871 lines
28 KiB
C++
871 lines
28 KiB
C++
#include <vector>
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include "planeLocalization_Export.h"
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#include <opencv2/opencv.hpp>
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#include <limits>
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//version 1.0.0 : base version release to customer
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//version 1.1.0 : 优化了机鼻点提取（迭代），增加了没有飞机的输出
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//version 1.2.0 : 修正了回归测试中发现的问题
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//version 1.3.0 : 修正了取发动机点特征点的一个Bug
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//version 1.3.1 : 改进了取发动机点特征点算法
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std::string m_strVersion = " PlaneLocalization 1.3.1";
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const char* wd_PlaneLocalizationVersion(void)
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{
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return m_strVersion.c_str();
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}
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//使用RANSAC方法云计算地面参数。
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SSG_planeCalibPara wd_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines)
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{
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//设置初始结果
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0 };
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SSG_planeCalibPara groundParam;
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for (int i = 0; i < 9; i++)
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{
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groundParam.planeCalib[i] = initCalib[i];
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groundParam.invRMatrix[i] = initCalib[i];
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}
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groundParam.planeHeight = -1.0;
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std::vector<cv::Point3d> points;
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for (int line = 0; line < (int)scanLines.size(); line++)
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{
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for (int j = 0, j_max = (int)scanLines[line].size(); j < j_max; j++)
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{
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if ( (scanLines[line][j].pt3D.z > 1e-4) && (scanLines[line][j].pt3D.z <200000)) //200米内的数据
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{
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cv::Point3d a_pt = cv::Point3d(scanLines[line][j].pt3D.x, scanLines[line][j].pt3D.y, scanLines[line][j].pt3D.z);
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points.push_back(a_pt);
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}
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}
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}
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double distTh = 1.0;
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std::vector<cv::Point3d> in_inliers;
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Plane groundPlane = ransacFitPlane(points, in_inliers, distTh);
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if (in_inliers.size() < 100)
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{
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return groundParam;
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}
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SVzNL3DPoint vec_1;
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if (groundPlane.B > 0)
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vec_1 = { groundPlane.A, groundPlane.B, groundPlane.C };
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else
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vec_1 = { -groundPlane.A, -groundPlane.B, -groundPlane.C };
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SVzNL3DPoint vec_z = { 0, 1.0, 0.0 };
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groundParam = wd_computeRTMatrix(vec_1, vec_z);
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//计算地面高度
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std::vector<cv::Point3d> groundPoints;
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for (int i = 0; i < (int)in_inliers.size(); i++)
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{
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cv::Point3d rPt;
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rPt.x = in_inliers[i].x * groundParam.planeCalib[0] + in_inliers[i].y * groundParam.planeCalib[1] + in_inliers[i].z * groundParam.planeCalib[2];
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rPt.y = in_inliers[i].x * groundParam.planeCalib[3] + in_inliers[i].y * groundParam.planeCalib[4] + in_inliers[i].z * groundParam.planeCalib[5];
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rPt.z = in_inliers[i].x * groundParam.planeCalib[6] + in_inliers[i].y * groundParam.planeCalib[7] + in_inliers[i].z * groundParam.planeCalib[8];
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groundPoints.push_back(rPt);
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}
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double groundY = 0;
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for (int i = 0; i < (int)groundPoints.size(); i++)
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groundY += groundPoints[i].y;
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groundY = groundY / (int)groundPoints.size();
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groundParam.planeHeight = groundY;
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return groundParam;
