hybridPosePositioning

version 1.4.2 : 转子钢芯， 优化了点云中垂直部分去除的门限

hybridPosePositioning_test/hybridPosePositioning_test.cpp

@@ -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",
+			size_t pos = linedata.find("Rect");
-				&objID, &type, sizeof(type), &L, &T, &W, &H, &score);
+			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);
-				vzReadObj2DROI(_scan_file, objROIs);
-			else
-				vzReadObj2DROI_1(_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

sourceCode/hybridPosePositioning.cpp

@@ -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);