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@@ -2541,13 +2541,12 @@ void CRootStockGrabPoint::line_filter(
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valid_stem_width.push_back(w);
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}
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}
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- float mu = get_hist_mean(valid_stem_width);
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- stem_width_mu = mu;
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+ float mu = get_hist_mean(valid_stem_width);
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float stdv = get_hist_std(valid_stem_width, mu);
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//找到茎节
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std::vector<int> fork_positions;
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- find_fork(in_line_cloud, stem_width_mu, stem_width, fork_positions);
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+ find_fork(in_line_cloud, mu, stem_width, fork_positions, stem_width_mu);
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for (auto&y : fork_positions) {
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fork_ys.push_back(y + ymin);
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}
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@@ -2713,12 +2712,14 @@ void CRootStockGrabPoint::line_filter(
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pcl::PointCloud<pcl::PointXYZ>::Ptr in_line_cloud,
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//float& max_dist,
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//int& max_idx,
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- float stem_width_mu,
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+ float stem_width_ex_mu,//输入， 通过外沿矩形得到的x方向茎粗均值
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const std::vector<float>& stem_width_ex,//输入， 通过外沿矩形得到的x方向茎粗
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- std::vector<int>&fork_pos //输出， 多个fork位置
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+ std::vector<int>&fork_pos, //输出， 多个fork位置
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+ float& stem_width_mu //输出， xy投影上x方向的茎粗均值
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)
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{
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fork_pos.clear();
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+ stem_width_mu = 0.0;
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//1 project to xy plane
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pcl::PointCloud<pcl::PointXYZ>::Ptr cloud_line_2d(new pcl::PointCloud<pcl::PointXYZ>);
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pcl::copyPointCloud(*in_line_cloud, *cloud_line_2d);
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@@ -2807,7 +2808,8 @@ void CRootStockGrabPoint::line_filter(
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float mean_r = 0.0;
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float cnt = 0.0;
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for (auto&r : stem_diameters) {
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- if (r > 0.0) {
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+ if (r > 0.5) {
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+ //边缘点有可能被遗漏造成半径很小，将很小的半径去除（即小于直径1.0的苗，认为是异常，剔除异常数据）
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mean_r += r;
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cnt += 1.0;
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}
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@@ -2815,6 +2817,10 @@ void CRootStockGrabPoint::line_filter(
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if (cnt > 0.0) {
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mean_r /= cnt;
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}
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+ std::vector<float> stem_diameters_cpy(stem_diameters);
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+ std::sort(stem_diameters_cpy.begin(),stem_diameters_cpy.end());
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+ int idx80 = int(0.8*stem_diameters_cpy.size());
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+ stem_width_mu = 2.0 * stem_diameters_cpy.at(idx80);
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int del_radius = 4;
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int security_r = (int)(stemd / 2.0 + 0.5);//保护半径
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@@ -2859,7 +2865,7 @@ void CRootStockGrabPoint::line_filter(
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while (true) {
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//找到最大值的位置和最大值
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int midx = max_element(stem_width_ex_cp.begin(), stem_width_ex_cp.end()) - stem_width_ex_cp.begin();
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- if (stem_width_ex_cp.at(midx) > th_fork * stem_width_mu) {
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+ if (stem_width_ex_cp.at(midx) > th_fork * stem_width_ex_mu) {
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//检测fork_pos中的近邻是否存在
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bool has_nn = false;
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for (auto& fy : fork_pos) {
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chenhongjiang