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线段合并与筛选部分
 修改： detect_3d_cuboid/include/detect_3d_cuboid/detect_3d_cuboid.h 修改： detect_3d_cuboid/src/box_proposal_detail.cpp 修改： detect_3d_cuboid/src/object_3d_util.cpp 修改： object_slam/data/output_cam_poses.txt 修改： object_slam/data/output_obj_poses.txt 修改： object_slam/src/main_obj.cpp 新文件： wu/pic/merge_line.png 新文件： wu/pic/merge_lines_img.png
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+129
-121
lines changed

8 files changed

+129
-121
lines changed

‎detect_3d_cuboid/include/detect_3d_cuboid/detect_3d_cuboid.h

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -110,7 +110,7 @@ class detect_3d_cuboid
110110
bool consider_config_1 = true; // false true
111111
bool consider_config_2 = true; // TODO
112112
bool whether_sample_cam_roll_pitch = true; // sample camera roll pitch in case don't have good camera pose TODO
113-
bool whether_sample_bbox_height = true; // sample object height as raw detection might not be accurate TODO
113+
bool whether_sample_bbox_height = false; // sample object height as raw detection might not be accurate TODO
114114

115115
int max_cuboid_num = 1; // 最终返回的立方体的个数.
116116
double nominal_skew_ratio = 1; // normally this 1, unless there is priors TODO 为什么是1？？

‎detect_3d_cuboid/src/box_proposal_detail.cpp

Lines changed: 9 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -68,6 +68,7 @@ void detect_3d_cuboid::detect_cuboid( const cv::Mat& rgb_img,
6868
MatrixXd all_lines_raw,
6969
std::vector<ObjectSet>& all_object_cuboids)
7070
{
71+
cv::Mat merge_lines_img = rgb_img.clone();
7172
// 绘制上边缘采样点
7273
typedef cv::Point_<int> Point2i;
7374
std::vector<Point2i> simple_points;
@@ -276,7 +277,7 @@ void detect_3d_cuboid::detect_cuboid( const cv::Mat& rgb_img,
276277
inside_obj_edge_num++;
277278
}
278279

279-
// 在找到物体的边缘线之后合并边，并剔除短边，小区域的边缘合并应该更快.
280+
// STEP 【6.2 在找到物体的边缘线之后合并边，并剔除短边，小区域的边缘合并应该更快.】
280281
// merge edges and remove short lines, after finding object edges. edge merge in small regions should be faster than all.
281282
// @PARAM 线段合并与筛选参数.
282283
double pre_merge_dist_thre = 20;
@@ -288,6 +289,13 @@ void detect_3d_cuboid::detect_cuboid( const cv::Mat& rgb_img,
288289
pre_merge_dist_thre, /*两条线段的距离（水平）阈值 20 像素*/
289290
pre_merge_angle_thre, /*角度阈值 5°*/
290291
edge_length_threshold); /*长度阈值 30 像素*/
292+
// 显示筛选之后的边缘线段.
293+
// cv::Mat output_img;
294+
// plot_image_with_edges(merge_lines_img, output_img, all_lines_merge_inobj, cv::Scalar(0,255,0));
295+
// cvNamedWindow("merge_lines_img");
296+
// cvMoveWindow("merge_lines_img",500, 300);
297+
// cv::imshow("merge_lines_img", output_img); //cv::waitKey(0);
298+
// cv::waitKey(0);
291299

292300
// 计算每条边缘线段的角度和中点.
293301
// @PARAM lines_inobj_angles 线段角度.

‎detect_3d_cuboid/src/object_3d_util.cpp

Lines changed: 3 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -229,9 +229,9 @@ void plot_image_with_edges(const cv::Mat& rgb_img, cv::Mat& output_img, MatrixXd
229229
cv::line( output_img,
230230
cv::Point(all_lines(i,0),all_lines(i,1)),
231231
cv::Point(all_lines(i,2),all_lines(i,3)),
232-
cv::Scalar(255,0,0),
232+
color,
233233
2,
234-
8,
234+
16,
235235
0);
236236
}
237237

@@ -270,7 +270,7 @@ void atan2_vector(const VectorXd& y_vec, const VectorXd& x_vec, VectorXd& all_an
270270
{
271271
all_angles.resize(y_vec.rows());
272272
for (int i=0;i<y_vec.rows();i++)
273-
all_angles(i)=std::atan2(y_vec(i),x_vec(i)); // don't need normalize_to_pi, because my edges is from left to right, always [-90 90]
273+
all_angles(i)=std::atan2(y_vec(i),x_vec(i)); // don't need normalize_to_pi, because my edges is from left to right, always [-90 90]
274274
}
275275

276276
// remove the jumping angles from -pi to pi. to make the raw angles smoothly change.

‎object_slam/data/output_cam_poses.txt

Lines changed: 57 additions & 57 deletions
Original file line numberDiff line numberDiff line change
@@ -1,59 +1,59 @@
11
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22
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36-
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40-
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41-
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42-
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43-
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48-
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52-
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53-
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54-
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55-
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59-
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3+
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59+
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