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@@ -98,173 +98,6 @@ namespace graft_cv {
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}
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}
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- //void CStemResultInfos::_update_root_centers() {
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- // //依据m_infos中的数据，苗间距m_seedling_dist，聚类生成茎的平均位置，茎的点云平均数量
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- // //更新m_root_centers
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-
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- // //以root_center为基础进行聚类，如果root_center是空的，因当前数据进行聚类
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- // std::vector<CStemResult> root_centers;
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- // double d1 = m_seedling_dist / 2.0;
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- // double d2 = d1*1.75;
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- // pcl::PointCloud<pcl::PointXYZ>::Ptr cloud2d_pos(new pcl::PointCloud < pcl::PointXYZ>);
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- // for (auto&sr : m_infos) {
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- // cloud2d_pos->points.push_back(pcl::PointXYZ((float)sr.root_x, 0.0, (float)sr.root_z));
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- // }
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- // cloud2d_pos->width = cloud2d_pos->points.size();
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- // std::vector<pcl::PointXYZ>cluster_center;
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- // std::vector<std::vector<int>> cluster_member;
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- // euclidean_clustering_ttsas(cloud2d_pos, d1, d2, cluster_center, cluster_member);
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-
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- // for (size_t i = 0; i < cluster_center.size(); ++i) {
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- // double x = (double)cluster_center.at(i).x;
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- // double y = (double)cluster_center.at(i).y;
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- // double z = (double)cluster_center.at(i).z;
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- // int count = (int)cluster_member.at(i).size();
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- // int pc_size = 0.0;
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- // for (auto& idx : cluster_member.at(i)) {
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- // pc_size += m_infos.at(idx).stem_size;
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- // }
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- // pc_size = (int)(pc_size / (float)count);
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-
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- // CStemResult sr = CStemResult(x, y, z, pc_size, std::string(""), count);
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- // root_centers.push_back(sr);
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- // }
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-
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- // if (m_root_centers.size() == 0) {
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- // //如果没有历史数据，直接赋值
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- // m_root_centers = root_centers;
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- // }
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- // else {
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- // if (m_infos.size() > 50) {
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- // //如果当前数据量较大，用当前的结果
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- // m_root_centers = root_centers;
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- // }
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- // else {
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- // //否则将当前结果合并到m_root_centers
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- // //m_root_centers
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- // for (auto& cent : root_centers) {
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- // double dist_min = d2;
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- // int min_root_idx = 0;
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-
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- // for (int j = 0; j < m_root_centers.size();++j) {
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- // CStemResult& root = m_root_centers.at(j);
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- // double dist = root.calcluate_distance(cent);
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- // if (dist < dist_min) {
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- // dist_min = dist;
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- // min_root_idx = j;
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- // }
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- // }
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- // if (dist_min < d1) {
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- // //merge
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- // double mu_x, mu_y,mu_z;
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- // CStemResult& min_root = m_root_centers.at(min_root_idx);
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- // mu_x = (min_root.root_x * min_root.root_count +
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- // cent.root_x * cent.root_count) / (double)(min_root.root_count + cent.root_count);
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-
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- // mu_y = (min_root.root_y * min_root.root_count +
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- // cent.root_y * cent.root_count) / (double)(min_root.root_count + cent.root_count);
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-
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- // mu_z = (min_root.root_z * min_root.root_count +
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- // cent.root_z * cent.root_count) / (double)(min_root.root_count + cent.root_count);
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-
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- // min_root.root_x = mu_x;
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- // min_root.root_y = mu_y;
