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Merge branch 'main' of http://gitea.mnutil.com/jerryzeng/algoLib

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杰仔 2026-01-20 20:33:44 +08:00
commit 8748da6f19
11 changed files with 1651 additions and 12 deletions
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27
SG_Algorithm.sln
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@ -194,6 +194,17 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "rodAndBarDetection", "rodAn
{95DC3F1A-902A-490E-BD3B-B10463CF0EBD} = {95DC3F1A-902A-490E-BD3B-B10463CF0EBD}
EndProjectSection
EndProject
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "bagThreadPositioning", "bagThreadPositioning\bagThreadPositioning.vcxproj", "{F371FCBC-0AD6-4546-8785-1C05CD0C5B57}"
ProjectSection(ProjectDependencies) = postProject
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EndProjectSection
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Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|x64 = Debug|x64
@ -498,6 +509,22 @@ Global
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GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE

170
bagThreadPositioning/bagThreadPositioning.vcxproj Normal file
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@ -0,0 +1,170 @@
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158
bagThreadPositioning_Export/bagThreadPositioning_Export.vcxproj Normal file
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498
bagThreadPositioning_Export/bagThreadPositioning_test.cpp Normal file
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@ -0,0 +1,498 @@
// gasFillingPortPosition_test.cpp : 此文件包含 "main" 函数。程序执行将在此处开始并结束。
//
#include <iostream>
#include <fstream>
#include <vector>
#include <stdio.h>
#include <VZNL_Types.h>
#include "direct.h"
#include <string>
#include "bagThreadPositioning_Export.h"
#include <opencv2/opencv.hpp>
#include <Windows.h>
#include <limits>
typedef struct
{
int r;
int g;
int b;
}SG_color;
typedef struct
{
int nPointIdx;
double x;
double y;
double z;
float r;
float g;
float b;
} SPointXYZRGB;
void vzReadLaserScanPointFromFile_encodePlyTxt(
const char* fileName,
double lineStep,
double baseZ,
std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
std::ifstream inputFile(fileName);
std::string linedata;
if (inputFile.is_open() == false)
return;
std::vector< SVzNL3DPosition> linePoints;
linePoints.clear();
int startIdx = -1;
int ptIdx = 0;
double pre_y = DBL_MAX;
while (std::getline(inputFile, linedata))
{
if (linedata.empty())
continue;
int X;
double Y, Z, tmp;
sscanf_s(linedata.c_str(), "%d,%lf,%lf", &X, &Y, &Z);
if (startIdx < 0)
startIdx = X;
SVzNL3DPosition a_pt;
a_pt.nPointIdx = ptIdx;
ptIdx++;
a_pt.pt3D.x = (double)(X - startIdx) * lineStep;
a_pt.pt3D.y = Y;
a_pt.pt3D.z = baseZ - Z;
if (Z < -9990.0)
{
a_pt.pt3D = { 0, 0, 0 };
}
if (Y < pre_y)
{
//新行
if(linePoints.size() > 0)
scanData.push_back(linePoints);
linePoints.clear();
ptIdx = 0;
}
linePoints.push_back(a_pt);
pre_y = Y;
}
if(linePoints.size() > 0)
scanData.push_back(linePoints);
return;
}
bool checkGridFormat(std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
if (scanData.size() == 0)
return false;
int linePtNum = (int)scanData[0].size();
for (int i = 1; i < (int)scanData.size(); i++)
{
if (linePtNum != (int)scanData[i].size())
return false;
}
return true;
}
void wdReadLaserScanPointFromFile_XYZ_vector(const char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData)
{
std::ifstream inputFile(fileName);
std::string linedata;
if (inputFile.is_open() == false)
return;
std::vector< SVzNL3DPosition> a_line;
int ptIdx = 0;
while (getline(inputFile, linedata))
{
if (0 == strncmp("Line_", linedata.c_str(), 5))
{
int ptSize = (int)a_line.size();
if (ptSize > 0)
{
scanData.push_back(a_line);
}
a_line.clear();
ptIdx = 0;
}
else if (0 == strncmp("{", linedata.c_str(), 1))
{
float X, Y, Z;
int imageY = 0;
float leftX, leftY;
float rightX, rightY;
sscanf_s(linedata.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY);
SVzNL3DPosition a_pt;
a_pt.pt3D.x = X;
a_pt.pt3D.y = Y;
a_pt.pt3D.z = Z;
a_pt.nPointIdx = ptIdx;
ptIdx++;
a_line.push_back(a_pt);
}
}
//last line
int ptSize = (int)a_line.size();
if (ptSize > 0)
{
scanData.push_back(a_line);
a_line.clear();
}
inputFile.close();
return;
}
