756 lines
25 KiB
C++
756 lines
25 KiB
C++
#pragma once
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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//滤除离群点:z跳变门限方法（大于门限视为不连续，根据连续段点数量判断噪声）
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SG_APISHARED_EXPORT void sg_lineDataRemoveOutlier(
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SVzNL3DPosition* lineData,
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int dataSize,
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SSG_outlierFilterParam filterParam,
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std::vector<SVzNL3DPosition>& filerData,
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std::vector<int>& noisePts);
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//滤除离群点：z跳变门限方法,改变原始数据
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SG_APISHARED_EXPORT void sg_lineDataRemoveOutlier_changeOriginData(
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SVzNL3DPosition* lineData,
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int dataSize,
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SSG_outlierFilterParam filterParam);
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//滤除离群点：z跳变门限方法, vecotr对象
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SG_APISHARED_EXPORT void wd_vectorDataRemoveOutlier_overwrite(
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std::vector<SVzNL3DPosition>& a_line,
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SSG_outlierFilterParam filterParam);
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//滤除离群点：点距离门限方法（大于门限视为不连续，根据连续段点数量判断噪声）
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SG_APISHARED_EXPORT void sg_lineDataRemoveOutlier_ptDistMethod(
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SVzNL3DPosition* lineData,
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int dataSize,
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SSG_outlierFilterParam filterParam,
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std::vector<SVzNL3DPosition>& filerData,
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std::vector<int>& noisePts);
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//平滑
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SG_APISHARED_EXPORT void sg_lineDataSmoothing(
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std::vector<SVzNL3DPosition>& input,
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int smoothWin,
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std::vector<SVzNL3DPosition>& output);
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//分段平滑，这样不会影响分段端点
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SG_APISHARED_EXPORT void sg_lineSegSmoothing(
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std::vector<SVzNL3DPosition>& input,
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double seg_y_deltaTh, //分段的Y间隔。大于此间隔，为新的分段
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double seg_z_deltaTh,//分段的Z间隔。大于此间隔，为新的分段
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int smoothWin,
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std::vector<SVzNL3DPosition>& output);
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//VZ_APISHARED_EXPORT void sg_getLineMeanVar();
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SG_APISHARED_EXPORT void sg_getLineLVFeature(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const SSG_slopeParam slopeParam,
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const SSG_VFeatureParam valleyPara,
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SSG_lineFeature* line_features);
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//获取扫描线拐点特征
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SG_APISHARED_EXPORT void sg_getLineCornerFeature(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
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SSG_lineFeature* line_features);
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// 对激光线上由Mask(nPointIdx转义定义）指定的点提取激光线上的拐点特征
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SG_APISHARED_EXPORT void sg_maskData_getLineCornerFeature(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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int maskID,
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const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
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std::vector<SSG_basicFeature1D>& features);
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//提取Gap特征。Gap特征：由两个负的Corner构成的区域
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SG_APISHARED_EXPORT void sg_getLineGapFeature(
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std::vector<SVzNL3DPosition>& lineData, //扫描线
