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hybridPosePositioning

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version 1.4.7 : 转子钢芯，添加无隔板检测出来时的虚假检测的滤除
This commit is contained in:
jerryzeng 2026-10-10 13:35:20 +08:00
parent 7a3d9538bf
commit 1fc70eb44d
2 changed files with 51 additions and 4 deletions
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10
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -2353,7 +2353,7 @@ void HaiRuiMa_groundCalib_test(void)
}
//拓普发工件孔定位（工件定位)
#define HRM_RotorCore_TEST_GROUP 6
#define HRM_RotorCore_TEST_GROUP 7
void HaiRuiMa_rotorCorePositioning_test(void)
{
const char* dataPath[HRM_RotorCore_TEST_GROUP] = {
@ -2364,10 +2364,11 @@ void HaiRuiMa_rotorCorePositioning_test(void)
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/09-14/", //3
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/09-14中/", //4
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/异常数据/", //5
"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/10-09小/", //6
};
SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
{1,10}, {3,70},{9,9}, {51,51}, {1,54}, {1,6}
{1,10}, {3,70},{9,9}, {52,52}, {1,54}, {1,6}, {1,8}
};
const char* ver = wd_hybridPositioningVersion();
@ -2456,6 +2457,11 @@ void HaiRuiMa_rotorCorePositioning_test(void)
workpieceParam.radius = 42.0;
workpieceParam.height = 50.0;
}
else if (grp == 6)
{
workpieceParam.radius = 32.0;
workpieceParam.height = 25.0;
}
else
{
workpieceParam.radius = 45.0;

45
sourceCode/hybridPosePositioning.cpp
View File

@ -29,7 +29,8 @@
//version 1.4.4 : 转子钢芯，添加了异常保护
//version 1.4.5 : 转子钢芯，隔板检测内部参数修改：2:1抽样，聚类距离门限5mm
//version 1.4.6 : 转子钢芯，添加隔板下工作部分可见时虚假检测的滤除，非中央部分工作按高度排序
std::string m_strVersion = "HybridPositioning 1.4.6";
//version 1.4.7 : 转子钢芯，添加无隔板检测出来时的虚假检测的滤除
std::string m_strVersion = "HybridPositioning 1.4.7";
const char* wd_hybridPositioningVersion(void)
{
return m_strVersion.c_str();
@ -1013,6 +1014,19 @@ double _getListMeanZ(std::vector< SVzNL3DPosition>& listData, SVzNLRangeD& zRang
return meanZ;
}
double _getListMeanZ_2(std::vector< SVzNL3DPoint>& listData)
{
if (listData.size() == 0)
return 0;
double meanZ = 0;
for (int i = 0; i < (int)listData.size(); i++)
{
meanZ += listData[i].z;
}
meanZ = meanZ / (double)listData.size();
return meanZ;
}
//检测料筐边缘，以中心点为基准进行规划
WD_HRM_BinInfo wd_HRM_getBinSize_2(
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
@ -1505,6 +1519,20 @@ SVzNL3DPoint _searchNearestPoint(std::vector<SVzNL3DPosition>& pointList, const
return target;
}
void _searchRCirclePoints(std::vector< std::vector<SVzNL3DPosition>>& scanData, const SVzNL3DPoint& seedPt, const double R, std::vector< SVzNL3DPoint>& resultPts)
{
for (int i = 0; i < (int)scanData.size(); i++)
{
for (int j = 0; j < (int)scanData[i].size(); j++)
{
double dist = sqrt(pow(seedPt.x - scanData[i][j].pt3D.x, 2) + pow(seedPt.y - scanData[i][j].pt3D.y, 2));
if ( (dist <= R) && (scanData[i][j].pt3D.z > 1e-4))
resultPts.push_back(scanData[i][j].pt3D);
}
}
return;
}
void wd_HRM_RotorCorePositioning(
std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
std::vector<WD_objArea2D>& objROIs,
@ -1880,7 +1908,7 @@ void wd_HRM_RotorCorePositioning(
//添加对隔板下部分可见被识别目标的过滤
if ((spacerInfo.center.z > 1e-4)&& (a_workpiece.center.z > 1e-4)) //隔板存在
{
//搜索与工件中心最接近的点
//搜索隔板点云与工件中心最接近的点
SVzNL3DPoint nearestPt = _searchNearestPoint(spacerPoints, a_workpiece.center);
double dist = sqrt(pow(nearestPt.x - a_workpiece.center.x, 2) + pow(nearestPt.y - a_workpiece.center.y, 2));
if (dist < workpieceParam.radius * 0.3)
@ -1890,6 +1918,19 @@ void wd_HRM_RotorCorePositioning(
a_workpiece.center = { 0.0, 0.0, 0.0 };
}
}
else
{
//搜索点云与工件中心最接近的点
std::vector<SVzNL3DPoint> roiPoints;
_searchRCirclePoints(roiScanLines, a_workpiece.center, workpieceParam.radius * 0.2, roiPoints);
double meanZ = _getListMeanZ_2(roiPoints);
if (meanZ > 1e-4)
{
double heightDiff = meanZ - a_workpiece.center.z;
if (heightDiff < workpieceParam.height / 4)
a_workpiece.center = { 0.0, 0.0, 0.0 };
}
}
#ifdef _OUTPUT_DEBUG_DATA
if (a_workpiece.center.z > 1e-4)