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}
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int _checkAdjacency(
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std::vector< SVzNL3DPosition>& cluster_1,
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const int cluster1_idx, const int cluster2_idx,
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std::vector<std::vector<int>>& clusterMask)
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{
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int lineNum = (int)clusterMask.size();
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int linePtNum = (int)clusterMask[0].size();
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int cluster1_size = (int)cluster_1.size();
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int adjacentNum = 0;
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for (int i = 0; i < cluster1_size; i++)
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{
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SVzNL3DPosition& a_pt = cluster_1[i];
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//检查相邻
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int lineIdx = a_pt.nPointIdx >> 16;
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int ptIdx = a_pt.nPointIdx & 0xFFFF;
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if (clusterMask[lineIdx][ptIdx] != cluster1_idx)
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continue;
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int leftCol = lineIdx - 1;
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int rightCol = lineIdx + 1;
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int topRow = ptIdx - 1;
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int btmRow = ptIdx + 1;
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if ((leftCol < 0) || (rightCol >= lineNum) || (topRow < 0) || (btmRow >= linePtNum))
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continue;
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if (clusterMask[leftCol][ptIdx] == cluster2_idx)
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adjacentNum++;
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if (clusterMask[rightCol][ptIdx] == cluster2_idx)
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adjacentNum++;
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if (clusterMask[lineIdx][topRow] == cluster2_idx)
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adjacentNum++;
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if (clusterMask[lineIdx][btmRow] == cluster2_idx)
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adjacentNum++;
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}
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return adjacentNum;
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}
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void _searchSuperCluster(
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std::vector<int>& a_superCluster,
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std::vector<std::vector<int>>& adjacencyScoreTable,
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std::vector<int>& clusterFlags,
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std::vector<SVzNL3DRangeD>& clusterROIs,
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const int adjacencyScoreTh,
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const double adjacencyZDistTh)
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{
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int clusterNum = adjacencyScoreTable.size();
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int searchIdx = 0;
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int seedIdx = a_superCluster[0];
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clusterFlags[seedIdx] = 1;
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while (searchIdx < a_superCluster.size())
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{
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int clusterIdx = a_superCluster[searchIdx];
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SVzNL3DRangeD& seedROI = clusterROIs[clusterIdx];
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for (int i = 0; i < clusterNum; i++)
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{
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if ((clusterFlags[i] > 0) || (i == seedIdx))
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continue;
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int score = adjacencyScoreTable[clusterIdx][i];
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if (score > adjacencyScoreTh)
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{
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a_superCluster.push_back(i);
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clusterFlags[i] = 1;
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}
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else //if (score > 0)
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{
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//计算距离:使用Z距离
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SVzNL3DRangeD& chkROI = clusterROIs[i];
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double zDist;
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if (seedROI.zRange.min > chkROI.zRange.max)
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zDist = seedROI.zRange.min - chkROI.zRange.max;
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else if (chkROI.zRange.min > seedROI.zRange.max)
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zDist = chkROI.zRange.min - seedROI.zRange.max;
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else
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zDist = 0; //重叠
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if (zDist < adjacencyZDistTh)
