diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp
index f050cb3..32ab8ba 100644
--- a/sourceCode/hybridPosePositioning.cpp
+++ b/sourceCode/hybridPosePositioning.cpp
@@ -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++)