void wd_gridScan_GetROIData(std::vector<std::vector< SVzNL3DPosition>>& scanData, SVzNLRangeD roi_y, std::vector<std::vector< SVzNL3DPosition>>& roiData)
{
int lineNum = (int)scanData.size();
int linePtNum = (int)scanData[0].size();
int globalPtStart = INT_MAX;
int globalPtEnd = 0;
int lineStart = INT_MAX;
int lineEnd = 0;
for (int line = 0; line < lineNum; line++)
{
std::vector< SVzNL3DPosition >& lineData = scanData[line];
int ptSize = (int)lineData.size();
int vldNum = 0;
int ptStart = INT_MAX;
int ptEnd = 0;
for (int i = 0; i < ptSize; i++)
{
if (lineData[i].pt3D.z > 1e-4)
{
if ((lineData[i].pt3D.y < roi_y.min) || (lineData[i].pt3D.y > roi_y.max))
lineData[i].pt3D = { 0.0, 0.0, 0.0 };
}
if (lineData[i].pt3D.z > 1e-4)
{
if (ptStart > i)
ptStart = i;
ptEnd = i;
vldNum++;
}
}
if (vldNum > 0)
{
if (globalPtStart > ptStart)
globalPtStart = ptStart;
if (globalPtEnd < ptEnd)
globalPtEnd = ptEnd;
if (lineStart > line)
lineStart = line;
lineEnd = line;
}
}
int vldLineNum = lineEnd - lineStart + 1;
int vldPtNum = globalPtEnd - globalPtStart + 1;
roiData.resize(vldLineNum);
for (int line = 0; line < vldLineNum; line++)
{
roiData[line].resize(vldPtNum);
for (int i = 0; i < vldPtNum; i++)
roiData[line][i] = scanData[line + lineStart][i + globalPtStart];
}
return;
}
void _outputScanDataFile(char* fileName, std::vector<std::vector< SVzNL3DPosition>>& scanData,
float lineV, int maxTimeStamp, int clockPerSecond)
{
std::ofstream sw(fileName);
int lineNum = (int)scanData.size();
sw << "LineNum:" << lineNum << std::endl;
sw << "DataType: 0" << std::endl;
sw << "ScanSpeed:" << lineV << std::endl;
sw << "PointAdjust: 1" << std::endl;
sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl;
for (int line = 0; line < lineNum; line++)
{
int nPositionCnt = (int)scanData[line].size();
sw << "Line_" << line << "_0_" << nPositionCnt << std::endl;
for (int i = 0; i < nPositionCnt; i++)
{
SVzNL3DPosition& pt3D = scanData[line][i];
float x = (float)pt3D.pt3D.x;
float y = (float)pt3D.pt3D.y;
float z = (float)pt3D.pt3D.z;
sw << "{ " << x << "," << y << "," << z << " }-";
sw << "{0,0}-{0,0}" << std::endl;
}
}
sw.close();
}
void _outputChanneltInfo(char* fileName, std::vector<SSX_bagThreadInfo>& threadInfo)
{
std::ofstream sw(fileName);
char dataStr[250];
int objNum = (int)threadInfo.size();
for (int i = 0; i < objNum; i++)
{
sprintf_s(dataStr, 250, "线头_%d: 位置( %g, %g, %g ), 下刀位置_( %g, %g, %g ), 角度_%g",
i + 1, threadInfo[i].threadPos.x, threadInfo[i].threadPos.y, threadInfo[i].threadPos.z,
threadInfo[i].operatePos.x, threadInfo[i].operatePos.y, threadInfo[i].operatePos.z, threadInfo[i].rotateAngle);
sw << dataStr << std::endl;
}
sw.close();
}
void _outputRGBDScan_RGBD(
char* fileName,
std::vector<std::vector<SVzNL3DPosition>>& scanLines,
std::vector<SSX_bagThreadInfo>& threadInfo
)
{
int lineNum = (int)scanLines.size();
std::ofstream sw(fileName);
int realLines = lineNum;
int objNum = (int)threadInfo.size();
if (objNum > 0)
realLines += 1;
sw << "LineNum:" << realLines << std::endl;
sw << "DataType: 0" << std::endl;
sw << "ScanSpeed: 0" << std::endl;
sw << "PointAdjust: 1" << std::endl;
sw << "MaxTimeStamp: 0_0" << std::endl;
int maxLineIndex = 0;
int max_stamp = 0;
SG_color rgb = { 0, 0, 0 };
SG_color objColor[8] = {
{245,222,179},//淡黄色
{210,105, 30},//巧克力色
{240,230,140},//黄褐色
{135,206,235},//天蓝色
{250,235,215},//古董白
{189,252,201},//薄荷色
{221,160,221},//梅红色
{188,143,143},//玫瑰红色
};
int size = 1;
int lineIdx = 0;
for (int line = 0; line < lineNum; line++)
{
int linePtNum = (int)scanLines[line].size();
if (linePtNum == 0)
continue;
sw << "Line_" << lineIdx << "_0_" << linePtNum << std::endl;
lineIdx++;
for (int i = 0; i < linePtNum; i++)
{
SVzNL3DPosition* pt3D = &scanLines[line][i];
if (pt3D->nPointIdx == 1)
{
rgb = objColor[pt3D->nPointIdx];
size = 3;
}
else if (pt3D->nPointIdx == 2)
{
rgb = { 250, 0, 0 };
size = 3;
}
else //if (pt3D->nPointIdx == 0)
{
rgb = { 200, 200, 200 };
size = 1;
}
float x = (float)pt3D->pt3D.x;
float y = (float)pt3D->pt3D.y;
float z = (float)pt3D->pt3D.z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
}
}
if (objNum > 0)
{
sw << "Line_" << lineIdx << "_0_" << (objNum*2) << std::endl;
size = 8;
for (int i = 0; i < objNum; i++)
{
rgb = { 250, 0, 0 };
float x = (float)threadInfo[i].threadPos.x;
float y = (float)threadInfo[i].threadPos.y;
float z = (float)threadInfo[i].threadPos.z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