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- // min_root.root_z = mu_z;
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- // min_root.root_count += cent.root_count;
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- // }
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- // else {
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- // //add root
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- // m_root_centers.push_back(cent);
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- // }
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- // }
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- // }
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- // }
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- // //m_root_centers 排序、剔除
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- // std::sort(m_root_centers.begin(), m_root_centers.end(),
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- // [](const CStemResult& sr1, const CStemResult& sr2) {return sr1.root_x < sr2.root_x; });
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- // //nms
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- // _filter_root_centers(d1, d2);
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- //}
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- //void CStemResultInfos::_filter_root_centers(double d1, double d2)
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- //{
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- // //对生成的根中心m_root_centers进行过滤，剔除异常
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- // //1 z值，通过中值，距离中值远的剔除
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-
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- // if (m_root_centers.size() > 3) {
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- // std::vector<double>root_z;
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- // for (auto&rc : m_root_centers) {
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- // root_z.push_back(rc.root_z);
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- // }
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- // std::sort(root_z.begin(), root_z.end());
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- // double mid_z = 0.0;
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- // if (root_z.size() % 2 == 1) {
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- // int idx = (m_root_centers.size() - 1) / 2;
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- // mid_z = root_z.at(idx);
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- // }
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- // else {
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- // int idx = root_z.size() / 2;
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- // mid_z = 0.5 * (root_z.at(idx) + root_z.at(idx - 1));
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- // }
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- // std::vector<CStemResult> valid_root_centers;
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- // for (auto&rc : m_root_centers) {
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- // if (fabs(rc.root_z - mid_z) < d2) {
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- // valid_root_centers.push_back(rc);
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- // }
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- // }
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- // m_root_centers = valid_root_centers;
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- // }
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-
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- // //2 按x做分组，排除权重小的
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- // if (m_root_centers.size() > 3) {
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- // std::vector<double> center_dist;
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- // for (int i = 0; i < m_root_centers.size(); ++i) {
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- // double x = m_root_centers.at(i).root_x;
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- // double mod_sum = 0.0;
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- // for (int j = 0; j < m_root_centers.size(); ++j) {
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- // double dist = fabs(m_root_centers.at(j).root_x - x);
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- // double mod = fmod(dist, m_seedling_dist);
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- // double mod_inv = m_seedling_dist - mod;
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- // mod = min(mod, mod_inv);
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- // mod_sum += mod;
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- // }
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- // mod_sum /= (m_root_centers.size() - 1);
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- // center_dist.push_back(mod_sum);
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- // }
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-
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- // std::vector<CStemResult> valid_root_centers;
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- // for (int i = 0; i < center_dist.size(); ++i) {
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- // double dist = center_dist.at(i);
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- // if (dist < d1) {
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- // valid_root_centers.push_back(m_root_centers.at(i));
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- // }
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- // }
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- // m_root_centers = valid_root_centers;
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- // }
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- // //3 数量少的剔除
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- // int total_count = 0;
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- // for (auto&rc : m_root_centers) {
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- // total_count += rc.root_count;
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- // }
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- // if (total_count > 50) {
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- // bool need_del = false;
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- // for (auto& rc : m_root_centers) {
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- // if (rc.root_count <= 2) {
