From 084f16ae6dff988cb9a3ba3854954a09f921ac61 Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Tue, 13 Oct 2026 14:06:45 +0800 Subject: [PATCH] =?UTF-8?q?hybridPosePositioning=20version=201.4.8=20:=20?= =?UTF-8?q?=E8=BD=AC=E5=AD=90=E9=92=A2=E8=8A=AF=EF=BC=8C=E9=9A=94=E6=9D=BF?= =?UTF-8?q?=E4=B8=8B=E5=B7=A5=E4=BD=9C=E9=83=A8=E5=88=86=E5=8F=AF=E8=A7=81?= =?UTF-8?q?=E6=97=B6=E8=99=9A=E5=81=87=E6=A3=80=E6=B5=8B=E7=9A=84=E6=BB=A4?= =?UTF-8?q?=E9=99=A4=E6=97=B6=E7=9A=84=E8=B7=9D=E7=A6=BB=E7=B3=BB=E6=95=B0?= =?UTF-8?q?=E7=94=B10.3=E8=B0=83=E6=95=B4=E4=B8=BA0.75=E3=80=82=E5=BD=93?= =?UTF-8?q?=E7=82=B9=E4=BA=91=E8=B4=A8=E9=87=8F=E4=B8=8D=E5=A5=BD=E6=97=B6?= =?UTF-8?q?=EF=BC=8C0.3=E4=BC=9A=E5=AF=BC=E8=87=B4=E6=97=A0=E6=B3=95?= =?UTF-8?q?=E6=89=BE=E5=88=B0=E9=9A=94=E6=9D=BF=E4=B8=8A=E7=9A=84=E6=AF=94?= =?UTF-8?q?=E8=BE=83=E7=82=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- hybridPosePositioning_test/hybridPosePositioning_test.cpp | 2 +- sourceCode/hybridPosePositioning.cpp | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/hybridPosePositioning_test/hybridPosePositioning_test.cpp b/hybridPosePositioning_test/hybridPosePositioning_test.cpp index eab60f8..499a844 100644 --- a/hybridPosePositioning_test/hybridPosePositioning_test.cpp +++ b/hybridPosePositioning_test/hybridPosePositioning_test.cpp @@ -2368,7 +2368,7 @@ void HaiRuiMa_rotorCorePositioning_test(void) }; SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = { - {1,10}, {3,70},{9,9}, {52,52}, {1,54}, {1,6}, {1,8} + {1,10}, {3,70},{9,9}, {53,53}, {1,54}, {1,6}, {1,8} }; const char* ver = wd_hybridPositioningVersion(); diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp index 8d57c4e..80604a6 100644 --- a/sourceCode/hybridPosePositioning.cpp +++ b/sourceCode/hybridPosePositioning.cpp @@ -30,7 +30,8 @@ //version 1.4.5 : 转子钢芯，隔板检测内部参数修改：2:1抽样，聚类距离门限5mm //version 1.4.6 : 转子钢芯，添加隔板下工作部分可见时虚假检测的滤除，非中央部分工作按高度排序 //version 1.4.7 : 转子钢芯，添加无隔板检测出来时的虚假检测的滤除 -std::string m_strVersion = "HybridPositioning 1.4.7"; +//version 1.4.8 : 转子钢芯，隔板下工作部分可见时虚假检测的滤除时的距离系数由0.3调整为0.75。当点云质量不好时，0.3会导致无法找到隔板上的比较点 +std::string m_strVersion = "HybridPositioning 1.4.8"; const char* wd_hybridPositioningVersion(void) { return m_strVersion.c_str(); @@ -1911,7 +1912,7 @@ void wd_HRM_RotorCorePositioning( //搜索隔板点云与工件中心最接近的点 SVzNL3DPoint nearestPt = _searchNearestPoint(spacerPoints, a_workpiece.center); double dist = sqrt(pow(nearestPt.x - a_workpiece.center.x, 2) + pow(nearestPt.y - a_workpiece.center.y, 2)); - if (dist < workpieceParam.radius * 0.3) + if (dist < workpieceParam.radius*0.75) { double heightDiff = nearestPt.z - a_workpiece.center.z; if (heightDiff < workpieceParam.height / 4)