From 5df9b7b6281bbe1d7fd1637e41c343f2ec3042e9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E6=9D=B0=E4=BB=94?= <snsopush@sina.com>
Date: Tue, 6 Oct 2026 14:33:40 +0800
Subject: [PATCH] =?UTF-8?q?fix:rodAndBarDetection:=E6=B2=A1=E6=9C=89?=
 =?UTF-8?q?=E6=A3=92=E6=9D=90=E7=9A=84=E6=83=85=E5=86=B5=E4=B8=8D=E9=9C=80?=
 =?UTF-8?q?=E8=A6=81=E5=86=8D=E8=AE=A1=E7=AE=97=E6=96=99=E6=A1=86=E4=BF=A1?=
 =?UTF-8?q?=E6=81=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 sourceCode/dataFitting.cpp        |  3 ++-
 sourceCode/rodAndBarDetection.cpp | 10 +++++++++-
 2 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/sourceCode/dataFitting.cpp b/sourceCode/dataFitting.cpp
index 26292e5..ec86a22 100644
--- a/sourceCode/dataFitting.cpp
+++ b/sourceCode/dataFitting.cpp
@@ -180,7 +180,8 @@ double fitCircleByLeastSquare(
 	double r2 = radius * radius;
 	for (int pId = 0; pId < N; ++pId) {
 		e = abs(pow(pointArray[pId].x - center.x, 2) + pow(pointArray[pId].y - center.y, 2) - r2);
-#if 0		if (e > err) {
+#if 0		
+		if (e > err) {
 			err = e;
 		}
 #else
diff --git a/sourceCode/rodAndBarDetection.cpp b/sourceCode/rodAndBarDetection.cpp
index 8f16833..1b0181c 100644
--- a/sourceCode/rodAndBarDetection.cpp
+++ b/sourceCode/rodAndBarDetection.cpp
@@ -32,7 +32,8 @@
 //version 1.4.0 : 矩森棒材抓取算法改进：（1）修正了两个棒材被识别成一根的问题（2）增强了对噪点的容忍度，增强了鲁棒性
 //version 1.5.0 : 矩森棒材抓取算法改进：加强了对强噪声点云的处理
 //version 1.6.0 : 矩森棒材抓取算法改进：添加了料筐信息提取和对边缘工件的判断
-std::string	m_strVersion = "RodAndBarDetection_1.6.0";
+//version 1.6.1 : 矩森棒材抓取算法崩溃修复：没有棒材的情况不需要再计算料框信息
+std::string	m_strVersion = "RodAndBarDetection_1.6.1";
 const char* wd_rodAndBarDetectionVersion(void)
 {
 	return m_strVersion.c_str();
@@ -3916,6 +3917,13 @@ void sx_rodPositioning(
 			}
 		}
 	}
+	
+	if (rodInfo.empty())
+	{
+		*errCode = SX_ERR_ZERO_OBJECTS;
+		return;
+	}
+	
 	//（2）遮挡判断
 	//按高度排序
 	std::sort(rodInfo.begin(), rodInfo.end(), _commpareByCenterZ);