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{
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a_superCluster.push_back(i);
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clusterFlags[i] = 1;
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}
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}
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}
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searchIdx++;
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}
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}
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void _updateRoi3D(SVzNL3DRangeD& roi, SVzNL3DPoint& a_pt)
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{
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if (a_pt.z > 1E-4)
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{
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if (roi.zRange.max < 0)
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{
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roi.xRange.min = a_pt.x;
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roi.xRange.max = a_pt.x;
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roi.yRange.min = a_pt.y;
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roi.yRange.max = a_pt.y;
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roi.zRange.min = a_pt.z;
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roi.zRange.max = a_pt.z;
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}
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else
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{
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if (roi.xRange.min > a_pt.x)
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roi.xRange.min = a_pt.x;
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if (roi.xRange.max < a_pt.x)
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roi.xRange.max = a_pt.x;
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if (roi.yRange.min > a_pt.y)
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roi.yRange.min = a_pt.y;
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if (roi.yRange.max < a_pt.y)
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roi.yRange.max = a_pt.y;
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if (roi.zRange.min > a_pt.z)
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roi.zRange.min = a_pt.z;
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if (roi.zRange.max < a_pt.z)
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roi.zRange.max = a_pt.z;
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}
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}
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return;
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}
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SVzNL3DRangeD _getSupcluster(std::vector<int>& superClusterIndice, std::vector<SVzNL3DRangeD>& objClustersROIs)
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{
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int idx_0 = superClusterIndice[0];
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SVzNL3DRangeD mergeROI = objClustersROIs[idx_0];
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for (int i = 1; i < (int)superClusterIndice.size(); i++)
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{
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int idx = superClusterIndice[i];
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SVzNL3DRangeD& a_roi = objClustersROIs[idx];
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mergeROI.xRange.min = mergeROI.xRange.min > a_roi.xRange.min ? a_roi.xRange.min : mergeROI.xRange.min;
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mergeROI.xRange.max = mergeROI.xRange.max < a_roi.xRange.max ? a_roi.xRange.max : mergeROI.xRange.max;
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mergeROI.yRange.min = mergeROI.yRange.min > a_roi.yRange.min ? a_roi.yRange.min : mergeROI.yRange.min;
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mergeROI.yRange.max = mergeROI.yRange.max < a_roi.yRange.max ? a_roi.yRange.max : mergeROI.yRange.max;
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mergeROI.zRange.min = mergeROI.zRange.min > a_roi.zRange.min ? a_roi.zRange.min : mergeROI.zRange.min;
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mergeROI.zRange.max = mergeROI.zRange.max < a_roi.zRange.max ? a_roi.zRange.max : mergeROI.zRange.max;
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}
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return mergeROI;
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}
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//判断聚类的最近点是否可能是机鼻点。方法：以最近点搜索在距离范围内的点（指向机身），计算机身高度
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bool _checkNosePoint(
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std::vector<SVzNL3DPosition>& a_cluster,
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SVzNL3DPosition& nearestPoint,
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SVzNLRangeD& distChkRange,
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const double bodyHeight)
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{
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nearestPoint.nPointIdx = 0;
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nearestPoint.pt3D = { 0.0, 0.0, 0.0 };
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for (int i = 0; i < (int)a_cluster.size(); i++)
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{
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if (nearestPoint.pt3D.z < 1e-4)
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nearestPoint = a_cluster[i];
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else if (nearestPoint.pt3D.z > a_cluster[i].pt3D.z)
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nearestPoint = a_cluster[i];
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}
