algoLib/sourceCode/sieveNodeDetection.cpp

#include <vector>
#include "SG_baseDataType.h"
#include "SG_baseAlgo_Export.h"
#include "SG_sieveNodeDetection_Export.h"
#include <opencv2/opencv.hpp>
#include <limits>

void sg_lineDataR(SVzNL3DLaserLine* a_line,
	const double* camPoseR,
	double groundH)
{
	lineDataRT(a_line, camPoseR, groundH);
}

//ɨ<><C9A8><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>д<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
void sg_sieveNodeDetection_lineProc(
	SVzNL3DLaserLine* a_line,
	int lineIdx,
	int* errCode,
	std::vector<std::vector< SSG_featureSemiCircle>>& all_vLineFeatures,
	std::vector<std::vector<int>>& noisePts,
	const SSG_sieveNodeDetectionParam sieveDetectParam)
{
	std::vector< SSG_featureSemiCircle> a_line_features;
	//<2F>˲<EFBFBD><CBB2><EFBFBD><EFBFBD>˳<EFBFBD><CBB3>쳣<EFBFBD><ECB3A3>
	std::vector<SVzNL3DPosition> filterData;
	std::vector<int> lineNoisePts;
	sg_lineDataRemoveOutlier(a_line->p3DPosition, a_line->nPositionCnt, sieveDetectParam.filterParam, filterData, lineNoisePts);
	noisePts.push_back(lineNoisePts);

	sg_getLineUpperSemiCircleFeature(
		filterData.data(),
		filterData.size(),
		lineIdx,
		sieveDetectParam.sieveDiameter,
		sieveDetectParam.slopeParam,
		a_line_features);

	all_vLineFeatures.push_back(a_line_features);  //<2F><><EFBFBD><EFBFBD>Ҳ<EFBFBD><D2B2><EFBFBD>룬<EFBFBD><EBA3AC>֤<EFBFBD>ܰ<EFBFBD><DCB0>к<EFBFBD><D0BA><EFBFBD><EFBFBD><EFBFBD>
	return;
}

int _checkFeatureSplit(
	SSG_featureSemiCircle& a_feaurue, 
	std::vector< SSG_featureSemiCircle>& chk_line_feature,
	double splitMaxDist)  //<2F>ڴ˾<DAB4><CBBE><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>Ч<EFBFBD>ֲ<EFBFBD>
{
	int split = -1;
	
	for (int i = 0, i_max = chk_line_feature.size(); i < i_max; i++)
	{
		if (i < i_max - 1)
		{
			if ((chk_line_feature[i].midY < a_feaurue.midY) && (chk_line_feature[i + 1].midY > a_feaurue.midY))
			{
				double dist_1 = abs(chk_line_feature[i].midY - a_feaurue.midY);
				double dist_2 = abs(chk_line_feature[i+1].midY - a_feaurue.midY);
				if ((dist_1 < splitMaxDist) && (dist_2 < splitMaxDist))
				{
					split = i;
					break;
				}
			}
		}
	}
	return split;
}

void sg_getSieveNodes(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum,
	const SSG_sieveNodeDetectionParam sieveDetectParam,
	std::vector<SVzNL3DPoint>& nodePos)
{
	int errCode = 0;
	std::vector<std::vector<int>> noisePts;
	std::vector<std::vector< SSG_featureSemiCircle>> all_vLineFeatures;
	for (int i = 0; i < lineNum; i++)
	{
		if (i == 19)
			int kkk = 1;
		//<2F><>nPointIdxת<78><D7AA>ʹ<EFBFBD><CAB9>ǰ<EFBFBD><C7B0><EFBFBD><EFBFBD>
		for (int j = 0; j < laser3DPoints[i].nPositionCnt; j++)
			laser3DPoints[i].p3DPosition[j].nPointIdx = 0;
		//<2F>д<EFBFBD><D0B4><EFBFBD>
		sg_sieveNodeDetection_lineProc(
			&laser3DPoints[i],
			i,
			&errCode,
			all_vLineFeatures,
			noisePts,
			sieveDetectParam);
	}

