diff --git a/BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.vcxproj b/BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.vcxproj
index 0096fa4..5e10773 100644
--- a/BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.vcxproj
+++ b/BQ_workpieceCornerExtract_test/BQ_workpieceCornerExtract_test.vcxproj
@@ -42,7 +42,7 @@
Application
true
- v142
+ v143
Unicode
diff --git a/BQ_workpieceCornerExtraction/BQ_workpieceCornerExtraction.vcxproj b/BQ_workpieceCornerExtraction/BQ_workpieceCornerExtraction.vcxproj
index c519166..f989737 100644
--- a/BQ_workpieceCornerExtraction/BQ_workpieceCornerExtraction.vcxproj
+++ b/BQ_workpieceCornerExtraction/BQ_workpieceCornerExtraction.vcxproj
@@ -42,7 +42,7 @@
DynamicLibrary
true
- v142
+ v143
Unicode
diff --git a/baseAlgorithm/baseAlgorithm.vcxproj b/baseAlgorithm/baseAlgorithm.vcxproj
index 2ecea6d..9633928 100644
--- a/baseAlgorithm/baseAlgorithm.vcxproj
+++ b/baseAlgorithm/baseAlgorithm.vcxproj
@@ -42,7 +42,7 @@
DynamicLibrary
true
- v142
+ v143
Unicode
diff --git a/sourceCode/BQ_workpieceCornerExtraction.cpp b/sourceCode/BQ_workpieceCornerExtraction.cpp
index 4bf9e9e..2c9b0b4 100644
--- a/sourceCode/BQ_workpieceCornerExtraction.cpp
+++ b/sourceCode/BQ_workpieceCornerExtraction.cpp
@@ -773,23 +773,65 @@ void _searchPlusCornerPeaks(
}
}
+//判断两个有序点之间是否是一条直线
+bool checkIsLine(
+ SSG_dirCornerAngle& pt1, SSG_dirCornerAngle& pt2,
+ std::vector& polarPoints,
+ double angleTh, double cutLineDeviationTh)
+{
+ int ringBuffSize = (int)polarPoints.size();
+ //偏离度判断
+//计算两点连线
+ double a, b, c;
+ int idx1 = pt1.forward_pntIdx; //避开一个尺度
+ int idx2 = pt2.backward_pntIdx; //避开一个尺度
+ compute2ptLine_2(
+ polarPoints[idx1].x, polarPoints[idx1].y,
+ polarPoints[idx2].x, polarPoints[idx2].y,
+ &a, &b, &c);
+ double tmp = sqrt(a * a + b * b);
+ a = a / tmp;
+ b = b / tmp;
+ c = c / tmp;
+
+ double maxDist = 0;
+ int number = idx2 - idx1;
+ if (number < 0)
+ number += ringBuffSize;
+ for (int m = 0; m < number; m++)
+ {
+ int idx = (m + idx1) % ringBuffSize;
+ double dist = abs(a * polarPoints[idx].x + b * polarPoints[idx].y + c);
+ if (maxDist < dist)
+ maxDist = dist;
+ }
+ if (maxDist < cutLineDeviationTh) //判断为直线
+ return true;
+ else
+ return false;
+}
+
//根据轮廓的角点计算Branch， 并判断是否缺角。缺角时通过拟合方式补全
// std::vector& polarPoints: 点的循环对列
//branchCornerAngle: 支持寻找不同角度的Branch，由branchCornerAngle指定。90度为直角。
//angleTh: 角度误差范围。比如名义为90的直角，实际加工会有误差。
//cutLineDeviationTh:以截角两点连线，截角上点到直线的最大偏离。保证截角是直线
-void _computeBranchesFromCornerPeaks(std::vector& polarPoints, std::vector< SSG_dirCornerAngle>& cornerPlusPeaks, std::vector& branches, double branchCornerAngle, double angleTh, double cutLineDeviationTh)
+void _computeBranchesFromCornerPeaks(
+ std::vector& polarPoints,
+ std::vector< SSG_dirCornerAngle>& cornerPlusPeaks,
+ std::vector& branches,
+ SSX_BQworkpiecePara& workpieceParam,
+#if _OUTPUT_DEBUG_DATA
+ std::vector& branchDebugData,
+#endif
+ double branchCornerAngle, double angleTh, double cutLineDeviationTh)
