106 lines
3.3 KiB
C++
106 lines
3.3 KiB
C++
#ifndef BAR_INTERSECTION_PARAMS_H
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#define BAR_INTERSECTION_PARAMS_H
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#include "VZNL_Types.h"
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#include <vector>
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/**
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* @brief RANSAC 平面分割参数
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*/
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struct SPlaneSegmentationParams {
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float distanceThreshold; // 点到平面距离阈值 (mm)
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int maxIterations; // RANSAC 最大迭代次数
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int minPlanePoints; // 最小平面点数
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float minPlaneRatio; // 平面最小点数占比
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float heightThreshold; // 高于平面的最小高度，用于过滤平面点 (mm)
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SPlaneSegmentationParams()
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: distanceThreshold(1.0f)
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, maxIterations(500)
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, minPlanePoints(1000)
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, minPlaneRatio(0.05f)
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, heightThreshold(10.0f)
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{}
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};
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/**
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* @brief 区域生长参数
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*/
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struct SGrowthParams {
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float thresholdX; // 跨行合并阈值：相邻行 segment 质心 x 的最大允许差 (mm)
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float thresholdY; // 行内分段阈值：同行相邻点 y 的最大允许差 (mm)
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float thresholdZ; // 行内分段阈值：同行相邻点 z 的最大允许差 (mm)
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int minClusterSize; // 最小簇点数
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float angleSearchDistance;
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int residualSmoothWindow;
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float maxAxisDeviationFromXYDeg; // Max allowed axis deviation from the XY plane (deg)
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float maxPerpendicularDeviationDeg; // Max deviation from 90 deg for centroid-connection test
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int minContinuousValidPointCount; // Min consecutive valid points kept on each laser line after plane filtering; <=1 disables
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float maxContinuousPointZTolerance; // Max z difference between adjacent points inside one valid run (mm)
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SGrowthParams()
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: thresholdX(5.0f)
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, thresholdY(5.0f)
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, thresholdZ(5.0f)
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, minClusterSize(20)
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, angleSearchDistance(2.f)
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, residualSmoothWindow(5)
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, maxAxisDeviationFromXYDeg(50.0f)
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, maxPerpendicularDeviationDeg(50.0f)
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, minContinuousValidPointCount(0)
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, maxContinuousPointZTolerance(5.0f)
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{}
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};
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/**
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* @brief 生长结果：一个连通簇
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*/
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struct SGrowthCluster {
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std::vector<int> pointIndices; // 簇内点在原始 rows*cols 网格中的线性索引
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SVzNL3DPointF centroid; // 簇质心
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SVzNL3DPointF minBound; // 包围盒最小角
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SVzNL3DPointF maxBound; // 包围盒最大角
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int pointCount;
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SGrowthCluster()
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: centroid(), minBound(), maxBound(), pointCount(0)
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{}
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};
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/**
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* @brief 检测结果
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*/
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struct SBarIntersectionResult {
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// 平面信息
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SVzNL3DPointF planeNormal; // 平面法向量
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float planeD; // 平面方程 ax+by+cz+d=0 中的 d
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// 簇（原始坐标系）
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int clusterCount;
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SGrowthCluster* clusters;
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// 最优簇索引（-1表示无有效簇）
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int bestClusterIndex;
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// 最优簇的过滤后点云（对齐坐标系，用于可视化）
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std::vector<SVzNLPointXYZ> bestClusterPoints;
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SBarIntersectionResult()
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: planeNormal(), planeD(0.0f)
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, clusterCount(0), clusters(nullptr)
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, bestClusterIndex(-1)
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{}
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};
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/**
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* @brief 释放检测结果内存
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*/
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inline void FreeBarIntersectionResult(SBarIntersectionResult* result) {
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if (result) {
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if (result->clusters) { delete[] result->clusters; result->clusters = nullptr; }
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result->clusterCount = 0;
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}
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}
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#endif // BAR_INTERSECTION_PARAMS_H
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