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@@ -366,7 +366,7 @@ namespace graft_cv {
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occluded_seedling_detect_by_leaf(cloud_ror, leaf_indices);
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if (m_pLogger) {
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stringstream buff;
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- buff << m_pcdId << ": leafoccl status: ";
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+ buff << m_pcdId << ": leaf occlusion status: ";
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for (auto&st : m_root_center_with_occlusion) {
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buff <<st<< "\t";
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}
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@@ -724,12 +724,14 @@ namespace graft_cv {
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double stem_diameter = m_cparam.rs_grab_stem_diameter;
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double y_min = m_cparam.rs_grab_ymin;
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double y_max = m_cparam.rs_grab_ymax;
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+ double occlusion_height_ratio = m_cparam.rs_grab_valid_occlusion_ratio;
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if (m_dtype == 0) {
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//th_pcd_size = m_cparam.sc_grab_seedling_min_pts;
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stem_diameter = m_cparam.sc_grab_stem_diameter;
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y_min = m_cparam.sc_grab_ymin;
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y_max = m_cparam.sc_grab_ymax;
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+ occlusion_height_ratio = m_cparam.sc_grab_valid_occlusion_ratio;
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}
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int th_pcd_size = int(0.333 * stem_diameter * (y_max - y_min) / m_cloud_mean_dist / m_cloud_mean_dist);
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std::vector<pcl::PointXYZ> aabb_mins_maxs;
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@@ -738,11 +740,12 @@ namespace graft_cv {
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for (int i = 0; i < m_root_centers.size(); ++i) {
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CStemResult& rc = m_root_centers.at(i);
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pcl::PointXYZ aabb_min;
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- pcl::PointXYZ aabb_max;
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+ pcl::PointXYZ aabb_max;
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+ double valid_y_ratio = 0.0;
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get_leaf_point_count_inbox(rc, in_cloud, leaf_idx,
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aabb_min, aabb_max,
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total_cnt, leaf_cnt,
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- total_cx, leaf_cx);
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+ total_cx, leaf_cx, valid_y_ratio);
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double leaf_ratio = 0.0;
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if (total_cnt == 0) {
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@@ -759,7 +762,7 @@ namespace graft_cv {
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}
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pcd_cnt.push_back(total_cnt);
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bool has_seedling = total_cnt > th_pcd_size;
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- if (has_seedling) {
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+ if (has_seedling && valid_y_ratio>occlusion_height_ratio) {
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m_root_center_with_occlusion.at(i) = 2;
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}
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@@ -957,17 +960,20 @@ namespace graft_cv {
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int& total_cnt, //output
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int& leaf_cnt, //output
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double& total_cx, //output
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- double& leaf_cx //output
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+ double& leaf_cx, //output
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+ double& valid_y_ratio//output
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)
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{
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//计算每一个穴位叶子遮挡的点云数量（以及整体点云数量），并计算x方向的中心
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double seedling_distance = m_cparam.rs_grab_seedling_dist;
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double min_y = m_cparam.rs_grab_ymin;
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double max_y = m_cparam.rs_grab_ymax;
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+ double stem_diameter = m_cparam.rs_grab_stem_diameter;
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if (m_dtype == 0) {
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seedling_distance = m_cparam.sc_grab_seedling_dist;
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min_y = m_cparam.sc_grab_ymin;
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max_y = m_cparam.sc_grab_ymax;
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+ stem_diameter = m_cparam.sc_grab_stem_diameter;
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}
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double min_x = sr.root_x - 0.5 * seedling_distance;
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double max_x = sr.root_x + 0.5 * seedling_distance;
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@@ -986,6 +992,12 @@ namespace graft_cv {
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leaf_cx = 1.0e6;
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std::vector<double>xs;
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+ std::vector<int> y_counts;
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+ int y_length = int(max_y - min_y);
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+ y_counts.assign(y_length, 0);
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+ int y_idx = 0;