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int lineIdx, //当前扫描线序号
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const SSG_cornerParam cornerPara,
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const SVzNLRangeD gapParam,
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std::vector<SSG_basicFeatureGap>& line_gaps);
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SG_APISHARED_EXPORT void sg_getLineCornerFeature_BQ(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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double refSteppingZ,
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const SSG_cornerParam cornerPara,
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std::vector<SSG_basicFeature1D>& line_features);
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/// <summary>
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/// 提取激光线上的拐点特征，地面端点附近的拐点视为合格拐点
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/// 根据Seg进行corner提取
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/// nPointIdx被重新定义成Feature类型
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/// 算法流程：
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/// （1）逐点计算前向角和后向角
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/// （2）逐点计算拐角，顺时针为负，逆时针为正
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/// （3）搜索正拐角的极大值。
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/// （4）判断拐角是否为跳变
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/// </summary>
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SG_APISHARED_EXPORT void sg_getLineContourCornerFeature_groundMask_BQ(
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std::vector<SVzNL3DPosition>& lineData,
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std::vector<int> groundMask,
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int lineIdx,
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double contourWin, //ground边缘范围
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const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
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std::vector<SSG_basicFeature1D>& line_features);
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SG_APISHARED_EXPORT void wd_getLineDataIntervals(
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std::vector<SVzNL3DPosition>& lineData,
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const SSG_lineSegParam lineSegPara,
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std::vector<SSG_RUN>& segs);
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// 最小点集数量（小于此数无法拟合直线）
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const int MIN_POINT_COUNT = 3;
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//使用端点直线，检查点到直线的距离，大于门限的分割
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SG_APISHARED_EXPORT void split(
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SSG_RUN a_run,
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std::vector< SVzNL3DPosition>& lineData,
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const double maxError,
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std::vector< SSG_RUN>& lineSegs);
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/// <summary>
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/// 提取激光线上的特征：跳变、低于z阈值、V及L型，用于粒径检测（PSM)
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/// seg端点：z距离大于门限
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/// nPointIdx被重新定义成Feature类型
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/// 算法流程：
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/// （1）逐点计算前向角和后向角
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/// （2）逐点计算拐角，顺时针为负，逆时针为正
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/// （3）搜索正拐角的极大值。
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/// （4）判断拐角是否为跳变
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/// </summary>
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SG_APISHARED_EXPORT void wd_getLineCornerFeature_PSM(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const double groundZ,
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const SSG_cornerParam cornerPara,
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SSG_lineFeature* line_features);
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/// 提取激光线上的圆环的上半段弧。宽度由圆环的宽度确定
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/// seg端点：z距离大于门限
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/// nPointIdx被重新定义成Feature类型
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/// 算法流程：
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/// （1）逐点计算前向角和后向角
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/// （2）逐点计算拐角，顺时针为负，逆时针为正
