diff --git a/App/DiscHolePose/DiscHolePoseApp/DiscHolePoseApp.pro b/App/DiscHolePose/DiscHolePoseApp/DiscHolePoseApp.pro index 0cb56a24..2f32e65d 100644 --- a/App/DiscHolePose/DiscHolePoseApp/DiscHolePoseApp.pro +++ b/App/DiscHolePose/DiscHolePoseApp/DiscHolePoseApp.pro @@ -100,7 +100,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../DiscHolePoseConfig/debug -lDiscHolePoseConfig LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../Module/AuthModule/debug -lAuthModule - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice LIBS += -L../../../Nets/debug -lModbusTCPServer LIBS += -L../../../Module/ShareMem/debug -lShareMem diff --git a/App/DiscHolePose/DiscHolePoseConfig/DiscHolePoseConfig.pro b/App/DiscHolePose/DiscHolePoseConfig/DiscHolePoseConfig.pro index 76a7f958..c5036c98 100644 --- a/App/DiscHolePose/DiscHolePoseConfig/DiscHolePoseConfig.pro +++ b/App/DiscHolePose/DiscHolePoseConfig/DiscHolePoseConfig.pro @@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../../../Utils/VrUtils/debug -lVrUtils LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib }else:win32:CONFIG(release, debug|release){ LIBS += -L../../../Utils/VrUtils/release -lVrUtils LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig diff --git a/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseApp/JiuruiWorkpiecePoseApp.pro b/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseApp/JiuruiWorkpiecePoseApp.pro index a3c137cb..f91852c2 100644 --- a/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseApp/JiuruiWorkpiecePoseApp.pro +++ b/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseApp/JiuruiWorkpiecePoseApp.pro @@ -96,7 +96,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../JiuruiWorkpiecePoseConfig/debug -lJiuruiWorkpiecePoseConfig LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../Module/AuthModule/debug -lAuthModule - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice LIBS += -L../../../Nets/debug -lModbusTCPServer LIBS += -L../../../Module/ShareMem/debug -lShareMem diff --git a/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseConfig/JiuruiWorkpiecePoseConfig.pro b/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseConfig/JiuruiWorkpiecePoseConfig.pro index 179a603b..b03d6f22 100644 --- a/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseConfig/JiuruiWorkpiecePoseConfig.pro +++ b/App/JiuruiWorkpiecePose/JiuruiWorkpiecePoseConfig/JiuruiWorkpiecePoseConfig.pro @@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../../../Utils/VrUtils/debug -lVrUtils LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib }else:win32:CONFIG(release, debug|release){ LIBS += -L../../../Utils/VrUtils/release -lVrUtils LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig diff --git a/App/ScrewPosition/ScrewPositionApp/ScrewPositionApp.pro b/App/ScrewPosition/ScrewPositionApp/ScrewPositionApp.pro index b8f5c006..398da611 100644 --- a/App/ScrewPosition/ScrewPositionApp/ScrewPositionApp.pro +++ b/App/ScrewPosition/ScrewPositionApp/ScrewPositionApp.pro @@ -99,7 +99,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../ScrewPositionConfig/debug -lScrewPositionConfig LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../Module/AuthModule/debug -lAuthModule - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice LIBS += -L../../../Nets/debug -lModbusTCPServer LIBS += -L../../../Module/ShareMem/debug -lShareMem diff --git