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workpieceHolePositioning version 1.4.7 :

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修正问题：在进行异物检测时，计算ZSliceTh时。添加Z计算的保护，防止异常值混入
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jerryzeng 2026-04-25 09:36:41 +08:00
parent 0e2fe3e8e1
commit 36798e8754
2 changed files with 23 additions and 9 deletions
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30
sourceCode/workpieceHolePositioning.cpp
View File

@ -17,7 +17,8 @@
//version 1.4.4 : 对1.4.3一个小的修正， 不影响结果 //version 1.4.4 : 对1.4.3一个小的修正， 不影响结果
//version 1.4.5 : 添加异物检测，通过errCode输出“有异物”和“无产品”结果 //version 1.4.5 : 添加异物检测，通过errCode输出“有异物”和“无产品”结果
//version 1.4.6 : 修正问题：4个孔组成工作时，需要4个孔的高度基本一致。 //version 1.4.6 : 修正问题：4个孔组成工作时，需要4个孔的高度基本一致。
std::string m_strVersion = "1.4.6"; //version 1.4.7 : 修正问题：在进行异物检测时，计算ZSliceTh时。添加Z计算的保护，防止异常值混入
std::string m_strVersion = "1.4.7";
const char* wd_workpieceHolePositioningVersion(void) const char* wd_workpieceHolePositioningVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -139,7 +140,7 @@ int angleConditionDistanceSearch(
return result; return result;
} }
double _getMeanZ(std::vector<std::vector<double>>& quantiValue, SVzNL3DPoint seed, SVzNLRect& roi2D, double rectR) double _getMeanZ(std::vector<std::vector<double>>& quantiValue, SVzNL3DPoint seed, SVzNLRect& roi2D, double rectR, double zRange)
{ {
int cols = (int)quantiValue.size(); int cols = (int)quantiValue.size();
int rows = (int)quantiValue[0].size(); int rows = (int)quantiValue[0].size();
@ -149,6 +150,7 @@ double _getMeanZ(std::vector<std::vector<double>>& quantiValue, SVzNL3DPoint see
int win = (int)rectR; int win = (int)rectR;
int hist = 0; int hist = 0;
double zSum = 0; double zSum = 0;
double refZ = seed.z;
for (int i = -win; i <= win; i++) for (int i = -win; i <= win; i++)
{ {
for (int j = -win; j <= win; j++) for (int j = -win; j <= win; j++)
@ -159,8 +161,12 @@ double _getMeanZ(std::vector<std::vector<double>>& quantiValue, SVzNL3DPoint see
{ {
if (quantiValue[qx][qy] > 1e-4) if (quantiValue[qx][qy] > 1e-4)
{ {
zSum += quantiValue[qx][qy]; double zDiff = abs(quantiValue[qx][qy] - refZ);
hist++; if (zDiff < zRange)
{
zSum += quantiValue[qx][qy];
hist++;
}
} }
} }
} }
@ -864,10 +870,18 @@ void wd_workpieceHolePositioning(
SVzNL3DPoint center_p1p3 = { (p1.center.x + p3.center.x) / 2,(p1.center.y + p3.center.y) / 2, (p1.center.z + p3.center.z) / 2 }; SVzNL3DPoint center_p1p3 = { (p1.center.x + p3.center.x) / 2,(p1.center.y + p3.center.y) / 2, (p1.center.z + p3.center.z) / 2 };
SVzNL3DPoint center_p2p3 = { (p2.center.x + p3.center.x) / 2,(p2.center.y + p3.center.y) / 2, (p2.center.z + p3.center.z) / 2 }; SVzNL3DPoint center_p2p3 = { (p2.center.x + p3.center.x) / 2,(p2.center.y + p3.center.y) / 2, (p2.center.z + p3.center.z) / 2 };
double rectR = 5.0; double rectR = 5.0;
double z1 = _getMeanZ(quantiValue, center_p0p1, roi2D, rectR); double z1 = _getMeanZ(quantiValue, center_p0p1, roi2D, rectR, workpiecePara.H/2);
double z2 = _getMeanZ(quantiValue, center_p0p2, roi2D, rectR); if (z1 < 1e-4)
double z3 = _getMeanZ(quantiValue, center_p1p3, roi2D, rectR); z1 = center_p0p1.z;
double z4 = _getMeanZ(quantiValue, center_p2p3, roi2D, rectR); double z2 = _getMeanZ(quantiValue, center_p0p2, roi2D, rectR, workpiecePara.H / 2);
if (z2 < 1e-4)
z2 = center_p0p2.z;
double z3 = _getMeanZ(quantiValue, center_p1p3, roi2D, rectR, workpiecePara.H / 2);
if (z3 < 1e-4)
z3 = center_p1p3.z;
double z4 = _getMeanZ(quantiValue, center_p2p3, roi2D, rectR, workpiecePara.H / 2);
if (z4 < 1e-4)
z4 = center_p2p3.z;
p0.center.z = (z1 + z2) / 2; p0.center.z = (z1 + z2) / 2;
p1.center.z = (z1 + z3) / 2; p1.center.z = (z1 + z3) / 2;

2
workpieceHolePositioning_test/workpieceHolePositioning_test.cpp
View File

@ -566,7 +566,7 @@ void TuoPuFa_holePosition_test(void)
}; };
SVzNLRange fileIdx[TPF_TEST_GROUP] = { SVzNLRange fileIdx[TPF_TEST_GROUP] = {
{6,6}, {1, 16}, {9,9} {6,6}, {1, 16}, {13,13}
}; };
const char* ver = wd_workpieceHolePositioningVersion(); const char* ver = wd_workpieceHolePositioningVersion();