rodAndBarDetection version 1.3.4 : 新的定位盘中心测量功能算法优化

rodAndBarDetection_test/rodAndBarDetection_test.cpp

@@ -1142,25 +1142,26 @@ void locatingPlateTest(void)
 	}
 }
 
-#define NEW_LOCATING_PALTE_TEST_GROUP 1
+#define NEW_LOCATING_PALTE_TEST_GROUP 2
 void newLocatingPlateTest(void)
 {
 	const char* dataPath[NEW_LOCATING_PALTE_TEST_GROUP] = {
-		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260621/",  //0
+		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260521/",  //0
+		"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260603/",  //1
 	};
 
 	SVzNLRange fileIdx[NEW_LOCATING_PALTE_TEST_GROUP] = {
-		{12,13},
+		{12,13}, {1,51}
 	};
 
 	const char* ver = wd_rodAndBarDetectionVersion();
 	printf("ver:%s\n", ver);
 
-	for (int grp = 0; grp < NEW_LOCATING_PALTE_TEST_GROUP; grp++)
+	for (int grp = 1; grp < NEW_LOCATING_PALTE_TEST_GROUP; grp++)
 	{
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx =2;
+			//fidx =16;
 			char _scan_file[256];
 			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
 
@@ -1734,9 +1735,9 @@ int main()
 {
 	//ESG_testMode testMode = keSG_测试_配天螺杆定位;
 	//ESG_testMode testMode = keSG_测试_配天定位盘定位;
-	//ESG_testMode testMode = keSG_测试_配天新定位盘定位;
+	ESG_testMode testMode = keSG_测试_配天新定位盘定位;
 	//ESG_testMode testMode = keSG_测试_棒材抓取;
-	ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;
+	//ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;
 
 	if(keSG_测试_配天螺杆定位 == testMode)
 		screwTest();

sourceCode/rodAndBarDetection.cpp

@@ -24,7 +24,8 @@
 //version 1.3.1 : 定位盘中心测量功能添加了噪声过滤
 //version 1.3.2 : 矩森棒材抓取修正一个错误码返回错误，测试了地面调平API
 //version 1.3.3 : 筑裕钢筋焊缝提取算法改进中间版本
-std::string	m_strVersion = "1.3.3";
+//version 1.3.4 : 新的定位盘中心测量功能算法优化
+std::string	m_strVersion = "1.3.4";
 const char* wd_rodAndBarDetectionVersion(void)
 {
 	return m_strVersion.c_str();
@@ -908,13 +909,27 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SWD3DPointPostion>& scanData)
 	return;
 }
 
-double _getListMeanZ(std::vector< SVzNL3DPosition>& listData)
+double _getListMeanZ(std::vector< SVzNL3DPosition>& listData, SVzNLRangeD& zRange)
 {
 	if (listData.size() == 0)
 		return 0;
 	double meanZ = 0;
+	zRange.max = -1;
+	zRange.min = 0;
 	for (int i = 0; i < (int)listData.size(); i++)
+	{
 		meanZ += listData[i].pt3D.z;
+		if (zRange.max < 0)
+		{
+			zRange.max = listData[i].pt3D.z;
+			zRange.min = listData[i].pt3D.z;
+		}
+		else
+		{
+			zRange.max = zRange.max < listData[i].pt3D.z ? listData[i].pt3D.z : zRange.max;
+			zRange.min = zRange.min > listData[i].pt3D.z ? listData[i].pt3D.z : zRange.min;
+		}
+	}
 	meanZ = meanZ / (double)listData.size();
 	return meanZ;
 }
@@ -1378,7 +1393,8 @@ SSX_platePoseInfo sx_getLocationPlatePose(
 		double w = a_roi.right - a_roi.left;
 		double h = a_roi.bottom - a_roi.top;
 
-		double meanZ = _getListMeanZ(objClusters[i]);
+		SVzNLRangeD zRange;
+		double meanZ = _getListMeanZ(objClusters[i], zRange);
 		objMeanZ[i] = meanZ;
 		if ( (meanZ >  1e-4) && (w > 150) && (h > 100))
 		{
@@ -2090,7 +2106,7 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
 	double minObjSize_h = 150;
 
 	int clusterCheckWin = 5;
-	double clusterDist = 5.0;
+	double clusterDist = 1.5;
 	int distType = 1;  //0 - 2d distance; 1- 3d distance 
 	std::vector<std::vector< SVzNL3DPosition>> objClusters;  //result
 	wd_pointClustering_speedUp(
@@ -2102,10 +2118,13 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
 	);
 
 	//保留最前面的目标
-	const double topPlateMinW = 150;
+	const double topPlateMinW = 150.0;
-	const double topPlateMinH = 150;
+	const double topPlateMinH = 150.0;
+	const double topPlateMaxZRange = 100.0;
 	std::vector<double> objMeanZ;
+	std::vector<SVzNLRangeD> objZRange;
 	objMeanZ.resize(objClusters.size()); 
+	objZRange.resize(objClusters.size());
 	for (int i = 0; i < (int)objClusters.size(); i++)
 	{
 		SSG_ROIRectD a_roi = _getListROI(objClusters[i]);
@@ -2113,12 +2132,17 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
 		double h = a_roi.bottom - a_roi.top;
 		if ((w > topPlateMinW) && (h > topPlateMinH))
 		{
-
+			SVzNLRangeD zRange;
-			double meanZ = _getListMeanZ(objClusters[i]);
+			double meanZ = _getListMeanZ(objClusters[i], zRange);
 			objMeanZ[i] = meanZ;
+			objZRange[i]= zRange;
 		}
 		else
-			objMeanZ[i] = 0; 0;
+		{
+			objMeanZ[i] = 0;
+			objZRange[i].max = -1.0;
+			objZRange[i].min = 0.0;
+		}
 	}
 
 	//选出z最小的目标作为顶部轮廓
@@ -2126,12 +2150,16 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
 	double minMeanZ = DBL_MAX;
 	for (int i = 0; i < (int)objClusters.size(); i++)
 	{
-		if (objMeanZ[i] > 1e-4)
+		if ( (objMeanZ[i] > 1e-4) && (objZRange[i].max > 0))
 		{
-			if (minMeanZ > objMeanZ[i])
+			double range = objZRange[i].max - objZRange[i].min;
+			if (range < topPlateMaxZRange)
 			{
-				minMeanZ = objMeanZ[i];
+				if (minMeanZ > objMeanZ[i])
-				objIdx = i;
+				{
+					minMeanZ = objMeanZ[i];
+					objIdx = i;
+				}
 			}
 		}
 	}