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rodAndBarDetection version 1.2.8 :

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修正螺杆定位算法中的一个Bug
This commit is contained in:
jerryzeng 2026-05-09 23:56:40 +08:00
parent 5df08483c9
commit 31c3ffa776
1 changed files with 12 additions and 1 deletions
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13
sourceCode/rodAndBarDetection.cpp
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@ -16,7 +16,8 @@
//version 1.2.5 : 添加筑裕钢筋焊缝提取API
//version 1.2.6 : 定位盘位姿计算由RANSAC调整为迭代拟合，测试精度是否有提高
//version 1.2.7 : (1)根据实际点云修正了螺杆定位算法（2）定位盘位姿计算改回RANSAC
std::string m_strVersion = "1.2.7";
//version 1.2.8 : 修正螺杆定位算法中的一个Bug
std::string m_strVersion = "1.2.8";
const char* wd_rodAndBarDetectionVersion(void)
{
return m_strVersion.c_str();
@ -606,6 +607,11 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
break;
}
}
if(eraseIdx < 0)
{
*errCode = SX_ERR_ZERO_OBJECTS;
return;
}
fitPoints.erase(fitPoints.begin(), fitPoints.begin() + eraseIdx);
fit2DPos.erase(fit2DPos.begin(), fit2DPos.begin() + eraseIdx);
fitPoints.erase(fitPoints.end() - 5, fitPoints.end());
@ -623,6 +629,11 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
break;
}
}
if (eraseIdx < 0)
{
*errCode = SX_ERR_ZERO_OBJECTS;
return;
}
int eraseNum = (int)fitPoints.size() - eraseIdx;
fitPoints.erase(fitPoints.end() - eraseNum, fitPoints.end());
fit2DPos.erase(fit2DPos.end() - eraseNum, fit2DPos.end());