{
int ringBuffSize = (int)polarPoints.size();
//判断是否有缺角
int size_peaks = (int)cornerPlusPeaks.size();
- std::vector cutPairFlags;
- cutPairFlags.resize(size_peaks);
- std::fill(cutPairFlags.begin(), cutPairFlags.end(), 0);
- int cutPairID = 1;
for (int i = 0; i < size_peaks; i++)
{
- if (cutPairFlags[i] > 0)
+ if (cornerPlusPeaks[i].pntIdx < 0)
continue;
SSG_dirCornerAngle& corner_1 = cornerPlusPeaks[i];
@@ -803,38 +845,182 @@ void _computeBranchesFromCornerPeaks(std::vector& polarPoints, std:
if (angleDiff < angleTh)
{
//偏离度判断
- //计算两点连线
- double a, b, c;
- compute2ptLine_2(
- corner_1.point.x, corner_1.point.y,
- corner_2.point.x, corner_2.point.y,
- &a, &b, &c);
- double tmp = sqrt(a * a + b * b);
- a = a / tmp;
- b = b / tmp;
- c = c / tmp;
+ //判断两个有序点之间是否是一条直线
+ bool isLine = checkIsLine( corner_1, corner_2, polarPoints, angleTh, cutLineDeviationTh);
+ if (true == isLine) //判断为截角
+ {
+ //拟合计算交点
+ //直线1
+ std::vector linePts_1;
+ int startIdx = corner_1.backward_pntIdx;
+ SWD_polarPt startPt = polarPoints[startIdx];
+ for (int m = 0; m < ringBuffSize; m++)
+ {
+ int idx = startIdx - m;
+ if (idx < 0)
+ idx += ringBuffSize;
- double maxDist = 0;
- int number = corner_2.pntIdx - corner_1.pntIdx;
- if (number < 0)
- number += ringBuffSize;
- for (int m = 0; m < number; m++)
- {
- int idx = (m + corner_1.pntIdx) % ringBuffSize;
- double dist = abs(a * polarPoints[idx].x + b * polarPoints[m].y + c);
- if (maxDist < dist)
- maxDist = dist;
- }
- if (maxDist < cutLineDeviationTh) //判断为截角
- {
- cutPairFlags[i] = cutPairID;
- cutPairFlags[i+1] = cutPairID;
- cutPairID++;
+ double dist = sqrt(pow(startPt.x - polarPoints[idx].x, 2) + pow(startPt.y - polarPoints[idx].y, 2));
+ if (dist > workpieceParam.lineLen)
+ break;
+ SVzNL3DPoint a_pt = { polarPoints[idx].x , polarPoints[idx].y, polarPoints[idx].z };
+ linePts_1.push_back(a_pt);
+ }
+ double _a1 = 0, _b1 = 0, _c1 = 0;
+ lineFitting_abc(linePts_1, &_a1, &_b1, &_c1);
+ //直线2
+ std::vector linePts_2;
+ startIdx = corner_2.forward_pntIdx;
+ startPt = polarPoints[startIdx];
+ for (int m = 0; m < ringBuffSize; m++)
+ {
+ int idx = (startIdx + m) % ringBuffSize;
+ double dist = sqrt(pow(startPt.x - polarPoints[idx].x, 2) + pow(startPt.y - polarPoints[idx].y, 2));
+ if (dist > workpieceParam.lineLen)
+ break;
+ SVzNL3DPoint a_pt = { polarPoints[idx].x , polarPoints[idx].y, polarPoints[idx].z };
+ linePts_2.push_back(a_pt);
+ }
+ double _a2 = 0, _b2 = 0, _c2 = 0;
+ lineFitting_abc(linePts_2, &_a2, &_b2, &_c2);
+ //求交点
+ SVzNL3DPoint crossPt = computeLineCrossPt_abs(_a1, _b1, _c1, _a2, _b2, _c2);
+ linePts_1.insert(linePts_1.end(), linePts_2.begin(), linePts_2.end());
+ crossPt.z = computeMeanZ(linePts_1);
+ corner_1.point.x = crossPt.x;
+ corner_1.point.y = crossPt.y;
+ corner_1.point.z = crossPt.z;
+ corner_2.pntIdx = -1;
+ //更新corner
+ corner_1.corner = sumCorner;
+ corner_1.forward_pntIdx = corner_2.forward_pntIdx;
}
}
}
- //迭代一次，对于循环Buff, 需要重新检查首尾结合部