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/// （3）搜索正拐角的极大值。
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/// （4）判断拐角是否为跳变
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/// </summary>
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SG_APISHARED_EXPORT void wd_getRingArcFeature(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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const SSG_cornerParam cornerPara,
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SVzNLRangeD ringArcWidth, //定子的环宽度
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std::vector<SWD_segFeature>& line_ringArcs //环
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);
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/// <summary>
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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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/// nPointIdx被重新定义成Feature类型
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/// 算法流程：
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/// （1）逐点计算前向角和后向角
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/// （2）逐点计算拐角，顺时针为负，逆时针为正
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/// （3）搜索正拐角的极大值。
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/// （4）判断拐角是否为跳变
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/// </summary>
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SG_APISHARED_EXPORT void wd_getLineCorerFeature(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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const SSG_cornerParam cornerPara,
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std::vector<SSG_basicFeature1D>& line_cornerFeatures //拐点
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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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/// 使用平均点距进行加速
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/// nPointIdx被重新定义成Feature类型
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/// 算法流程：
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/// （1）逐点计算前向角和后向角
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/// （2）逐点计算拐角，顺时针为负，逆时针为正
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/// （3）搜索正拐角的极大值。
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/// （4）判断拐角是否为跳变
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/// </summary>
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SG_APISHARED_EXPORT void wd_getLineCorerFeature_accelerate(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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const SSG_cornerParam cornerPara,
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const double pointInterval,
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std::vector<SSG_RUN_EX>& segs,
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std::vector<SSG_basicFeature1D>& line_cornerFeatures //拐点特征
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);
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//提取凸起段
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SG_APISHARED_EXPORT void wd_getLineRaisedFeature(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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SSG_raisedFeatureParam raisedFeaturePara, //凸起参数
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std::vector<SWD_segFeature>& line_raisedFeatures //凸起
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);
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//直线特征提取：对split-and-merge法作了简化，以起点终点直线代替拟合直线
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SG_APISHARED_EXPORT void wd_surfaceLineSegment(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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SVzNLRangeD lineLenRange,
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const SSG_lineSegParam lineSegPara,
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std::vector<SSG_featureSemiCircle>& lineSegs,
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std::vector<SSG_featureSemiCircle>& invlaidLineSegs);
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#if 0
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//对一个面的边缘特征进行提取。
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//此算法首先获取扫描线上各个段，然后对段的端点进行处理，得到边缘特征
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void wd_getSurfaceEdgeFeatures(
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std::vector< SVzNL3DPosition>& lineData,
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int lineIdx,
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const SSG_lineSegParam lineSegPara,
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std::vector<SWDIndexing3DPoint>& edgeFeatures);