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//判断是否是机鼻点
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std::vector<SVzNL3DPoint> chkPoints;
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for (int i = 0; i < (int)a_cluster.size(); i++)
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{
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double dist = sqrt(pow(a_cluster[i].pt3D.x - nearestPoint.pt3D.x, 2) + pow(a_cluster[i].pt3D.z - nearestPoint.pt3D.z, 2));
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if ((dist >= distChkRange.min) && (dist <= distChkRange.max))
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chkPoints.push_back(a_cluster[i].pt3D);
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}
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if (chkPoints.size() < 2)
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return false;
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SVzNLRangeD yRange = { chkPoints[0].y, chkPoints[0].y };
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for (int i = 1; i < (int)chkPoints.size(); i++)
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{
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yRange.min = yRange.min > chkPoints[i].y ? chkPoints[i].y : yRange.min;
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yRange.max = yRange.max < chkPoints[i].y ? chkPoints[i].y : yRange.max;
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}
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double height = yRange.max - yRange.min;
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if (height > bodyHeight)
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return true;
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return false;
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}
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SSX_planeInfo wd_planeLocalization(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara groundCalibParam,
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const SSX_planeParkingParam parkingParam,
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const SSG_treeGrowParam growParam,
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#if _OUTPUT_DEBUG_DATA
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std::vector< std::vector<SVzNL3DPosition>>& debugData,
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#endif
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int* errCode)
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{
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*errCode = 0;
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//内部参数
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double planeMinHeight = 4000; //最小高度4米
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double planeMinWidth = 2500; //最小宽度2.5米
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double nearFarTh = 80000.0; //远近分界
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double groundHOffset = 200; //去除地面参数
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double bodyHeadJudge_lenTh = 20000.0; //机头与机身判断的长度门限。20米
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SVzNLRangeD bodyRangeToNose = { -2000.0, 1000.0 }; //以机鼻高度为基准，定义机身的高度范围
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SVzNLRangeD sameRBodyRange = { 5000.0, 28000.0 }; //机身圆桶段，以距离机鼻距离为基准
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SVzNLRangeD engineToNoseDistRange = { 12000.0, 16000.0 };
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SVzNLRangeD bodyYRange = { groundCalibParam.planeHeight - 4500.0, groundCalibParam.planeHeight - 1500 }; //机身的Y范围
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SVzNLRangeD nearestPointNostChkDistRange = { 3500.0, 4500.0 };
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double minBodyHeight = 2000.0;
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SSX_planeInfo planePoseInfo;
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memset(&planePoseInfo, 0, sizeof(SSX_planeInfo));
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int lineNum = (int)scanLines.size();
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if (lineNum == 0)
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{
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*errCode = SG_ERR_3D_DATA_NULL;
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return planePoseInfo;
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}
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int linePtNum = (int)scanLines[0].size();
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//判断数据格式是否为grid。算法只能处理grid数据格式
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bool isGridData = true;
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for (int line = 0; line < lineNum; line++)
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{
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if (linePtNum != (int)scanLines[line].size())
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{
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isGridData = false;
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break;
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}
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}
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if (false == isGridData)//数据不是网格格式
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{
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*errCode = SG_ERR_NOT_GRID_FORMAT;
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return planePoseInfo;
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}
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//将引导线指向Y轴
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SVzNL3DPoint guideLineVec = { parkingParam.guideLinePoint.x - parkingParam.parkingPoint.x , 0, parkingParam.guideLinePoint.z - parkingParam.parkingPoint.z};
