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增加平面分割

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cool609 2026-03-31 05:45:22 +08:00
parent 4230d0ab7d
commit df8bf74c7a
1 changed files with 22 additions and 6 deletions
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28
Algo/DetectHole/src/PlaneSegmentation.cpp
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@ -991,12 +991,21 @@ int SegmentPlanesByRansac(
if (used[nIdx] || inPlane[nIdx]) continue;
if (!IsValidPoint(points[nIdx])) continue;
// 局部Z差检查：当前点与邻居点的Z值差
// 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) {
inPlane[nIdx] = true;
bfsQueue.push(nIdx);
}
if (zDiff > params.growthZThreshold) 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) continue;
inPlane[nIdx] = true;
bfsQueue.push(nIdx);
}
}
@ -1213,7 +1222,13 @@ int SegmentPlanesByRansac(
std::cout << " Component " << (ci + 1)
<< ": " << seg.pointCount << " points" << std::endl;
splitPlanes.push_back(std::move(seg));
if (seg.pointCount >= params.minPlanePoints) {
splitPlanes.push_back(std::move(seg));
} else {
std::cout << " Component " << (ci + 1)
<< ": skipped (below minPlanePoints="
<< params.minPlanePoints << ")" << std::endl;
}
}
}
@ -1309,6 +1324,7 @@ int SegmentPlanesByRansac(
continue;
}
// 第 2 级：逐行列范围比对
bool allRowsCovered = true;
for (int r = bboxes[j].minRow; r <= bboxes[j].maxRow; r++) {