更新螺杆算法

App/ScrewPosition/ScrewPositionApp/Presenter/Src/DetectPresenter.cpp

@@ -184,9 +184,9 @@ int DetectPresenter::DetectScrew(
     LOG_DEBUG("before sx_hexHeadScrewMeasure \n");
 
     std::vector<SSX_rodPoseInfo> screwInfo;
-    sx_hexHeadScrewMeasure(
+    sx_hexHeadScrewMeasure_PCA(
         xyzData,
-        isHorizonScan,
+        // isHorizonScan,
         cornerParam,
         filterParam,
         growParam,

App/ScrewPosition/ScrewPositionApp/Version.h

@@ -3,7 +3,7 @@
 
 
 #define SCREWPOSITION_APP_NAME "螺杆定位"
-#define SCREWPOSITION_VERSION_STRING "1.2.3"
+#define SCREWPOSITION_VERSION_STRING "1.2.4"
 #define SCREWPOSITION_BUILD_STRING "1"
 #define SCREWPOSITION_FULL_VERSION_STRING "V" SCREWPOSITION_VERSION_STRING "_" SCREWPOSITION_BUILD_STRING
 

App/ScrewPosition/ScrewPositionApp/Version.md

@@ -1,3 +1,6 @@
+# 1.2.4 2026-06-10
+1. 更新算法:螺杆的接口更新
+
 # 1.2.3 2026-06-06
 1. 更新算法:ARM上检测结果为空
 

AppAlgo/rodAndBarDetection/Inc/rodAndBarDetection_Export.h

@@ -84,6 +84,18 @@ SG_APISHARED_EXPORT  void sx_hexHeadScrewMeasure(
 	std::vector<SSX_rodPoseInfo>& screwInfo,
 	int* errCode);
 
+//PCA方法计算螺杆端部中心点位姿
+//相对于sx_hexHeadScrewMeasure()，算法上（1）去除了水平段（2）使用PCA方法计算轴向
+SG_APISHARED_EXPORT void sx_hexHeadScrewMeasure_PCA(
+	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
+	//bool isHorizonScan,  //true:激光线平行槽道；false:激光线垂直槽道
+	const SSG_cornerParam cornerPara,
+	const SSG_outlierFilterParam filterParam,
+	const SSG_treeGrowParam growParam,
+	double rodDiameter,
+	std::vector<SSX_rodPoseInfo>& screwInfo,
+	int* errCode);
+
 //计算定位盘中心点位姿
 SG_APISHARED_EXPORT SSX_platePoseInfo sx_getLocationPlatePose(
 	std::vector< std::vector<SVzNL3DPosition>>& scanLines,

AppAlgo/rodAndBarDetection/rodAndBarDetection_test.cpp

@@ -471,9 +471,10 @@ void _outputRGBDScan_RGBD(
 		sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
 
 		//输出法向
+		rgb = { 250, 255, 0 };
 		size = 1;
 		double len1 = 30;
-		double len2 = 200;
+		double len2 = 300;
 		lineIdx = 0;
 		for (int i = 0; i < objNum; i++)
 		{
@@ -998,11 +999,11 @@ void screwTest(void)
 	const char* ver = wd_rodAndBarDetectionVersion();
 	printf("ver:%s\n", ver);
 
-	for (int grp = 9; grp < SCREW_TEST_GROUP; grp++)
+	for (int grp = 3; grp <= 6; grp++)
 	{
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx =3;
+			//fidx =2;
 			char _scan_file[256];
 
 			if(0 == grp)
@@ -1052,9 +1053,9 @@ void screwTest(void)
 			bool isHorizonScan = true;  //true:激光线平行槽道；false:激光线垂直槽道
 			int errCode = 0;
 			std::vector<SSX_rodPoseInfo> screwInfo;
-			sx_hexHeadScrewMeasure(
+			sx_hexHeadScrewMeasure_PCA(
 				scanLines,
-				isHorizonScan,  //true:激光线平行槽道；false:激光线垂直槽道
+				//isHorizonScan,  //true:激光线平行槽道；false:激光线垂直槽道
 				cornerParam,
 				filterParam,
 				growParam,
@@ -1743,9 +1744,9 @@ typedef enum
 
 int main()
 {
-	//ESG_testMode testMode = keSG_测试_配天螺杆定位;
+	ESG_testMode testMode = keSG_测试_配天螺杆定位;
 	//ESG_testMode testMode = keSG_测试_配天定位盘定位;
-	ESG_testMode testMode = keSG_测试_配天新定位盘定位;
+	//ESG_testMode testMode = keSG_测试_配天新定位盘定位;
 	//ESG_testMode testMode = keSG_测试_棒材抓取;
 	//ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;