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
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@ -302,12 +302,12 @@ SG_APISHARED_EXPORT void wd_getLineCorerFeature(
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/// <summary>
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/// 提取激光线上的与XY平面垂直的特征（垂直段）
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/// </summary>
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SG_APISHARED_EXPORT void wd_getXYVertialFeature_peakCornerMethod(
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SG_APISHARED_EXPORT void wd_getXYVertialFeature_dirAngleMethod(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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const double peakChkWin,
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const SSG_cornerParam cornerPara,
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std::vector<SSG_RUN>& xyVerticalSegs //环
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std::vector<int>& xyVerticalFlags //环
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);
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/// 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。
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@ -795,9 +795,9 @@ SG_APISHARED_EXPORT Plane robustFitPlane(
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SG_APISHARED_EXPORT Plane ransacFitPlane(
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const std::vector<cv::Point3d>& points,
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std::vector<cv::Point3d>& out_inliers,
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float dist_thresh = 0.5f, // 内点距离阈值
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float dist_thresh = 0.3f, // 内点距离阈值
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int max_iter = 1000, // 最大迭代
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int stop_no_improve = 150 // 连续多少次无提升就提前退出
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int stop_no_improve = 250 // 连续多少次无提升就提前退出
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);
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//计算一个平面调平参数。
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@ -5713,109 +5713,33 @@ void wd_getLineCorerFeature(
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/// （4）判断拐角是否为跳变
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///
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/// </summary>
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void wd_getXYVertialFeature_peakCornerMethod(
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void wd_getXYVertialFeature_dirAngleMethod(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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const double peakChkWin,
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const SSG_cornerParam cornerPara,
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std::vector<SSG_RUN>& xyVerticalSegs
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std::vector<int>& xyVerticalFlags
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)
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{
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double arcPerPointCornerMinValue = 5; //arc上每个点的转角最小值
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double arcTotalCornerMinValue = 30; //整个Arc的转角最小值
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if (lineIdx == 1062)
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int kkk = 1;
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double minVerticalAngle = 75.0; //arcÉÏÿ¸öµãµÄת½Ç×îСֵ
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xyVerticalFlags.resize(lineData.size());
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//计算前向角和后向角
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std::vector< SSG_pntDirAngle> ptDirAngles;
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wd_computeDirAngle_wholeLine(lineData, cornerPara, ptDirAngles);
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double cornerMergeScale = cornerPara.scale;
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//提取backwardAngle极值（较早实现函数可以使用此函数进行代码优化）
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std::vector< SSG_pntDirAngle> backwardAnglePeakP;
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std::vector< SSG_pntDirAngle> backwardAnglePeakM;
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wd_searchBackwardAnglePeaks(
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ptDirAngles,
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lineData,
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cornerPara.cornerTh,
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cornerMergeScale,
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backwardAnglePeakP,
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backwardAnglePeakM
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);
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for (int i = 0; i < (int)ptDirAngles.size(); i++)
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{
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if (ptDirAngles[i].type < 0)
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continue;
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//提取forwardAngle极值（较早实现函数可以使用此函数进行代码优化）
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std::vector< SSG_pntDirAngle> forwardAnglePeakP;
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std::vector< SSG_pntDirAngle> forwardAnglePeakM;
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wd_searchForwardAnglePeaks(
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ptDirAngles,
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lineData,
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cornerPara.cornerTh,
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cornerMergeScale,
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forwardAnglePeakP,
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forwardAnglePeakM
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);
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//匹配forwardAnglePeakM和backwardAnglePeakM, forwardAnglePeakM在前，backwardAnglePeakM在后
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for (int i = 0; i < (int)forwardAnglePeakM.size(); i++)
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{
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for (int j = 0; j < (int)backwardAnglePeakM.size(); j++)
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{
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if (backwardAnglePeakM[j].pntIdx > forwardAnglePeakM[i].pntIdx)
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{
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int pntIdx_1 = forwardAnglePeakM[i].pntIdx;
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int pntIdx_2 = backwardAnglePeakM[j].pntIdx;
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//计算两者的角度
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double diffY = abs(lineData[pntIdx_2].pt3D.y - lineData[pntIdx_1].pt3D.y);
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if (diffY < cornerMergeScale)
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{
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double tanValue = (lineData[pntIdx_2].pt3D.z - lineData[pntIdx_1].pt3D.z) / diffY;
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double angle = atan(tanValue) * 180.0 / PI;
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if (abs(angle) > cornerPara.cornerTh)
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{
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SSG_RUN a_seg;
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if(lineData[pntIdx_1].pt3D.z < lineData[pntIdx_2].pt3D.z)
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a_seg.value = 1;
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else
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a_seg.value = -1;
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a_seg.start = pntIdx_1;
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a_seg.len = pntIdx_2 - pntIdx_1 +1;
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xyVerticalSegs.push_back(a_seg);
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if (((ptDirAngles[i].backwardAngle < -minVerticalAngle) && (ptDirAngles[i].forwardAngle < -minVerticalAngle)) ||
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((ptDirAngles[i].backwardAngle > minVerticalAngle) && (ptDirAngles[i].forwardAngle > minVerticalAngle)))
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xyVerticalFlags[i] = 1;
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}
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}
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break;
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}
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}
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}
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//匹配forwardAnglePeakP和backwardAnglePeakP, forwardAnglePeakP在前，backwardAnglePeakP在后
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for (int i = 0; i < (int)forwardAnglePeakP.size(); i++)
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{
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for (int j = 0; j < (int)backwardAnglePeakP.size(); j++)
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{
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if (backwardAnglePeakP[j].pntIdx > forwardAnglePeakP[i].pntIdx)
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{
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int pntIdx_1 = forwardAnglePeakP[i].pntIdx;
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int pntIdx_2 = backwardAnglePeakP[j].pntIdx;
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//计算两者的角度
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double diffY = abs(lineData[pntIdx_2].pt3D.y - lineData[pntIdx_1].pt3D.y);
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if (diffY < cornerMergeScale)
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{
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double tanValue = (lineData[pntIdx_2].pt3D.z - lineData[pntIdx_1].pt3D.z) / diffY;
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double angle = atan(tanValue) * 180.0 / PI;
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if (abs(angle) > cornerPara.cornerTh)
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{
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SSG_RUN a_seg;
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if (lineData[pntIdx_1].pt3D.z < lineData[pntIdx_2].pt3D.z)
