From 2d145399fd3302841441d0dbb162b1816943dd9a Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Sat, 15 Aug 2026 22:34:05 +0800 Subject: [PATCH] =?UTF-8?q?SX=5FlapWeldDetection=20version=201.1.0=20:?= =?UTF-8?q?=E7=84=8A=E7=BC=9D=EF=BC=88=E5=B9=B3=E7=BC=9D=EF=BC=89=E8=AF=86?= =?UTF-8?q?=E5=88=AB=E4=BF=AE=E6=AD=A3=E5=9B=9E=E5=BD=92=E6=B5=8B=E8=AF=95?= =?UTF-8?q?=E4=B8=AD=E5=8F=91=E7=8E=B0=E7=9A=84bug?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- sourceCode/SG_featureGrow.cpp | 36 ++++++++++++++++---- sourceCode/SG_lineFeature.cpp | 5 ++- sourceCode/SX_lapWeldDetection.cpp | 53 +++++++++++++++++++++++------- 3 files changed, 75 insertions(+), 19 deletions(-) diff --git a/sourceCode/SG_featureGrow.cpp b/sourceCode/SG_featureGrow.cpp index 7bbfc6b..f4c4254 100644 --- a/sourceCode/SG_featureGrow.cpp +++ b/sourceCode/SG_featureGrow.cpp @@ -999,17 +999,34 @@ void sg_cornerFeaturesGrowing( } } -bool _gapTreeMatch(SSG_basicFeatureGap& a_gap, SSG_gapFeatureTree& a_tree, const SSG_treeGrowParam growParam, double* yDeviation) +bool _gapTreeMatch(SSG_basicFeatureGap& a_gap, SSG_gapFeatureTree& a_tree, const SSG_treeGrowParam growParam, double* yDeviation, int meanValueWin=5) { //检查生长点 SSG_basicFeatureGap last_node = a_tree.treeNodes.back(); - double last_cx = (last_node.gapPt_0.pt3D.x + last_node.gapPt_1.pt3D.x) / 2; - double last_cy = (last_node.gapPt_0.pt3D.y + last_node.gapPt_1.pt3D.y) / 2; - double last_cz = (last_node.gapPt_0.pt3D.z + last_node.gapPt_1.pt3D.z) / 2; +#if 1 + //取最后5个点的平均 + int lastNodeIdx = (int)a_tree.treeNodes.size() - 1; + int sumNum = 0; + double last_cy = 0; + for (int i = 0; i < meanValueWin; i++) + { + last_cy += a_tree.treeNodes[lastNodeIdx].gapPeak.pt3D.y; + sumNum++; + lastNodeIdx--; + if (lastNodeIdx < 0) + break; + } + last_cy = last_cy / sumNum; +#else + double last_cy = last_node.gapPeak.pt3D.y; //(last_node.gapPt_0.pt3D.y + last_node.gapPt_1.pt3D.y) / 2; +#endif + double last_cx = last_node.gapPeak.pt3D.x; // (last_node.gapPt_0.pt3D.x + last_node.gapPt_1.pt3D.x) / 2; + double last_cz = last_node.gapPeak.pt3D.z; // (last_node.gapPt_0.pt3D.z + last_node.gapPt_1.pt3D.z) / 2; + //判断生长点 - double curr_cx = (a_gap.gapPt_0.pt3D.x + a_gap.gapPt_1.pt3D.x) / 2; - double curr_cy = (a_gap.gapPt_0.pt3D.y + a_gap.gapPt_1.pt3D.y) / 2; - double curr_cz = (a_gap.gapPt_0.pt3D.z + a_gap.gapPt_1.pt3D.z) / 2; + double curr_cx = a_gap.gapPeak.pt3D.x;// (a_gap.gapPt_0.pt3D.x + a_gap.gapPt_1.pt3D.x) / 2; + double curr_cy = a_gap.gapPeak.pt3D.y;// (a_gap.gapPt_0.pt3D.y + a_gap.gapPt_1.pt3D.y) / 2; + double curr_cz = a_gap.gapPeak.pt3D.z;// (a_gap.gapPt_0.pt3D.z + a_gap.gapPt_1.pt3D.z) / 2; double y_diff = abs(curr_cy - last_cy); double z_diff = abs(curr_cz - last_cz); int line_diff = abs(a_gap.lineIdx - last_node.lineIdx); @@ -1146,6 +1163,8 @@ void sg_lineGapsGrowing_treeFirst( for (int i = 0; i < (int)trees.size(); i++) { SSG_gapFeatureTree& a_tree = trees[i]; + if (a_tree.treeState == TREE_STATE_DEAD) + continue; int bestMatchLeafId = -1; double minYDiff = -1; @@ -1173,6 +1192,9 @@ void sg_lineGapsGrowing_treeFirst( } } } + if ((lineIdx == 286) && (bestMatchLeafId == 3)) + int kkk = 1; + if(bestMatchLeafId >= 0) { a_tree.eLineIdx = lineIdx; diff --git a/sourceCode/SG_lineFeature.cpp b/sourceCode/SG_lineFeature.cpp index a377d51..406b4d0 100644 --- a/sourceCode/SG_lineFeature.cpp +++ b/sourceCode/SG_lineFeature.cpp @@ -9734,7 +9734,7 @@ void _valleyDetect( int realPeakPos = preEdge; for (int m = preEdge; m <= postEdge; m++) { - if ((a_line[realPeakPos].pt3D.z > a_line[m].pt3D.z) && (a_line[m].nPointIdx >= 0)) + if ((a_line[realPeakPos].pt3D.z < a_line[m].pt3D.z) && (a_line[m].nPointIdx >= 0)) realPeakPos = m; } @@ -9768,6 +9768,9 @@ void wd_getLineVFlaws( const SWD_valleyParam valleyParam, std::vector< SSG_basicFeatureGap>& valleys) { + if (lineIdx == 286) + int kkk = 1; + //处理栅格数据（填补空洞，统计有效点 int startId = -1, endId = 0; for (int i = 0; i < (int)a_line.size(); i++) diff --git a/sourceCode/SX_lapWeldDetection.cpp b/sourceCode/SX_lapWeldDetection.cpp index d0f2135..f71ae94 100644 --- a/sourceCode/SX_lapWeldDetection.cpp +++ b/sourceCode/SX_lapWeldDetection.cpp @@ -6,7 +6,9 @@ #include //version 1.0.0 :焊缝（平缝）识别检测算法初始发布 -std::string m_strVersion = "weldSeamAlgo_1.0.0"; +//version 1.1.0 :焊缝（平缝）识别修正回归测试中发现的bug +std::string m_strVersion = "weldSeamAlgo_1.1.0"; + const char* wd_weldSeamAlgoVersion(void) { return m_strVersion.c_str(); @@ -432,6 +434,25 @@ double _getMeanZ(std::vector& ptZ) return meanZ; } +double _getNearestZ(std::vector& pts, double refx) +{ + if (pts.size() == 0) + return 0; + + double minDist = abs(pts[0].x - refx); + double bestZ = pts[0].z; + for (int i = 1; i < (int)pts.size(); i++) + { + double xDist = abs(pts[i].x = refx); + if (minDist > xDist) + { + minDist = xDist; + bestZ = pts[i].z; + } + } + return bestZ; +} + bool _compareByXValue(const SVzNL3DPoint& a, const SVzNL3DPoint& b) { return a.x < b.x; } @@ -445,6 +466,12 @@ void BQ_getWeldSeamPose( { *errCode = 0; + if (trees.size() == 0) + { + *errCode = SX_ERR_ZERO_OBJECTS; + return; + } + //保留最长的tree int bestId = 0; trees[0].treeState = 0; @@ -506,9 +533,9 @@ void BQ_getWeldSeamPose( int refSegNum = weldRefPoints + 1; refSegNum = refSegNum * 2; //以段长一半进行区分 std::vector> refSegments; - std::vector> refSegZ; + std::vector> refSegValleyPt; refSegments.resize(refSegNum); - refSegZ.resize(refSegNum); + refSegValleyPt.resize(refSegNum); SVzNLRangeD xRange = _getTreesXRange(weldSeam); double segLen = (xRange.max - xRange.min) / refSegNum; for (int i = 0; i < (int)weldSeam.size(); i++) @@ -525,7 +552,10 @@ void BQ_getWeldSeamPose( segIdx = refSegNum - 1; refSegments[segIdx].push_back(weldSeam[i].treeNodes[j].gapPeak.pt3D); double valleyZ = (weldSeam[i].treeNodes[j].gapPt_0.pt3D.z + weldSeam[i].treeNodes[j].gapPt_1.pt3D.z) / 2; - refSegZ[segIdx].push_back(valleyZ); + double valleyX = (weldSeam[i].treeNodes[j].gapPt_0.pt3D.x + weldSeam[i].treeNodes[j].gapPt_1.pt3D.x) / 2; + double valleyY = (weldSeam[i].treeNodes[j].gapPt_0.pt3D.y + weldSeam[i].treeNodes[j].gapPt_1.pt3D.y) / 2; + SVzNL3DPoint a_valley = { valleyX , valleyY, valleyZ }; + refSegValleyPt[segIdx].push_back(a_valley); } } //分段按X大小排序 @@ -540,16 +570,16 @@ void BQ_getWeldSeamPose( int segIdx_0 = i * 2 - 1; int segIdx_1 = i * 2; std::vector fittingPoints; - std::vector fittingPtZ; + std::vector fittingValleyPt; if (segIdx_0 >= 0) { fittingPoints.insert(fittingPoints.end(), refSegments[segIdx_0].begin(), refSegments[segIdx_0].end()); //左半段 - fittingPtZ.insert(fittingPtZ.end(), refSegZ[segIdx_0].begin(), refSegZ[segIdx_0].end()); + fittingValleyPt.insert(fittingValleyPt.end(), refSegValleyPt[segIdx_0].begin(), refSegValleyPt[segIdx_0].end()); } if (segIdx_1 < refSegNum) { fittingPoints.insert(fittingPoints.end(), refSegments[segIdx_1].begin(), refSegments[segIdx_1].end()); //右半段 - fittingPtZ.insert(fittingPtZ.end(), refSegZ[segIdx_1].begin(), refSegZ[segIdx_1].end()); + fittingValleyPt.insert(fittingValleyPt.end(), refSegValleyPt[segIdx_1].begin(), refSegValleyPt[segIdx_1].end()); } while (fittingPoints.size() < 10) //保证足够的拟合点 { @@ -559,13 +589,13 @@ void BQ_getWeldSeamPose( if (segIdx_0 >= 0) { fittingPoints.insert(fittingPoints.end(), refSegments[segIdx_0].begin(), refSegments[segIdx_0].end()); - fittingPtZ.insert(fittingPtZ.end(), refSegZ[segIdx_0].begin(), refSegZ[segIdx_0].end()); + fittingValleyPt.insert(fittingValleyPt.end(), refSegValleyPt[segIdx_0].begin(), refSegValleyPt[segIdx_0].end()); } segIdx_1++; if (segIdx_1 < refSegNum) { fittingPoints.insert(fittingPoints.end(), refSegments[segIdx_1].begin(), refSegments[segIdx_1].end()); - fittingPtZ.insert(fittingPtZ.end(), refSegZ[segIdx_1].begin(), refSegZ[segIdx_1].end()); + fittingValleyPt.insert(fittingValleyPt.end(), refSegValleyPt[segIdx_1].begin(), refSegValleyPt[segIdx_1].end()); } if (oldSize == (int)fittingPoints.size()) break; @@ -573,13 +603,14 @@ void BQ_getWeldSeamPose( //直线拟合 double _a, _b, _c; lineFitting_abc(fittingPoints, &_a, &_b, &_c); - double meanZ = _getMeanZ(fittingPtZ); + double x = segLen * i * 2.0 + xRange.min; double y = -(_a * x + _c) / _b; + double nearestZ = _getNearestZ(fittingValleyPt, x); //_getMeanZ(fittingPtZ); SVzNL3DPoint a_pt; a_pt.x = x; a_pt.y = y; - a_pt.z = meanZ; + a_pt.z = nearestZ; weldOps.push_back(a_pt); } return;