a/App/TireHolePose/TireHolePoseApp/TireHolePoseApp.pro b/App/TireHolePose/TireHolePoseApp/TireHolePoseApp.pro index 2ad0cc92..53b98a12 100644 --- a/App/TireHolePose/TireHolePoseApp/TireHolePoseApp.pro +++ b/App/TireHolePose/TireHolePoseApp/TireHolePoseApp.pro @@ -97,7 +97,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../TireHolePoseConfig/debug -lTireHolePoseConfig LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../Module/AuthModule/debug -lAuthModule - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice LIBS += -L../../../Nets/debug -lModbusTCPServer LIBS += -L../../../Module/ShareMem/debug -lShareMem diff --git a/App/TireHolePose/TireHolePoseConfig/TireHolePoseConfig.pro b/App/TireHolePose/TireHolePoseConfig/TireHolePoseConfig.pro index 1d063c8a..2bb44d4d 100644 --- a/App/TireHolePose/TireHolePoseConfig/TireHolePoseConfig.pro +++ b/App/TireHolePose/TireHolePoseConfig/TireHolePoseConfig.pro @@ -51,7 +51,7 @@ win32:CONFIG(debug, debug|release) { LIBS += -L../../../Utils/VrUtils/debug -lVrUtils LIBS += -L../../../AppUtils/AppConfig/debug -lAppConfig LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon - LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalibd + LIBS += -L../../../Module/HandEyeCalib/debug -lHandEyeCalib }else:win32:CONFIG(release, debug|release){ LIBS += -L../../../Utils/VrUtils/release -lVrUtils LIBS += -L../../../AppUtils/AppConfig/release -lAppConfig diff --git a/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md b/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md index d8ae0389..9cb82c05 100644 --- a/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md +++ b/App/WorkpieceHole/Doc/工件孔检测ModbusTCP通信协议.md @@ -42,15 +42,15 @@ ### 4.2 产品型号与拍照触发值（D1000） -| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 定位算法 | 当前状态 | -|------|----------|-----------|-----------|----------|----------| -| 1 | 4WE6 | 1 | 2 | `wd_workpieceHolePositioning` | 已实现 | -| 2 | Z2S6 | 101 | 102 | `wd_workpieceHolePositioning_2` | 已实现 | -| 3 | Z2FS6_30_2 | 201 | 202 | `wd_workpieceHolePositioning_3` | 已实现 | -| 4 | DB10 | 301 | 302 | `wd_workpieceHolePositioning_3`（复用） | 已接入 | -| 5 | DB20 | 401 | 402 | `wd_workpieceHolePositioning_5` | 预留 | +| 序号 | 产品型号 | 触发相机1 | 触发相机2 | 当前状态 | +|------|----------|-----------|-----------|----------| +| 1 | 4WE6 | 1 | 2 | 已实现 | +| 2 | Z2S6 | 101 | 102 | 已实现 | +| 3 | Z2FS6_30_2 | 201 | 202 | 已实现 | +| 4 | DB10 | 301 | 302 | 已实现 | +| 5 | DB20 | 401 | 402 | 已实现 | -工件4复用工件3的定位算法接口，但读取工件4独立配置的算法参数。工件5仍为预留；收到工件5请求后，视觉系统清除D1000，并向D1002写入状态码11。 +五种工件分别读取各自独立配置的检测参数。 ### 4.3 检测结果状态码（D1002） @@ -118,7 +118,7 @@ 2. **拍照执行** - 检测到D1000为非零后，立即写0到D1000清除请求 - 暂停轮询，根据D1000的值选择对应产品和相机 - - 触发相机拍照，执行该产品对应的工件孔定位算法 + - 触发相机拍照，执行该产品对应的工件孔定位检测 3. **坐标输出**（仅检测成功时） - 算法处理完成后，将坐标数据写入PLC的D2000开始的寄存器 @@ -154,7 +154,6 @@ | 异常物料（`SX_ERR_UNKNOWN_OBJECT = -2501`） | 通知PLC，恢复轮询 | 2 | | 无产品（`SX_ERR_ZERO_OBJECTS = -1010`，兼容空目标类错误） | 通知PLC，恢复轮询 | 3 | | 其他算法检测失败 | 通知PLC，恢复轮询 | 11 | -| 工件5算法预留 | 清除请求，通知PLC，恢复轮询 | 11 | | D1000触发值无效 | 清除请求，通知PLC，恢复轮询 | 11 | | 检测成功有结果 | 发送坐标，通知PLC，恢复轮询 | 1 | | 连接断开 | 自动重连，发送错误信号 | - | diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h index c7fafe41..5ceafd12 100644 --- a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h +++ b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceProduct.h @@ -18,7 +18,7 @@ inline const ProductInfo* Products() {2, "Z2S6", true}, {3, "Z2FS6_30_2", true}, {4, "DB10", true}, - {5, "DB20", false} + {5, "DB20", true} }; return products; } diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp index 43bd5504..54df8082 100644 --- a/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp +++ b/App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp @@ -170,6 +170,7 @@ int DetectPresenter::DetectWorkpieceHole( groundCalibPara, workpiecePositioning, &errCode); break; case 2: + case 5: algorithmName = "wd_workpieceHolePositioning_2"; wd_workpieceHolePositioning_2( algorithmData, workpiecePara, lineSegPara, filterParam, growParam, diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Version.h b/App/WorkpieceHole/WorkpieceHoleApp/Version.h index 941942b9..943d927e 100644 --- a/App/WorkpieceHole/WorkpieceHoleApp/Version.h +++ b/App/WorkpieceHole/WorkpieceHoleApp/Version.h @@ -5,7 +5,7 @@ #define WORKPIECEHOLE_APP_NAME "工件孔定位" // 版本字符串 -#define WORKPIECEHOLE_VERSION_STRING "1.2.0" +#define WORKPIECEHOLE_VERSION_STRING "1.2.1" #define WORKPIECEHOLE_BUILD_STRING "1" #define WORKPIECEHOLE_FULL_VERSION_STRING "V" WORKPIECEHOLE_VERSION_STRING "_" WORKPIECEHOLE_BUILD_STRING diff --git a/App/WorkpieceHole/WorkpieceHoleApp/Version.md b/App/WorkpieceHole/WorkpieceHoleApp/Version.md index 7e5fafea..eded20bd 100644 --- a/App/WorkpieceHole/WorkpieceHoleApp/Version.md +++ b/App/WorkpieceHole/WorkpieceHoleApp/Version.md @@ -1,3 +1,7 @@ +# 1.2.1 +## build_1 2026-07-14 +1. 更新算法包含1-5工件算法 + # 1.2.0 ## build_1 2026-07-14 1. 增加1-4的工件类型 diff --git a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so index 618b3b6a..049ad755 100644 Binary files a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so and b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libbaseAlgorithm.so differ diff --git a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so index f717e57c..01b516da 100644 Binary files a/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so and b/AppAlgo/workpieceHolePositioning/Arm/aarch64/libworkpieceHolePositioning.so differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll index 1500c3ee..0f4eda8b 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.dll differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb index 8f8d4400..340868e2 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/baseAlgorithm.pdb differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll index fdd5e3cf..0fd8571c 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.dll differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb index a8ec9d8a..5dccd8da 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Debug/workpieceHolePositioning.pdb differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll index ed21a5ff..0a6b28cc 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.dll differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb index 3e927e66..27b41b37 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/baseAlgorithm.pdb differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll index 3c48a331..3ae134fc 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.dll differ diff --git a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb index 67fb17c5..88219782 100644 Binary files a/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb and b/AppAlgo/workpieceHolePositioning/Windows/x64/Release/workpieceHolePositioning.pdb differ diff --git a/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp b/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp index 20a872cb..b67cd842 