rgb = { 250, 250, 0 };
x = (float)threadInfo[i].operatePos.x;
y = (float)threadInfo[i].operatePos.y;
z = (float)threadInfo[i].operatePos.z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
}
//多输出一个，修正显示工具bug
rgb = { 250, 0, 0 };
float x = (float)threadInfo[0].threadPos.x;
float y = (float)threadInfo[0].threadPos.y;
float z = (float)threadInfo[0].threadPos.z;
sw << "{" << x << "," << y << "," << z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
//输出法向
size = 1;
double len = 60;
lineIdx = 0;
for (int i = 0; i < objNum; i++)
{
SVzNL3DPoint pt0 = threadInfo[i].threadPos;
SVzNL3DPoint pt1 = threadInfo[i].operatePos;
//显示法向量
sw << "Poly_" << lineIdx << "_2" << std::endl;
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
lineIdx++;
}
//多输出一个，修正显示工具bug
SVzNL3DPoint pt0 = threadInfo[0].threadPos;
SVzNL3DPoint pt1 = threadInfo[0].operatePos;
//显示法向量
sw << "Poly_" << lineIdx << "_2" << std::endl;
sw << "{" << (float)pt0.x << "," << (float)pt0.y << "," << (float)pt0.z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
sw << "{" << pt1.x << "," << pt1.y << "," << pt1.z << "}-";
sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
lineIdx++;
}
sw.close();
}
#define CONVERT_TO_GRID 0
#define BAG_THREAD_POSITIONING 1
#define TEST_GROUP 1
int main()
{
const char* dataPath[TEST_GROUP] = {
"F:/ShangGu/项目/吕宁项目/袋子拆线/模拟数据/", //0
};
SVzNLRange fileIdx[TEST_GROUP] = {
{1,13},
};
const char* ver = wd_bagThreadPositioningVersion();
printf("ver:%s\n", ver);
#if CONVERT_TO_GRID
int convertGrp = 0;
for (int fidx = fileIdx[convertGrp].nMin; fidx <= fileIdx[convertGrp].nMax; fidx++)
{
char _scan_file[256];
sprintf_s(_scan_file, "%s袋子_%d.txt", dataPath[convertGrp], fidx);
std::vector<std::vector< SVzNL3DPosition>> scanData;
double lineStep = 0.096;
double baseZ = 350.0;
vzReadLaserScanPointFromFile_encodePlyTxt(_scan_file, lineStep, baseZ, scanData);
bool isGridData = checkGridFormat(scanData);
int gridFormat = (true == isGridData) ? 1 : 0;
printf("%s: 栅格格式=%d\n", _scan_file, gridFormat);
//将数据恢复为按扫描线存储格式
sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[convertGrp], fidx);
_outputScanDataFile(_scan_file, scanData,0, 0, 0);
printf("%s: done.\n", _scan_file);
}
#endif
#if BAG_THREAD_POSITIONING
for (int grp = 0; grp < TEST_GROUP; grp++)
{
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
char _scan_file[256];
sprintf_s(_scan_file, "%s袋子_grid_%d.txt", dataPath[grp], fidx);
std::vector<std::vector< SVzNL3DPosition>> scanLines;
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
long t1 = (long)GetTickCount64();//统计时间
SSG_cornerParam cornerParam;
cornerParam.cornerTh = 70;
cornerParam.scale = 1.5; //袋子缝的尺度1.5mm比较合适
cornerParam.minEndingGap = 1.0; //
cornerParam.minEndingGap_z = 1.0;
cornerParam.jumpCornerTh_1 = 15; //水平角度，小于此角度视为水平
cornerParam.jumpCornerTh_2 = 60;
SSG_raisedFeatureParam raisedFeatureParam;
raisedFeatureParam.minJumpZ = 1.5;
raisedFeatureParam.minK = 2.0; //对应63度
raisedFeatureParam.widthRange.min = 1.0;
raisedFeatureParam.widthRange.max = 4.0;
SSG_outlierFilterParam filterParam;
filterParam.continuityTh = 3.0; //噪声滤除。当相邻点的z跳变大于此门限时，检查是否为噪声。若长度小于outlierLen， 视为噪声
filterParam.outlierTh = 2;
SSG_treeGrowParam growParam;
growParam.maxLineSkipNum = -1; //对于轮廓仪，线间隔很小，使用扫描线数的物理意义不清晰，使用maxSkipDistance
growParam.maxSkipDistance = 5.0;
growParam.yDeviation_max = 5.0;
growParam.zDeviation_max = 5.0;//
growParam.minLTypeTreeLen = 10; //mm,
growParam.minVTypeTreeLen = 10; //mm
bool isHorizonScan = false; //true:激光线平行线缝；false:激光线垂直线缝
int errCode = 0;
std::vector<SSX_bagThreadInfo> bagThreadInfo;
wd_bagThreadPositioning(
scanLines,
isHorizonScan, //true:激光线平行线缝；false:激光线垂直线缝
filterParam, //噪点过滤参数
cornerParam, //V型特征参数
raisedFeatureParam,//线尾凸起参数
growParam, //特征生长参数
bagThreadInfo,
&errCode);
long t2 = (long)GetTickCount64();
printf("%s: %d(ms)!\n", _scan_file, (int)(t2 - t1));
//输出测试结果
sprintf_s(_scan_file, "%sresult\\%d_result.txt", dataPath[grp], fidx);
_outputRGBDScan_RGBD(_scan_file, scanLines, bagThreadInfo);
sprintf_s(_scan_file, "%sresult\\%d_screw_info.txt", dataPath[grp], fidx);
_outputChanneltInfo(_scan_file, bagThreadInfo);
}
}
#endif
}
// 运行程序: Ctrl + F5 或调试 >“开始执行(不调试)”菜单
// 调试程序: F5 或调试 >“开始调试”菜单
// 入门使用技巧:
// 1. 使用解决方案资源管理器窗口添加/管理文件
// 2. 使用团队资源管理器窗口连接到源代码管理
// 3. 使用输出窗口查看生成输出和其他消息
// 4. 使用错误列表窗口查看错误