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- // need_del = true;
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- // break;
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- // }
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- // }
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- // if (need_del) {
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- // std::vector<CStemResult> valid_root_centers;
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- // for (int i = 0; i < m_root_centers.size(); ++i) {
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- // if (m_root_centers.at(i).root_count > 2) {
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- // valid_root_centers.push_back(m_root_centers.at(i));
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- // }
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- // }
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- // m_root_centers = valid_root_centers;
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- // }
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- //
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- // }
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- //}
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void CStemResultInfos::gen_root_centers()
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{
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//根据 m_seedling_dist, m_holes_number， m_xmin， m_xmax生成初始的穴位中心
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@@ -285,172 +118,7 @@ namespace graft_cv {
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m_root_centers.push_back(sr);
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}
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}
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-
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- //void CStemResultInfos::set_json_filename(std::string& filename) {
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- // m_json_filename = std::string(filename);
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- //}
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- //void CStemResultInfos::read_root_centers(
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- // std::string& filename
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- //)
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- //{
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- // //读取历史数据，每次启动时，去取
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- // m_json_filename = std::string(filename);
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- // //1 文件是否存在
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- // ifstream f(filename.c_str());
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- // if (!f.good()) {
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- // //文件不存在
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- // if (m_pLogger) {
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- // stringstream buff;
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- // buff << m_pcdId << ": json file not exists:" << filename;
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- // m_pLogger->INFO(buff.str());
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- // }
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- // return;
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- // }
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-
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- // cv::FileStorage fs(filename, cv::FileStorage::READ);
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- // cv::FileNode root_centers = fs["root_centers"];
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- // cv::FileNodeIterator it = root_centers.begin(), it_end = root_centers.end();
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- // m_root_centers.clear();
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- // for (; it != it_end; ++it) {
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- // double x = (double)(*it)["x"];
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- // double y = (double)(*it)["y"];
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- // double z = (double)(*it)["z"];
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- // int size = (int)(*it)["size"];
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- // std::string bid = (std::string)(*it)["batch_id"];
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- // int count = (int)(*it)["count"];
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- // CStemResult sr = CStemResult(x,y,z,size, bid, count);
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- // m_root_centers.push_back(sr);
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- // }
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- // fs.release();
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-
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- //}
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- //void CStemResultInfos::write_root_centers(
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- // std::string& filename
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- //)
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- //{
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- // cv::FileStorage fs(filename, cv::FileStorage::WRITE);
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- // fs << "root_centers" << "[";
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- // for (auto& sr : m_root_centers) {
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- // fs << "{" << "x" << sr.root_x
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- // << "y" << sr.root_y
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- // << "z" << sr.root_z
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- // << "size" << sr.stem_size
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- // << "batch_id" << sr.batch_id
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- // << "count" << sr.root_count
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- // << "}";
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- // }
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- // fs << "]";
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- // fs.release();
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-
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- //}
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-