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+ valid_y_ratio = 0.0;
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+
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for (auto&pt : in_cloud->points) {
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if (pt.y >= min_y && pt.y <= max_y &&
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pt.x >= min_x && pt.x <= max_x &&
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@@ -993,12 +1005,22 @@ namespace graft_cv {
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{
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total_cnt++;
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xs.push_back(pt.x);
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+ y_idx = int(pt.y - min_y);
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+ if (y_idx >= 0 && y_idx < y_length) {
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+ y_counts.at(y_idx) += 1;
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+ }
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}
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}
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if (total_cnt == 0) { return; }
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int med_idx = int(0.5 * xs.size());
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std::sort(xs.begin(), xs.end());
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total_cx = xs.at(med_idx);
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+
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+ double th_width = stem_diameter / m_cloud_mean_dist;
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+ for (auto&c : y_counts) {
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+ if (c >= th_width) { valid_y_ratio += 1; }
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+ }
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+ valid_y_ratio /= (max_y - min_y);
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//leaf center
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xs.clear();
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@@ -1431,6 +1453,15 @@ void CRootStockGrabPoint::line_filter(
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target_filtered_root.clear();
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if (target_root.size() == 0) { return; }
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+ double stem_height_ratio = m_cparam.rs_grab_valid_stem_ratio;
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+ float stem_radius = m_cparam.rs_grab_stem_diameter / 2.0;
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+ int min_stem_pts = m_cparam.rs_grab_stem_min_pts;
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+ if (m_dtype == 0) {
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+ stem_radius = m_cparam.sc_grab_stem_diameter / 2.0;
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+ min_stem_pts = m_cparam.sc_grab_stem_min_pts;
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+ stem_height_ratio = m_cparam.sc_grab_valid_stem_ratio;
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+ }
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+
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for (auto&p : target_root) {
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// 构建box，获取植株点云
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pcl::PointCloud<pcl::PointXYZ>::Ptr seedling_inbox(new pcl::PointCloud<pcl::PointXYZ>);
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@@ -1455,11 +1486,7 @@ void CRootStockGrabPoint::line_filter(
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pcl::copyPointCloud(*in_cloud, inbox_idx, *seedling_inbox);
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//植株点云直线查找
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- //找到inbox点云中的直线
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- float stem_radius = m_cparam.rs_grab_stem_diameter / 2.0;
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- if (m_dtype == 0) {
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- stem_radius = m_cparam.sc_grab_stem_diameter / 2.0;
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- }
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+ //找到inbox点云中的直线
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pcl::ModelCoefficients::Ptr coefficients(new pcl::ModelCoefficients);
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pcl::PointIndices::Ptr inliers(new pcl::PointIndices);
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pcl::SACSegmentation<pcl::PointXYZ> seg;
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@@ -1489,9 +1516,7 @@ void CRootStockGrabPoint::line_filter(
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continue;
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}
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- //点数过滤
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- int min_stem_pts = m_cparam.rs_grab_stem_min_pts;
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- if (m_dtype == 0) { min_stem_pts = m_cparam.sc_grab_stem_min_pts; }
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+ //点数过滤
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if (inliers->indices.size() < int(min_stem_pts / 2)) { continue; }
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//y方向分布范围滤波
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float y_length_th = 10.0;
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@@ -1499,7 +1524,7 @@ void CRootStockGrabPoint::line_filter(
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pcl::PointXYZ max_v;
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pcl::getMinMax3D(*stem_cloud, min_v, max_v);
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float dy = max_v.y - min_v.y;
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- if (dy<y_length_th && dy / (ymax - ymin) < 0.25) { continue; }
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+ if (dy<y_length_th || dy / (ymax - ymin) < stem_height_ratio) { continue; }
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//y方向分布中心滤波
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float dy_c = 0.5*(max_v.y + min_v.y);
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if ((dy_c - ymin) / (ymax - ymin) > 0.75) { continue; }
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@@ -1574,7 +1599,7 @@ void CRootStockGrabPoint::line_filter(
