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hybridPosePositioning

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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
This commit is contained in:
jerryzeng 2026-10-07 10:21:05 +08:00
parent a0054f7d50
commit 4d4dfe0506
2 changed files with 54 additions and 11 deletions
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2
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -2367,7 +2367,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
};
SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
{1,10}, {3,70},{9,9}, {1,49}, {1,54}, {1,6}
{1,10}, {3,70},{9,9}, {51,51}, {1,54}, {1,6}
};
const char* ver = wd_hybridPositioningVersion();

61
sourceCode/hybridPosePositioning.cpp
View File

@ -28,7 +28,8 @@
//version 1.4.3 : 转子钢芯， (1)分层系数和边距系数添加-1.0参数值，表示不进行分层或边距。（2）添加选项选择使用工件的自身法向或统一使用调平地面法向
//version 1.4.4 : 转子钢芯，添加了异常保护
//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
std::string m_strVersion = "HybridPositioning 1.4.5";
//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
std::string m_strVersion = "HybridPositioning 1.4.6";
const char* wd_hybridPositioningVersion(void)
{
return m_strVersion.c_str();
@ -122,6 +123,11 @@ bool _compareByZValue(SVzNL3DPosition& a, SVzNL3DPosition& b)
return a.pt3D.z < b.pt3D.z;
}
bool _compareByWorkpieceZValue(WD_workpieceInfo& a, WD_workpieceInfo& b)
{
return a.center.z < b.center.z;
}
//生成圆周扫描数据
void _genPolarScanData(
std::vector<SVzNL3DPosition>& points,
@ -1483,6 +1489,22 @@ void _searchImgPosition(std::vector< std::vector<SVzNLPositionD>>& scanLinesInpu
return;
}
SVzNL3DPoint _searchNearestPoint(std::vector<SVzNL3DPosition>& pointList, const SVzNL3DPoint& seedPt)
{
SVzNL3DPoint target = { 0, 0, 0 };
double minDist = DBL_MAX;
for (int i = 0; i < (int)pointList.size(); i++)
{
double dist = abs(seedPt.x - pointList[i].pt3D.x) + abs(seedPt.y - pointList[i].pt3D.y);
if (minDist > dist)
{
target = pointList[i].pt3D;
minDist = dist;
}
}
return target;
}
void wd_HRM_RotorCorePositioning(
std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
std::vector<WD_objArea2D>& objROIs,
@ -1855,6 +1877,19 @@ void wd_HRM_RotorCorePositioning(
centerPtIndice);
a_workpiece.imgCenter = { nCx, nCy };
a_workpiece.id = idx + 1;
//添加对隔板下部分可见被识别目标的过滤
if ((spacerInfo.center.z > 1e-4)&& (a_workpiece.center.z > 1e-4)) //隔板存在
{
//搜索与工件中心最接近的点
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));
if (dist < workpieceParam.radius * 0.3)
{
double heightDiff = nearestPt.z - a_workpiece.center.z;
if (heightDiff < workpieceParam.height / 4)
a_workpiece.center = { 0.0, 0.0, 0.0 };
}
}
#ifdef _OUTPUT_DEBUG_DATA
if (a_workpiece.center.z > 1e-4)
@ -2182,22 +2217,30 @@ void wd_HRM_RotorCorePositioning(
workpiecePositions.push_back(centerRegion[idx]);
}
}
//对非中央部分按高度排序
std::vector< WD_workpieceInfo> sideObjects;
if (topSide.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), topSide.begin(), topSide.end());
sideObjects.insert(sideObjects.end(), topSide.begin(), topSide.end());
if (btmSide.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), btmSide.begin(), btmSide.end());
sideObjects.insert(sideObjects.end(), btmSide.begin(), btmSide.end());
if (leftSide.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), leftSide.begin(), leftSide.end());
sideObjects.insert(sideObjects.end(), leftSide.begin(), leftSide.end());
if (rightSide.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), rightSide.begin(), rightSide.end());
sideObjects.insert(sideObjects.end(), rightSide.begin(), rightSide.end());
if (LTCorner.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), LTCorner.begin(), LTCorner.end());
sideObjects.insert(sideObjects.end(), LTCorner.begin(), LTCorner.end());
if (RTCorner.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), RTCorner.begin(), RTCorner.end());
sideObjects.insert(sideObjects.end(), RTCorner.begin(), RTCorner.end());
if (LBCorner.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), LBCorner.begin(), LBCorner.end());
sideObjects.insert(sideObjects.end(), LBCorner.begin(), LBCorner.end());
if (RBCorner.size() > 0)
workpiecePositions.insert(workpiecePositions.end(), RBCorner.begin(), RBCorner.end());
sideObjects.insert(sideObjects.end(), RBCorner.begin(), RBCorner.end());
if (sideObjects.size() > 1)
{
//按高度排序
std::sort(sideObjects.begin(), sideObjects.end(), _compareByWorkpieceZValue);
}
workpiecePositions.insert(workpiecePositions.end(), sideObjects.begin(), sideObjects.end());
}
else
{