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- //void CStemResultInfos::euclidean_clustering_ttsas(
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- // pcl::PointCloud<pcl::PointXYZ>::Ptr in_cloud,
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- // double d1, double d2,
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- // std::vector<pcl::PointXYZ>&cluster_center,
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- // std::vector<std::vector<int>> &clustr_member
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- //)
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- //{
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- // if (m_pLogger) {
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- // stringstream buff;
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- // buff << m_pcdId << ": root center estimate: euclidean_clustering_ttsas() begin...";
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- // m_pLogger->INFO(buff.str());
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- // }
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- // std::vector<int> cluster_weight;
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- // std::vector<int> data_stat;
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-
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- // std::vector<pcl::PointXYZ>cluster_center_raw;
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- // std::vector<std::vector<int>> clustr_member_raw;
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-
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- // for (size_t i = 0; i < in_cloud->points.size(); ++i) { data_stat.push_back(0); }
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- // size_t data_len = in_cloud->points.size();
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- // int exists_change = 0;
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- // int prev_change = 0;
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- // int cur_change = 0;
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- // int m = 0;
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- // while (std::find(data_stat.begin(), data_stat.end(), 0) != data_stat.end()) {
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- // bool new_while_first = true;
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- // for (size_t i = 0; i < data_len; ++i) {
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- // if (data_stat.at(i) == 0 && new_while_first && exists_change == 0) {
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- // new_while_first = false;
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- // std::vector<int> idx;
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- // idx.push_back(i);
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- // clustr_member_raw.push_back(idx);
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- // pcl::PointXYZ center;
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- // center.x = in_cloud->points.at(i).x;
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- // center.y = in_cloud->points.at(i).y;
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- // center.z = in_cloud->points.at(i).z;
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-
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- // cluster_center_raw.push_back(center);
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- // data_stat.at(i) = 1;
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- // cur_change += 1;
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- // cluster_weight.push_back(1);
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- // m += 1;
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- // }
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- // else if (data_stat[i] == 0) {
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- // std::vector<float> distances;
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- // for (size_t j = 0; j < clustr_member_raw.size(); ++j) {
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- // std::vector<float> distances_sub;
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- // for (size_t jj = 0; jj < clustr_member_raw.at(j).size(); ++jj) {
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- // size_t ele_idx = clustr_member_raw.at(j).at(jj);
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- // double d = sqrt(
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- // (in_cloud->points.at(i).x - in_cloud->points.at(ele_idx).x) * (in_cloud->points.at(i).x - in_cloud->points.at(ele_idx).x) +
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- // (in_cloud->points.at(i).y - in_cloud->points.at(ele_idx).y) * (in_cloud->points.at(i).y - in_cloud->points.at(ele_idx).y) +
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- // (in_cloud->points.at(i).z - in_cloud->points.at(ele_idx).z) * (in_cloud->points.at(i).z - in_cloud->points.at(ele_idx).z));
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- // distances_sub.push_back(d);
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- // }
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- // double min_dist = *std::min_element(distances_sub.begin(), distances_sub.end());
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- // distances.push_back(min_dist);
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- // }
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- // int min_idx = std::min_element(distances.begin(), distances.end()) - distances.begin();
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- // if (distances.at(min_idx) < d1) {
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- // data_stat.at(i) = 1;
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- // double w = cluster_weight.at(min_idx);
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- // cluster_weight.at(min_idx) += 1;
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- // clustr_member_raw.at(min_idx).push_back(i);
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- // cluster_center_raw.at(min_idx).x = (cluster_center_raw.at(min_idx).x * w + in_cloud->points.at(i).x) / (w + 1);
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- // cluster_center_raw.at(min_idx).y = (cluster_center_raw.at(min_idx).y * w + in_cloud->points.at(i).y) / (w + 1);
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- // cluster_center_raw.at(min_idx).z = (cluster_center_raw.at(min_idx).z * w + in_cloud->points.at(i).z) / (w + 1);
