx == 1062)
-	double arcTotalCornerMinValue = 30; //整个Arc的转角最小值
+		int kkk = 1;
+	double minVerticalAngle = 75.0; //arcÉÏÿ¸öµãµÄת½Ç×îСֵ
+
+	xyVerticalFlags.resize(lineData.size());
 	//计算前向角和后向角
 	std::vector< SSG_pntDirAngle> ptDirAngles;
 	wd_computeDirAngle_wholeLine(lineData, cornerPara, ptDirAngles);
 
-	double cornerMergeScale = cornerPara.scale;
+	for (int i = 0; i < (int)ptDirAngles.size(); i++)
-	//提取backwardAngle极值（较早实现函数可以使用此函数进行代码优化）
-	std::vector< SSG_pntDirAngle> backwardAnglePeakP;
-	std::vector< SSG_pntDirAngle> backwardAnglePeakM;
-	wd_searchBackwardAnglePeaks(
-		ptDirAngles,
-		lineData,
-		cornerPara.cornerTh,
-		cornerMergeScale,
-		backwardAnglePeakP,
-		backwardAnglePeakM
-	);
-
-	//提取forwardAngle极值（较早实现函数可以使用此函数进行代码优化）
-	std::vector< SSG_pntDirAngle> forwardAnglePeakP;
-	std::vector< SSG_pntDirAngle> forwardAnglePeakM;
-	wd_searchForwardAnglePeaks(
-		ptDirAngles,
-		lineData,
-		cornerPara.cornerTh,
-		cornerMergeScale,
-		forwardAnglePeakP,
-		forwardAnglePeakM
-	);
-
-	//匹配forwardAnglePeakM和backwardAnglePeakM, forwardAnglePeakM在前，backwardAnglePeakM在后
-	for (int i = 0; i < (int)forwardAnglePeakM.size(); i++)
 	{
-		for (int j = 0; j < (int)backwardAnglePeakM.size(); j++)
+		if (ptDirAngles[i].type < 0)
-		{
+			continue;
-			if (backwardAnglePeakM[j].pntIdx > forwardAnglePeakM[i].pntIdx)
-			{
-				int pntIdx_1 = forwardAnglePeakM[i].pntIdx;
-				int pntIdx_2 = backwardAnglePeakM[j].pntIdx;
-				//计算两者的角度
-				double diffY = abs(lineData[pntIdx_2].pt3D.y - lineData[pntIdx_1].pt3D.y);
-				if (diffY < cornerMergeScale)
-				{
-					double tanValue = (lineData[pntIdx_2].pt3D.z - lineData[pntIdx_1].pt3D.z) / diffY;
-					double angle = atan(tanValue) * 180.0 / PI;
-					if (abs(angle) > cornerPara.cornerTh)
-					{
-						SSG_RUN a_seg;
-						if(lineData[pntIdx_1].pt3D.z < lineData[pntIdx_2].pt3D.z)
-							a_seg.value = 1;
-						else
-							a_seg.value = -1;
-						a_seg.start = pntIdx_1;
-						a_seg.len = pntIdx_2 - pntIdx_1 +1;
-						xyVerticalSegs.push_back(a_seg);
-					}
-				}
-				break;
-			}
-		}
-	}
 
-	//匹配forwardAnglePeakP和backwardAnglePeakP, forwardAnglePeakP在前，backwardAnglePeakP在后
+		if (((ptDirAngles[i].backwardAngle < -minVerticalAngle) && (ptDirAngles[i].forwardAngle < -minVerticalAngle)) ||
-	for (int i = 0; i < (int)forwardAnglePeakP.size(); i++)
+			((ptDirAngles[i].backwardAngle > minVerticalAngle) && (ptDirAngles[i].forwardAngle > minVerticalAngle)))
-	{
+			xyVerticalFlags[i] = 1;
-		for (int j = 0; j < (int)backwardAnglePeakP.size(); j++)
-		{
-			if (backwardAnglePeakP[j].pntIdx > forwardAnglePeakP[i].pntIdx)
-			{
-				int pntIdx_1 = forwardAnglePeakP[i].pntIdx;
-				int pntIdx_2 = backwardAnglePeakP[j].pntIdx;
-				//计算两者的角度
-				double diffY = abs(lineData[pntIdx_2].pt3D.y - lineData[pntIdx_1].pt3D.y);
-				if (diffY < cornerMergeScale)
-				{
-					double tanValue = (lineData[pntIdx_2].pt3D.z - lineData[pntIdx_1].pt3D.z) / diffY;
-					double angle = atan(tanValue) * 180.0 / PI;
-					if (abs(angle) > cornerPara.cornerTh)
-					{
-						SSG_RUN a_seg;
-						if (lineData[pntIdx_1].pt3D.z < lineData[pntIdx_2].pt3D.z)
-							a_seg.value = 1;
-						else
-							a_seg.value = -1;
-						a_seg.start = pntIdx_1;
-						a_seg.len = pntIdx_2 - pntIdx_1 + 1;
-						xyVerticalSegs.push_back(a_seg);
-					}
-				}
-				break;
-			}
-		}
 	}
-
+	return;
 }
 
