-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathdetectTreesI16.m
136 lines (108 loc) · 3.61 KB
/
detectTreesI16.m
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
function x=detectTreesI16(RR)
% laser range RR is a [1x361] matrix, in meters!!!!.
% return x, a 3xn matrix, where
% x(1,i) distance to i-landmark center
% x(2,i) angle of i-landmark center (in radians)
% x(3,i) i-landmark diameter
% Jos�. ACFR. 1999.
% --------------------------------
M11 = 75 ;
M10 = 1 ;
daa = 5*pi/306 ;
M2=1.5 ;
M2a = 10*pi/360 ;
M3=3 ; % ***************
M5=1 ; % 1 mt % ***************
daMin2 = 2*pi/360 ;
% --------------------------------
%global AAr; AA = AAr ;
AA = [0:360]*pi/360;
ii1=Find16X(RR<M11) ;
L1 = length(ii1) ;
if L1<1, x=[] ; return ; end ;
R1 = RR(ii1) ; A1 = AA(ii1) ;
ii2 = find( (abs(diff(R1))>M2)|( diff(A1)>M2a) ) ;
L2= length(ii2)+1 ;
%ii2 = [1, ii2+1, ii1(L1) ] ;
ii2u = int16([ ii2, L1 ]) ;
ii2 = int16([1, ii2+1 ]) ;
%ii2 , size(R1) ,
R2 = R1(ii2 ) ; A2 = A1(ii2 ) ;
A2u = A1(ii2u) ; R2u = R1(ii2u) ;
x2 = R2.*cos(A2 ) ; y2 = R2.*sin(A2 ) ;
x2u = R2u.*cos(A2u) ;y2u = R2u.*sin(A2u) ;
flag=zeros(1,L2) ;
L3=0 ;M3c= M3*M3 ;
if L2>1,
L2m=L2-1 ;
dx2 = x2(2:L2)-x2u(1:L2m) ; dy2 = y2(2:L2)-y2u(1:L2m) ;
%dl2 = sqrt( dx2.*dx2+dy2.*dy2 ) ; %dont use SQRT
dl2 = ( dx2.*dx2+dy2.*dy2 ) ;
ii3 = find(dl2<M3c) ; L3=length(ii3) ;
if L3>0, flag(ii3)=1 ; flag(ii3+1)=1 ; end ;
if L2>2,
L2m=L2-2 ;
dx2 = x2(3:L2)-x2u(1:L2m) ; dy2 = y2(3:L2)-y2u(1:L2m) ;
dl2 = ( dx2.*dx2+dy2.*dy2 ) ;
ii3 = find(dl2<M3c) ;L3b=length(ii3) ;
if L3b>0, flag(ii3)=1 ; flag(ii3+2)=1 ; L3=L3+L3b ; end ;
if L2>3, % OJOOOOOOOOO
L2m=L2-3 ;
dx2 = x2(4:L2)-x2u(1:L2m) ; dy2 = y2(4:L2)-y2u(1:L2m) ;
dl2 = ( dx2.*dx2+dy2.*dy2 ) ;
ii3 = find(dl2<M3c) ;L3b=length(ii3) ;
if L3b>0, flag(ii3)=1 ; flag(ii3+3)=1 ;L3=L3+L3b ; end ;
end ;end ;end ;
if L2>1,
ii3 = [1:L2-1] ;
ii3 = find( (A2(ii3+1)-A2u(ii3))<daMin2 ) ;%objects close (in angle) from viewpoint.
L3b=length(ii3) ;
if L3b>0,
ff = (R2(ii3+1)>R2u(ii3)) ; % which object is in the back?
ii3=ii3+ff ;
flag(ii3)=1 ; % mark them for the deletion
L3=L3+L3b ;
end ;
iixx=ii3 ;
end ;
if L3>0,
ii3=Find16X(flag==0) ;
L3=length(ii3) ;
ii4 = double(ii2(ii3)) ; ii4u = double(ii2u(ii3)) ;
R4 = R2(ii3) ; R4u = R2u(ii3) ;
A4 = A2(ii3) ; A4u = A2u(ii3) ;
x4 = x2(ii3) ; y4 = y2(ii3) ;
x4u = x2u(ii3) ; y4u = y2u(ii3) ;
else
ii4 = double(ii2) ; ii4u = double(ii2u);
R4 = R2 ; R4u = R2u ;
A4 = A2 ; A4u = A2u ;
x4 = x2 ; y4 = y2 ;
x4u = x2u ; y4u = y2u ;
end ;
%dA2=diff(A2) ; dD2 = dA2.*R2(1:L2-1);
dx2 = x4-x4u ; dy2 = y4-y4u ;
dl2 = ( dx2.*dx2+dy2.*dy2 ) ;
ii5 = Find16X(dl2<(M5*M5)) ; L5 = length(ii5) ; if L5<1, x=[] ; return ; end ;
R5 = R4(ii5) ; R5u = R4u(ii5) ; A5 = A4(ii5) ; A5u = A4u(ii5) ; ii4=ii4(ii5) ;ii4u=ii4u(ii5) ;
ii5=Find16X( (R5>M10)&(A5>daa)&(A5u<(pi-daa)) ) ;
L5 = length(ii5) ; if L5<1, x=[] ; return ; end ;
R5 = R5(ii5) ; R5u = R5u(ii5) ; A5 = A5(ii5) ; A5u = A5u(ii5) ; ii4=ii4(ii5) ;ii4u=ii4u(ii5) ;
dL5 = (A5u+pi/360-A5).*(R5+R5u)/2 ; %/2/2
compa = ( abs(R5-R5u)<(dL5/3) ) ;
ii6 = Find16X(~compa) ; ii6=ii4(ii6) ;
ii5 = Find16X(compa) ; L5 = length(ii5) ; if L5<1, x=[] ; return ; end ;
R5 = R5(ii5) ; R5u = R5u(ii5) ; A5 = A5(ii5) ; A5u = A5u(ii5) ; ii4=ii4(ii5) ;ii4u=ii4u(ii5) ;
dL5 =dL5 (ii5) ;
auxi = (ii4+ii4u)/2 ;
iia= floor(auxi) ;
iib= ceil(auxi) ;
Rs = (R1(iia)+R1(iib))/2 ;
x = [ Rs+dL5/2;(A5+A5u)*0.5;dL5;] ; % distance , angle, size ;
%x = [(R5+R5u)*0.5;(A5+A5u)*0.5;dL5;] ;
return ;
% ---------------------------------------
function ii = Find16X(x)
ii = int16(find(x)) ;
return ;
% ---------------------------------------