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- // cur_change += 1;
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- // }
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- // else if (distances.at(min_idx) > d2) {
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- // std::vector<int> idx;
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- // idx.push_back(i);
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- // clustr_member_raw.push_back(idx);
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- // pcl::PointXYZ center;
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- // center.x = in_cloud->points.at(i).x;
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- // center.y = in_cloud->points.at(i).y;
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- // center.z = in_cloud->points.at(i).z;
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-
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- // cluster_center_raw.push_back(center);
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- // data_stat.at(i) = 1;
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- // cur_change += 1;
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- // cluster_weight.push_back(1);
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- // m += 1;
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- // }
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-
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- // }
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- // else if (data_stat.at(i) == 1) {
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- // cur_change += 1;
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- // }
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- // }
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- // exists_change = fabs(cur_change - prev_change);
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- // prev_change = cur_change;
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- // cur_change = 0;
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- // }
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-
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- // // copy result
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- // for (size_t i = 0; i < clustr_member_raw.size(); ++i) {
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- // //if (clustr_member_raw.at(i).size() < 20) { continue; }
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- // cluster_center.push_back(cluster_center_raw.at(i));
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- // clustr_member.push_back(clustr_member_raw.at(i));
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- // }
|
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- // if (m_pLogger) {
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- // stringstream buff;
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- // buff << m_pcdId << ": root center estimate: euclidean_clustering_ttsas() end";
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|
- // m_pLogger->INFO(buff.str());
|
|
|
- // }
|
|
|
- //}
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|
|
+
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|
|
|
|
|
CSeedlingStatus::CSeedlingStatus(
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int dtype,
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|
@@ -465,6 +133,7 @@ CSeedlingStatus::CSeedlingStatus(
|
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, m_xmin(x_min)
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, m_xmax(x_max)
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, m_record_cursor(-1)
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+ , m_global_cursor(-1)
|
|
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, m_max_size(50)
|
|
|
, m_pc_mean_dist(pc_mean_dist)
|
|
|
{
|
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|
@@ -504,11 +173,12 @@ void CSeedlingStatus::append_hist(
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|
|
)
|
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|
{
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assert(xhist.size() == m_hist_length);
|
|
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-
|
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|
- if (m_record_cursor < m_max_size) {
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+ m_global_cursor++;
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|
+ if (m_record_cursor < m_max_size-1) {
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m_record_cursor++;
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|
float pc_size = 0.0;
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|
for (int i = 0; i < xhist.size(); ++i) {
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+ if (i >= m_hist_length) { continue; }
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|
m_history_histogram.at<float>(m_record_cursor,i) = xhist.at(i);
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|
pc_size += xhist.at(i);
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|
}
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|
@@ -517,22 +187,30 @@ void CSeedlingStatus::append_hist(
|
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|
}
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|
else {
|
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|
//数据上移一行，数据放在最后一行
|
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|
- memcpy_s(m_history_histogram.data,
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|
+ for (int row = 0; row < m_history_histogram.rows - 1; ++row) {
|
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|
+ for (int col = 0; col < m_history_histogram.cols; ++col) {
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|
+ m_history_histogram.at<float>(row, col) = m_history_histogram.at<float>(row + 1, col);
|
|
|
+ }
|
|
|
+ }
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|
+ for (int row = 0; row < m_history_point_size.rows - 1; ++row) {
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|
+ m_history_point_size.at<float>(row, 0) = m_history_point_size.at<float>(row+1, 0);
|
|
|
+ }
|
|
|
+ /*memcpy_s(m_history_histogram.data,
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|
|
m_history_histogram.step[0] * (m_max_size - 1),
|
|
|
m_history_histogram.data + m_history_histogram.step[0],
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|
|
- m_history_histogram.step[0] * (m_max_size - 1));
|
|
|
+ m_history_histogram.step[0] * (m_max_size - 1));*/
