From 31c3ffa776dae9813eca9efde46f5f349ec67e64 Mon Sep 17 00:00:00 2001
From: jerryzeng <laohong_0908@qq.com>
Date: Sat, 9 May 2026 23:56:40 +0800
Subject: [PATCH] =?UTF-8?q?rodAndBarDetection=20version=201.2.8=20:=20?=
 =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E8=9E=BA=E6=9D=86=E5=AE=9A=E4=BD=8D=E7=AE=97?=
 =?UTF-8?q?=E6=B3=95=E4=B8=AD=E7=9A=84=E4=B8=80=E4=B8=AABug?=
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---
 sourceCode/rodAndBarDetection.cpp | 13 ++++++++++++-
 1 file changed, 12 insertions(+), 1 deletion(-)

diff --git a/sourceCode/rodAndBarDetection.cpp b/sourceCode/rodAndBarDetection.cpp
index 2b64d36..d303253 100644
--- a/sourceCode/rodAndBarDetection.cpp
+++ b/sourceCode/rodAndBarDetection.cpp
@@ -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());