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a_seg.value = 1;
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else
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a_seg.value = -1;
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a_seg.start = pntIdx_1;
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a_seg.len = pntIdx_2 - pntIdx_1 + 1;
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xyVerticalSegs.push_back(a_seg);
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}
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}
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break;
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}
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}
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}
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return;
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}
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/// 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。
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@ -26,7 +26,8 @@
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//version 1.3.3 : 筑裕钢筋焊缝提取算法改进中间版本
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//version 1.3.4 : 新的定位盘中心测量功能算法优化
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//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
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std::string m_strVersion = "1.3.5";
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//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
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std::string m_strVersion = "1.3.6";
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const char* wd_rodAndBarDetectionVersion(void)
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{
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return m_strVersion.c_str();
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@ -2031,51 +2032,101 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
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flags[i].resize(linePtNum);
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std::fill(flags[i].begin(), flags[i].end(), 0);
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}
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std::vector<std::vector<SSG_RUN>> zVertivalSegs;
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std::vector<std::vector<int>> zVertivalFlags;
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for (int line = 0; line < lineNum; line++)
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{
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if (line == 700)
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int kkk = 1;
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std::vector<SSG_RUN> line_verticalSegs;
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wd_getXYVertialFeature_peakCornerMethod(
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std::vector<int> line_verticalFlags;
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wd_getXYVertialFeature_dirAngleMethod(
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scanLines[line],
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line,
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cornerPara.scale,
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cornerPara,
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line_verticalSegs
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line_verticalFlags
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);
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zVertivalSegs.push_back(line_verticalSegs);
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zVertivalFlags.push_back(line_verticalFlags);
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for (int i = 0; i < (int)line_verticalSegs.size(); i++)
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for (int i = 0; i < (int)line_verticalFlags.size(); i++)
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{
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int idx_0 = line_verticalSegs[i].start;
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for (int j = 0; j < line_verticalSegs[i].len; j++)
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flags[line][idx_0 + j] = 1;
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if(line_verticalFlags[i] > 0)
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flags[line][i] = 1;
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}
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}
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std::vector<std::vector<SSG_RUN>> zVertivalSegs_h;
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std::vector<std::vector<int>> zVertivalFlags_h;
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for (int line = 0; line < linePtNum; line++)
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{
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if (line == 1177)
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int kkk = 1;
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std::vector<SSG_RUN> line_verticalSegs;
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wd_getXYVertialFeature_peakCornerMethod(
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std::vector<int> line_verticalFlags;
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wd_getXYVertialFeature_dirAngleMethod(
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scanLines_h[line],
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line,
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cornerPara.scale,
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cornerPara,
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line_verticalSegs
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line_verticalFlags
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);
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zVertivalSegs_h.push_back(line_verticalSegs);
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zVertivalFlags_h.push_back(line_verticalFlags);
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for (int i = 0; i < (int)line_verticalSegs.size(); i++)
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for (int i = 0; i < (int)line_verticalFlags.size(); i++)
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{
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int idx_0 = line_verticalSegs[i].start;
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for (int j = 0; j < line_verticalSegs[i].len; j++)
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flags[idx_0 + j][line] = 1;
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if(line_verticalFlags[i] > 0)
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flags[i][line] = 1;
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}
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}
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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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if (flags[line][j] > 0)
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{
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scanLines[line][j].pt3D.z = 0;
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scanLines_h[j][line].pt3D.z = 0;
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}
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}
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}
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//迭代一次
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SSG_lineSegParam lineSegPara;
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lineSegPara.distScale = 5.0;
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lineSegPara.segGapTh_y = 5.0;
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lineSegPara.segGapTh_z = 5.0;
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const int minSegLen = 5;
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for (int line = 0; line < lineNum; line++)
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{
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std::vector<SSG_RUN> segs;
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wd_getLineDataIntervals(
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scanLines[line],
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lineSegPara,
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segs);
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for (int i = 0; i < (int)segs.size(); i++)
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{
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if (segs[i].len <= minSegLen)
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{
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int idx0 = segs[i].start;
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for (int j = 0; j < segs[i].len; j++)
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flags[line][idx0 + j] = 1;
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}
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}
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}
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for (int line = 0; line < linePtNum; line++)
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{
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std::vector<SSG_RUN> segs;
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wd_getLineDataIntervals(
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scanLines_h[line],
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lineSegPara,
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segs);
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for (int i = 0; i < (int)segs.size(); i++)
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{
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if (segs[i].len <= minSegLen)
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{
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int idx0 = segs[i].start;
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for (int j = 0; j < segs[i].len; j++)
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flags[idx0 + j][line] = 1;
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}
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}
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}
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//标注
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for (int line = 0; line < lineNum; line++)
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{
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