// 5. 转到“项目”>“添加新项”以创建新的代码文件，或转到“项目”>“添加现有项”以将现有代码文件添加到项目
// 6. 将来，若要再次打开此项目，请转到“文件”>“打开”>“项目”并选择 .sln 文件

30
sourceCode/SG_baseAlgo_Export.h
View File

@ -150,6 +150,30 @@ SG_APISHARED_EXPORT void wd_getRingArcFeature(
std::vector<SWD_segFeature>& line_ringArcs //环
);
/// <summary>
/// 提取激光线上的拐点特征。是在PSM， LVTypeFeature, BQ等拐点算法的基础上的版本。
/// nPointIdx被重新定义成Feature类型
/// 算法流程：
/// （1）逐点计算前向角和后向角
/// （2）逐点计算拐角，顺时针为负，逆时针为正
/// （3）搜索正拐角的极大值。
/// （4）判断拐角是否为跳变
/// </summary>
SG_APISHARED_EXPORT void wd_getLineCorerFeature(
std::vector< SVzNL3DPosition>& lineData,
int lineIdx,
const SSG_cornerParam cornerPara,
std::vector<SSG_basicFeature1D>& line_cornerFeatures //拐点
);
//提取凸起段
SG_APISHARED_EXPORT void wd_getLineRaisedFeature(
std::vector< SVzNL3DPosition>& lineData,
int lineIdx,
SSG_raisedFeatureParam raisedFeaturePara, //凸起参数
std::vector<SWD_segFeature>& line_raisedFeatures //凸起
);
//直线特征提取：对split-and-merge法作了简化，以起点终点直线代替拟合直线
SG_APISHARED_EXPORT void wd_surfaceLineSegment(
std::vector< SVzNL3DPosition>& lineData,
@ -244,6 +268,12 @@ SG_APISHARED_EXPORT void sg_lineFeaturesGrowing(
std::vector<SSG_featureTree>& trees,
SSG_treeGrowParam growParam);
//corner特征生长
SG_APISHARED_EXPORT void sg_cornerFeaturesGrowing(
std::vector<std::vector<SSG_basicFeature1D>>& cornerFeatures,
std::vector<SSG_featureTree>& trees,
SSG_treeGrowParam growParam);
//gap特征生长
SG_APISHARED_EXPORT void sg_lineGapsGrowing(
int lineIdx,

7
sourceCode/SG_baseDataType.h
View File

@ -175,6 +175,13 @@ typedef struct
double maxDist; //计算方向角的窗口比例尺
}SSG_lineSegParam;
typedef struct
{
double minJumpZ; //z方向跳变门限
double minK; //跳变的最小斜率
SVzNLRangeD widthRange; //z方向连续段门限。大于此门限，为不连续
}SSG_raisedFeatureParam;
typedef struct
{
double scale_angle; //计算方向角的窗口比例尺

1
sourceCode/SG_errCode.h
View File

@ -7,6 +7,7 @@
#define SG_ERR_LABEL_INFO_ERROR -1004
#define SG_ERR_INVLD_SORTING_MODE -1005
#define SG_ERR_INVLD_Q_SCALE -1006
#define SG_ERR_ZERO_OBJECTS -1007
//BQ_workpiece
#define SX_ERR_INVLD_VTREE_NUM -2001

81
sourceCode/SG_featureGrow.cpp
View File

@ -668,19 +668,38 @@ void wd_getSegFeatureGrowingTrees(
if (TREE_STATE_ALIVE == feature_trees[m].treeState)
{
int line_diff = abs(lineIdx - feature_trees[m].treeNodes.back().lineIdx);
if (((growParam.maxLineSkipNum > 0) && (line_diff > growParam.maxLineSkipNum)) ||
(i == i_max - 1))
if (line_diff > 0)
{
feature_trees[m].treeState = TREE_STATE_DEAD;
SWD_segFeature* first_node = &(feature_trees[m].treeNodes[0]);
SWD_segFeature* last_node = &(feature_trees[m].treeNodes[feature_trees[m].treeNodes.size() - 1]);
double len = (abs(first_node->startPt.x - last_node->startPt.x) + abs(first_node->endPt.x - last_node->endPt.x))/2;
if (len <= growParam.minLTypeTreeLen)
feature_trees.erase(feature_trees.begin() + m);
double len = (abs(first_node->startPt.x - last_node->startPt.x) + abs(first_node->endPt.x - last_node->endPt.x)) / 2;
int tree_lines = feature_trees[m].eLineIdx - feature_trees[m].sLineIdx;
if (tree_lines > 0)
{
double mean_stepping = len / tree_lines;
double x_skip = mean_stepping * line_diff;
if (((growParam.maxLineSkipNum > 0) && (line_diff > growParam.maxLineSkipNum)) ||
((growParam.maxLineSkipNum <= 0) && (x_skip > growParam.maxSkipDistance)) ||
(i == i_max - 1))
{
feature_trees[m].treeState = TREE_STATE_DEAD;
if (len <= growParam.minLTypeTreeLen)
feature_trees.erase(feature_trees.begin() + m);
}
}
}
}
}
}
//将node为1的tree去除。生长时可能无法去除node数量为1的tree
int m_max = (int)feature_trees.size();
for (int m = m_max - 1; m >= 0; m--) //从后往前，这样删除不会影响循环
{
int tree_lines = feature_trees[m].eLineIdx - feature_trees[m].sLineIdx;
if (tree_lines == 0)
feature_trees.erase(feature_trees.begin() + m);
}
}
void sg_lineFeaturesGrowing(
@ -720,18 +739,56 @@ void sg_lineFeaturesGrowing(
if (TREE_STATE_ALIVE == trees[m].treeState)
{
int line_diff = abs(lineIdx - trees[m].treeNodes.back().jumpPos2D.x);
if (((growParam.maxLineSkipNum > 0) && (line_diff > growParam.maxLineSkipNum)) ||
(true == isLastLine))
if(line_diff > 0 )
{
trees[m].treeState = TREE_STATE_DEAD;
bool isValid = _invalidateVSlopeTrees(trees[m], growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
if (false == isValid)
trees.erase(trees.begin() + m);
int tree_lines = trees[m].eLineIdx - trees[m].sLineIdx;
if (tree_lines > 0)
{
double total_stepping = abs(trees[m].treeNodes[0].jumpPos.x - trees[m].treeNodes.back().jumpPos.x);