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#endif
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/// <summary>
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/// 提取激光线上的Jumping特征
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/// nPointIdx被重新定义成Feature类型
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/// 算法流程：
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/// （1）逐点计算前向角和后向角
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/// （2）逐点计算拐角，顺时针为负，逆时针为正
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/// （3）搜索正拐角的极大值。
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/// （4）判断拐角是否为跳变
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/// </summary>
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SG_APISHARED_EXPORT void sg_getLineJumpFeature_cornerMethod(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
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std::vector< SSG_basicFeature1D>& jumpFeatures);
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SG_APISHARED_EXPORT void wd_getLineGloveArcs(
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std::vector<SVzNL3DPosition>& lineData,
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int lineIdx,
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const SSG_gloveArcParam arcPara,
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std::vector<SSG_basicFeature1D>& gloveArcs);
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/// 提取激光线上的圆柱形特征
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SG_APISHARED_EXPORT void sg_getLineUpperSemiCircleFeature(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const double sieveDiameter,
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const SSG_slopeParam slopePara,
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std::vector< SSG_featureSemiCircle>& line_features,
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cv::Mat& holeMask);
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/// <summary>
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/// 提取激光线上的极值点（极大值点和极小值点）
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///
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/// </summary>
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SG_APISHARED_EXPORT void sg_getLineLocalPeaks(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const double scaleWin,
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std::vector< SSG_basicFeature1D>& localMax,
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std::vector< SSG_basicFeature1D>& localMin);
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SG_APISHARED_EXPORT void sg_getFlatLineLocalPeaks_vector(
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std::vector<SVzNL3DPosition>& lineData,
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int lineIdx,
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const double scaleWin,
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const double minPkHeighth,
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const double holeR,
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std::vector< SSG_basicFeature1D>& localMax);
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SG_APISHARED_EXPORT void sg_getLineDownJumps(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const double jumpTh,
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std::vector< SSG_basicFeature1D>& downJumps);
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//对feature进行生长
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SG_APISHARED_EXPORT void sg_getFeatureGrowingTrees(
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std::vector<SSG_lineFeature>& lineFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//对feature进行生长:不比较type，只判断位置是否相邻
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SG_APISHARED_EXPORT void wd_getFeatureGrowingTrees_noTypeMatch(
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std::vector<SSG_lineFeature>& lineFeatures,
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std::vector<SSG_featureTree>& feature_trees,
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std::vector<SSG_featureTree>& ending_trees,
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SSG_treeGrowParam growParam);
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//对segment feature进行生长
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SG_APISHARED_EXPORT void wd_getSegFeatureGrowingTrees(
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std::vector<std::vector<SWD_segFeature>>& all_lineFeatures,
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std::vector<SWD_segFeatureTree>& feature_trees,
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SSG_treeGrowParam growParam);