100644 --- a/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp +++ b/AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp @@ -115,9 +115,12 @@ void _removeZeroLines(std::vector>& scanData) lastLine = line; } if (firstLine < 0) + { scanData.clear(); + return; + } - if (lastLine < (lineNum - 1)) + if ( (lastLine < (lineNum - 1)) && (lastLine > 0)) scanData.erase(scanData.begin() + lastLine + 1, scanData.end()); scanData.erase(scanData.begin(), scanData.begin() + firstLine); @@ -1339,7 +1342,7 @@ void TuoPuFa_holePosition_test(void) long t1 = (long)GetTickCount64();//统计时间 SSG_lineSegParam lineSegPara; - lineSegPara.distScale = 3.0; + lineSegPara.distScale = 10.0; lineSegPara.segGapTh_y = 15.0; // lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段 SSG_outlierFilterParam filterParam; @@ -1373,15 +1376,15 @@ void TuoPuFa_holePosition_test(void) &errCode); long t2 = (long)GetTickCount64(); if(errCode == SX_ERR_UNKNOWN_OBJECT) - printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1)); else if(errCode == SX_ERR_ZERO_OBJECTS) - printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1)); else - printf("%s: %d(ms), errCode=%d\n", _scan_file, (int)(t2 - t1), errCode); + printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode); //输出测试结果 - sprintf_s(_scan_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx); + sprintf_s(_scan_file, "%sresult/LaserLine%d_result.txt", dataPath[grp], fidx); _outputRGBDResult_RGBD(_scan_file, scanLines, workpiecePositioning); - sprintf_s(calibFile, "%sresult\\LaserLine%d_corner_info.txt", dataPath[grp], fidx); + sprintf_s(calibFile, "%sresult/LaserLine%d_corner_info.txt", dataPath[grp], fidx); _outputWorkpieceInfo(calibFile, workpiecePositioning); sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx); @@ -1390,6 +1393,7 @@ void TuoPuFa_holePosition_test(void) double displayScale = 0.3; cv::String imgName(calibFile); _genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen); + printf("done\n"); } } #endif @@ -1476,7 +1480,7 @@ void TuoPuFa_holePosition_test2(void) groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i]; char calibFile[250]; sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]); - //groundCalibPara = _readCalibPara(calibFile); + groundCalibPara = _readCalibPara(calibFile); for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { @@ -1492,7 +1496,7 @@ void TuoPuFa_holePosition_test2(void) long t1 = (long)GetTickCount64();//统计时间 SSG_lineSegParam lineSegPara; - lineSegPara.distScale = 3.0; + lineSegPara.distScale = 10.0; lineSegPara.segGapTh_y = 15.0; // lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段 SSG_outlierFilterParam filterParam; @@ -1507,7 +1511,7 @@ void TuoPuFa_holePosition_test2(void) growParam.minVTypeTreeLen = 2.0; //mm WD_workpieceHoleParam workpiecePara; workpiecePara.workpieceType = 0; - workpiecePara.holeDiameter = 6.0; // + workpiecePara.holeDiameter = 8.0; // workpiecePara.holeDist_W = 32.0; workpiecePara.holeDist_L = 40.0; workpiecePara.xLen = 44; @@ -1526,9 +1530,9 @@ void TuoPuFa_holePosition_test2(void) &errCode); long t2 = (long)GetTickCount64(); if (errCode == SX_ERR_UNKNOWN_OBJECT) - printf("%s: %d(ms), 有异物残留!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 有异物残留! ...", _scan_file, (int)(t2 - t1)); else if (errCode == SX_ERR_ZERO_OBJECTS) - printf("%s: %d(ms), 无产品!