From 1a1c1c47fb17cc5a8d772b27555d55403beaeeae Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Wed, 26 Aug 2026 12:24:52 +0800 Subject: [PATCH] =?UTF-8?q?hybridPosePositioning=20version=201.3.10=20:=20?= =?UTF-8?q?=E8=BD=AC=E5=AD=90=E9=92=A2=E8=8A=AF=EF=BC=8C=20=E5=B0=86?= =?UTF-8?q?=E5=88=86=E5=B1=82=E7=B3=BB=E6=95=B0=E7=94=B1=E5=86=85=E9=83=A8?= =?UTF-8?q?=E5=8F=82=E6=95=B0=E8=BD=AC=E4=B8=BA=E8=BE=93=E5=85=A5=E5=8F=82?= =?UTF-8?q?=E6=95=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- hybridPosePositioning_test/hybridPosePositioning_test.cpp | 6 ++++-- sourceCode/hybridPosePositioning.cpp | 6 ++++-- sourceCode/hybridPosePositioning_Export.h | 1 + 3 files changed, 9 insertions(+), 4 deletions(-) diff --git a/hybridPosePositioning_test/hybridPosePositioning_test.cpp b/hybridPosePositioning_test/hybridPosePositioning_test.cpp index 171c90b..d89edd5 100644 --- a/hybridPosePositioning_test/hybridPosePositioning_test.cpp +++ b/hybridPosePositioning_test/hybridPosePositioning_test.cpp @@ -2259,13 +2259,13 @@ void HaiRuiMa_rotorCorePositioning_test(void) }; SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = { - {1,10}, {3,70},{1,1} + {1,10}, {3,70},{2,2} }; const char* ver = wd_hybridPositioningVersion(); printf("ver:%s\n", ver); - for (int grp = 1; grp < HRM_RotorCore_TEST_GROUP; grp++) + for (int grp = 2; grp < HRM_RotorCore_TEST_GROUP; grp++) { SSG_planeCalibPara groundCalibPara; //初始化成单位阵 @@ -2340,6 +2340,7 @@ void HaiRuiMa_rotorCorePositioning_test(void) workpieceParam.radius = 45.0; workpieceParam.height = 20.0; + double layerRatio = 0.5; //分层系数，分层门限=分层系数*工作高度；当两个工作的高度差大于分层门限时，判断为在不同层 double groundRemoveOffset = 200; //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset long t1 = (long)GetTickCount64();//统计时间 @@ -2351,6 +2352,7 @@ void HaiRuiMa_rotorCorePositioning_test(void) objROIs, groundCalibPara, workpieceParam, + layerRatio, groundRemoveOffset, workpiecePositions, binInfo, diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp index 2630860..c65c378 100644 --- a/sourceCode/hybridPosePositioning.cpp +++ b/sourceCode/hybridPosePositioning.cpp @@ -20,7 +20,8 @@ //version 1.3.7 : 1.3.6汾ĻID 2Dһ //version 1.3.8 : դʽ飬 ԵĿΪĿϿߵľֱ1.1 //version 1.3.9 : תӸо ĽϿⷽ -std::string m_strVersion = "HybridPositioning 1.3.9"; +//version 1.3.10 : תӸо ֲϵڲתΪ +std::string m_strVersion = "HybridPositioning 1.3.10"; const char* wd_hybridPositioningVersion(void) { return m_strVersion.c_str(); @@ -1089,6 +1090,7 @@ void wd_HRM_RotorCorePositioning( std::vector& objROIs, const SSG_planeCalibPara groundCalibPara, const SWD_Cylinder workpieceParam, //Բιıư뾶͸߶ + const double layerRatio, //ֲϵֲ=ֲϵ*߶ȣĸ߶ȲڷֲʱжΪڲͬ const double groundRemoveOffset, //ϿȥZƫãʵʵȥ߶Ϊ groundCalibPara.planeHeight - groundRemoveOffset std::vector< WD_workpieceInfo>& workpiecePositions, WD_HRM_BinInfo& binInfo, //BinϢdebugȷϿϢȷ @@ -1459,7 +1461,7 @@ void wd_HRM_RotorCorePositioning( //z std::vector< WD_workpieceInfo> zSortWorkpiece; - double topLayerTh = highest_z + workpieceParam.height * 0.75; + double topLayerTh = highest_z + workpieceParam.height * layerRatio; for (int i = 0; i < (int)allWorkpiece.size(); i++) { if (allWorkpiece[i].center.z < topLayerTh) diff --git a/sourceCode/hybridPosePositioning_Export.h b/sourceCode/hybridPosePositioning_Export.h index 9e8d6aa..a1d73f1 100644 --- a/sourceCode/hybridPosePositioning_Export.h +++ b/sourceCode/hybridPosePositioning_Export.h @@ -63,6 +63,7 @@ SG_APISHARED_EXPORT void wd_HRM_RotorCorePositioning( std::vector& objROIs, const SSG_planeCalibPara groundCalibPara, const SWD_Cylinder workpieceParam, //Բιıư뾶͸߶ + const double layerRatio, //ֲϵֲ=ֲϵ*߶ȣĸ߶ȲڷֲʱжΪڲͬ const double groundRemoveOffset, //ϿȥZƫãʵʵȥ߶Ϊ groundCalibPara.planeHeight - groundRemoveOffset std::vector< WD_workpieceInfo>& workpiecePositions, WD_HRM_BinInfo& binInfo, //BinϢdebugȷϿϢȷ