-
+
+ //滤除错误的Corner, 并删除
+ for (int i = size_peaks-1; i >= 0; i--)
+ {
+ SSG_dirCornerAngle& a_corner = cornerPlusPeaks[i];
+ if (a_corner.pntIdx < 0)
+ {
+ cornerPlusPeaks.erase(cornerPlusPeaks.begin() + i);
+ }
+ else
+ {
+ double angleDiff = abs(a_corner.corner - branchCornerAngle);
+ if (angleDiff > angleTh)
+ {
+ cornerPlusPeaks.erase(cornerPlusPeaks.begin() + i);
+ }
+ }
+ }
+
+ //寻找branch: branch的特征：相邻之间为直线
+ size_peaks = (int)cornerPlusPeaks.size();
+ int branchID = 1;
+ for (int i = 0; i < size_peaks; i++)
+ {
+ if (cornerPlusPeaks[i].pntIdx < 0)
+ continue;
+
+ SSG_dirCornerAngle& corner_1 = cornerPlusPeaks[i];
+ int tmpIdx = (i + 1) % size_peaks;
+ SSG_dirCornerAngle& corner_2 = cornerPlusPeaks[tmpIdx];
+ //判断两个有序点之间是否是一条直线
+ bool isBranch = checkIsLine(corner_1, corner_2, polarPoints, angleTh, cutLineDeviationTh);
+ if (true == isBranch) //判断为branch
+ {
+ //拟合三条直线
+ // 直线0：两个角点之间的直线
+ std::vector linePts_0;
+ int ptSize = corner_2.backward_pntIdx - corner_1.forward_pntIdx;
+ if (ptSize < 0)
+ ptSize += ringBuffSize;
+ for (int m = 0; m <= ptSize; m++)
+ {
+ int idx = (corner_1.forward_pntIdx + m) % ringBuffSize;
+ SVzNL3DPoint a_pt = { polarPoints[idx].x , polarPoints[idx].y, polarPoints[idx].z };
+ linePts_0.push_back(a_pt);
+ }
+ double _a0 = 0, _b0 = 0, _c0 = 0;
+ lineFitting_abc(linePts_0, &_a0, &_b0, &_c0);
+ //直线1
+ std::vector linePts_1;
+ int startIdx = corner_1.backward_pntIdx;
+ SWD_polarPt startPt = polarPoints[startIdx];
+ for (int m = 0; m < ringBuffSize; m++)
+ {
+ int idx = startIdx - m;
+ if (idx < 0)
+ idx += ringBuffSize;
+
+ double dist = sqrt(pow(startPt.x - polarPoints[idx].x, 2) + pow(startPt.y - polarPoints[idx].y, 2));
+ if (dist > workpieceParam.lineLen)
+ break;
+ SVzNL3DPoint a_pt = { polarPoints[idx].x , polarPoints[idx].y, polarPoints[idx].z };
+ linePts_1.push_back(a_pt);
+ }
+ double _a1 = 0, _b1 = 0, _c1 = 0;
+ lineFitting_abc(linePts_1, &_a1, &_b1, &_c1);
+ //直线2
+ std::vector linePts_2;
+ startIdx = corner_2.forward_pntIdx;
+ startPt = polarPoints[startIdx];
+ for (int m = 0; m < ringBuffSize; m++)
+ {
+ int idx = (startIdx + m) % ringBuffSize;
+ double dist = sqrt(pow(startPt.x - polarPoints[idx].x, 2) + pow(startPt.y - polarPoints[idx].y, 2));
+ if (dist > workpieceParam.lineLen)
+ break;
+ SVzNL3DPoint a_pt = { polarPoints[idx].x , polarPoints[idx].y, polarPoints[idx].z };
+ linePts_2.push_back(a_pt);
+ }
+ double _a2 = 0, _b2 = 0, _c2 = 0;
+ lineFitting_abc(linePts_2, &_a2, &_b2, &_c2);
+
+#if _OUTPUT_DEBUG_DATA
+ SSX_debugInfo a_branchDebug;
+ a_branchDebug.rgnIdx = branchID++;
+ a_branchDebug.edge_size = (int)linePts_0.size();
+ a_branchDebug.edgeLink1_size = (int)linePts_1.size();
+ a_branchDebug.edgeLink2_size = (int)linePts_2.size();
+ a_branchDebug.edge = (SVzNL3DPoint*)malloc(sizeof(SVzNL3DPoint) * a_branchDebug.edge_size);
+ a_branchDebug.edgeLink_1 = (SVzNL3DPoint*)malloc(sizeof(SVzNL3DPoint) * a_branchDebug.edgeLink1_size);
