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hybridPosePositioning

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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
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jerryzeng 2026-10-13 14:06:45 +08:00
parent 1fc70eb44d
commit 084f16ae6d
2 changed files with 4 additions and 3 deletions
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2
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -2368,7 +2368,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
}; };
SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = { 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(); const char* ver = wd_hybridPositioningVersion();

5
sourceCode/hybridPosePositioning.cpp
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@ -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 1.4.5 : 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 1.4.6 : 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 //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) const char* wd_hybridPositioningVersion(void)
{ {
return m_strVersion.c_str(); 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 //搜索隔板点云与工件中心最接近的点
SVzNL3DPoint nearestPt = _searchNearestPoint(spacerPoints, a_workpiece.center); 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)); 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; double heightDiff = nearestPt.z - a_workpiece.center.z;
if (heightDiff < workpieceParam.height / 4) if (heightDiff < workpieceParam.height / 4)