double mean_stepping = total_stepping / tree_lines;
double x_skip = line_diff * mean_stepping;
if (((growParam.maxLineSkipNum > 0) && (line_diff > growParam.maxLineSkipNum)) ||
((growParam.maxLineSkipNum <= 0) && (x_skip > growParam.maxSkipDistance)) ||
(true == isLastLine))
{
trees[m].treeState = TREE_STATE_DEAD;
bool isValid = _invalidateVSlopeTrees(trees[m], growParam.minLTypeTreeLen, growParam.minVTypeTreeLen);
if (false == isValid)
trees.erase(trees.begin() + m);
}
}
}
}
}
}
//corner特征生长
void sg_cornerFeaturesGrowing(
std::vector<std::vector<SSG_basicFeature1D>>& cornerFeatures,
std::vector<SSG_featureTree>& trees,
SSG_treeGrowParam growParam)
{
for (int i = 0, i_max = (int)cornerFeatures.size(); i < i_max; i++)
{
std::vector<SSG_basicFeature1D>& a_lineFeatures = cornerFeatures[i];
bool isLastLine = (i == (i_max - 1)) ? true : false;
sg_lineFeaturesGrowing(
i,
isLastLine,
a_lineFeatures,
trees,
growParam);
}
//将node为1的tree去除。生长时可能无法去除node数量为1的tree
int m_max = (int)trees.size();
for (int m = m_max - 1; m >= 0; m--) //从后往前，这样删除不会影响循环
{
int tree_lines = trees[m].eLineIdx - trees[m].sLineIdx;
if(tree_lines == 0)
trees.erase(trees.begin() + m);
}
}
//将feature在trees上寻找合适的生长点进行生长。如果没有合适的生长点， 返回false
//没有使用全匹配。一个feature一旦被匹配上，匹配就完成。没有使用最佳匹配。
bool _gapGrowing(

443
sourceCode/SG_lineFeature.cpp
View File

@ -3700,6 +3700,449 @@ void wd_getRingArcFeature(
return;
}
//提取corner极值（较早实现函数可以使用此函数进行代码优化）
void _searchCornerPeaks(
std::vector< SSG_pntDirAngle>& corners,
std::vector< SVzNL3DPosition>& vldPts,
const SSG_cornerParam cornerPara,
double cornerMergeScale,
std::vector< SSG_pntDirAngle>& cornerPeakP,
std::vector< SSG_pntDirAngle>& cornerPeakM
)
{
int cornerSize = (int)corners.size();
std::vector< SSG_pntDirAngle> cornerPk_P;
std::vector< SSG_pntDirAngle> cornerPk_M;
//搜索拐角极值
int _state = 0;
int pre_i = -1;
int sEdgePtIdx = -1;
int eEdgePtIdx = -1;
SSG_pntDirAngle* pre_data = NULL;
for (int i = 0, i_max = cornerSize; i < i_max; i++)
{
if (i == 275)
int kkk = 1;
SSG_pntDirAngle* curr_data = &corners[i];
if (curr_data->pntIdx < 0)
{
if (i == i_max - 1) //最后一个
{
if (1 == _state) //上升
{
cornerPk_P.push_back(corners[eEdgePtIdx]);
}
else if (2 == _state) //下降
{
cornerPk_M.push_back(corners[eEdgePtIdx]);
}
}
continue;
}
if (NULL == pre_data)
{
sEdgePtIdx = i;
eEdgePtIdx = i;
pre_data = curr_data;
pre_i = i;
continue;
}
eEdgePtIdx = i;
double cornerDiff = curr_data->corner - pre_data->corner;
switch (_state)
{
case 0: //初态
if (cornerDiff < 0) //下降
{
_state = 2;
}
else if (cornerDiff > 0) //上升
{
_state = 1;
}
break;
case 1: //上升
if (cornerDiff < 0) //下降
{
if (pre_data->corner > 0)
cornerPk_P.push_back(*pre_data);
_state = 2;
}
break;
case 2: //下降
if (cornerDiff > 0) // 上升
{
if (pre_data->corner < 0)
cornerPk_M.push_back(*pre_data);
_state = 1;
}
break;
default:
_state = 0;
break;
}
pre_data = curr_data;
pre_i = i;
}
//注意：最后一个不处理，为基座位置
//极小值点（峰顶）
//极值比较，在尺度窗口下寻找局部极值点
double square_distTh = cornerMergeScale * cornerMergeScale; //2倍的cornerScale。
for (int i = 0, i_max = (int)cornerPk_P.size(); i < i_max; i++)
{
if (cornerPk_P[i].corner < cornerPara.cornerTh)
continue;
bool isPeak = true;
//向前搜索
int cornerPtIdx = cornerPk_P[i].pntIdx;
for (int j = i - 1; j >= 0; j--)
{
int prePtIdx = cornerPk_P[j].pntIdx;
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[prePtIdx].pt3D.y, 2); // + pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2) ;
if (dist > square_distTh) //超出尺度窗口
break;
if (cornerPk_P[i].corner < cornerPk_P[j].corner)
{
isPeak = false;
break;
}
}
//向后搜索
if (true == isPeak)
{
cornerPtIdx = cornerPk_P[i].pntIdx;
for (int j = i + 1; j < i_max; j++)
{
int postPtIdx = cornerPk_P[j].pntIdx;
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[postPtIdx].pt3D.y, 2); // +pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2);
if (dist > square_distTh) //超出尺度窗口
break;
if (cornerPk_P[i].corner < cornerPk_P[j].corner)
{
isPeak = false;
break;
}
}
}
if (true == isPeak)
cornerPeakP.push_back(cornerPk_P[i]);
}
for (int i = 0, i_max = (int)cornerPk_M.size(); i < i_max; i++)
{
if (abs(cornerPk_M[i].corner) < cornerPara.cornerTh)
continue;
bool isPeak = true;
//向前搜索
int cornerPtIdx = cornerPk_M[i].pntIdx;
for (int j = i - 1; j >= 0; j--)
{
int prePtIdx = cornerPk_M[j].pntIdx;
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[prePtIdx].pt3D.y, 2); // + pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2) ;