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if (guideLineVec.z < 0)
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guideLineVec = {-guideLineVec.x, -guideLineVec.y, -guideLineVec.z};
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guideLineVec = vec3_normalize(guideLineVec);
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SVzNL3DPoint targetVec = { 0, 0, 1 };
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SSG_planeCalibPara guideLineRotatePara = wd_computeRTMatrix(guideLineVec, targetVec);
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//对正引导线
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SVzNL3DPoint rotateParkingPoint = wd_ptRotate(parkingParam.parkingPoint, guideLineRotatePara.planeCalib);
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SVzNL3DPoint chkPoint = wd_ptRotate(parkingParam.guideLinePoint, guideLineRotatePara.planeCalib);
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//计算目标范围
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SVzNLRangeD ROI_x_near = { rotateParkingPoint.x - parkingParam.parkingRange, rotateParkingPoint.x + parkingParam.parkingRange };
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SVzNLRangeD ROI_x_far = { rotateParkingPoint.x - parkingParam.parkingRange * 3, rotateParkingPoint.x + parkingParam.parkingRange* 3 }; //大于100m外，需要放宽，因为飞机正在进引导线
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SVzNLRangeD ROI_z = { rotateParkingPoint.z - parkingParam.distFromNoseToWheel - 2000.0, rotateParkingPoint.z + parkingParam.guidingRange };
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//旋转， ROI过滤
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std::vector< std::vector<SVzNL3DPosition>> rotateROIData;
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rotateROIData.resize(lineNum);
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for (int line = 0; line < lineNum; line++)
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{
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rotateROIData[line].resize(linePtNum);
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for (int j = 0; j < linePtNum; j++)
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{
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SVzNL3DPosition a_pt;
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a_pt.nPointIdx = 0;
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a_pt.pt3D = wd_ptRotate(scanLines[line][j].pt3D, groundCalibParam.planeCalib);
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if (a_pt.pt3D.y >= (groundCalibParam.planeHeight - groundHOffset))
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a_pt.pt3D = { 0.0, 0.0, 0.0 };
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//再次旋转，将引导线指向Y轴
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a_pt.pt3D = wd_ptRotate(a_pt.pt3D, guideLineRotatePara.planeCalib);
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rotateROIData[line][j] = a_pt;
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}
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}
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std::vector< std::vector<SWD_poloarScan2D>> polarScanData; //扫描数据：扫描水平角、垂直角和距离,
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polarScanData.resize(lineNum);
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std::vector<SVzNL3DPosition> validPoints;
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for (int line = 0; line < lineNum; line++)
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{
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polarScanData[line].resize(rotateROIData[line].size());
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for (int j = 0, j_max = (int)rotateROIData[line].size(); j < j_max; j++)
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{
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if (rotateROIData[line][j].pt3D.z > 1e-4) //去除地面后的数据
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{
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SVzNL3DPosition a_pt;
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a_pt.nPointIdx = (line << 16) | (j & 0xffff);
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a_pt.pt3D = rotateROIData[line][j].pt3D;
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validPoints.push_back(a_pt);
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//计算扫描角度：使用旋转前数据
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a_pt = scanLines[line][j];
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SWD_poloarScan2D a_polarData;
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a_polarData.range_mm = sqrt(pow(a_pt.pt3D.x, 2) + pow(a_pt.pt3D.y, 2) + pow(a_pt.pt3D.z, 2));
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//水平角：
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double yaw_rad = atan2(-a_pt.pt3D.x, a_pt.pt3D.z);
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a_polarData.yaw_deg = yaw_rad * 180 / PI;
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//垂直角：
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double pitch_rad = asin(-a_pt.pt3D.y / a_polarData.range_mm);
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a_polarData.pitch_deg = pitch_rad * 180 / PI;
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polarScanData[line][j] = a_polarData;
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}
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else
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{
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polarScanData[line][j].range_mm = 0;
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polarScanData[line][j].yaw_deg = 0;
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polarScanData[line][j].pitch_deg = 0;
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}
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scanLines[line][j].nPointIdx = 0;
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}