+ a_branchDebug.edgeLink_2 = (SVzNL3DPoint*)malloc(sizeof(SVzNL3DPoint) * a_branchDebug.edgeLink2_size);
+
+ for (int m = 0; m < a_branchDebug.edge_size; m++)
+ a_branchDebug.edge[m] = linePts_0[m];
+ for (int m = 0; m < a_branchDebug.edgeLink1_size; m++)
+ a_branchDebug.edgeLink_1[m] = linePts_1[m];
+ for (int m = 0; m < a_branchDebug.edgeLink2_size; m++)
+ a_branchDebug.edgeLink_2[m] = linePts_2[m];
+
+ branchDebugData.push_back(a_branchDebug);
+#endif
+
+ linePts_1.insert(linePts_1.end(), linePts_0.begin(), linePts_0.end());
+ linePts_2.insert(linePts_2.end(), linePts_0.begin(), linePts_0.end());
+ //计算branch信息
+ SWD_branchInfo a_branchInfo;
+ a_branchInfo.corner[0] = computeLineCrossPt_abs(_a0, _b0, _c0, _a1, _b1, _c1);
+ a_branchInfo.corner[0].z = computeMeanZ(linePts_1);
+ a_branchInfo.corner[2] = computeLineCrossPt_abs(_a0, _b0, _c0, _a2, _b2, _c2);
+ a_branchInfo.corner[2].z = computeMeanZ(linePts_2);
+ a_branchInfo.corner[1].x = (a_branchInfo.corner[0].x + a_branchInfo.corner[2].x) / 2;
+ a_branchInfo.corner[1].y = (a_branchInfo.corner[0].y + a_branchInfo.corner[2].y) / 2;
+ a_branchInfo.corner[1].z = computeMeanZ(linePts_0);
+ //
+ a_branchInfo.angle = corner_1.point.angle;
+ a_branchInfo.line_a = _b0;
+ a_branchInfo.line_b = -_a0;
+ a_branchInfo.line_c = -(a_branchInfo.line_a * a_branchInfo.corner[1].x + a_branchInfo.line_b * a_branchInfo.corner[1].y);
+ branches.push_back(a_branchInfo);
+
+ corner_1.pntIdx = -1;
+ corner_2.pntIdx = -1;
+ }
+ }
}
SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
@@ -1135,8 +1321,19 @@ SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
std::vector< SSG_dirCornerAngle> cornerPlusPeaks;
_searchPlusCornerPeaks(dirCornerAngles, cornerPlusPeaks);
//使用R过滤，判断是否缺角
+ double branchCornerAngle = 90;
+ double angleTh = 10;
+ double cutLineDeviationTh = 5.0;
std::vector branches;
- _computeBranchesFromCornerPeaks(cornerPlusPeaks, branches);
+ _computeBranchesFromCornerPeaks(
+ polarPoints,
+ cornerPlusPeaks,
+ branches,
+ workpieceParam,
+#if _OUTPUT_DEBUG_DATA
+ debug_contours,
+#endif
+ branchCornerAngle, angleTh, cutLineDeviationTh);
//提取R极值点
double minR = -1, maxR = -1; //计算最小和最大的R，用以区分有没有分支。minR和maxR相差小时，为圆形或8角形，没有分支
@@ -1174,9 +1371,6 @@ SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
polarRPeakPts.push_back(polarPoints[pi]);
}
- double ratio_MaxMin = maxR / minR;
- bool hasBranch = ratio_MaxMin < 1.25 ? false : true;
-
std::vector validPolarRPeakPts;
std::vector polarPeakInfo;
int pkId = 0;
@@ -1251,192 +1445,19 @@ SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
int workpieceType = -1;
bool partialScan = false; //当相机视野不能覆盖工件全部时，partialScan为true
std::vector< SWD_branchInfo> branchInfo;
- if (true == hasBranch)
+ if (branches.size() > 0) //有分支（branch)
{
- //计算分支，90度范围内为同一分支。根据分支数量确定工件类型
- int pkSize = (int)validPolarRPeakPts.size();
- for (int m = 0; m < pkSize; m++)
- {
- if (validPolarRPeakPts[m].cptIndex < 0)
- continue;
-
- //if (polarPeakInfo[m].cornerDir == 2) //逆时针。