if (dist > square_distTh) //超出尺度窗口
break;
if (abs(cornerPk_M[i].corner) < abs(cornerPk_M[j].corner))
{
isPeak = false;
break;
}
}
//向后搜索
if (true == isPeak)
{
cornerPtIdx = cornerPk_M[i].pntIdx;
for (int j = i + 1; j < i_max; j++)
{
int postPtIdx = cornerPk_M[j].pntIdx;
double dist = pow(vldPts[cornerPtIdx].pt3D.y - vldPts[postPtIdx].pt3D.y, 2); // +pow(pkTop[i].pt3D.x - pkTop[j].pt3D.x, 2);
if (dist > square_distTh) //超出尺度窗口
break;
if (abs(cornerPk_M[i].corner) < abs(cornerPk_M[j].corner))
{
isPeak = false;
break;
}
}
}
if (true == isPeak)
cornerPeakM.push_back(cornerPk_M[i]);
}
}
/// <summary>
/// 提取激光线上的拐点特征。是在PSM， LVTypeFeature, BQ等拐点算法的基础上的版本。
/// nPointIdx被重新定义成Feature类型
/// 算法流程：
/// （1）逐点计算前向角和后向角
/// （2）逐点计算拐角，顺时针为负，逆时针为正
/// （3）搜索正拐角的极大值。
/// （4）判断拐角是否为跳变
/// </summary>
void wd_getLineCorerFeature(
std::vector< SVzNL3DPosition>& lineData,
int lineIdx,
const SSG_cornerParam cornerPara,
std::vector<SSG_basicFeature1D>& line_cornerFeatures //拐点特征
)
{
int dataSize = (int)lineData.size();
//去除零点
std::vector< SVzNL3DPosition> vldPts;
//std::vector< int> vldPtSegIdx;
std::vector<SSG_RUN_EX> segs;
std::vector<int> backIndexing;
backIndexing.resize(dataSize);
int runIdx = 1;
SSG_RUN_EX a_run = { 0, -1, 0, false, false }; //startIdx, len, lastIdx
double pre_z = 0;
double pre_y = 0;
for (int i = 0; i < dataSize; i++)
{
if (i == 1850)
int kkk = 1;
lineData[i].nPointIdx = i; //重新编序号
if (lineData[i].pt3D.z > 1e-4)
{
int bIdx = (int)vldPts.size();
backIndexing[i] = bIdx;
vldPts.push_back(lineData[i]);
if (a_run.len < 0)
{
a_run.start_zRising = true;
a_run.start = bIdx;
a_run.len = 1;
a_run.end_zRising = true;
a_run.value = i;
}
else
{
double z_diff = abs(lineData[i].pt3D.z - pre_z);
if (z_diff < cornerPara.minEndingGap_z)
{
a_run.len = bIdx - a_run.start + 1;
a_run.value = i;
}
else
{
bool next_zRising;
if (pre_z > lineData[i].pt3D.z)
{
a_run.end_zRising = true;
next_zRising = false;
}
else
{
a_run.end_zRising = false;
next_zRising = true;
}
a_run.value = runIdx;
runIdx++;
segs.push_back(a_run);
a_run.start = bIdx;
a_run.start_zRising = next_zRising;
a_run.len = 1;
a_run.value = i;
a_run.end_zRising = true;
}
}
//vldPtSegIdx.push_back(runIdx);
pre_z = lineData[i].pt3D.z;
}
}
if (a_run.len > 0)
segs.push_back(a_run);
#if 0
//将点置标志
for (int i = 0, i_max = (int)segs.size(); i < i_max; i++)
{
int idx1 = segs[i].start;
int idx2 = segs[i].start + segs[i].len - 1;
lineData[idx1].nPointIdx |= 0x100000;
lineData[idx2].nPointIdx |= 0x200000;
}
#endif
//计算前向角和后向角
std::vector< SSG_pntDirAngle> corners;
corners.resize(vldPts.size());
//逐段进行
int segSize = (int)segs.size();
for (int segIdx = 0; segIdx < segSize; segIdx++)
{
int vPtIdxStart = segs[segIdx].start;
int vPtIdxEnd = vPtIdxStart + segs[segIdx].len - 1;
for (int i = vPtIdxStart; i <= vPtIdxEnd; i++)
{
if (i == 1587)
int kkk = 1;
//前向寻找
int pre_i = -1;
for (int j = i - 1; j >= vPtIdxStart; j--)
{
double dist = sqrt(pow(vldPts[i].pt3D.y - vldPts[j].pt3D.y, 2) +
pow(vldPts[i].pt3D.z - vldPts[j].pt3D.z, 2));
if (dist >= cornerPara.scale)
{
pre_i = j;
break;
}
}
//后向寻找
int post_i = -1;
for (int j = i + 1; j <= vPtIdxEnd; j++)
{
double dist = sqrt(pow(vldPts[i].pt3D.y - vldPts[j].pt3D.y, 2) +
pow(vldPts[i].pt3D.z - vldPts[j].pt3D.z, 2));
if (dist >= cornerPara.scale)
{
post_i = j;
break;
}
}
//计算拐角
if ((pre_i < 0) || (post_i < 0))
{
corners[i].pntIdx = -1;
corners[i].forwardAngle = 0;
corners[i].backwardAngle = 0;
corners[i].corner = 0;
corners[i].forwardDiffZ = 0;
corners[i].backwardDiffZ = 0;
}
else
{
double tanValue_pre = (vldPts[i].pt3D.z - vldPts[pre_i].pt3D.z) / abs(vldPts[i].pt3D.y - vldPts[pre_i].pt3D.y);
double tanValue_post = (vldPts[post_i].pt3D.z - vldPts[i].pt3D.z) / abs(vldPts[post_i].pt3D.y - vldPts[i].pt3D.y);
double forwardAngle = atan(tanValue_post) * 180.0 / PI;
double backwardAngle = atan(tanValue_pre) * 180.0 / PI;
corners[i].pntIdx = i;
corners[i].forwardAngle = forwardAngle;
corners[i].backwardAngle = backwardAngle;
corners[i].corner = -(forwardAngle - backwardAngle); //图像坐标系与正常坐标系y方向相反，所以有“-”号
corners[i].forwardDiffZ = vldPts[post_i].pt3D.z - vldPts[i].pt3D.z;
corners[i].backwardDiffZ = vldPts[i].pt3D.z - vldPts[pre_i].pt3D.z;
}
}
}
std::vector< SSG_pntDirAngle> cornerPeakP;
std::vector< SSG_pntDirAngle> cornerPeakM;
double cornerMergeScale = cornerPara.scale * 2;
//提取corner极值