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}
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#if _OUTPUT_DEBUG_DATA
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//输出投影数据
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debugData.clear();
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debugData.resize(scanLines.size());
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for (int line = 0; line < lineNum; line++)
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{
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debugData[line].resize(scanLines[line].size());
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for (int j = 0, j_max = (int)scanLines[line].size(); j < j_max; j++)
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{
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debugData[line][j].nPointIdx = 0;
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debugData[line][j].pt3D = rotateROIData[line][j].pt3D;
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}
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}
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#endif
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||
//聚类
|
||
//使用SVzNL3DPosition的nPointIdx表示2D信息（高16位Line， 低16位ptIdx）
|
||
//搜索时搜索邻域以加速
|
||
int clusterCheckWin = 5;
|
||
double clusterDist = sqrt(pow(growParam.zDeviation_max, 2) + pow(growParam.maxSkipDistance, 2) + pow(growParam.yDeviation_max, 2));
|
||
int distType = 1; //0 - 2d distance; 1- 3d distance
|
||
std::vector<std::vector< SVzNL3DPosition>> allClusters;
|
||
wd_pointClustering_speedUp(
|
||
validPoints,
|
||
lineNum, linePtNum, clusterCheckWin, //搜索窗口
|
||
clusterDist,
|
||
distType, //0 - 2d distance; 1- 3d distance
|
||
allClusters //result
|
||
);
|
||
|
||
//统计cluster的ROI
|
||
std::vector<SVzNL3DRangeD> allClusterROIs;
|
||
allClusterROIs.resize(allClusters.size());
|
||
for (int m = 0; m < (int)allClusters.size(); m++)
|
||
{
|
||
SVzNL3DRangeD a_roi3D;
|
||
memset(&a_roi3D, 0, sizeof(SVzNL3DRangeD));
|
||
a_roi3D.zRange.max = -1;
|
||
for (int i = 0; i < (int)allClusters[m].size(); i++)
|
||
_updateRoi3D(a_roi3D, allClusters[m][i].pt3D);
|
||
allClusterROIs[m] = a_roi3D;
|
||
}
|
||
|
||
//ROI过滤
|
||
std::vector<std::vector< SVzNL3DPosition>> objClusters;
|
||
std::vector<SVzNL3DRangeD> objClustersROIs;
|
||
for (int m = 0; m < (int)allClusters.size(); m++)
|
||
{
|
||
SVzNL3DRangeD& a_roi = allClusterROIs[m];
|
||
double height = groundCalibParam.planeHeight - a_roi.yRange.min;
|
||
if (height >= 2000.00) //2米高度门限， 跳过一般人身高
|
||
{
|
||
if ((a_roi.zRange.min - rotateParkingPoint.z) < nearFarTh)
|
||
{
|
||
if ((a_roi.xRange.min >= ROI_x_near.min) && (a_roi.xRange.max <= ROI_x_near.max) &&
|
||
(a_roi.zRange.min >= ROI_z.min) && (a_roi.zRange.max <= ROI_z.max))
|
||
{
|
||
objClusters.push_back(allClusters[m]);
|
||
objClustersROIs.push_back(a_roi);
|
||
}
|
||
}
|
||
else
|
||
{
|
||
if ((a_roi.xRange.min >= ROI_x_far.min) && (a_roi.xRange.max <= ROI_x_far.max) &&
|
||
(a_roi.zRange.min >= ROI_z.min) && (a_roi.zRange.max <= ROI_z.max))
|
||
{
|
||
objClusters.push_back(allClusters[m]);
|
||
objClustersROIs.push_back(a_roi);
|
||
}
|
||
}
|
||
}
|
||
}
|
||
|
||
//分析聚类之间的关系
|
||
//建立聚类Mask
|
||
int clusterNum = (int)objClusters.size();
|
||
std::vector<std::vector<int>> clusterMask;
|
||
clusterMask.resize(lineNum);
|
||
for (int i = 0; i < lineNum; i++)
|
||
{
|
||
clusterMask[i].resize(linePtNum);
|
||
std::fill(clusterMask[i].begin(), clusterMask[i].end(), -1);
|
||
}
|
||
for (int i = 0; i < clusterNum; i++)
|
||
{
|
||
std::vector< SVzNL3DPosition>& a_cluster = objClusters[i];
|
||
int ptSize = (int)a_cluster.size();
|
||
for (int j = 0; j < ptSize; j++)
|
||
{
|
||
SVzNL3DPosition& a_pt = a_cluster[j];
|
||
int lineIdx = a_pt.nPointIdx >> 16;
|
||
int ptIdx = a_pt.nPointIdx & 0xffff;
|
||
clusterMask[lineIdx][ptIdx] = i;
|
||
}
|
||
}
|
||
//构建聚类的相邻关系表
|
||
std::vector<std::vector<int>> adjacencyScoreTable;
|
||
adjacencyScoreTable.resize(clusterNum);
|
||
for (int i = 0; i < clusterNum; i++)
|
||
adjacencyScoreTable[i].resize(clusterNum);
|
||
|
||
for (int i = 0; i < clusterNum; i++)
|
||
{
|
||
std::vector< SVzNL3DPosition>& cluster_1 = objClusters[i];
|
||
for (int j = i + 1; j < clusterNum; j++)
|
||
{
|
||
int score = _checkAdjacency(cluster_1, i, j, clusterMask);
|
||
adjacencyScoreTable[i][j] = score;
|
||
adjacencyScoreTable[j][i] = score;
|
||
}
|
||
}
|
||
|
||
//二次聚类成超聚类
|
||
int adjacencyScoreTh = 10;
|
||
double adjacencyZDistTh = 18000.0;//18米长
|
||
std::vector<std::vector<int>> superClusers; //超级聚类，使用聚类的ID
|
||
std::vector<int> clusterFlags;
|
||
clusterFlags.resize(objClusters.size());
|
||
std::fill(clusterFlags.begin(), clusterFlags.end(), -1);
|
||
for (int i = 0; i < (int)objClusters.size(); i++)
|
||
{
|
||
if (clusterFlags[i] >= 0)
|
||
continue;
|
||
|
||
std::vector<int> a_superCluster;
|
||
a_superCluster.push_back(i);
|
||
//递归搜索
|
||
_searchSuperCluster(a_superCluster, adjacencyScoreTable, clusterFlags, objClustersROIs, adjacencyScoreTh, adjacencyZDistTh);
|
||
|
||
//计算ROI
|
||
SVzNL3DRangeD superROI = _getSupcluster(a_superCluster, objClustersROIs);
|
||
double h = abs(superROI.yRange.min - groundCalibParam.planeHeight);
|
||
double w = superROI.xRange.max - superROI.xRange.min;
|
||
double len = superROI.zRange.max - superROI.zRange.min;
|
||
|
||
if( (h > planeMinHeight) && (w > planeMinWidth))
|
||
superClusers.push_back(a_superCluster);
|
||
}
|
||
|
||
#if _OUTPUT_DEBUG_DATA
|
||
//标注
|
||
for (int i = 0; i < (int)superClusers.size(); i++)
|
||
{
|
||
std::vector<int>& a_superCluster = superClusers[i];
|
||
int memberSize = (int)a_superCluster.size();
|
||
for (int m = 0; m < memberSize; m++)
|
||
{
|
||
int clusterIdx = a_superCluster[m];
|
||
std::vector< SVzNL3DPosition>& a_cluster = objClusters[clusterIdx];
|
||
int ptSize = (int)a_cluster.size();
|
||
for (int j = 0; j < ptSize; j++)
|
||
{
|
||