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SG_APISHARED_EXPORT void sg_lineFeaturesGrowing(
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int lineIdx,
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bool isLastLine,
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std::vector<SSG_basicFeature1D>& features,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//corner特征生长
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SG_APISHARED_EXPORT void sg_cornerFeaturesGrowing(
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std::vector<std::vector<SSG_basicFeature1D>>& cornerFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//gap特征生长
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SG_APISHARED_EXPORT void sg_lineGapsGrowing(
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int lineIdx,
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bool isLastLine,
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std::vector<SSG_basicFeatureGap>& features,
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std::vector<SSG_gapFeatureTree>& trees,
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SSG_treeGrowParam growParam);
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//SG_APISHARED_EXPORT void sg_getTreeROI(SSG_featureTree* a_tree);
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//对ending进行生长
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SG_APISHARED_EXPORT void sg_getEndingGrowingTrees(
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std::vector<SSG_2DValueI>& lineEndings,
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SVzNL3DLaserLine* laser3DPoints,
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bool isVScan,
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int featureType,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//对ending进行生长，垂直扫描时只进行水平生长；水平扫描时只进行垂直生长
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SG_APISHARED_EXPORT void sg_getEndingGrowingTrees_angleCheck(
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std::vector<SSG_2DValueI>& lineEndings,
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SVzNL3DLaserLine* laser3DPoints,
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bool isVScan,
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int featureType,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam,
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double angleCheckScale);
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//对扫描线上的
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SG_APISHARED_EXPORT void sg_LVFeatureGrowing(
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std::vector<SSG_lineFeature>& lineFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_bagParam bagParam,
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SSG_treeGrowParam growParam,
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std::vector<SSG_2DValueI>& edgePts_0,
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std::vector<SSG_2DValueI>& edgePts_1);
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SG_APISHARED_EXPORT void sg_peakFeatureGrowing(
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std::vector<std::vector< SSG_basicFeature1D>>& lineFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//semiCircle特征生长
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SG_APISHARED_EXPORT void sg_getFeatureGrowingTrees_semiCircle(
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std::vector< SSG_featureSemiCircle>& lineFeatures,
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const int lineIdx,
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const int lineSize,
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std::vector<SSG_semiCircleFeatureTree>& trees,
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std::vector<SSG_semiCircleFeatureTree>& stopTrees,
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std::vector<SSG_semiCircleFeatureTree>& invalidTrees, //被移除的树，这些树可能将目标分成多个树，从而被移除。
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SSG_treeGrowParam growParam);
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SSG_meanVar _computeMeanVar(double* data, int size);
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///搜索局部最高点（z最小点）。
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///搜索方法：每次步进搜索窗口长度的一半。对局部最高点进行标记，防止被重复记录。
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SG_APISHARED_EXPORT void sg_getLocalPeaks(
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SVzNL3DLaserLine* scanLines,
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int lineNum,
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std::vector<SSG_2DValueI>& peaks,
