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hybridPosePositioning

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version 1.3.3 : 改进了海瑞马锥形工件定位算法，优化的ROI重叠时的处理逻辑
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jerryzeng 2026-08-05 17:02:56 +08:00
parent 6bfb7cf4a4
commit 432c2a3289
1 changed files with 79 additions and 2 deletions
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81
sourceCode/hybridPosePositioning.cpp
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@ -13,7 +13,8 @@
//version 1.3.0 : 添加了海瑞马转子钢芯定位
//version 1.3.1 : 添加了海瑞马转子钢芯定位位置属性计算，区分出中央，边和角的位置，按照中心排序，先输出最中央的目标
//version 1.3.2 : 添加了海瑞马锥形工件的ID号，ID号为输入的ROI下标+1（从1开始）
std::string m_strVersion = "HybridPositioning 1.3.2";
//version 1.3.3 : 改进了海瑞马锥形工件定位算法，优化的ROI重叠时的处理逻辑
std::string m_strVersion = "HybridPositioning 1.3.3";
const char* wd_hybridPositioningVersion(void)
{
return m_strVersion.c_str();
@ -1493,8 +1494,84 @@ void wd_HRM_TaperedWorkpiecePositioning(
return;
}
int lineNum = (int)scanLinesInput.size();
int linePtNum = (int)scanLinesInput[0].size();
int maxU = 0; //2D图像的最大Col
int maxV = 0; //2D图像的最大Row
for (int line = 0; line < lineNum; line++)
{
for (int ptIdx = 0; ptIdx < (int)scanLinesInput[line].size(); ptIdx++)
{
if (scanLinesInput[line][ptIdx].pt3D.z < 1e-4)
continue;
maxU = maxU < scanLinesInput[line][ptIdx].ptLeft2D.x ? scanLinesInput[line][ptIdx].ptLeft2D.x : maxU;
maxV = maxV < scanLinesInput[line][ptIdx].ptLeft2D.y ? scanLinesInput[line][ptIdx].ptLeft2D.y : maxV;
}
}
//生成图像与3d的对应表
const int imgCols = maxU + 1;
const int imgRows = maxV + 1;
std::vector<std::vector<mapping2DTo3D>> mappingTable; //按图像大小建立。
mappingTable.resize(imgCols); //与扫描线方向对应
for (int i = 0; i < imgCols; i++)
mappingTable[i].resize(imgRows);
std::vector<std::vector<SVzNL3DPosition>> scanLines;
scanLines.resize(lineNum);
for (int line = 0; line < lineNum; line++)
{
scanLines[line].resize(linePtNum);
for (int ptIdx = 0; ptIdx < linePtNum; ptIdx++)
{
scanLinesInput[line][ptIdx].nPointIdx = ptIdx;
scanLines[line][ptIdx].pt3D = scanLinesInput[line][ptIdx].pt3D;
if (scanLinesInput[line][ptIdx].pt3D.z < 1e-4)
continue;
SWDScanPosition a_pos;
a_pos.lineIdx = line;
a_pos.ptIdx = ptIdx;
int u = scanLinesInput[line][ptIdx].ptLeft2D.x;
int v = scanLinesInput[line][ptIdx].ptLeft2D.y;
mappingTable[u][v].mappings.push_back(a_pos);
}
}
std::vector<std::vector<SVzNL3DPosition>> rgnPoints;
rgnPoints.resize(objROIs.size());
for (int rgnId = 0; rgnId < (int)objROIs.size(); rgnId++)
{
WD_objArea2D& obj_roi = objROIs[rgnId];
int L = (int)(obj_roi.roi.left);
int R = (int)(obj_roi.roi.right) + 1;
if (R > maxU)
R = maxU;
int T = (int)(obj_roi.roi.top);
int B = (int)(obj_roi.roi.bottom) + 1;
if (B > maxV)
B = maxV;
//统计ROI中的扫描线和PtIdx范围
for (int x = L; x <= R; x++)
{
for (int y = T; y <= B; y++)
{
mapping2DTo3D& a_mapping = mappingTable[x][y];
for (int m = 0; m < (int)a_mapping.mappings.size(); m++)
{
int lineIdx = a_mapping.mappings[m].lineIdx;
int ptIdx = a_mapping.mappings[m].ptIdx;
if (scanLines[lineIdx][ptIdx].pt3D.z > 1e-4)
rgnPoints[rgnId].push_back(scanLines[lineIdx][ptIdx]);
}
}
}
}
#if 0
for (int line = 0; line < (int)scanLinesInput.size(); line++)
{
for (int ptIdx = 0; ptIdx < (int)scanLinesInput[line].size(); ptIdx++)
@ -1514,7 +1591,7 @@ void wd_HRM_TaperedWorkpiecePositioning(
}
}
}
#endif
//统计每个region的最高点
std::vector< SVzNL3DPosition> rgnPeaks;
for (int i = 0; i < (int)rgnPoints.size(); i++)