_searchCornerPeaks(
corners,
vldPts,
cornerPara,
cornerMergeScale,
cornerPeakP,
cornerPeakM
);
for (int i = 0, i_max = (int)cornerPeakP.size(); i < i_max; i++)
{
SSG_basicFeature1D a_feature;
if ((abs(cornerPeakP[i].backwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].forwardAngle) > cornerPara.jumpCornerTh_2))
a_feature.featureType = LINE_FEATURE_L_JUMP_L2H;
else if ((abs(cornerPeakP[i].forwardAngle) < cornerPara.jumpCornerTh_1) && (abs(cornerPeakP[i].backwardAngle) > cornerPara.jumpCornerTh_2))
a_feature.featureType = LINE_FEATURE_L_JUMP_H2L;
else
a_feature.featureType = LINE_FEATURE_CORNER_V;
int cornerPtIdx = cornerPeakP[i].pntIdx;
a_feature.jumpPos = vldPts[cornerPtIdx].pt3D;
a_feature.jumpPos2D = { lineIdx, vldPts[cornerPtIdx].nPointIdx };
line_cornerFeatures.push_back(a_feature);
}
return;
}
//提取凸起段
void wd_getLineRaisedFeature(
std::vector< SVzNL3DPosition>& lineData,
int lineIdx,
SSG_raisedFeatureParam raisedFeaturePara, //凸起参数
std::vector<SWD_segFeature>& line_raisedFeatures //凸起
)
{
int dataSize = (int)lineData.size();
int runIdx = 1;
SSG_RUN_EX a_run = { 0, -1, 0, false, false }; //startIdx, len, lastIdx
double pre_z = -1;
double pre_y = 0;
for (int i = 0; i < dataSize; i++)
{
if (i == 1733)
int kkk = 1;
lineData[i].nPointIdx = i; //重新编序号
if (lineData[i].pt3D.z > 1e-4)
{
if(pre_z > 0)
{
double z_diff = abs(lineData[i].pt3D.z - pre_z);
double y_diff = abs(lineData[i].pt3D.y - pre_y);
double k = z_diff / y_diff;
if ( (z_diff > raisedFeaturePara.minJumpZ) && (k > raisedFeaturePara.minK)
&& (lineData[i].pt3D.z < pre_z))
{
a_run.start = i;
a_run.start_zRising = true;
a_run.len = 1;
a_run.value = i;
a_run.end_zRising = false;
}
else if ((z_diff > raisedFeaturePara.minJumpZ) && (k > raisedFeaturePara.minK)
&& (lineData[i].pt3D.z > pre_z))
{
if (a_run.len > 0)
{
a_run.end_zRising = true;
int sIdx = a_run.start;
int eIdx = a_run.start + a_run.len - 1;
double width = abs(lineData[sIdx].pt3D.y - lineData[eIdx].pt3D.y);
if ((width >= raisedFeaturePara.widthRange.min) &&
(width <= raisedFeaturePara.widthRange.max))
{
SWD_segFeature a_raisedFeature;
memset(&a_raisedFeature, 0, sizeof(SWD_segFeature));
a_raisedFeature.lineIdx = lineIdx;
a_raisedFeature.startPtIdx = sIdx;
a_raisedFeature.endPtIdx = eIdx;
a_raisedFeature.startPt = lineData[sIdx].pt3D;
a_raisedFeature.endPt = lineData[eIdx].pt3D;
a_raisedFeature.featureValue = width;
line_raisedFeatures.push_back(a_raisedFeature);
}
}
a_run = { 0, -1, 0, false, false }; //startIdx, len, lastIdx
}
else
{
a_run.len = i - a_run.start + 1;
a_run.value = i;
}
}
//vldPtSegIdx.push_back(runIdx);
pre_y = lineData[i].pt3D.y;
pre_z = lineData[i].pt3D.z;
}
}
}
//使用端点直线，检查点到直线的距离，大于门限的分割
void split(
SSG_RUN a_run,

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#include <vector>
#include "SG_baseDataType.h"
#include "SG_baseAlgo_Export.h"
#include "bagThreadPositioning_Export.h"
#include <opencv2/opencv.hpp>
#include <limits>
//version 1.0.0 : base version release to customer
std::string m_strVersion = "1.0.0";
const char* wd_bagThreadPositioningVersion(void)
{
return m_strVersion.c_str();
}
#if 1
//线头位置检测定位
void wd_bagThreadPositioning(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
const SSG_outlierFilterParam filterParam, //噪点过滤参数
const SSG_cornerParam cornerPara, //V型特征参数
const SSG_raisedFeatureParam raisedFeaturePara,//线尾凸起参数
const SSG_treeGrowParam growParam, //特征生长参数
std::vector<SSX_bagThreadInfo>& bagThreadInfo,
int* errCode)
{
*errCode = 0;
int lineNum = (int)scanLines.size();
if (lineNum == 0)
{
*errCode = SG_ERR_3D_DATA_NULL;
return;
}
int linePtNum = (int)scanLines[0].size();
//判断数据格式是否为grid。算法只能处理grid数据格式
bool isGridData = true;
for (int line = 0; line < lineNum; line++)
{
if (linePtNum != (int)scanLines[line].size())
{
isGridData = false;
break;
}
}
if (false == isGridData)//数据不是网格格式
{
*errCode = SG_ERR_NOT_GRID_FORMAT;
return;
}
//生成水平扫描数据
std::vector< std::vector<SVzNL3DPosition>> data_lines_h; //水平扫描数据
data_lines_h.resize(linePtNum);
for (int i = 0; i < linePtNum; i++)
data_lines_h[i].resize(lineNum);
for (int line = 0; line < lineNum; line++)
{
for (int j = 0; j < linePtNum; j++)
{
//scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
data_lines_h[j][line] = scanLines[line][j];
data_lines_h[j][line].pt3D.x = scanLines[line][j].pt3D.y;
data_lines_h[j][line].pt3D.y = scanLines[line][j].pt3D.x;
