提交斜面角度代码

Algo/DetectHole/examples/visualization_demo/VisualizationDemo.cpp

@@ -477,14 +477,14 @@ int ProcessSingleFile(const std::string& inputFile,
     callbackData.showLines = showLines;
 
     SHoleDetectionDebugCallbacks debugCallbacks;
-    debugCallbacks.onBoundaryDetected = OnBoundaryDetected;
-    debugCallbacks.onClustersFound = OnClustersFound;
-    debugCallbacks.onExpandedRegion = OnExpandedRegion;
+    debugCallbacks.onBoundaryDetected = nullptr;//OnBoundaryDetected;
+    debugCallbacks.onClustersFound = nullptr;//OnClustersFound;
+    debugCallbacks.onExpandedRegion = nullptr;//OnExpandedRegion;
     debugCallbacks.onHoleFitted = nullptr;// OnHoleFitted;
     debugCallbacks.onSegmentPairsDetected = OnSegmentPairsDetected;
     debugCallbacks.onLineAngleProfileDetected = nullptr;// OnLineAngleProfileDetected;
-    debugCallbacks.onPlanesSegmented = nullptr;// OnPlanesSegmented;
-    debugCallbacks.onMaskedPointsReady = OnMaskedPointsReady;
+    debugCallbacks.onPlanesSegmented = OnPlanesSegmented;
+    debugCallbacks.onMaskedPointsReady = nullptr;// OnMaskedPointsReady;
     debugCallbacks.userData = &callbackData;
 
     SMultiHoleResult result;
@@ -586,6 +586,8 @@ int main(int argc, char* argv[]) {
     // Set up detection parameters (using defaults from constructor)
     SHoleDetectionParams detectionParams;
     detectionParams.minRadius = 0.5f;
+    detectionParams.angleThresholdPos = 50;
+    detectionParams.angleThresholdNeg = -50;
     SHoleFilterParams filterParams;
     std::cout << "=== Hole Detection Visualization Demo ===" << std::endl;
 

Algo/DetectHole/src/HoleDetectionBoundary.cpp

@@ -124,11 +124,22 @@ void EvaluateLine(
 
         pts[i].hasAngle = true;
 
-        // 坡度方向：从 backRef 到 fwdRef 的整体倾斜角
-        // 正角度 = 上升坡，负角度 = 下降坡，近零 = 平坦
-        float slopeCoord = std::abs(fwdCoord - backCoord);
-        float slopeZ = backMeanZ - fwdMeanZ;  // 相机坐标系: z增大=远离相机=下降
-        float slopeAngleDeg = std::atan2(slopeZ, slopeCoord) * (180.0f / kPi);
+        // 两线夹角：line1(backRef→cur) 延长后 与 line2(cur→fwdRef) 的有符号夹角
+        // 与旧方案（backRef→fwdRef 整体坡度角）的本质区别：
+        //   均匀倾斜面（无弯折）→ 0°；只有在 pts[i] 处发生方向变化时才得到非零角。
+        // 正角度 = 向相机弯折（上升），负角度 = 远离相机弯折（下降进坑）
+        float curCoord  = getCoord(cur);
+        float v1_coord  = curCoord  - backCoord;   // backRef → cur（水平分量）
+        float v1_z      = cur.z     - backMeanZ;   // backRef → cur（z 分量）
+        float v2_coord  = fwdCoord  - curCoord;    // cur → fwdRef（水平分量）
+        float v2_z      = fwdMeanZ  - cur.z;       // cur → fwdRef（z 分量）
+
+        // 2D 叉积（z 分量）和点积，用于计算有符号夹角
+        float cross2d       = v1_coord * v2_z - v1_z * v2_coord;
+        float dot2d         = v1_coord * v2_coord + v1_z * v2_z;
+        // 消除扫描方向（正向/反向）对叉积符号的影响
+        float scanDirSign   = ((v1_coord + v2_coord) >= 0.0f) ? 1.0f : -1.0f;
+        float slopeAngleDeg = std::atan2(-cross2d * scanDirSign, dot2d) * (180.0f / kPi);
 
         pts[i].signedAngleDeg = slopeAngleDeg;