SVzNL3DPosition& a_pt = a_cluster[j];
|
||
int lineIdx = a_pt.nPointIdx >> 16;
|
||
int ptIdx = a_pt.nPointIdx & 0xffff;
|
||
debugData[lineIdx][ptIdx].nPointIdx += (i + 1);
|
||
}
|
||
}
|
||
}
|
||
#endif
|
||
|
||
if (superClusers.size() == 0)
|
||
{
|
||
*errCode = SX_ERR_NO_PLANE_FOUND;
|
||
return planePoseInfo;
|
||
}
|
||
|
||
//挑选出点数最多的超聚类作为飞机
|
||
std::vector<int> superCluserPointSizes;
|
||
superCluserPointSizes.resize(superClusers.size());
|
||
for (int i = 0; i < (int)superClusers.size(); i++)
|
||
{
|
||
std::vector<int>& a_superCluster = superClusers[i];
|
||
int superSize = 0;
|
||
int memberSize = (int)a_superCluster.size();
|
||
for (int m = 0; m < memberSize; m++)
|
||
{
|
||
int clusterIdx = a_superCluster[m];
|
||
std::vector< SVzNL3DPosition>& a_cluster = objClusters[clusterIdx];
|
||
superSize += (int)a_cluster.size();
|
||
}
|
||
superCluserPointSizes[i] = superSize;
|
||
}
|
||
|
||
int bestId = 0;
|
||
for (int i = 1; i < (int)superCluserPointSizes.size(); i++)
|
||
{
|
||
if (superCluserPointSizes[bestId] < superCluserPointSizes[i])
|
||
bestId = i;
|
||
}
|
||
|
||
std::vector<int>& planeSuperCluster = superClusers[bestId];
|
||
int planeClusterSize = (int)planeSuperCluster.size();
|
||
//寻找机头位置: ROI最靠前（Z最小）
|
||
int noseClusterId = -1;
|
||
SVzNL3DPosition nosePoint;
|
||
nosePoint.nPointIdx = 0;
|
||
nosePoint.pt3D = { 0.0, 0.0, 0.0 };
|
||
for (int i = 0; i < planeClusterSize; i++)
|
||
{
|
||
int clusterId = planeSuperCluster[i];
|
||
SVzNL3DRangeD& a_roi = objClustersROIs[clusterId];
|
||
if ((a_roi.yRange.min < bodyYRange.min) && (a_roi.yRange.max > bodyYRange.max)) //处于机身的Y范围内
|
||
{
|
||
SVzNL3DPosition nearestPoint;
|
||
bool validNoseCluster = _checkNosePoint(
|
||
objClusters[clusterId],
|
||
nearestPoint,
|
||
nearestPointNostChkDistRange,
|
||
minBodyHeight);
|
||
if (true == validNoseCluster)
|
||
{
|
||
if (noseClusterId < 0)
|
||
{
|
||
noseClusterId = clusterId;
|
||
nosePoint = nearestPoint;
|
||
}
|
||
else if (nosePoint.pt3D.z > nearestPoint.pt3D.z)
|
||
{
|
||
noseClusterId = clusterId;
|
||
nosePoint = nearestPoint;
|
||
}
|
||
}
|
||
}
|
||
}
|
||
if (noseClusterId < 0)
|
||
{
|
||
*errCode = SX_ERR_NOSEPOINT_FAIL;
|
||
return planePoseInfo;
|
||
}
|
||
|
||
//计算姿态
|
||
//判断机鼻所在的长度：以机鼻高度为基准，取高度范围内的点，计算长度
|
||
SVzNLRangeD bodyHRange = { nosePoint.pt3D.y + bodyRangeToNose.min, nosePoint.pt3D.y + bodyRangeToNose.max };
|
||
std::vector<SVzNL3DPosition> bodyData;
|
||
for (int i = 0; i < (int)objClusters[noseClusterId].size(); i++)
|
||
{
|
||
if ((objClusters[noseClusterId][i].pt3D.y >= bodyHRange.min) && (objClusters[noseClusterId][i].pt3D.y <= bodyHRange.max))
|
||
bodyData.push_back(objClusters[noseClusterId][i]);
|
||
}
|
||
//计算到机鼻最长距离
|
||
double maxDistanceToNose = 0;
|
||
std::vector<SVzNL2DPointD> XOZBodayProjectionData;
|
||
std::vector<SVzNL3DPosition> XOZBodayData;
|
||
for (int i = 0; i < (int)bodyData.size(); i++)
|
||
{
|
||
double dist = sqrt(pow(nosePoint.pt3D.x - bodyData[i].pt3D.x, 2) + pow(nosePoint.pt3D.z - bodyData[i].pt3D.z, 2));
|
||
if (maxDistanceToNose < dist)
|
||
maxDistanceToNose = dist;
|
||
|
||
if ((dist >= sameRBodyRange.min) && (dist <= sameRBodyRange.max))
|
||
{
|
||
XOZBodayData.push_back(bodyData[i]);
|
||
|
||
SVzNL2DPointD a_projection = { bodyData[i].pt3D.x, bodyData[i].pt3D.z };
|
||
XOZBodayProjectionData.push_back(a_projection);
|
||
}
|
||
}
|
||
if (maxDistanceToNose > bodyHeadJudge_lenTh) //机身
|
||
{
|
||
//取机身数据，PCA方法计算姿态
|
||
// 二维PCA，求平面内条纹方向
|
||
SVzNL2DPointD axis, centroid;
|
||
pca2D(XOZBodayProjectionData, axis, centroid);
|
||
if (axis.y < 0)
|
||
axis = { -axis.x, -axis.y };
|
||
|
||
//以centrod为基准，计算到centroid最远的点为机鼻点
|
||
double maxDistance = 0;
|
||
SVzNL3DPosition bestPoint;
|
||
for (int m = 0; m < (int)objClusters[noseClusterId].size(); m++)
|
||
{
|
||
if (objClusters[noseClusterId][m].pt3D.z < centroid.y)
|
||
{
|
||
double dist = sqrt(pow(objClusters[noseClusterId][m].pt3D.x - centroid.x, 2) + pow(objClusters[noseClusterId][m].pt3D.z - centroid.y, 2));
|
||
if (maxDistance < dist)
|
||
{
|
||
maxDistance = dist;
|
||
bestPoint = objClusters[noseClusterId][m];
|
||
}
|
||
}
|
||
}
|
||
if(maxDistance > 1e-4) //迭代计算机鼻点
|
||
nosePoint = bestPoint;
|
||
|
||
double dirAngle = atan(axis.x / axis.y) * 180.0 / PI;
|
||
planePoseInfo.nosePoint = nosePoint.pt3D;
|
||
planePoseInfo.axis = { axis.x, 0, axis.y };
|
||
planePoseInfo.axis = vec3_normalize(planePoseInfo.axis);
|
||
planePoseInfo.distance = nosePoint.pt3D.z - rotateParkingPoint.z + parkingParam.distFromNoseToWheel;
|
||
planePoseInfo.deviation = nosePoint.pt3D.x - rotateParkingPoint.x; //偏离引导线
|
||
planePoseInfo.dirAngle_deg = dirAngle; //方向角度
|
||
|
||
#if _OUTPUT_DEBUG_DATA
|
||
{
|
||
int nose_lineIdx = nosePoint.nPointIdx >> 16;
|
||
int nose_ptIdx = nosePoint.nPointIdx & 0xffff;
|
||
debugData[nose_lineIdx][nose_ptIdx].nPointIdx |= 0x10000; //机鼻点
|
||
}
|
||
for(int m = 0; m <(int)XOZBodayData.size(); m ++)
|
||
{
|
||
int nose_lineIdx = XOZBodayData[m].nPointIdx >> 16;
|
||
int nose_ptIdx = XOZBodayData[m].nPointIdx & 0xffff;
|
||
if( (debugData[nose_lineIdx][nose_ptIdx].nPointIdx & 0xffff0000) == 0)
|
||
debugData[nose_lineIdx][nose_ptIdx].nPointIdx |= 0x20000; //机身点
|
||
}
|
||
#endif
|
||
}
|
||
else //机头
|
||
{
|
||
//取左右发动机数据
|
||
std::vector<std::vector<SVzNL3DPosition>> distanceValidData;
|
||
distanceValidData.resize(planeClusterSize);
|
||
for (int idx = 0; idx < planeClusterSize; idx++)
|
||
{
|
||
int clusterIdx = planeSuperCluster[idx];
|
||
if (clusterIdx == noseClusterId)
|
||
continue;
|
||
|
||
for (int i = 0; i < (int)objClusters[clusterIdx].size(); i++)
|
||
{
|
||
if (objClusters[clusterIdx][i].pt3D.z > nosePoint.pt3D.z)
|
||
{
|
||
double dist = sqrt(pow(nosePoint.pt3D.x - objClusters[clusterIdx][i].pt3D.x, 2) + pow(nosePoint.pt3D.z - objClusters[clusterIdx][i].pt3D.z, 2));
|
||
if ((dist >= engineToNoseDistRange.min) && (dist <= engineToNoseDistRange.max))