\n", _scan_file, (int)(t2 - t1)); + printf("%s: %d(ms), 无产品! ...", _scan_file, (int)(t2 - t1)); else printf("%s: %d(ms), errCode=%d ...", _scan_file, (int)(t2 - t1), errCode); //输出测试结果 @@ -1943,11 +1947,11 @@ void TuoPuFa_holePosition_test5(void) groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i]; char calibFile[250]; sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]); - //groundCalibPara = _readCalibPara(calibFile); + groundCalibPara = _readCalibPara(calibFile); for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { - //fidx =2; + //fidx =4; char _scan_file[256]; sprintf_s(_scan_file, "%s%d_LaserData_Jh26B074.txt", dataPath[grp], fidx); std::vector> scanLines; @@ -1958,8 +1962,17 @@ void TuoPuFa_holePosition_test5(void) long t1 = (long)GetTickCount64();//统计时间 + WD_workpieceHoleParam workpiecePara; + workpiecePara.workpieceType = 0; + workpiecePara.holeDiameter = 6.0; // + workpiecePara.holeDist_W = 32.0; + workpiecePara.holeDist_L = 40.0; + workpiecePara.xLen = 44; + workpiecePara.yLen = 70; + workpiecePara.H = 28; + SSG_lineSegParam lineSegPara; - lineSegPara.distScale = 3.0; + lineSegPara.distScale = workpiecePara.H / 2; //此参数用于确定 lineSegPara.segGapTh_y = 15.0; // lineSegPara.segGapTh_z = 0.0; //z方向间隔大于10mm认为是分段 SSG_outlierFilterParam filterParam; @@ -1970,16 +1983,9 @@ void TuoPuFa_holePosition_test5(void) growParam.yDeviation_max = 4.0; growParam.maxSkipDistance = 0.0; growParam.zDeviation_max = 10.0;// - growParam.minLTypeTreeLen = 2.0; //mm - growParam.minVTypeTreeLen = 2.0; //mm - WD_workpieceHoleParam workpiecePara; - workpiecePara.workpieceType = 0; - workpiecePara.holeDiameter = 10.0; // - workpiecePara.holeDist_W = 32.0; - workpiecePara.holeDist_L = 40.0; - workpiecePara.xLen = 44; - workpiecePara.yLen = 70; - workpiecePara.H = 28; + growParam.minLTypeTreeLen = 1.5; //mm + growParam.minVTypeTreeLen = 1.5; //mm + int errCode = 0; std::vector< WD_workpieceInfo> workpiecePositioning; wd_workpieceHolePositioning_2( @@ -2695,6 +2701,7 @@ typedef enum keSG_拓普发孔定位_工件3, keSG_拓普发孔定位_工件4, keSG_拓普发孔定位_工件5, + keSG_拓普发孔定位_工件全测试, keSG_华航孔定位, keSG_微力砂轮盘定位, keSG_微力砂轮架子定位, @@ -2708,7 +2715,8 @@ int main() //ESG_testMode testMode = keSG_拓普发孔定位_工件2; //ESG_testMode testMode = keSG_拓普发孔定位_工件3; //ESG_testMode testMode = keSG_拓普发孔定位_工件4; - ESG_testMode testMode = keSG_拓普发孔定位_工件5; + //ESG_testMode testMode = keSG_拓普发孔定位_工件5; + ESG_testMode testMode = keSG_拓普发孔定位_工件全测试; //ESG_testMode testMode = keSG_华航孔定位; //ESG_testMode testMode = keSG_微力砂轮盘定位; //ESG_testMode testMode = keSG_微力砂轮架子定位; @@ -2726,6 +2734,14 @@ int main() TuoPuFa_holePosition_test4(); else if (keSG_拓普发孔定位_工件5 == testMode) TuoPuFa_holePosition_test5(); + else if (keSG_拓普发孔定位_工件全测试 == testMode) + { + TuoPuFa_holePosition_test(); + TuoPuFa_holePosition_test2(); + TuoPuFa_holePosition_test3(); + TuoPuFa_holePosition_test4(); + TuoPuFa_holePosition_test5(); + } else if (keSG_华航孔定位 == testMode) HuaHang_holePosition_test(); else if (keSG_微力砂轮盘定位 == testMode) diff --git a/GrabBagPrj/AppList.md b/GrabBagPrj/AppList.md index e147b236..cc1b5346 100644 --- a/GrabBagPrj/AppList.md +++ b/GrabBagPrj/AppList.md @@ -17,7 +17,7 @@ | 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 | | 12 | 螺杆定位 | ScrewPosition | 1.2.4.1 | | 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 | -| 14 | 工件孔定位 | WorkpieceHole | 1.2.0.1 | +| 14 | 工件孔定位 | WorkpieceHole | 1.2.1.1 | | 15 | 轮胎孔定位 | TireHolePose | 1.0.2.1 | | 16 | 坑孔定位 | HolePitPosition | 无 | | 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.1 |