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cool609 2026-04-05 00:31:48 +08:00
parent f95e3dc753
commit 25101160c2
2 changed files with 45 additions and 29 deletions
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2
Algo/DetectHole/examples/visualization_demo/VisualizationDemo.cpp
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@ -597,7 +597,7 @@ int main(int argc, char* argv[]) {
// Set up detection parameters (using defaults from constructor)
SHoleDetectionParams detectionParams;
detectionParams.minRadius = 0.5f;
detectionParams.minRadius = 1.5f;
SHoleFilterParams filterParams;
std::cout << "=== Hole Detection Visualization Demo ===" << std::endl;

72
Algo/DetectHole/src/PlaneSegmentation.cpp
View File

@ -973,6 +973,8 @@ int SegmentPlanesByRansac(
}
}
constexpr int kMaxGrowthBridgeGap = 3; // BFS生长时允许跨越的最大空行/空列数
while (!bfsQueue.empty()) {
int curIdx = bfsQueue.front();
bfsQueue.pop();
@ -980,32 +982,36 @@ int SegmentPlanesByRansac(
int curRow = curIdx / cols;
int curCol = curIdx % cols;
// 遍历4-连通邻居
// 遍历4-连通邻居，允许跨越少量无效点（空行/空列）
for (int d = 0; d < 4; d++) {
int nr = curRow + dr[d];
int nc = curCol + dc[d];
for (int step = 1; step <= kMaxGrowthBridgeGap + 1; step++) {
int nr = curRow + dr[d] * step;
int nc = curCol + dc[d] * step;
if (nr < 0 || nr >= rows || nc < 0 || nc >= cols) continue;
if (nr < 0 || nr >= rows || nc < 0 || nc >= cols) break;
int nIdx = nr * cols + nc;
if (used[nIdx] || inPlane[nIdx]) continue;
if (!IsValidPoint(points[nIdx])) continue;
int nIdx = nr * cols + nc;
if (used[nIdx] || inPlane[nIdx]) break;
if (!IsValidPoint(points[nIdx])) continue; // 空点，继续向前探测
// 局部Z差检查：防止跨越单步噪点
float zDiff = std::abs(points[nIdx].z - points[curIdx].z);
if (zDiff > params.growthZThreshold) continue;
// 找到有效点，执行原有的生长条件检查
// 局部Z差检查：防止跨越单步噪点
float zDiff = std::abs(points[nIdx].z - points[curIdx].z);
if (zDiff > params.growthZThreshold) break;
// 全局点到平面距离检查：防止BFS在渐变区域内漂移到不同表面。
// 仅靠局部Z差无法阻止逐步穿越台阶（每步小但累积大），
// 全局距离能确保生长点始终贴近当前RANSAC平面。
float planeDist = std::abs(
bestA * points[nIdx].x + bestB * points[nIdx].y +
bestC * points[nIdx].z + bestD
);
if (planeDist > params.distanceThreshold * 2.0f) continue;
// 全局点到平面距离检查：防止BFS在渐变区域内漂移到不同表面。
// 仅靠局部Z差无法阻止逐步穿越台阶（每步小但累积大），
// 全局距离能确保生长点始终贴近当前RANSAC平面。
float planeDist = std::abs(
bestA * points[nIdx].x + bestB * points[nIdx].y +
bestC * points[nIdx].z + bestD
);
if (planeDist > params.distanceThreshold * 2.0f) break;
inPlane[nIdx] = true;
bfsQueue.push(nIdx);
inPlane[nIdx] = true;
bfsQueue.push(nIdx);
break; // 成功连接，不再继续探测
}
}
}
@ -1156,8 +1162,10 @@ int SegmentPlanesByRansac(
}
// ===== 后处理：对每个平面做连通域标注，将每个连通域拆分为独立平面 =====
// 允许跨越少量空行/空列（无效数据行）进行连通，避免因单行数据缺失导致同一平面被拆分
{
std::vector<PlaneSegment> splitPlanes;
constexpr int kMaxBridgeGap = 3; // 允许跨越的最大空行/空列数
for (size_t pi = 0; pi < outPlanes.size(); pi++) {
const PlaneSegment& plane = outPlanes[pi];
@ -1168,7 +1176,7 @@ int SegmentPlanesByRansac(
mask[idx] = true;
}
// BFS 连通域标注 (4-连通)
// BFS 连通域标注 (4-连通，允许跨越空行/空列)
std::vector<int> label(pointCount, -1);
std::vector<std::vector<int>> components;
@ -1190,13 +1198,21 @@ int SegmentPlanesByRansac(
int cc = cur % cols;
for (int d = 0; d < 4; d++) {
int nr = cr + dr[d];
int nc = cc + dc[d];
if (nr < 0 || nr >= rows || nc < 0 || nc >= cols) continue;
int nIdx = nr * cols + nc;
if (!mask[nIdx] || label[nIdx] >= 0) continue;
label[nIdx] = compId;
q.push(nIdx);
// 沿当前方向尝试跨越空行/空列
for (int step = 1; step <= kMaxBridgeGap + 1; step++) {
int nr = cr + dr[d] * step;
int nc = cc + dc[d] * step;
if (nr < 0 || nr >= rows || nc < 0 || nc >= cols) break;
int nIdx = nr * cols + nc;
if (label[nIdx] >= 0) break; // 已标注，无需继续
if (mask[nIdx]) {
// 找到属于同一平面的点，建立连接
label[nIdx] = compId;
q.push(nIdx);
break;
}
// mask[nIdx] == false: 空点，继续向前探测
}
}
}
}