From 85fb6d1434a6358702fa676d40507bd6b1bbaf1b Mon Sep 17 00:00:00 2001
From: jerryzeng <laohong_0908@qq.com>
Date: Sun, 27 Sep 2026 18:34:17 +0800
Subject: [PATCH] =?UTF-8?q?hybridPosePositioning=20version=201.4.4=20:=20?=
 =?UTF-8?q?=E8=BD=AC=E5=AD=90=E9=92=A2=E8=8A=AF=EF=BC=8C=E6=B7=BB=E5=8A=A0?=
 =?UTF-8?q?=E4=BA=86=E5=BC=82=E5=B8=B8=E4=BF=9D=E6=8A=A4?=
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---
 .../hybridPosePositioning_test.cpp            |  4 +-
 sourceCode/hybridPosePositioning.cpp          | 38 ++++++++++++-------
 2 files changed, 27 insertions(+), 15 deletions(-)

diff --git a/hybridPosePositioning_test/hybridPosePositioning_test.cpp b/hybridPosePositioning_test/hybridPosePositioning_test.cpp
index 7fa41f0..67a543b 100644
--- a/hybridPosePositioning_test/hybridPosePositioning_test.cpp
+++ b/hybridPosePositioning_test/hybridPosePositioning_test.cpp
@@ -2364,13 +2364,13 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 	};
 
 	SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
-		{1,10}, {3,70},{8,8}, {5,47}, {1,54}, {1,6}
+		{1,10}, {3,70},{9,9}, {5,47}, {1,54}, {1,6}
 	};
 
 	const char* ver = wd_hybridPositioningVersion();
 	printf("ver:%s\n", ver);
 
-	for (int grp = 4; grp <= 4; grp++)
+	for (int grp = 2; grp <= 2; grp++)
 	{
 		SSG_planeCalibPara groundCalibPara;
 		//初始化成单位阵
diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp
index df1fe15..359167f 100644
--- a/sourceCode/hybridPosePositioning.cpp
+++ b/sourceCode/hybridPosePositioning.cpp
@@ -26,7 +26,8 @@
 //version 1.4.1 : ת�Ӹ�о�� ÿ��������������2Dͼ������
 //version 1.4.2 : ת�Ӹ�о�� �Ż��˵����д�ֱ����ȥ��������
 //version 1.4.3 : ת�Ӹ�о�� (1)�ֲ�ϵ���ͱ߾�ϵ������-1.0����ֵ����ʾ�����зֲ��߾ࡣ��2������ѡ��ѡ��ʹ�ù��������������ͳһʹ�õ�ƽ���淨��
-std::string	m_strVersion = "HybridPositioning 1.4.3";
+//version 1.4.4 : ת�Ӹ�о���������쳣����
+std::string	m_strVersion = "HybridPositioning 1.4.4";
 const char* wd_hybridPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -1760,28 +1761,39 @@ void wd_HRM_RotorCorePositioning(
 		//ͳ��ROI�е�ɨ���ߺ�PtIdx��Χ
 		SVzNLRange roiLineIndice = { INT_MAX, 0 };
 		SVzNLRange roiPtIndice = { INT_MAX, 0 };
+		bool isValid = true;
 		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++)
+				if (x < mappingTable.size())
 				{
-					int lineIdx = a_mapping.mappings[m].lineIdx;
-					int ptIdx = a_mapping.mappings[m].ptIdx;
-					if (scanLines[lineIdx][ptIdx].pt3D.z > 1e-4)
+					if (y < mappingTable[x].size())
 					{
-						scanLinesInput[lineIdx][ptIdx].nPointIdx &= 0xffff0000;
-						scanLinesInput[lineIdx][ptIdx].nPointIdx |= (idx + 1);
-						roiLineIndice.nMin = roiLineIndice.nMin > lineIdx ? lineIdx : roiLineIndice.nMin;
-						roiLineIndice.nMax = roiLineIndice.nMax < lineIdx ? lineIdx : roiLineIndice.nMax;
-						roiPtIndice.nMin = roiPtIndice.nMin > ptIdx ? ptIdx : roiPtIndice.nMin;
-						roiPtIndice.nMax = roiPtIndice.nMax < ptIdx ? ptIdx : roiPtIndice.nMax;
+						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)
+							{
+								scanLinesInput[lineIdx][ptIdx].nPointIdx &= 0xffff0000;
+								scanLinesInput[lineIdx][ptIdx].nPointIdx |= (idx + 1);
+								roiLineIndice.nMin = roiLineIndice.nMin > lineIdx ? lineIdx : roiLineIndice.nMin;
+								roiLineIndice.nMax = roiLineIndice.nMax < lineIdx ? lineIdx : roiLineIndice.nMax;
+								roiPtIndice.nMin = roiPtIndice.nMin > ptIdx ? ptIdx : roiPtIndice.nMin;
+								roiPtIndice.nMax = roiPtIndice.nMax < ptIdx ? ptIdx : roiPtIndice.nMax;
+							}
+						}
 					}
+					else
+						isValid = false;
 				}
+				else
+					isValid = false;
 			}
 		}
-		if (roiLineIndice.nMax < roiLineIndice.nMin)
+		if ( (roiLineIndice.nMax < roiLineIndice.nMin) || (isValid == false))
 			continue;
 
 		//����ROI�е�ɨ������