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SSG_localPkParam searchWin);
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/// <summary>
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/// 区域生长法：以局部最高点作为生长种子进行生长
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/// 生长方法与一般的区域生长不同：以种子点为圆心作圆周扫描，记录扫描到的边界
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/// </summary>
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//SG_APISHARED_EXPORT void sg_peakPolarScan(cv::Mat& edgeMask, SVzNL2DPoint a_peak, SSG_polarScanParam polarScanParam, std::vector< SSG_2DValueI>& rgnContour);
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//从Peak点进行水平垂直扫描得到区域边界
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SG_APISHARED_EXPORT void sg_peakXYScan(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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cv::Mat& featureEdgeMask,
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SSG_2DValueI a_peak,
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SSG_treeGrowParam growParam,
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SSG_bagParam bagParam,
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bool rgnPtAsEdge,
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std::vector< SSG_lineConotours>& topContour,
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std::vector< SSG_lineConotours>& bottomContour,
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std::vector< SSG_lineConotours>& leftContour,
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std::vector< SSG_lineConotours>& rightContour,
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int* maxEdgeId_top,
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int* maxEdgeId_btm,
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int* maxEdgeId_left,
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int* maxEdgeId_right);
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//取出与给定edgeId相同的边界点
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SG_APISHARED_EXPORT void sg_getContourPts(
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std::vector< SSG_lineConotours>& contour_all,
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int vldEdgeId,
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std::vector< SSG_2DValueI>& contourFilter,
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int* lowLevelFlag);
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//从边界点对中取出与给定edgeId相同的边界点
|
||
SG_APISHARED_EXPORT void sg_getPairingContourPts(
|
||
std::vector<SSG_conotourPair>& contourPairs,
|
||
std::vector<SSG_intPair>& idPairs,
|
||
std::vector< SSG_conotourPair>& contourFilter,
|
||
SVzNLRangeD range,
|
||
bool isTBDir,
|
||
int* lowLevelFlag_0,
|
||
int* lowLevelFlag_1);
|
||
|
||
//取出最短距离的边界点
|
||
SG_APISHARED_EXPORT void sg_contourPostProc(
|
||
std::vector< SSG_contourPtInfo>& contour,
|
||
int maxEdgeIdx,
|
||
double sameConturDistTh,
|
||
std::vector< SSG_2DValueI>& contourFilter,
|
||
int sideID,
|
||
int* blockFlag);
|
||
|
||
//距离变换
|
||
//input, output均为float型
|
||
SG_APISHARED_EXPORT void sg_distanceTrans(const cv::Mat input, cv::Mat& output, int distType);
|
||
|
||
/// <summary>
|
||
/// 以5x5方式寻找localPeaks
|
||
/// </summary>
|
||
/// <param name="input"></param>
|
||
/// <param name="peaks"></param>
|
||
SG_APISHARED_EXPORT void sg_getLocalPeaks_distTransform(
|
||
cv::Mat& input,
|
||
std::vector<SSG_2DValueI>& peaks,
|
||
SSG_localPkParam searchWin);
|
||
|
||
/// <summary>
|
||
/// 使用模板法提取直角特征
|
||
/// 水平向下直角特征：拐点左侧deltaZ在一个很小的范围内；拐点右侧deltaY在一个很小的范围内
|
||
/// </summary>
|
||
SG_APISHARED_EXPORT void sg_getLineRigthAngleFeature(
|
||
SVzNL3DPosition* lineData,
|
||
int dataSize,
|
||
int lineIdx,
|
||
const SSG_lineRightAngleParam templatePara_HF,
|
||
const SSG_lineRightAngleParam templatePara_FH,
|
||
const SSG_lineRightAngleParam templatePara_HR,
|
||
const SSG_lineRightAngleParam templatePara_RH,
|
||
SSG_lineFeature* line_features);
|
||
|
||
//计算扫描ROI
|
||
SG_APISHARED_EXPORT SVzNL3DRangeD sg_getScanDataROI(
|
||
SVzNL3DLaserLine* laser3DPoints,
|
||
int lineNum);
|
||
//计算扫描ROI: vecotr格式
|
||
SG_APISHARED_EXPORT SVzNL3DRangeD sg_getScanDataROI_vector(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines
|
||
);
|
||
|
||
//计算点云ROI: vecotr格式
|
||
SG_APISHARED_EXPORT SVzNL3DRangeD wd_getPointCloudROI(
|
||
std::vector<SVzNL3DPoint>& scanData);
|
||
|
||
//计算点云的ROI和scale: vecotr格式
|
||
SG_APISHARED_EXPORT SWD_pointCloudPara wd_getPointCloudPara(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||
|
||
//XY平面直线拟合
|
||
SG_APISHARED_EXPORT void lineFitting(
|
||
std::vector< SVzNL3DPoint>& inliers,
|
||
double* _k,
|
||
double* _b);
|
||
|
||
//拟合成通用直线方程，包括垂直
|
||
SG_APISHARED_EXPORT void lineFitting_abc(
|
||