- {
- int nxtIdx = (m + 1)%pkSize;
-
- bool isSameBranch = checkSameBranch(validPolarRPeakPts[m], validPolarRPeakPts[nxtIdx],
- polarPoints, center_x, center_y);
- double angleDiff = computeAngleDiff(validPolarRPeakPts[nxtIdx].angle, validPolarRPeakPts[m].angle);
- if (angleDiff < 0)
- angleDiff += 360;
- if ( (angleDiff < 90) && (true == isSameBranch)) //为同一branch，合并，只保留一个
- {
- validPolarRPeakPts[nxtIdx].pkId = validPolarRPeakPts[m].pkId; //pair
- validPolarRPeakPts[nxtIdx].cptIndex = -1;
- }
- }
- }
-
- std::vector> branchPeaks; //每个branch最多两个极值点
- branchPeaks.resize(pkId);
- std::vector> branchPeakInfo;
- branchPeakInfo.resize(pkId);
- for (int m = 0; m < pkSize; m++)
- {
- if (validPolarRPeakPts[m].cptIndex < 0)
- validPolarRPeakPts[m].cptIndex = polarPeakInfo[m].cptIndex; //恢复
- int pkId = validPolarRPeakPts[m].pkId;
- branchPeaks[pkId].push_back(validPolarRPeakPts[m]);
- branchPeakInfo[pkId].push_back(polarPeakInfo[m]);
- }
- for (int m = pkSize - 1; m >= 0; m--)
- {
- if (branchPeaks[m].size() == 0)
- {
- branchPeaks.erase(branchPeaks.begin() + m);
- branchPeakInfo.erase(branchPeakInfo.begin() + m);
- }
- }
-
-
-
- int branchNum = (int)branchPeaks.size();
+ int branchNum = (int)branches.size();
if (branchNum == 2)
- {
workpieceType = 3; //节点3
-
- SVzNL3DPoint pt1 = { polarPoints[minRPos].x, polarPoints[minRPos].y, 0 };
- SVzNL3DPoint pt2 = { center_x, center_y, 0 };
- double aux_a, aux_b, aux_c;
- compute2ptLine(pt1, pt2, &aux_a, &aux_b, &aux_c);
- double counterAngle = polarPoints[minRPos].angle + 180;
- if (counterAngle > 360)
- counterAngle = counterAngle - 360;
- SVzNL3DPoint a_cross = computeEdgeCross(counterAngle, polarPoints, aux_a, aux_b, aux_c);
- double refine_cx = (pt1.x + a_cross.x) / 2;
- double refine_cy = (pt1.y + a_cross.y) / 2;
- //确定cornerDir
- for (int m = 0; m < branchNum; m++)
- {
- for (int n = 0; n < branchPeaks[m].size(); n++)
- {
- int cptIdx = branchPeakInfo[m][n].cptIndex;
- int LL1 = branchPeakInfo[m][n].L1_ptIndex;
- int LL2 = branchPeakInfo[m][n].L2_ptIndex;
- double angle = atan2(polarPoints[cptIdx].y - refine_cy, polarPoints[cptIdx].x - refine_cx);
- angle = (angle / PI) * 180 + 180.0;
- double LL1_angle = atan2(polarPoints[LL1].y - refine_cy, polarPoints[LL1].x - refine_cx);
- LL1_angle = (LL1_angle / PI) * 180 + 180.0;
- double LL2_angle = atan2(polarPoints[LL2].y - refine_cy, polarPoints[LL2].x - refine_cx);
- LL2_angle = (LL2_angle / PI) * 180 + 180.0;
-
- double L1_angle = computeAngleDiff(angle, LL1_angle);
- double L2_angle = computeAngleDiff(LL2_angle, angle);
- if (L1_angle < L2_angle)
- branchPeakInfo[m][n].cornerDir = 2; //逆时针
- else
- branchPeakInfo[m][n].cornerDir = 1; //顺时针
- }
- }
- }
- else if ((branchNum == 3) || (branchNum == 4))
- {
- if (branchNum == 3)
- {
- partialScan = true;
- workpieceType = 2; //节点2
- }
- else
- workpieceType = 1; //节点1
- //确定cornerDir
-
- for (int m = 0; m < branchNum; m++)
- {
- for(int n = 0; n < branchPeaks[m].size(); n++)
