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rodAndBarDetection version 1.3.1 :

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定位盘中心测量功能添加了噪声过滤
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jerryzeng 2026-05-24 14:05:19 +08:00
parent 1ed1e1242d
commit 16fb40399a
2 changed files with 15 additions and 6 deletions
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4
rodAndBarDetection_test/rodAndBarDetection_test.cpp
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@ -1085,7 +1085,7 @@ void newLocatingPlateTest(void)
}; };
SVzNLRange fileIdx[NEW_LOCATING_PALTE_TEST_GROUP] = { SVzNLRange fileIdx[NEW_LOCATING_PALTE_TEST_GROUP] = {
{2,11}, {12,13},
}; };
const char* ver = wd_rodAndBarDetectionVersion(); const char* ver = wd_rodAndBarDetectionVersion();
@ -1137,7 +1137,7 @@ void newLocatingPlateTest(void)
void rodPositionTest(void) void rodPositionTest(void)
{ {
const char* dataPath[ROD_POSITION_TEST_GROUP] = { const char* dataPath[ROD_POSITION_TEST_GROUP] = {
"F:/ShangGu/项目/冠钦项目/矩森棒材抓取/", //0 "F:/ShangGu/项目/冠钦项目/矩森棒材抓取/测试数据/", //0
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //1 "F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //1
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据2/", //1 "F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据2/", //1
}; };

13
sourceCode/rodAndBarDetection.cpp
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@ -21,7 +21,8 @@
//version 1.2.10 : 改进螺杆定位取点算法 //version 1.2.10 : 改进螺杆定位取点算法
//version 1.2.11 : 根据现场数据调整特征生长参数 //version 1.2.11 : 根据现场数据调整特征生长参数
//version 1.3.0 : 新的定位盘中心测量功能 //version 1.3.0 : 新的定位盘中心测量功能
std::string m_strVersion = "1.3.0"; //version 1.3.1 : 定位盘中心测量功能添加了噪声过滤
std::string m_strVersion = "1.3. ";
const char* wd_rodAndBarDetectionVersion(void) const char* wd_rodAndBarDetectionVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -2039,7 +2040,7 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
{ {
int idx_0 = line_verticalSegs[i].start; int idx_0 = line_verticalSegs[i].start;
for (int j = 0; j < line_verticalSegs[i].len; j++) for (int j = 0; j < line_verticalSegs[i].len; j++)
flags[idx_0+j][line] = 1; flags[idx_0 + j][line] = 1;
} }
} }
//标注 //标注
@ -2085,6 +2086,8 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
); );
//保留最前面的目标 //保留最前面的目标
const double topPlateMinW = 150;
const double topPlateMinH = 150;
std::vector<double> objMeanZ; std::vector<double> objMeanZ;
objMeanZ.resize(objClusters.size()); objMeanZ.resize(objClusters.size());
for (int i = 0; i < (int)objClusters.size(); i++) for (int i = 0; i < (int)objClusters.size(); i++)
@ -2092,10 +2095,16 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
SSG_ROIRectD a_roi = _getListROI(objClusters[i]); SSG_ROIRectD a_roi = _getListROI(objClusters[i]);
double w = a_roi.right - a_roi.left; double w = a_roi.right - a_roi.left;
double h = a_roi.bottom - a_roi.top; double h = a_roi.bottom - a_roi.top;
if ((w > topPlateMinW) && (h > topPlateMinH))
{
double meanZ = _getListMeanZ(objClusters[i]); double meanZ = _getListMeanZ(objClusters[i]);
objMeanZ[i] = meanZ; objMeanZ[i] = meanZ;
} }
else
objMeanZ[i] = 0; 0;
}
//选出z最小的目标作为顶部轮廓 //选出z最小的目标作为顶部轮廓
int objIdx = -1; int objIdx = -1;
double minMeanZ = DBL_MAX; double minMeanZ = DBL_MAX;