hybridPosePositioning

version 1.4.6 : 转子钢芯，添加隔板下工作部分可见时虚假检测的滤除，非中央部分工作按高度排序

hybridPosePositioning_test/hybridPosePositioning_test.cpp

@@ -2367,7 +2367,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 	};
 
 	SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
-		{1,10}, {3,70},{9,9}, {1,49}, {1,54}, {1,6}
+		{1,10}, {3,70},{9,9}, {51,51}, {1,54}, {1,6}
 	};
 
 	const char* ver = wd_hybridPositioningVersion();

sourceCode/hybridPosePositioning.cpp

@@ -28,7 +28,8 @@
 //version 1.4.3 : 转子钢芯， (1)分层系数和边距系数添加-1.0参数值，表示不进行分层或边距。（2）添加选项选择使用工件的自身法向或统一使用调平地面法向
 //version 1.4.4 : 转子钢芯，添加了异常保护
 //version 1.4.5 : 转子钢芯，隔板检测内部参数修改：2:1抽样，聚类距离门限5mm
-std::string	m_strVersion = "HybridPositioning 1.4.5";
+//version 1.4.6 : 转子钢芯，添加隔板下工作部分可见时虚假检测的滤除，非中央部分工作按高度排序
+std::string	m_strVersion = "HybridPositioning 1.4.6";
 const char* wd_hybridPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -122,6 +123,11 @@ bool _compareByZValue(SVzNL3DPosition& a, SVzNL3DPosition& b)
 	return a.pt3D.z < b.pt3D.z;
 }
 
+bool _compareByWorkpieceZValue(WD_workpieceInfo& a, WD_workpieceInfo& b)
+{
+	return a.center.z < b.center.z;
+}
+
 //生成圆周扫描数据
 void _genPolarScanData(
 	std::vector<SVzNL3DPosition>& points,
@@ -1483,6 +1489,22 @@ void _searchImgPosition(std::vector< std::vector<SVzNLPositionD>>& scanLinesInpu
 	return;
 }
 
+SVzNL3DPoint _searchNearestPoint(std::vector<SVzNL3DPosition>& pointList, const SVzNL3DPoint& seedPt)
+{
+	SVzNL3DPoint target = { 0, 0, 0 };
+	double minDist = DBL_MAX;
+	for (int i = 0; i < (int)pointList.size(); i++)
+	{
+		double dist = abs(seedPt.x - pointList[i].pt3D.x) + abs(seedPt.y - pointList[i].pt3D.y);
+		if (minDist > dist)
+		{
+			target = pointList[i].pt3D;
+			minDist = dist;
+		}
+	}
+	return target;
+}
+
 void wd_HRM_RotorCorePositioning(
 	std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
 	std::vector<WD_objArea2D>& objROIs,
@@ -1855,6 +1877,19 @@ void wd_HRM_RotorCorePositioning(
 			centerPtIndice);
 		a_workpiece.imgCenter = { nCx, nCy };
 		a_workpiece.id = idx + 1;
+		//添加对隔板下部分可见被识别目标的过滤
+		if ((spacerInfo.center.z > 1e-4)&& (a_workpiece.center.z > 1e-4))  //隔板存在
+		{
+			//搜索与工件中心最接近的点
+			SVzNL3DPoint nearestPt = _searchNearestPoint(spacerPoints, a_workpiece.center);
+			double dist = sqrt(pow(nearestPt.x - a_workpiece.center.x, 2) + pow(nearestPt.y - a_workpiece.center.y, 2));
+			if (dist < workpieceParam.radius * 0.3)
+			{
+				double heightDiff = nearestPt.z - a_workpiece.center.z;
+				if (heightDiff < workpieceParam.height / 4)
+					a_workpiece.center = { 0.0, 0.0, 0.0 };
+			}
+		}
 
 #ifdef _OUTPUT_DEBUG_DATA
 		if (a_workpiece.center.z > 1e-4)
@@ -2182,22 +2217,30 @@ void wd_HRM_RotorCorePositioning(
 						workpiecePositions.push_back(centerRegion[idx]);
 					}
 				}
+				//对非中央部分按高度排序
+				std::vector< WD_workpieceInfo> sideObjects;
 				if (topSide.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), topSide.begin(), topSide.end());
+					sideObjects.insert(sideObjects.end(), topSide.begin(), topSide.end());
 				if (btmSide.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), btmSide.begin(), btmSide.end());
+					sideObjects.insert(sideObjects.end(), btmSide.begin(), btmSide.end());
 				if (leftSide.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), leftSide.begin(), leftSide.end());
+					sideObjects.insert(sideObjects.end(), leftSide.begin(), leftSide.end());
 				if (rightSide.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), rightSide.begin(), rightSide.end());
+					sideObjects.insert(sideObjects.end(), rightSide.begin(), rightSide.end());
 				if (LTCorner.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), LTCorner.begin(), LTCorner.end());
+					sideObjects.insert(sideObjects.end(), LTCorner.begin(), LTCorner.end());
 				if (RTCorner.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), RTCorner.begin(), RTCorner.end());
+					sideObjects.insert(sideObjects.end(), RTCorner.begin(), RTCorner.end());
 				if (LBCorner.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), LBCorner.begin(), LBCorner.end());
+					sideObjects.insert(sideObjects.end(), LBCorner.begin(), LBCorner.end());
 				if (RBCorner.size() > 0)
-					workpiecePositions.insert(workpiecePositions.end(), RBCorner.begin(), RBCorner.end());
+					sideObjects.insert(sideObjects.end(), RBCorner.begin(), RBCorner.end());
+				if (sideObjects.size() > 1)
+				{
+					//按高度排序
+					std::sort(sideObjects.begin(), sideObjects.end(), _compareByWorkpieceZValue);
+				}
+				workpiecePositions.insert(workpiecePositions.end(), sideObjects.begin(), sideObjects.end());
 			}
 			else
 			{