- {
- int cptIdx = branchPeakInfo[m][n].cptIndex;
- int LL1 = branchPeakInfo[m][n].L1_ptIndex;
- int LL2 = branchPeakInfo[m][n].L2_ptIndex;
- double L1_angle = polarPoints[cptIdx].angle - polarPoints[LL1].angle;
- if (L1_angle < 0)
- L1_angle += 360;
- double L2_angle = polarPoints[LL2].angle - polarPoints[cptIdx].angle;
- if (L2_angle < 0)
- L2_angle += 360;
- if (L1_angle < L2_angle)
- branchPeakInfo[m][n].cornerDir = 2; //逆时针
- else
- branchPeakInfo[m][n].cornerDir = 1; //顺时针
- }
- }
- }
+ else if (branchNum == 3)
+ workpieceType = 2; //节点2
+ else if (branchNum == 4)
+ workpieceType = 1; //节点1
else
workpieceType = 0;
-
- //计算各个branch的信息
- for (int branchIdx = 0; branchIdx < branchNum; branchIdx++)
- {
- std::vector& a_branch = branchPeaks[branchIdx];
- std::vector& a_branchInfo = branchPeakInfo[branchIdx];
- //取固定长度垂直边
- SWD_polarPt branchCorner;
- SWD_polarPeakInfo branchCornerInfo;
- if (a_branch.size() == 2) //取角度最接近90度的
- {
- double diff1 = abs(a_branchInfo[0].cornerAngle - 90);
- double diff2 = abs(a_branchInfo[1].cornerAngle - 90);
- branchCorner = diff1 < diff2 ? a_branch[0]: a_branch[1];
- branchCornerInfo = diff1 < diff2 ? a_branchInfo[0] : a_branchInfo[1];
- }
- else
- {
- branchCorner = a_branch[0];
- branchCornerInfo = a_branchInfo[0];
- }
-
- SWD_branchInfo resultBranchInfo;
- std::vector branchLinePts; //用于显示和debug
- std::vector< SVzNL3DPoint> branchEdgePt1;
- std::vector< SVzNL3DPoint> branchEdgePt2;
- int opOK = _getBranchInfo(
- validStartLine, //开始扫描边界
- validEndLine, //结束扫描边界
- partialScan, //当相机视野不能覆盖工件全部时，partialScan为true,
- polarPoints,
- branchCorner,
- branchCornerInfo,
- &resultBranchInfo,
- branchLinePts,
- branchEdgePt1,
- branchEdgePt2);
- if(opOK < 0)
- {
- *errCode = SX_ERR_ZERO_CONTOUR_PT;
- return workpieceCorners;
- }
- branchInfo.push_back(resultBranchInfo);
-#if _OUTPUT_DEBUG_DATA
- SSX_debugInfo a_branchDebug;
- a_branchDebug.rgnIdx = (int)branchInfo.size();
- a_branchDebug.edge_size = (int)branchEdgePt1.size();
- a_branchDebug.edgeLink1_size = (int)branchLinePts.size();
- a_branchDebug.edgeLink2_size = (int)branchEdgePt2.size();
- a_branchDebug.edge = (SVzNL3DPoint*)malloc(sizeof(SVzNL3DPoint) * a_branchDebug.edge_size);
- a_branchDebug.edgeLink_1 = (SVzNL3DPoint*)malloc(sizeof(SVzNL3DPoint) * a_branchDebug.edgeLink1_size);
- a_branchDebug.edgeLink_2 = (SVzNL3DPoint*)malloc(sizeof(SVzNL3DPoint) * a_branchDebug.edgeLink2_size);
-
- for(int m = 0; m < a_branchDebug.edge_size; m ++)
- a_branchDebug.edge[m] = branchEdgePt1[m];
- for (int m = 0; m < a_branchDebug.edgeLink1_size; m++)
- a_branchDebug.edgeLink_1[m] = branchLinePts[m];
- for (int m = 0; m < a_branchDebug.edgeLink2_size; m++)
- a_branchDebug.edgeLink_2[m] = branchEdgePt2[m];
- debug_contours.push_back(a_branchDebug);
-#endif
- }
-
-
-
+ branchInfo.insert(branchInfo.end(), branches.begin(), branches.end());
+
workpieceCorners.workpieceType = workpieceType;
if (workpieceType == 1) //4个branch
{