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}
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- if (longest_segment<10.0 && valid_length / (ymax - ymin) < 0.35) { continue; }
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+ if (longest_segment<10.0 || valid_length / (ymax - ymin) < stem_height_ratio) { continue; }
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float min_y = 10000.0;
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@@ -1649,11 +1674,21 @@ void CRootStockGrabPoint::line_filter(
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)
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{
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first_row_size = 0;
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+
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// 确定植株inbox范围
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float hole_step = m_cparam.rs_grab_seedling_dist - 5.0; //穴盘中穴间距
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+ float ymin = m_cparam.rs_grab_ymin;
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+ float ymax = m_cparam.rs_grab_ymax;
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+ double stem_height_ratio = m_cparam.rs_grab_valid_stem_ratio;
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+ double radius = m_cparam.rs_grab_stem_diameter;
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if (m_dtype == 0) {
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- hole_step = m_cparam.sc_grab_seedling_dist - 5.0;
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+ hole_step = m_cparam.sc_grab_seedling_dist - 5.0;
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+ ymin = m_cparam.sc_grab_ymin;
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+ ymax = m_cparam.sc_grab_ymax;
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+ stem_height_ratio = m_cparam.sc_grab_valid_stem_ratio;
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+ radius = m_cparam.sc_grab_stem_diameter;
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}
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+
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float hole_step_radius = 2.0 * hole_step / 3.0;
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// 点云降维到xz平面，y=0
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@@ -1663,11 +1698,7 @@ void CRootStockGrabPoint::line_filter(
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pt.y = 0.0;
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}
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- // 在xz平面内统计点的密度
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- double radius = m_cparam.rs_grab_stem_diameter;
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- if (m_dtype == 0) {
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- radius = m_cparam.sc_grab_stem_diameter;
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- }
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+ // 在xz平面内统计点的密度
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std::vector<int> counter;
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pcl::KdTreeFLANN<pcl::PointXYZ> kdtree;
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kdtree.setInputCloud(cloud2d);
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@@ -1695,13 +1726,7 @@ void CRootStockGrabPoint::line_filter(
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}
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// 生成植株的中心及box
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std::vector<pcl::PointXYZ>clt_root;
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- std::vector<pcl::PointXYZ> clt_box;
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- float ymin = m_cparam.rs_grab_ymin;
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- float ymax = m_cparam.rs_grab_ymax;
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- if (m_dtype == 0) {
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- ymin = m_cparam.sc_grab_ymin;
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- ymax = m_cparam.sc_grab_ymax;
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- }
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+ std::vector<pcl::PointXYZ> clt_box;
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gen_all_seedling_positions(in_cloud->points.at(max_density_idx), clt_root);
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// 显示生成的每一个候选框
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/*if (m_cparam.image_show) {
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@@ -1728,7 +1753,8 @@ void CRootStockGrabPoint::line_filter(
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// 每个位置点云情况，过滤
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std::vector<int> valid_index; //初步有效的矩形index
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std::vector<int> valid_box_pts; //立方体内点云数量
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- std::vector<float>valid_box_cc_dist;//重心和矩形中心距离
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+ std::vector<float>valid_box_cc_dist;//重心和矩形中心距离
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+
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for (size_t i = 0; i < clt_root.size();++i) {
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pcl::PointXYZ &p = clt_root.at(i);
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pcl::PointCloud<pcl::PointXYZ>::Ptr seedling_inbox(new pcl::PointCloud<pcl::PointXYZ>);
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@@ -1758,7 +1784,7 @@ void CRootStockGrabPoint::line_filter(
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pcl::PointXYZ max_v;
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pcl::getMinMax3D(*seedling_inbox, min_v, max_v);
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float dy = max_v.y - min_v.y;
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- if (dy / (ymax - ymin) < 0.35) { continue; }
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+ if (dy / (ymax - ymin) < stem_height_ratio) { continue; }
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//y方向分布中心滤波
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float dy_c = 0.5*(max_v.y + min_v.y);
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if ((dy_c-ymin) / (ymax - ymin) > 0.75) { continue; }
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chenhongjiang