|
||
distanceValidData[idx].push_back(objClusters[clusterIdx][i]);
|
||
}
|
||
}
|
||
}
|
||
//计算ROI
|
||
std::vector<SVzNLRangeD> dataROIs;
|
||
std::vector<int> validFlags;
|
||
dataROIs.resize(planeClusterSize);
|
||
validFlags.resize(planeClusterSize);
|
||
int validNum = 0;
|
||
for (int idx = 0; idx < planeClusterSize; idx++)
|
||
{
|
||
if (distanceValidData[idx].size() == 0)
|
||
{
|
||
validFlags[idx] = 0;
|
||
dataROIs[idx] = { 0.0, 0.0 };
|
||
}
|
||
else
|
||
{
|
||
validFlags[idx] = 1;
|
||
validNum++;
|
||
SVzNLRangeD xRng = { distanceValidData[idx][0].pt3D.x,distanceValidData[idx][0].pt3D.x };
|
||
for (int i = 1; i < (int)distanceValidData[idx].size(); i++)
|
||
{
|
||
xRng.min = xRng.min > distanceValidData[idx][i].pt3D.x ? distanceValidData[idx][i].pt3D.x : xRng.min;
|
||
xRng.max = xRng.max < distanceValidData[idx][i].pt3D.x ? distanceValidData[idx][i].pt3D.x : xRng.max;
|
||
}
|
||
dataROIs[idx] = xRng;
|
||
}
|
||
}
|
||
if (validNum < 2)
|
||
{
|
||
*errCode = SX_ERR_ENDINE_FAIL;
|
||
return planePoseInfo;
|
||
}
|
||
|
||
//取左右Engine
|
||
int leftEngineIdx = -1;
|
||
int rightEngineIdx = -1;
|
||
for (int idx = 0; idx < planeClusterSize; idx++)
|
||
{
|
||
if (validFlags[idx] == 0)
|
||
continue;
|
||
|
||
if (leftEngineIdx < 0)
|
||
leftEngineIdx = idx;
|
||
else if (dataROIs[leftEngineIdx].min > dataROIs[idx].min)
|
||
leftEngineIdx = idx;
|
||
|
||
if (rightEngineIdx < 0)
|
||
rightEngineIdx = idx;
|
||
else if (dataROIs[rightEngineIdx].max < dataROIs[idx].max)
|
||
rightEngineIdx = idx;
|
||
}
|
||
|
||
if (leftEngineIdx == rightEngineIdx)
|
||
{
|
||
*errCode = SX_ERR_ENDINE_FAIL;
|
||
return planePoseInfo;
|
||
}
|
||
|
||
//取左右点集的最低点，作为左右发动机的参考点
|
||
|
||
|
||
SVzNL3DPosition leftNearestPoint = distanceValidData[leftEngineIdx][0];
|
||
for (int i = 1; i < (int)distanceValidData[leftEngineIdx].size(); i++)
|
||
{
|
||
if (leftNearestPoint.pt3D.z > distanceValidData[leftEngineIdx][i].pt3D.z)
|
||
leftNearestPoint = distanceValidData[leftEngineIdx][i];
|
||
}
|
||
std::vector<SVzNL3DPosition> leftEengineData;
|
||
|
||
for (int i = 0; i < (int)distanceValidData[leftEngineIdx].size(); i++)
|
||
{
|
||
double zDiff = distanceValidData[leftEngineIdx][i].pt3D.z - leftNearestPoint.pt3D.z;
|
||
if (zDiff < 500.0) //0.5米范围内
|
||
leftEengineData.push_back(distanceValidData[leftEngineIdx][i]);
|
||
}
|
||
SVzNL3DPosition leftEnginePoint = leftEengineData[0];
|
||
SVzNL3DPosition leftCentroid = { 0, {0, 0, 0} };
|
||
for (int i = 1; i < (int)leftEengineData.size(); i++)
|
||
{
|
||
if (leftEnginePoint.pt3D.y < leftEengineData[i].pt3D.y)
|
||
leftEnginePoint = leftEengineData[i];
|
||
leftCentroid.pt3D.x += leftEengineData[i].pt3D.x;
|
||
leftCentroid.pt3D.y += leftEengineData[i].pt3D.y;
|
||
leftCentroid.pt3D.z += leftEengineData[i].pt3D.z;
|
||
}
|
||
int leftEngineDataSize = (int)leftEengineData.size();
|
||
leftCentroid.pt3D.x = leftCentroid.pt3D.x / leftEngineDataSize;
|
||
leftCentroid.pt3D.y = leftCentroid.pt3D.y / leftEngineDataSize;
|
||
leftCentroid.pt3D.z = leftCentroid.pt3D.z / leftEngineDataSize;
|
||
|
||
SVzNL3DPosition rightNearestPoint = distanceValidData[rightEngineIdx][0];
|
||
for (int i = 1; i < (int)distanceValidData[rightEngineIdx].size(); i++)
|
||
{
|
||
if (rightNearestPoint.pt3D.z > distanceValidData[rightEngineIdx][i].pt3D.z)
|
||
rightNearestPoint = distanceValidData[rightEngineIdx][i];
|
||
}
|
||
std::vector<SVzNL3DPosition> rightEngineData;
|
||
for (int i = 0; i < (int)distanceValidData[rightEngineIdx].size(); i++)
|
||
{
|
||
double zDiff = distanceValidData[rightEngineIdx][i].pt3D.z - rightNearestPoint.pt3D.z;
|
||
if (zDiff < 500.0) //0.5米范围内
|
||
rightEngineData.push_back(distanceValidData[rightEngineIdx][i]);
|
||
}
|
||
|
||
SVzNL3DPosition rightEnginePoint = rightEngineData[0];
|
||
SVzNL3DPosition rightCentroid = { 0, {0, 0, 0} };
|
||
for (int i = 1; i < (int)rightEngineData.size(); i++)
|
||
{
|
||
if (rightEnginePoint.pt3D.y < rightEngineData[i].pt3D.y)
|
||
rightEnginePoint = rightEngineData[i];
|
||
|
||
rightCentroid.pt3D.x += rightEngineData[i].pt3D.x;
|
||
rightCentroid.pt3D.y += rightEngineData[i].pt3D.y;
|
||
rightCentroid.pt3D.z += rightEngineData[i].pt3D.z;
|
||
}
|
||
int rightEngineDataSize = (int)rightEngineData.size();
|
||
rightCentroid.pt3D.x = rightCentroid.pt3D.x / rightEngineDataSize;
|
||
rightCentroid.pt3D.y = rightCentroid.pt3D.y / rightEngineDataSize;
|
||
rightCentroid.pt3D.z = rightCentroid.pt3D.z / rightEngineDataSize;
|
||
#if _OUTPUT_DEBUG_DATA
|
||
{
|
||
int nose_lineIdx = nosePoint.nPointIdx >> 16;
|
||
int nose_ptIdx = nosePoint.nPointIdx & 0xffff;
|
||
debugData[nose_lineIdx][nose_ptIdx].nPointIdx |= 0x10000; //机鼻点
|
||
}
|
||
{
|
||
int nose_lineIdx = leftEnginePoint.nPointIdx >> 16;
|
||
int nose_ptIdx = leftEnginePoint.nPointIdx & 0xffff;
|
||
debugData[nose_lineIdx][nose_ptIdx].nPointIdx |= 0x40000; //机鼻点
|
||
|
||
nose_lineIdx = rightEnginePoint.nPointIdx >> 16;
|
||
nose_ptIdx = rightEnginePoint.nPointIdx & 0xffff;
|
||
debugData[nose_lineIdx][nose_ptIdx].nPointIdx |= 0x40000; //机鼻点
|
||
}
|
||
#endif
|
||
leftEnginePoint.pt3D = leftCentroid.pt3D;
|
||
rightEnginePoint.pt3D = rightCentroid.pt3D;
|
||
|
||
//计算姿态
|
||
//axis与左右发动机连续垂直, 采用(-y,, x)形式
|
||
SVzNL2DPointD axis = { -(rightEnginePoint.pt3D.z - leftEnginePoint.pt3D.z), rightEnginePoint.pt3D.x - leftEnginePoint.pt3D.x };
|
||
if (axis.y < 0)
|
||
axis = { -axis.x, -axis.y};
|
||
|
||
double dirAngle = atan(axis.x / axis.y) * 180.0 / PI;
|
||
planePoseInfo.nosePoint = nosePoint.pt3D;
|
||
planePoseInfo.axis = { axis.x, 0, axis.y };
|
||
planePoseInfo.axis = vec3_normalize(planePoseInfo.axis);
|
||
planePoseInfo.distance = nosePoint.pt3D.z - rotateParkingPoint.z + parkingParam.distFromNoseToWheel;
|
||
planePoseInfo.deviation = nosePoint.pt3D.x - rotateParkingPoint.x; //偏离引导线
|
||
planePoseInfo.dirAngle_deg = dirAngle; //方向角度
|
||
}
|
||
|
||
return planePoseInfo;
|
||
}
|
||
|