|
|
|
|
|
|
- memcpy_s(m_history_point_size.data,
|
|
|
+ /*memcpy_s(m_history_point_size.data,
|
|
|
m_history_point_size.step[0] * (m_max_size - 1),
|
|
|
m_history_point_size.data + m_history_point_size.step[0],
|
|
|
- m_history_point_size.step[0] * (m_max_size - 1));
|
|
|
+ m_history_point_size.step[0] * (m_max_size - 1));*/
|
|
|
|
|
|
float pc_size = 0.0;
|
|
|
for (int i = 0; i < xhist.size(); ++i) {
|
|
|
- m_history_histogram.at<float>(m_max_size - 1, i) = float(xhist.at(i));
|
|
|
+ m_history_histogram.at<float>(m_history_histogram.rows - 1, i) = float(xhist.at(i));
|
|
|
pc_size += xhist.at(i);
|
|
|
}
|
|
|
- m_history_point_size.at<float>(m_max_size - 1, 0) = pc_size;
|
|
|
+ m_history_point_size.at<float>(m_history_point_size.rows - 1, 0) = pc_size;
|
|
|
get_status(xstatus);
|
|
|
}
|
|
|
|
|
|
@@ -541,8 +219,8 @@ void CSeedlingStatus::append_hist(
|
|
|
void CSeedlingStatus::get_status(std::vector<bool>&xstatus)
|
|
|
{
|
|
|
xstatus.clear();
|
|
|
- xstatus.assign(m_center_x.size(), false);
|
|
|
-
|
|
|
+ xstatus.assign(m_center_x.size(), false);
|
|
|
+
|
|
|
//1 如果没有记录输入，返回没有苗
|
|
|
if (m_record_cursor < 0) { return; }
|
|
|
|
|
|
@@ -582,7 +260,14 @@ void CSeedlingStatus::get_status(std::vector<bool>&xstatus)
|
|
|
float sum_dn = 0.0;
|
|
|
float sum_n = 0.0;
|
|
|
float diff_cnt = 0.0;
|
|
|
- if (m_record_cursor < m_max_size) {
|
|
|
+ for (int i = 0; i < m_hist_length; ++i) {
|
|
|
+ diff_cnt = m_history_histogram.at<float>(m_record_cursor - 1, i) -
|
|
|
+ m_history_histogram.at<float>(m_record_cursor, i);
|
|
|
+ hist_diff.at(i) = diff_cnt;
|
|
|
+ sum_n += diff_cnt;
|
|
|
+ sum_dn += diff_cnt * i;
|
|
|
+ }
|
|
|
+ /*if (m_record_cursor < m_max_size) {
|
|
|
for (int i = 0; i < m_hist_length; ++i) {
|
|
|
diff_cnt = m_history_histogram.at<float>(m_record_cursor - 1, i) -
|
|
|
m_history_histogram.at<float>(m_record_cursor, i);
|
|
|
@@ -600,7 +285,7 @@ void CSeedlingStatus::get_status(std::vector<bool>&xstatus)
|
|
|
sum_dn += diff_cnt * i;
|
|
|
}
|
|
|
|
|
|
- }
|
|
|
+ }*/
|
|
|
|
|
|
//3.2 统计增减点云的状态，区分点云增加，点云减小，点云没变化的部分
|
|
|
std::vector<int> hist_status_2d; //3种状态记录： -1取走，0没变化，1上苗
|
|
|
@@ -625,17 +310,28 @@ void CSeedlingStatus::get_status(std::vector<bool>&xstatus)
|
|
|
if (add_cnt > grid_one_seedling*3.0) {
|
|
|
xstatus.assign(m_center_x.size(), true);
|
|
|
//update m_history_status
|
|
|
- if (m_record_cursor < m_max_size) {
|
|
|
- for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
- m_history_status.at<unsigned char>(m_record_cursor, i) = xstatus.at(i);
|
|
|
+ if (m_record_cursor == m_global_cursor) {
|
|
|
+ if (m_record_cursor < m_max_size) {
|
|
|
+ for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
+ m_history_status.at<unsigned char>(m_record_cursor, i) = xstatus.at(i);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else {
|
|
|
+
|
|
|
}
|
|
|
}
|
|
|
else {
|
|
|
- memcpy_s(m_history_status.data,
|
|
|
+ //数据上移一行，数据放在最后一行
|
|
|
+ for (int row = 0; row < m_history_status.rows - 1; ++row) {
|
|
|
+ for (int col = 0; col < m_history_status.cols; ++col) {
|
|
|
+ m_history_status.at<float>(row, col) = m_history_status.at<float>(row + 1, col);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ /*memcpy_s(m_history_status.data,
|
|
|
m_history_status.step[0] * (m_max_size - 1),
|
|
|
m_history_status.data + m_history_status.step[0],
|
|
|
m_history_status.step[0] * (m_max_size - 1));
|
|
|
-
|
|
|
+ */
|
|
|
for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
m_history_status.at<unsigned char>(m_max_size-1, i) = xstatus.at(i);
|
|
|
}
|
|
|
@@ -683,13 +379,7 @@ void CSeedlingStatus::get_status(std::vector<bool>&xstatus)
|
|
|
}
|
|
|
if (sub_pos >= 0) {
|
|
|
xstatus.assign(m_center_x.size(), false);
|
|
|
- int cursor = m_record_cursor - 1;
|
|
|
- if (m_record_cursor < m_max_size) {
|
|
|
- cursor = m_record_cursor - 1;
|
|
|
- }
|
|
|
- else {
|
|
|
- cursor = m_max_size - 1;
|
|
|
- }
|
|
|
+ int cursor = m_record_cursor-1;
|
|
|
for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
if (m_history_status.at<unsigned char>(cursor, i) == 1) {
|
|
|
xstatus.at(i) = true;
|
|
|
@@ -698,16 +388,22 @@ void CSeedlingStatus::get_status(std::vector<bool>&xstatus)
|
|
|
xstatus.at(sub_pos) = false;
|
|
|
|
|
|
//update m_history_status
|
|
|
- if (m_record_cursor < m_max_size) {
|
|
|
+ if (m_record_cursor == m_global_cursor) {
|
|
|
for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
m_history_status.at<unsigned char>(m_record_cursor, i) = xstatus.at(i);
|
|
|
}
|
|
|
}
|
|
|
else{
|
|
|
- memcpy_s(m_history_status.data,
|
|
|
+ //数据上移一行，数据放在最后一行
|
|
|
+ for (int row = 0; row < m_history_status.rows - 1; ++row) {
|
|
|
+ for (int col = 0; col < m_history_status.cols; ++col) {
|
|
|
+ m_history_status.at<float>(row, col) = m_history_status.at<float>(row + 1, col);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ /*memcpy_s(m_history_status.data,
|
|
|
m_history_status.step[0] * (m_max_size - 1),
|
|
|
m_history_status.data + m_history_status.step[0],
|
|
|
- m_history_status.step[0] * (m_max_size - 1));
|
|
|
+ m_history_status.step[0] * (m_max_size - 1));*/
|
|
|
for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
m_history_status.at<unsigned char>(m_max_size - 1, i) = xstatus.at(i);
|
|
|
}
|
|
|
@@ -723,7 +419,7 @@ no_change:
|
|
|
//没有改变,用上一次的结果
|
|
|
xstatus.assign(m_center_x.size(), true);
|
|
|
//update m_history_status
|
|
|
- if (m_record_cursor < m_max_size) {
|
|
|
+ if (m_record_cursor == m_global_cursor) {
|
|
|
for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
m_history_status.at<unsigned char>(m_record_cursor, i) =
|
|
|
m_history_status.at<unsigned char>(m_record_cursor - 1, i);
|
|
|
@@ -733,10 +429,16 @@ no_change:
|
|
|
}
|
|
|
}
|
|
|
else{
|
|
|
- memcpy_s(m_history_status.data,
|
|
|
+ //数据上移一行，数据放在最后一行
|
|
|
+ for (int row = 0; row < m_history_status.rows - 1; ++row) {
|
|
|
+ for (int col = 0; col < m_history_status.cols; ++col) {
|
|
|
+ m_history_status.at<float>(row, col) = m_history_status.at<float>(row + 1, col);
|
|
|
+ }
|
|
|
+ }
|
|
|
+ /*memcpy_s(m_history_status.data,
|
|
|
m_history_status.step[0] * (m_max_size - 1),
|
|
|
m_history_status.data + m_history_status.step[0],
|
|
|
- m_history_status.step[0] * (m_max_size - 1));
|
|
|
+ m_history_status.step[0] * (m_max_size - 1));*/
|
|
|
for (int i = 0; i < m_history_status.cols; ++i) {
|
|
|
m_history_status.at<unsigned char>(m_max_size - 1, i) =
|
|
|
m_history_status.at<unsigned char>(m_max_size - 2, i);
|
chenhongjiang