 /// 提取激光线上的拐点特征。是在PSM， LVTypeFeature, BQ等拐点算法的基础上的版本。

sourceCode/rodAndBarDetection.cpp

@@ -26,7 +26,8 @@
 //version 1.3.3 : 筑裕钢筋焊缝提取算法改进中间版本
 //version 1.3.4 : 新的定位盘中心测量功能算法优化
 //version 1.3.5 : 新的定位盘中心测量功能占将float运算改成double ,测试PC和3588差异
-std::string	m_strVersion = "1.3.5";
+//version 1.3.6 : 新的定位盘中心测量功能：优化聚类前的垂直点去除算法，保证聚类结果正确
+std::string	m_strVersion = "1.3.6";
 const char* wd_rodAndBarDetectionVersion(void)
 {
 	return m_strVersion.c_str();
@@ -2031,51 +2032,101 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
 		flags[i].resize(linePtNum);
 		std::fill(flags[i].begin(), flags[i].end(), 0);
 	}
-	std::vector<std::vector<SSG_RUN>> zVertivalSegs;
+	std::vector<std::vector<int>> zVertivalFlags;
 	for (int line = 0; line < lineNum; line++)
 	{
 		if (line == 700)
 			int kkk = 1;
-		std::vector<SSG_RUN> line_verticalSegs;
+		std::vector<int> line_verticalFlags;
-		wd_getXYVertialFeature_peakCornerMethod(
+		wd_getXYVertialFeature_dirAngleMethod(
 			scanLines[line],
 			line,
 			cornerPara.scale,
 			cornerPara,
-			line_verticalSegs
+			line_verticalFlags
 		);
-		zVertivalSegs.push_back(line_verticalSegs);
+		zVertivalFlags.push_back(line_verticalFlags);
 
-		for (int i = 0; i < (int)line_verticalSegs.size(); i++)
+		for (int i = 0; i < (int)line_verticalFlags.size(); i++)
 		{
-			int idx_0 = line_verticalSegs[i].start;
+			if(line_verticalFlags[i] > 0)
-			for (int j = 0; j < line_verticalSegs[i].len; j++)
+				flags[line][i] = 1;
-				flags[line][idx_0 + j] = 1;
 		}
 	}
 
-	std::vector<std::vector<SSG_RUN>> zVertivalSegs_h;
+	std::vector<std::vector<int>> zVertivalFlags_h;
 	for (int line = 0; line < linePtNum; line++)
 	{
 		if (line == 1177)
 			int kkk = 1;
-		std::vector<SSG_RUN> line_verticalSegs;
+		std::vector<int> line_verticalFlags;
-		wd_getXYVertialFeature_peakCornerMethod(
+		wd_getXYVertialFeature_dirAngleMethod(
 			scanLines_h[line],
 			line,
 			cornerPara.scale,
 			cornerPara,
-			line_verticalSegs
+			line_verticalFlags
 		);
-		zVertivalSegs_h.push_back(line_verticalSegs);
+		zVertivalFlags_h.push_back(line_verticalFlags);
 
-		for (int i = 0; i < (int)line_verticalSegs.size(); i++)
+		for (int i = 0; i < (int)line_verticalFlags.size(); i++)
 		{
-			int idx_0 = line_verticalSegs[i].start;
+			if(line_verticalFlags[i] > 0)
-			for (int j = 0; j < line_verticalSegs[i].len; j++)
+				flags[i][line] = 1;
-				flags[idx_0 + j][line] = 1;
 		}
 	}
+	for (int line = 0; line < lineNum; line++)
+	{
+		for (int j = 0; j < linePtNum; j++)
+		{
+			if (flags[line][j] > 0)
+			{
+				scanLines[line][j].pt3D.z = 0;
+				scanLines_h[j][line].pt3D.z = 0;
+			}
+		}
+	}
+	//迭代一次
+	SSG_lineSegParam lineSegPara;
+	lineSegPara.distScale = 5.0;
+	lineSegPara.segGapTh_y = 5.0;
+	lineSegPara.segGapTh_z = 5.0;
+	const int minSegLen = 5;
+	for (int line = 0; line < lineNum; line++)
+	{
+		std::vector<SSG_RUN> segs;
+		wd_getLineDataIntervals(
+			scanLines[line],
+			lineSegPara,
+			segs);
+		for (int i = 0; i < (int)segs.size(); i++)
+		{
+			if (segs[i].len <= minSegLen)
+			{
+				int idx0 = segs[i].start;
+				for (int j = 0; j < segs[i].len; j++)
+					flags[line][idx0 + j] = 1;
+			}
+		}
+	}
+	for (int line = 0; line < linePtNum; line++)
+	{
+		std::vector<SSG_RUN> segs;
+		wd_getLineDataIntervals(
+			scanLines_h[line],
+			lineSegPara,
+			segs);
+		for (int i = 0; i < (int)segs.size(); i++)
+		{
+			if (segs[i].len <= minSegLen)
+			{
+				int idx0 = segs[i].start;
+				for (int j = 0; j < segs[i].len; j++)
+					flags[idx0 + j][line] = 1;
+			}
+		}
+	}
+
 	//标注
 	for (int line = 0; line < lineNum; line++)
 	{