}
}
int lineNum_h = linePtNum;
int linePtNum_h = (int)data_lines_h[0].size();
for (int line = 0; line< lineNum_h; line++)
{
for (int j = 0, j_max = (int)data_lines_h[line].size(); j < j_max; j++)
data_lines_h[line][j].nPointIdx = j;
}
std::vector<std::vector<SSG_basicFeature1D>> cornerFeatures;
std::vector<std::vector<SWD_segFeature>> raisedFeatures;
if (false == isHorizonScan)
{
//垂直扫描检测V型槽和线尾
for (int line = 0; line < lineNum; line++)
{
if ((line == 577) || (line == 932))
int kkk = 1;
std::vector<SVzNL3DPosition>& lineData = scanLines[line];
//滤波，滤除异常点
sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum, filterParam);
//提取V型槽
std::vector<SSG_basicFeature1D> line_cornerFeatures;
int dataSize = (int)lineData.size();
wd_getLineCorerFeature(
lineData,
line,
cornerPara,
line_cornerFeatures //拐点
);
cornerFeatures.push_back(line_cornerFeatures);
//提取凸起段
std::vector<SWD_segFeature> line_raisedFeatures;
wd_getLineRaisedFeature(
lineData,
line,
raisedFeaturePara, //凸起参数
line_raisedFeatures //凸起
);
raisedFeatures.push_back(line_raisedFeatures);
}
#if 0
//水平扫描检测袋子边
std::vector<std::vector<SSG_basicFeature1D>> jumpdFeatures;
#endif
}
else
{
//水平扫描检测V型槽和线尾
for (int line = 0; line < lineNum_h; line++)
{
if (line == 329)
int kkk = 1;
std::vector<SVzNL3DPosition>& lineData = data_lines_h[line];
//滤波，滤除异常点
sg_lineDataRemoveOutlier_changeOriginData(&lineData[0], linePtNum_h, filterParam);
//提取V型槽
std::vector<SSG_basicFeature1D> line_cornerFeatures;
int dataSize = (int)lineData.size();
wd_getLineCorerFeature(
lineData,
line,
cornerPara,
line_cornerFeatures //拐点
);
cornerFeatures.push_back(line_cornerFeatures);
//提取凸起段
std::vector<SWD_segFeature> line_raisedFeatures;
wd_getLineRaisedFeature(
lineData,
line,
raisedFeaturePara, //凸起参数
line_raisedFeatures //凸起
);
raisedFeatures.push_back(line_raisedFeatures);
}
//垂直扫描检测袋子边
}
//特征生长
std::vector< SSG_featureTree> cornerGrowTrees;
sg_cornerFeaturesGrowing(
cornerFeatures,
cornerGrowTrees,
growParam);
std::vector<SWD_segFeatureTree> raisedFeatureGrowTrees;
wd_getSegFeatureGrowingTrees(
raisedFeatures,
raisedFeatureGrowTrees,
growParam);
if (cornerGrowTrees.size() == 0)
{
*errCode = SG_ERR_ZERO_OBJECTS;
return;
}
int cornerTreeNum = (int)cornerGrowTrees.size();
int raisedTreeNum = (int)raisedFeatureGrowTrees.size();
//显示
//将原始数据的序列清0，转义使用
for (int line = 0; line < lineNum; line++)
for (int j = 0; j < linePtNum; j++)
scanLines[line][j].nPointIdx = 0; //将原始数据的序列清0（会转义使用）
//置标志，用于debug
for (int i = 0; i < cornerTreeNum; i++)
{
int nodeNum = (int)cornerGrowTrees[i].treeNodes.size();
for (int j = 0; j < nodeNum; j++)
{
int lineIdx, ptIdx;
if (false == isHorizonScan)
{
lineIdx = cornerGrowTrees[i].treeNodes[j].jumpPos2D.x;
ptIdx = cornerGrowTrees[i].treeNodes[j].jumpPos2D.y;
}
else
{
lineIdx = cornerGrowTrees[i].treeNodes[j].jumpPos2D.y;
ptIdx = cornerGrowTrees[i].treeNodes[j].jumpPos2D.x;
}
scanLines[lineIdx][ptIdx].nPointIdx = 1;
}
}
for (int i = 0; i < raisedTreeNum; i++)
{
int nodeNum = (int)raisedFeatureGrowTrees[i].treeNodes.size();
for (int j = 0; j < nodeNum; j++)
{
int lineIdx, ptIdx;
if (false == isHorizonScan)
{
lineIdx = raisedFeatureGrowTrees[i].treeNodes[j].lineIdx;
for (int m = raisedFeatureGrowTrees[i].treeNodes[j].startPtIdx; m <= raisedFeatureGrowTrees[i].treeNodes[j].endPtIdx; m++)
{
ptIdx = m;
scanLines[lineIdx][ptIdx].nPointIdx = 2;
}
}
else
{
ptIdx = raisedFeatureGrowTrees[i].treeNodes[j].lineIdx;
for (int m = raisedFeatureGrowTrees[i].treeNodes[j].startPtIdx; m <= raisedFeatureGrowTrees[i].treeNodes[j].endPtIdx; m++)
{
lineIdx = m;
scanLines[lineIdx][ptIdx].nPointIdx = 2;
}
}
}
}
return;
}
#endif

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#pragma once
#include "SG_algo_Export.h"
#include <vector>
#define _OUTPUT_DEBUG_DATA 1
typedef struct
{
SVzNL3DPoint threadPos; //线头位置
SVzNL3DPoint operatePos; //下刀位置
double rotateAngle; //水平旋转角
}SSX_bagThreadInfo; //线头信息
//读版本号
SG_APISHARED_EXPORT const char* wd_bagThreadPositioningVersion(void);
//线头位置检测定位
SG_APISHARED_EXPORT void wd_bagThreadPositioning(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
const SSG_outlierFilterParam filterParam, //噪点过滤参数
const SSG_cornerParam cornerPara, //V型特征参数
const SSG_raisedFeatureParam raisedFeaturePara,//线尾凸起参数
const SSG_treeGrowParam growParam, //特征生长参数
std::vector<SSX_bagThreadInfo>& bagThreadInfo,
int* errCode);