jerryzeng/algoLib
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

rodAndBarDetection version 1.2.8 :

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

13
sourceCode/rodAndBarDetection.cpp
View File

@ -16,7 +16,8 @@
//version 1.2.5 : 添加筑裕钢筋焊缝提取API //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 1.2.6 : 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 //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) const char* wd_rodAndBarDetectionVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -606,6 +607,11 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
break; break;
} }
} }
if(eraseIdx < 0)
{
*errCode = SX_ERR_ZERO_OBJECTS;
return;
}
fitPoints.erase(fitPoints.begin(), fitPoints.begin() + eraseIdx); fitPoints.erase(fitPoints.begin(), fitPoints.begin() + eraseIdx);
fit2DPos.erase(fit2DPos.begin(), fit2DPos.begin() + eraseIdx); fit2DPos.erase(fit2DPos.begin(), fit2DPos.begin() + eraseIdx);
fitPoints.erase(fitPoints.end() - 5, fitPoints.end()); fitPoints.erase(fitPoints.end() - 5, fitPoints.end());
@ -623,6 +629,11 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SVzNL3DPoint>& scanData)
break; break;
} }
} }
if (eraseIdx < 0)
{
*errCode = SX_ERR_ZERO_OBJECTS;
return;
}
int eraseNum = (int)fitPoints.size() - eraseIdx; int eraseNum = (int)fitPoints.size() - eraseIdx;
fitPoints.erase(fitPoints.end() - eraseNum, fitPoints.end()); fitPoints.erase(fitPoints.end() - eraseNum, fitPoints.end());
fit2DPos.erase(fit2DPos.end() - eraseNum, fit2DPos.end()); fit2DPos.erase(fit2DPos.end() - eraseNum, fit2DPos.end());