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workpieceHolePositioning version 1.4.6 :

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修正问题：4个孔组成工作时，需要4个孔的高度基本一致。
This commit is contained in:
jerryzeng 2026-04-21 14:47:58 +08:00
parent ab78509851
commit 0e2fe3e8e1
2 changed files with 26 additions and 13 deletions
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29
sourceCode/workpieceHolePositioning.cpp
View File

@ -16,7 +16,8 @@
//version 1.4.3 : 对1.3.0拓普发孔定位中调平Bug进行了修正
//version 1.4.4 : 对1.4.3一个小的修正， 不影响结果
//version 1.4.5 : 添加异物检测，通过errCode输出“有异物”和“无产品”结果
std::string m_strVersion = "1.4.5";
//version 1.4.6 : 修正问题：4个孔组成工作时，需要4个孔的高度基本一致。
std::string m_strVersion = "1.4.6";
const char* wd_workpieceHolePositioningVersion(void)
{
return m_strVersion.c_str();
@ -50,7 +51,7 @@ SVzNL3DPoint _ptRotate(SVzNL3DPoint pt3D, const double matrix3d[9])
}
//搜索最接近distance的目标
int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, double distance, double distDeviation)
int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, double distance, double distDeviation, double dirAngle, double deltaZ)
{
int result = -1;
int holeSize = (int)holes.size();
@ -63,12 +64,22 @@ int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, do
double dist = sqrt(pow(seed.x - holes[i].center.x, 2) + pow(seed.y - holes[i].center.y, 2));
double distDiff = abs(dist - distance);
double zDiff = abs(seed.z - holes[i].center.z);
double angle = atan2(seed.y - holes[i].center.y, seed.x - holes[i].center.x);
angle = angle * 180.0 / PI;
double angleDiff = computeAngleDiff(angle, dirAngle);
if (angleDiff > 90)
angleDiff = 180 - angleDiff;
if ((zDiff < deltaZ) && (angleDiff < 45))
{
if (minDistDiff > distDiff)
{
minDistDiff = distDiff;
minDistIndex = i;
}
}
}
if ((minDistIndex >= 0) && (minDistDiff < distDeviation))
result = minDistIndex;
return result;
@ -78,7 +89,7 @@ int distanceSearchObject(SVzNL3DPoint seed, std::vector<SWD_HoleInfo>& holes, do
int angleConditionDistanceSearch(
SVzNL3DPoint seed, SVzNL3DPoint angleSide,
std::vector<SWD_HoleInfo>& holes,
double distance, double distDeviation,
double distance, double distDeviation, double deltaZ,
SVzNLRangeD angleRange)
{
int result = -1;
@ -91,7 +102,8 @@ int angleConditionDistanceSearch(
double dist = sqrt(pow(seed.x - holes[i].center.x, 2) + pow(seed.y - holes[i].center.y, 2));
double distDiff = abs(dist - distance);
if (distDiff < distDeviation)
double zDiff = abs(seed.z - holes[i].center.z);
if ( (distDiff < distDeviation) && (zDiff < deltaZ))
{
distValidHoleIndex.push_back(i);
}
@ -808,6 +820,7 @@ void wd_workpieceHolePositioning(
//分割
//方法：先搜索与W最接近的点，然后条件搜索（垂直）与L最接近的点
double distDeviation = 5.0; //距离搜索的合格门限。小于此距离，认为搜索到的目标为有效
std::vector< WD_workpieceInfo> allWorkpiece;
for (int objIdx = 0; objIdx < objectSize; objIdx++)
{
@ -816,7 +829,7 @@ void wd_workpieceHolePositioning(
holes[objIdx].radius = -1;
SWD_HoleInfo& p0 = holes[objIdx];
int idx1 = distanceSearchObject(p0.center, holes, workpiecePara.holeDist_W, distDeviation);
int idx1 = distanceSearchObject(p0.center, holes, workpiecePara.holeDist_W, distDeviation, 0, workpiecePara.H/2);
if (idx1 < 0)
continue;
@ -826,7 +839,7 @@ void wd_workpieceHolePositioning(
int idx2 = angleConditionDistanceSearch(
p0.center, p1.center,
holes,
workpiecePara.holeDist_L, distDeviation,
workpiecePara.holeDist_L, distDeviation, workpiecePara.H/2,
angleRange);
if (idx2 < 0)
continue;
@ -836,7 +849,7 @@ void wd_workpieceHolePositioning(
int idx3 = angleConditionDistanceSearch(
p1.center, p0.center,
holes,
workpiecePara.holeDist_L, distDeviation,
workpiecePara.holeDist_L, distDeviation, workpiecePara.H / 2,
angleRange);
if (idx3 < 0)
continue;
@ -1449,7 +1462,7 @@ void wd_HolePositioning(
std::vector<SWD_segFeatureTree> segTrees_v;
std::vector<SWD_segFeatureTree> segTrees_h;
std::vector<SSG_intPair> validObjects;
wd_getHoleInfo(roi_scanLines, lineSegPara, filterParam, growParam, valieCommonNumRatio, segTrees_v, segTrees_h, validObjects);
WD_getHoleInfo(roi_scanLines, lineSegPara, filterParam, growParam, valieCommonNumRatio, segTrees_v, segTrees_h, validObjects);
if (validObjects.size() > 0)
{
SSG_intPair a_hvPair = validObjects[0];

4
workpieceHolePositioning_test/workpieceHolePositioning_test.cpp
View File

@ -566,7 +566,7 @@ void TuoPuFa_holePosition_test(void)
};
SVzNLRange fileIdx[TPF_TEST_GROUP] = {
{6,6}, {1, 16}, {1,6}
{6,6}, {1, 16}, {9,9}
};
const char* ver = wd_workpieceHolePositioningVersion();
@ -734,7 +734,7 @@ void TuoPuFa_holePosition_test(void)
#endif
#if TEST_COMPUTE_HOLE
for (int grp = 1; grp <= 2; grp++)
for (int grp = 2; grp <= 2; grp++)
{
SSG_planeCalibPara groundCalibPara;
//初始化成单位阵