std::vector< SVzNL3DPoint>& inliers,
|
||
double* _a,
|
||
double* _b,
|
||
double* _c);
|
||
|
||
/**
|
||
* @brief 空间直线最小二乘拟合
|
||
* @param points 输入的三维点集（至少2个点，否则无意义）
|
||
* @param center 输出：拟合直线的质心（基准点P0）
|
||
* @param direction 输出：拟合直线的方向向量v（单位化）
|
||
* @return 拟合是否成功（点集有效返回true）
|
||
*/
|
||
SG_APISHARED_EXPORT bool fitLine3DLeastSquares(
|
||
const std::vector<SVzNL3DPoint>& points,
|
||
SVzNL3DPoint& center,
|
||
SVzNL3DPoint& direction);
|
||
|
||
//圆最小二乘拟合
|
||
SG_APISHARED_EXPORT double fitCircleByLeastSquare(
|
||
const std::vector<SVzNL3DPoint>& pointArray,
|
||
SVzNL3DPoint& center,
|
||
double& radius);
|
||
|
||
//抛物线最小二乘拟合 y=ax^2 + bx + c
|
||
SG_APISHARED_EXPORT bool leastSquareParabolaFitEigen(
|
||
const std::vector<cv::Point2d>& points,
|
||
double& a, double& b, double& c,
|
||
double& mse, double& max_err);
|
||
|
||
//计算Z均值
|
||
SG_APISHARED_EXPORT double computeMeanZ(std::vector< SVzNL3DPoint>& pts);
|
||
|
||
//计算角度差值，在0-180度范围
|
||
SG_APISHARED_EXPORT double computeAngleDiff(double theta1, double theta2);
|
||
|
||
//计算直线交点
|
||
SG_APISHARED_EXPORT SVzNL3DPoint computeLineCrossPt_abs(
|
||
double a1, double b1, double c1,
|
||
double a2, double b2, double c2);
|
||
|
||
//计算过2点的直线方程
|
||
SG_APISHARED_EXPORT void compute2ptLine(
|
||
SVzNL3DPoint pt1,
|
||
SVzNL3DPoint pt2,
|
||
double* _a, double* _b, double* _c);
|
||
|
||
//计算过2点的直线方程,不使用结构体
|
||
SG_APISHARED_EXPORT void compute2ptLine_2(
|
||
double x1, double y1,
|
||
double x2, double y2,
|
||
double* _a, double* _b, double* _c);
|
||
|
||
//旋转45度后的直线方程
|
||
SG_APISHARED_EXPORT void rotateLine45Deg(
|
||
double _a, double _b, double _c,
|
||
double x0, double y0,
|
||
double* r_a, double* r_b, double* r_c);
|
||
|
||
//计算直线角度
|
||
SG_APISHARED_EXPORT double getLineAngle(const double _a, const double _b, const double _c);
|
||
|
||
//计算两点的2D距离
|
||
SG_APISHARED_EXPORT double compute2DLen(SVzNL3DPoint pt1, SVzNL3DPoint pt2);
|
||
|
||
//计算XY平面面的三角形顶角(p0的张角)
|
||
SG_APISHARED_EXPORT double computeXOYVertexAngle(SVzNL3DPoint p0, SVzNL3DPoint p1, SVzNL3DPoint p2);
|
||
|
||
//计算点到直线距离
|
||
SG_APISHARED_EXPORT double computePtDistToLine(double x0, double y0, double a, double b, double c);
|
||
|
||
//计算垂足点，直线方程：y = kx + b
|
||
SG_APISHARED_EXPORT SVzNL2DPointD sx_getFootPoint(
|
||
double x0,
|
||
double y0,
|
||
double k,
|
||
double b);
|
||
|
||
//计算垂足点，直线方程：ax+by+c = 0
|
||
SG_APISHARED_EXPORT SVzNL2DPointD sx_getFootPoint_abc(
|
||
double x0,
|
||
double y0,
|
||
double A,
|
||
double B,
|
||
double C);
|
||
|
||
//Bresenham算法
|
||
SG_APISHARED_EXPORT void drawLine(
|
||
int x0,
|
||
int y0,
|
||
int x1,
|
||
int y1,
|
||
std::vector<SVzNL2DPoint>& pts);
|
||
|
||
/// <summary>
|
||
/// 两步法标注
|
||
/// </summary>
|
||
/// <param name="bwImg"> 目标点为“1”， 空白点为“0”</param>
|
||
/// <param name="labImg"> 标注结果。每个点为rgnID, ID从2开始 </param>
|
||
/// <param name="labelRgns"></param>
|
||
SG_APISHARED_EXPORT void SG_TwoPassLabel(
|
||
const cv::Mat& bwImg,
|
||
cv::Mat& labImg,
|
||
std::vector<SSG_Region>& labelRgns,
|
||
int connectivity = 4);
|
||
|
||
//计算面参数: z = Ax + By + C
|
||
//res: [0]=A, [1]= B, [2]=-1.0, [3]=C,
|
||
SG_APISHARED_EXPORT void vzCaculateLaserPlane(
|
||
std::vector<cv::Point3f> Points3ds,
|
||
std::vector<double>& res);
|
||
|
||
//计算一个平面调平参数。
|
||
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
|
||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara(
|
||
SVzNL3DLaserLine* laser3DPoints,
|
||
int lineNum);
|
||
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara sg_HCameraVScan_getGroundCalibPara(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||
|
||
//将一个平面调整为水平平面(z为固定值），
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara adjustPlaneToXYPlane(
|
||
double plane_A, double plane_B, double plane_C //平面法向量
|
||
);
|
||
|
||
//计算一个平面调平参数。
|
||
//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
|
||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara2(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||
|
||
//针对孔板计算一个平面调平参数：提取不经过孔的扫描线进行平面拟合
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara sg_getHolePlaneCalibPara(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||
|
||
//计算一个平面调平参数。
|
||
//以数据输入中ROI以内的点进行平面拟合，计算调平参数
|
||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara_ROIs(
|
||
SVzNL3DLaserLine* laser3DPoints,
|
||
int lineNum,
|
||
std::vector<SVzNL3DRangeD>& ROIs);
|
||
|
||
//计算一个平面调平参数。
|
||
//以数据输入中ROI以内的点进行平面拟合，计算调平参数
|
||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara sg_getPlaneCalibPara2_ROI(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||
SVzNL3DRangeD roi);
|
||
|
||
//根据两个向量计算旋转矩阵
|
||
SG_APISHARED_EXPORT SSG_planeCalibPara wd_computeRTMatrix(
|
||
SVzNL3DPoint& vector1,
|
||
