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hybridPosePositioning

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version 1.4.2 : 转子钢芯， 优化了点云中垂直部分去除的门限
This commit is contained in:
jerryzeng 2026-09-20 17:25:30 +08:00
parent a6f1514273
commit 8962f03d2a
2 changed files with 25 additions and 15 deletions
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33
hybridPosePositioning_test/hybridPosePositioning_test.cpp
View File

@ -285,7 +285,7 @@ void _removeZeroLines_XYZUV(std::vector<std::vector< SVzNLPositionD>>& scanData)
}
void vzReadObj2DROI_1(const char* fileName, std::vector<WD_objArea2D>& objROIs)
void vzReadObj2DROI(const char* fileName, std::vector<WD_objArea2D>& objROIs)
{
std::ifstream inputFile(fileName);
std::string linedata;
@ -300,9 +300,19 @@ void vzReadObj2DROI_1(const char* fileName, std::vector<WD_objArea2D>& objROIs)
int objID;
char type;
float L, T, W, H, score;
sscanf_s(linedata.c_str(), "obj_%d: C=%c, Rect={ %f, %f, %f, %f }, Score=%f",
&objID, &type, sizeof(type), &L, &T, &W, &H, &score);
size_t pos = linedata.find("Rect");
if (pos != std::string::npos)
sscanf_s(linedata.c_str(), "obj_%d: C=%c, Rect={ %f, %f, %f, %f }, Score=%f", &objID, &type, sizeof(type), &L, &T, &W, &H, &score);
else
{
float Cx, Cy, R;
sscanf_s(linedata.c_str(), "obj_%d: C=%c, { %f, %f }, R=%f, Score=%f",
&objID, &type, sizeof(type), &Cx, &Cy, &R, &score);
L = Cx - R;
T = Cy - R;
W = R * 2;
H = R * 2;
}
WD_objArea2D a_roi;
if ('a' == type)
a_roi.workpieceType = 1;
@ -322,6 +332,7 @@ void vzReadObj2DROI_1(const char* fileName, std::vector<WD_objArea2D>& objROIs)
return;
}
#if 0
void vzReadObj2DROI(const char* fileName, std::vector<WD_objArea2D>& objROIs)
{
std::ifstream inputFile(fileName);
@ -358,6 +369,7 @@ void vzReadObj2DROI(const char* fileName, std::vector<WD_objArea2D>& objROIs)
inputFile.close();
return;
}
#endif
void _outputRGBDResult_XYZUV_RGBD(
char* fileName,
@ -2188,7 +2200,7 @@ void HaiRuiMa_TaperedWorkpiece_test(void)
sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
std::vector<WD_objArea2D> objROIs;
vzReadObj2DROI_1(_scan_file, objROIs);
vzReadObj2DROI(_scan_file, objROIs);
long t1 = (long)GetTickCount64();//统计时间
@ -2351,13 +2363,13 @@ void HaiRuiMa_rotorCorePositioning_test(void)
};
SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
{1,10}, {3,70},{2,2}, {1,47}, {1,54}
{1,10}, {3,70},{3,7}, {1,47}, {1,54}
};
const char* ver = wd_hybridPositioningVersion();
printf("ver:%s\n", ver);
for (int grp = 3; grp < HRM_RotorCore_TEST_GROUP; grp++)
for (int grp = 2; grp <= 2; grp++)
{
SSG_planeCalibPara groundCalibPara;
//初始化成单位阵
@ -2427,10 +2439,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
else
sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
std::vector<WD_objArea2D> objROIs;
if( ((grp == 0) && (fidx <= 9)) || ((grp >=3)&&(grp<=4)))
vzReadObj2DROI(_scan_file, objROIs);
else
vzReadObj2DROI_1(_scan_file, objROIs);
vzReadObj2DROI(_scan_file, objROIs);
SWD_Cylinder workpieceParam; //圆柱形工件的标称半径和高度
if (grp == 3)
@ -2451,7 +2460,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
SVzNLSizeD spacerParam; //隔板参数：长和宽
spacerParam.dWidth = 720.0;
spacerParam.dHeight = 510.0;
spacerParam.dHeight = 520.0;
double layerRatio = 0.5; //分层系数，分层门限=分层系数*工件高度；当两个工件的高度差大于分层门限时，判断为在不同层
const double distToSideRatio = 1.1; //边距系数，边距门限=边距系数*工件直径；当工件距边的距离大于边距门限时，判断为边上的工件

7
sourceCode/hybridPosePositioning.cpp
View File

@ -24,7 +24,8 @@
//version 1.3.11 : 转子钢芯， 将边距系数由内部参数转为输入参数
//version 1.4.0 : 转子钢芯， 添加了隔板的识别和定位。 当定位隔板时，工件类型为9
//version 1.4.1 : 转子钢芯， 每个输出结果添加了2D图像坐标
std::string m_strVersion = "HybridPositioning 1.4.1";
//version 1.4.2 : 转子钢芯， 优化了点云中垂直部分去除的门限
std::string m_strVersion = "HybridPositioning 1.4.2";
const char* wd_hybridPositioningVersion(void)
{
return m_strVersion.c_str();
@ -400,7 +401,7 @@ WD_workpieceInfo _computeWorkpiecePose(
std::vector<std::vector<SWD_indexingSeg>> vScanLineSegs;
for (int line = 0; line < lineNum; line++)
{
if (line == 83)
if (line == 62)
int kkk = 1;
//分段
std::vector<SSG_RUN> simpleSegs;
@ -1570,7 +1571,7 @@ void wd_HRM_RotorCorePositioning(
SSG_cornerParam removeVertialPara;
memset(&removeVertialPara, 0, sizeof(SSG_cornerParam));
removeVertialPara.scale = 3.0;
removeVertialPara.cornerTh = 60;
removeVertialPara.cornerTh = 45;
std::vector<std::vector<int>> flags;
flags.resize(lineNum);