From a7ad9780412848fa2215f4a206b166927594a64d Mon Sep 17 00:00:00 2001 From: jerryzeng Date: Mon, 17 Aug 2026 10:05:01 +0800 Subject: [PATCH] =?UTF-8?q?hybridPosePositioning=20version=201.3.7=20:=20?= =?UTF-8?q?=E5=9C=A81.3.6=E7=89=88=E6=9C=AC=E7=9A=84=E5=9F=BA=E7=A1=80?= =?UTF-8?q?=E4=B8=8A=E6=B7=BB=E5=8A=A0=E4=BA=86ID=EF=BC=8C=20=E4=B8=8E2D?= =?UTF-8?q?=E7=BB=93=E6=9E=9C=E4=BF=9D=E6=8C=81=E4=B8=80=E8=87=B4?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- hybridPosePositioning_test/hybridPosePositioning_test.cpp | 4 ++-- sourceCode/hybridPosePositioning.cpp | 7 +++++-- 2 files changed, 7 insertions(+), 4 deletions(-) diff --git a/hybridPosePositioning_test/hybridPosePositioning_test.cpp b/hybridPosePositioning_test/hybridPosePositioning_test.cpp index 693c2e2..2104ad3 100644 --- a/hybridPosePositioning_test/hybridPosePositioning_test.cpp +++ b/hybridPosePositioning_test/hybridPosePositioning_test.cpp @@ -1082,7 +1082,7 @@ void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpi int number = (int)workpiecePositions.size(); for (int i = 0; i < number; i++) { - sprintf_s(dataStr, 250, "宸ヤ欢_%d", i + 1); + sprintf_s(dataStr, 250, "宸ヤ欢_%d: id=%d, type=%d", i + 1, workpiecePositions[i].id, workpiecePositions[i].workpieceType); sw << dataStr << std::endl; sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpiecePositions[i].center.x, workpiecePositions[i].center.y, workpiecePositions[i].center.z); @@ -2183,7 +2183,7 @@ void HaiRuiMa_rotorCorePositioning_test(void) for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { - fidx = 26; + //fidx = 26; char _scan_file[256]; sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx); std::vector> scanLines; diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp index 007c448..724c40b 100644 --- a/sourceCode/hybridPosePositioning.cpp +++ b/sourceCode/hybridPosePositioning.cpp @@ -17,7 +17,8 @@ //version 1.3.4 : 修正了转子钢芯定位算法中的bug //version 1.3.5 : 根据现场数据修正了转子钢芯定位算法中的bug //version 1.3.6 : 在1.3.5版本的基础上根据现场数据修正了转子钢芯定位算法中的bug -std::string m_strVersion = "HybridPositioning 1.3.6"; +//version 1.3.7 : 在1.3.6版本的基础上添加了ID， 与2D结果保持一致 +std::string m_strVersion = "HybridPositioning 1.3.7"; const char* wd_hybridPositioningVersion(void) { return m_strVersion.c_str(); @@ -1243,6 +1244,7 @@ void wd_HRM_RotorCorePositioning( workpieceParam, outsideEdgePtIndice, centerPtIndice); + a_workpiece.id = idx + 1; #ifdef _OUTPUT_DEBUG_DATA if (a_workpiece.center.z > 1e-4) @@ -1535,7 +1537,8 @@ void wd_HRM_RotorCorePositioning( workpiecePositions.insert(workpiecePositions.end(), RBCorner.begin(), RBCorner.end()); } else - {//水平方向排序 + { + //水平方向排序 while (zSortWorkpiece.size() > 0) { std::vector< WD_workpieceInfo> firstLine;