hybridPosePositioning

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

hybridPosePositioning_test/hybridPosePositioning_test.cpp

@@ -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;

sourceCode/hybridPosePositioning.cpp

@@ -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)