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hybridPosePositioning

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version 1.3.11 : 转子钢芯， 将边距系数由内部参数转为输入参数
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jerryzeng 2026-08-27 16:29:16 +08:00
parent 1a1c1c47fb
commit dc667b4d34
3 changed files with 10 additions and 5 deletions
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4
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -2340,7 +2340,8 @@ void HaiRuiMa_rotorCorePositioning_test(void)
workpieceParam.radius = 45.0; workpieceParam.radius = 45.0;
workpieceParam.height = 20.0; workpieceParam.height = 20.0;
double layerRatio = 0.5; //分层系数，分层门限=分层系数*工作高度；当两个工作的高度差大于分层门限时，判断为在不同层 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
double groundRemoveOffset = 200; //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset double groundRemoveOffset = 200; //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
long t1 = (long)GetTickCount64();//统计时间 long t1 = (long)GetTickCount64();//统计时间
@ -2353,6 +2354,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
groundCalibPara, groundCalibPara,
workpieceParam, workpieceParam,
layerRatio, layerRatio,
distToSideRatio,
groundRemoveOffset, groundRemoveOffset,
workpiecePositions, workpiecePositions,
binInfo, binInfo,

8
sourceCode/hybridPosePositioning.cpp
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@ -21,7 +21,8 @@
//version 1.3.8 : 添加了输入栅格格式检查， 调整边缘目标为目标距料筐外廓边的距离在直径的1.1倍以内 //version 1.3.8 : 添加了输入栅格格式检查， 调整边缘目标为目标距料筐外廓边的距离在直径的1.1倍以内
//version 1.3.9 : 转子钢芯， 改进了料筐检测方法 //version 1.3.9 : 转子钢芯， 改进了料筐检测方法
//version 1.3.10 : 转子钢芯， 将分层系数由内部参数转为输入参数 //version 1.3.10 : 转子钢芯， 将分层系数由内部参数转为输入参数
std::string m_strVersion = "HybridPositioning 1.3.10"; //version 1.3.11 : 转子钢芯， 将边距系数由内部参数转为输入参数
std::string m_strVersion = "HybridPositioning 1.3.11";
const char* wd_hybridPositioningVersion(void) const char* wd_hybridPositioningVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -1090,7 +1091,8 @@ void wd_HRM_RotorCorePositioning(
std::vector<WD_objArea2D>& objROIs, std::vector<WD_objArea2D>& objROIs,
const SSG_planeCalibPara groundCalibPara, const SSG_planeCalibPara groundCalibPara,
const SWD_Cylinder workpieceParam, //圆柱形工件的标称半径和高度 const SWD_Cylinder workpieceParam, //圆柱形工件的标称半径和高度
const double layerRatio, //分层系数，分层门限=分层系数*工作高度；当两个工作的高度差大于分层门限时，判断为在不同层 const double layerRatio, //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, //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
const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
std::vector< WD_workpieceInfo>& workpiecePositions, std::vector< WD_workpieceInfo>& workpiecePositions,
WD_HRM_BinInfo& binInfo, //输出Bin信息，用于debug，确认料筐信息检测正确 WD_HRM_BinInfo& binInfo, //输出Bin信息，用于debug，确认料筐信息检测正确
@ -1605,7 +1607,7 @@ void wd_HRM_RotorCorePositioning(
SWD_3DPointPair lineRight = linePoint[lineRightIdx]; SWD_3DPointPair lineRight = linePoint[lineRightIdx];
//计算工件的位置：左上、右上、左下、右下四个角；上下左右四条边：中央部分 //计算工件的位置：左上、右上、左下、右下四个角；上下左右四条边：中央部分
//机械臂对不同部分的工件会采用不同的抓取策略 //机械臂对不同部分的工件会采用不同的抓取策略
double distToSideTh = (workpieceParam.radius * 2) * 1.1; double distToSideTh = (workpieceParam.radius * 2) * distToSideRatio;
double lineTop_a, lineTop_b, lineTop_c; double lineTop_a, lineTop_b, lineTop_c;
compute2ptLine(lineTop.pt1, lineTop.pt2, &lineTop_a, &lineTop_b, &lineTop_c); compute2ptLine(lineTop.pt1, lineTop.pt2, &lineTop_a, &lineTop_b, &lineTop_c);
double lineBtm_a, lineBtm_b, lineBtm_c; double lineBtm_a, lineBtm_b, lineBtm_c;

3
sourceCode/hybridPosePositioning_Export.h
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@ -63,7 +63,8 @@ SG_APISHARED_EXPORT void wd_HRM_RotorCorePositioning(
std::vector<WD_objArea2D>& objROIs, std::vector<WD_objArea2D>& objROIs,
const SSG_planeCalibPara groundCalibPara, const SSG_planeCalibPara groundCalibPara,
const SWD_Cylinder workpieceParam, //圆柱形工件的标称半径和高度 const SWD_Cylinder workpieceParam, //圆柱形工件的标称半径和高度
const double layerRatio, //分层系数，分层门限=分层系数*工作高度；当两个工作的高度差大于分层门限时，判断为在不同层 const double layerRatio, //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, //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
const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
std::vector< WD_workpieceInfo>& workpiecePositions, std::vector< WD_workpieceInfo>& workpiecePositions,
WD_HRM_BinInfo& binInfo, //输出Bin信息，用于debug，确认料筐信息检测正确 WD_HRM_BinInfo& binInfo, //输出Bin信息，用于debug，确认料筐信息检测正确