	//<2F><><EFBFBD><EFBFBD>ɸ<EFBFBD><C9B8><EFBFBD><EFBFBD><EFBFBD>ص<EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>feature<72><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>feature<72><65><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ɨ<EFBFBD><C9A8><EFBFBD>߱<EFBFBD><DFB1>ϲ<EFBFBD><CFB2><EFBFBD>һ<EFBFBD><D2BB>featureʱ<65><CAB1>˵<EFBFBD><CBB5><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ɨ<EFBFBD><C9A8><EFBFBD>ߵ<EFBFBD><DFB5><EFBFBD><EFBFBD><EFBFBD>feature<72><65><EFBFBD><EFBFBD>Чfeature<72><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڵ<EFBFBD>feature<72><65>Ϊ<EFBFBD><CEAA>Чfeature
	for (int i = 0; i < lineNum; i++)
	{
		//<2F><>ǰһ<C7B0><D2BB>ɨ<EFBFBD><C9A8><EFBFBD>߱Ƚ<DFB1>,Ѱ<>ҿ<EFBFBD>ʼ
		std::vector< SSG_featureSemiCircle>& line_features = all_vLineFeatures[i];
		if (i > 0)
		{
			std::vector< SSG_featureSemiCircle>& pre_line_features = all_vLineFeatures[i-1];
			for (int j = 0, j_max = line_features.size(); j < j_max; j++)
			{
				int split = _checkFeatureSplit(line_features[j], pre_line_features, sieveDetectParam.sieveHoleSize);
				if (split >= 0)
				{
					pre_line_features[split].flag = FEATURE_FLAG_INVLD_END;
					pre_line_features[split + 1].flag = FEATURE_FLAG_INVLD_END;
					line_features[j].flag = FEATURE_FLAG_VALID_START;
				}
			}
		}
		//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ɨ<EFBFBD><C9A8><EFBFBD>߱Ƚ<DFB1>,Ѱ<>ҽ<EFBFBD><D2BD><EFBFBD>
		if (i < lineNum - 1)
		{
			std::vector< SSG_featureSemiCircle>& post_line_features = all_vLineFeatures[i + 1];
			for (int j = 0, j_max = line_features.size(); j < j_max; j++)
			{
				int split = _checkFeatureSplit(line_features[j], post_line_features, sieveDetectParam.sieveHoleSize);
				if (split >= 0)
				{
					post_line_features[split].flag = FEATURE_FLAG_INVLD_START;
					post_line_features[split + 1].flag = FEATURE_FLAG_INVLD_START;
					line_features[j].flag = FEATURE_FLAG_VALID_END;
				}
			}
		}
	}

	//feature<72><65><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Чfeature<72><65><EFBFBD><EFBFBD>ֹͣ<CDA3><D6B9><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>㡣<EFBFBD><E3A1A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD>feature<72><65>Ϊ<EFBFBD><CEAA>Чfeature
	sg_getFeatureGrowingTrees_semiCircle(
		lineFeatures,
		trees,
		growParam);


#if _OUTPUT_LINE_PROC_RESULT
	//<2F><><EFBFBD><EFBFBD>ɨ<EFBFBD><C9A8><EFBFBD>ߴ<EFBFBD><DFB4><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	for (int i = 0, i_max = all_vLineFeatures.size(); i < i_max; i++)
	{
		std::vector< SSG_featureSemiCircle>& a_line_features = all_vLineFeatures[i];
		for (int j = 0, j_max = a_line_features.size(); j < j_max; j++)
		{
			SSG_featureSemiCircle& a_feature = a_line_features[j];
			for (int m = a_feature.startPtIdx; m <= a_feature.endPtIdx; m++)
				laser3DPoints[i].p3DPosition[m].nPointIdx = 1; //<2F>˴<EFBFBD>nPointIdxת<78><D7AA>
			laser3DPoints[i].p3DPosition[a_feature.midPtIdx].nPointIdx = 2;
		}
	}
#endif


}

//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ROI<4F><49><EFBFBD>ڵĵ<DAB5><C4B5><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>ϣ<EFBFBD><CFA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>
//<2F><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>淨<EFBFBD><E6B7A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>
SSG_planeCalibPara sg_getSieveBaseCalibPara(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum,
	std::vector<SVzNL3DRangeD>& ROIs)
{
	return sg_getPlaneCalibPara_ROIs(laser3DPoints, lineNum, ROIs);
}