SVzNL3DPoint& vector2);
|
||
|
||
// 从旋转矩阵计算欧拉角（Z-Y-X顺序）
|
||
SG_APISHARED_EXPORT SSG_EulerAngles rotationMatrixToEulerZYX(const double R[3][3]);
|
||
// 从欧拉角计算旋转矩阵（Z-Y-X顺序）
|
||
SG_APISHARED_EXPORT void eulerToRotationMatrixZYX(const SSG_EulerAngles& angles, double R[3][3]);
|
||
|
||
//相机姿态调平，并去除地面
|
||
///camPoseR为3x3矩阵
|
||
SG_APISHARED_EXPORT void lineDataRT(
|
||
SVzNL3DLaserLine* a_line,
|
||
const double* camPoseR,
|
||
double groundH);
|
||
SG_APISHARED_EXPORT void lineDataRT_vector(
|
||
std::vector< SVzNL3DPosition>& a_line,
|
||
const double* camPoseR,
|
||
double groundH);
|
||
SG_APISHARED_EXPORT void HCamera_lineDataRT_vector(
|
||
std::vector< SVzNL3DPosition>& a_line,
|
||
const double* camPoseR,
|
||
double groundH);
|
||
SG_APISHARED_EXPORT void lineDataRT_RGBD(
|
||
SVzNLXYZRGBDLaserLine* a_line,
|
||
const double* camPoseR,
|
||
double groundH);
|
||
|
||
//基于相邻点的聚类
|
||
SG_APISHARED_EXPORT void sg_pointClustering(
|
||
std::vector< SVzNL3DPosition>& pts,
|
||
double clusterDist,
|
||
std::vector<std::vector< SVzNL3DPosition>>& objClusters //result
|
||
);
|
||
|
||
//基于栅格上点的窗口内的相邻点的聚类，聚类条件由3D点的邻域决定
|
||
//使用vector构成2维结构体数组
|
||
SG_APISHARED_EXPORT void wd_gridPointClustering(
|
||
std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
|
||
std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
|
||
int clusterCheckWin, //搜索窗口
|
||
SSG_treeGrowParam growParam,//聚类条件
|
||
int clusterID, //当前Cluster的ID
|
||
std::vector< SVzNL2DPoint>& a_cluster, //result
|
||
SVzNL3DRangeD& clusterRoi //roi3D
|
||
);
|
||
|
||
//对扫描数据的聚类
|
||
SG_APISHARED_EXPORT void wd_gridPointClustering_2(
|
||
std::vector<std::vector<SVzNL3DPosition>>& gridData,
|
||
std::vector<std::vector<SSG_intPair>>& pointMaskInfo, //防止聚类时重复选中
|
||
int clusterCheckWin, //搜索窗口
|
||
SSG_treeGrowParam growParam,//聚类条件
|
||
int clusterID, //当前Cluster的ID
|
||
std::vector< SVzNL2DPoint>& a_cluster, //result
|
||
SVzNL3DRangeD& clusterRoi //roi3D
|
||
);
|
||
|
||
//使用聚类方法完成8连通连通域分析
|
||
SG_APISHARED_EXPORT void wd_gridPointClustering_labelling(
|
||
std::vector<std::vector<SSG_featureClusteringInfo>>& featureMask,
|
||
std::vector<std::vector<SVzNL3DPoint>>& feature3DInfo,
|
||
int clusterID, //当前Cluster的ID
|
||
std::vector< SVzNL2DPoint>& a_cluster, //result
|
||
SVzNLRect& clusterRoi //roi2D
|
||
);
|
||
|
||
//对栅格化数据进行XY平面上的投影量化，并对量化产生的空白点进行插值
|
||
SG_APISHARED_EXPORT void pointClout2DProjection(
|
||
std::vector< std::vector<SVzNL3DPosition>>& gridScanData,
|
||
SVzNLRangeD x_range,
|
||
SVzNLRangeD y_range,
|
||
double scale,
|
||
double cuttingGrndZ,
|
||
int edgeSkip,
|
||
double inerPolateDistTh, //插值阈值。大于此阈值的不进行量化插值
|
||
cv::Mat& projectionData,//投影量化数据，初始化为一个极大值1e+6
|
||
cv::Mat& backIndexing //标记坐标索引，用于回找3D坐标
|
||
);
|
||
|
||
//对栅格化数据进行XY平面上的投影量化，Z值保留，并对量化产生的空白点进行插值
|
||
SG_APISHARED_EXPORT void pointClout2DQuantization(
|
||
std::vector< std::vector<SVzNL3DPosition>>& gridScanData,
|
||
SVzNLRangeD x_range,
|
||
SVzNLRangeD y_range,
|
||
double scale,
|
||
double cuttingGrndZ,
|
||
int edgeSkip,
|
||
double inerPolateDistTh, //插值阈值。大于此阈值的不进行量化插值
|
||
std::vector<std::vector<double>> quantiData, //量化数据，初始化为一个极大值1e+6
|
||
std::vector<std::vector<SVzNL2DPoint>> backIndexing //标记坐标索引，用于回找3D坐标
|
||
);
|
||
|
||
//分水岭算法
|
||
SG_APISHARED_EXPORT void watershed(SWD_waterShedImage& img);
|
||
// 根据输入的种子点进行分水岭算法
|
||
SG_APISHARED_EXPORT void wd_seedWatershed(
|
||
SWD_waterShedImage& img,
|
||
std::vector<SSG_2DValueI>& watershedSeeds, //种子点
|
||
int maxLevel, //最大水位
|
||
int startMakerID //起始Marker的ID
|
||
);
|
||
|
||
//点云滤波预处理
|
||
SG_APISHARED_EXPORT void wd_noiseFilter(
|
||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||
const SSG_outlierFilterParam filterParam,
|
||
int* errCode);
|
||
|
||
// Eigen库实现：计算从pts1向pts2的旋转平移矩阵
|
||
//需要
|
||
SG_APISHARED_EXPORT void caculateRT(
|
||
const std::vector<cv::Point3d>& pts1,
|
||
const std::vector<cv::Point3d>& pts2,
|
||
cv::Mat& R, cv::Mat& T,
|
||
cv::Point3d& C1, cv::Point3d& C2);
|
||
|
||
//计算点旋转平移后的位置
|
||
SG_APISHARED_EXPORT void pointRT(const cv::Mat& R, const cv::Mat& T,
|
||
const cv::Point3d& originPt, const cv::Point3d& rtOriginPT, //RT(旋转平移）前后的质心
|
||
const cv::Point3d& pt, cv::Point3d& rtPt); //RT前后的点
|
||
|
||
//计算点旋转平移后的位置
|
||
SG_APISHARED_EXPORT void pointRT_2(const cv::Mat& R, const cv::Mat& T,
|
||
const cv::Point3d& pt, cv::Point3d& rtPt); //RT前后的点
|
||
|
||
SG_APISHARED_EXPORT void pointRotate(const cv::Mat& R,
|
||
const cv::Point3d& pt, cv::Point3d& rtPt); //Rotate前后的点
|
||
|
||
//从欧拉角计算旋转矩阵
|
||
SG_APISHARED_EXPORT void WD_EulerRpyToRotation(double rpy[3], double matrix3d[9]);
|
||
|
||
//从欧拉角计算方向矢量
|
||
SG_APISHARED_EXPORT void WD_EulerRpyToDirVectors(double rpy[3], std::vector<cv::Point3d>& dirVectors);
|