轮胎检测更新算法

AppAlgo/workpieceHolePositioning/Inc/SG_baseAlgo_Export.h

@@ -319,9 +319,8 @@ SG_APISHARED_EXPORT void wd_getXYVertialFeature_dirAngleMethod(
 /// </summary>
 SG_APISHARED_EXPORT void wd_getXYVertialFeature_perSeg_dirAngleMethod(
     std::vector< SVzNL3DPosition>& lineData,
+    std::vector<SSG_RUN>& segs,
     int lineIdx,
-    const double maxDistTh,
-    const double minSegSize,
     const SSG_cornerParam cornerPara,
     std::vector<int>& xyVerticalFlags
 );
@@ -338,6 +337,16 @@ SG_APISHARED_EXPORT void wd_getXYHorizontalFeature_dirAngleMethod(
     std::vector<int>& xyHorizontalFlags
 );
 
+SG_APISHARED_EXPORT void wd_getRimConvexFeature(
+    std::vector< SVzNL3DPosition>& lineData,
+    std::vector<SSG_RUN>& segs,
+    int lineIdx,
+    const SWDRimEdgeParam rimPara_1,
+    const SWDRimEdgeParam rimPara_2,
+    const SVzNLRangeD rimWidth,
+    std::vector<SSG_RUN>& rimFeatures
+);
+
 /// 提取激光线上的拐点特征。是在PSM， LVTypeFeature, BQ等拐点算法的基础上的版本。
 /// 使用平均点距进行加速
 /// nPointIdx被重新定义成Feature类型
@@ -723,6 +732,14 @@ SG_APISHARED_EXPORT double fitCircleByLeastSquare_3(
     const std::vector<SVzNL2DPointD>& pointArray,
     SVzNL2DPointD& center,
     double& radius);
+// 加权迭代最小二乘圆拟合（Huber权重或Tukey权重）
+SG_APISHARED_EXPORT double fitCircleRobust(
+    const std::vector<SVzNL3DPosition>& points,
+    SVzNL3DPoint& robustCenter,
+    double& robustRadius,
+    double outlierThreshold = 2.5,  // 标准差倍数
+    int maxIter = 20,
+    double minPointsRatio = 0.5);
 
 //抛物线最小二乘拟合 y=ax^2 + bx + c
 SG_APISHARED_EXPORT bool leastSquareParabolaFitEigen(
@@ -819,7 +836,7 @@ SG_APISHARED_EXPORT void SG_TwoPassLabel(
 //计算面参数: z = Ax + By + C
 //res: [0]=A, [1]= B, [2]=-1.0, [3]=C,
 SG_APISHARED_EXPORT void vzCaculateLaserPlane(
-    std::vector<cv::Point3d> Points3ds,
+    std::vector<cv::Point3d>& Points3ds,
     std::vector<double>& res);
 
 SG_APISHARED_EXPORT Plane robustFitPlane(

AppAlgo/workpieceHolePositioning/Inc/SG_baseDataType.h

@@ -41,6 +41,17 @@ typedef struct
 	double z;
 }SWD3DPoint;
 
+typedef struct 
+{
+	double cx, cy, r;
+}SWD_Circle;
+
+typedef struct
+{
+	double rimEdgeAngleTh;
+	double rimCornerTh;
+}SWDRimEdgeParam;
+
 typedef struct
 {
 	int lineIdx;

AppAlgo/workpieceHolePositioning/Inc/workpieceHolePositioning_Export.h

@@ -33,6 +33,13 @@ typedef struct
 	double thickness;  //轮胎宽度
 }WD_tireParam;
 
+typedef struct
+{
+	double len; //工件长
+	double width;  //工件宽度
+	double thickness;
+}WD_JiuruiWorkpieceParam;
+
 typedef struct
 {
 	SVzNL3DPoint center;
@@ -43,6 +50,7 @@ typedef struct
 typedef struct
 {
 	double rotorDiameter;
+	double rotorH;
 	double removeGroundHOffset; //去除时的高度偏置，用于设置架子高度
 	double basket_L;  //零件筐-长
 	double basket_W;  //零件筐-宽
@@ -112,3 +120,12 @@ SG_APISHARED_EXPORT void sx_getRotorCorePose(
 	const WD_rotorAppParam rotorParam,
 	std::vector<WD_HolePositionInfo>& rotorPositions,
 	int* errCode);
+
+//北京玖瑞工件定位
+SG_APISHARED_EXPORT void Jiurui_getWorkpiecePose(
+	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
+	const SSG_cornerParam cornerPara,
+	const SSG_planeCalibPara groundCalibPara,
+	const WD_JiuruiWorkpieceParam workpieceParam,
+	std::vector<SSG_pointPose>& tirePositions,
+	int* errCode);