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hybridPosePositioning

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version 1.4.4 : 转子钢芯，添加了异常保护
This commit is contained in:
jerryzeng 2026-09-27 18:34:17 +08:00
parent 7b3cb958ef
commit 85fb6d1434
2 changed files with 27 additions and 15 deletions
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4
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -2364,13 +2364,13 @@ void HaiRuiMa_rotorCorePositioning_test(void)
}; };
SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = { SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
{1,10}, {3,70},{8,8}, {5,47}, {1,54}, {1,6} {1,10}, {3,70},{9,9}, {5,47}, {1,54}, {1,6}
}; };
const char* ver = wd_hybridPositioningVersion(); const char* ver = wd_hybridPositioningVersion();
printf("ver:%s\n", ver); printf("ver:%s\n", ver);
for (int grp = 4; grp <= 4; grp++) for (int grp = 2; grp <= 2; grp++)
{ {
SSG_planeCalibPara groundCalibPara; SSG_planeCalibPara groundCalibPara;
//初始化成单位阵 //初始化成单位阵

38
sourceCode/hybridPosePositioning.cpp
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@ -26,7 +26,8 @@
//version 1.4.1 : 转子钢芯， 每个输出结果添加了2D图像坐标 //version 1.4.1 : 转子钢芯， 每个输出结果添加了2D图像坐标
//version 1.4.2 : 转子钢芯， 优化了点云中垂直部分去除的门限 //version 1.4.2 : 转子钢芯， 优化了点云中垂直部分去除的门限
//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 1.4.3 : 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
std::string m_strVersion = "HybridPositioning 1.4.3"; //version 1.4.4 : 转子钢芯，添加了异常保护
std::string m_strVersion = "HybridPositioning 1.4.4";
const char* wd_hybridPositioningVersion(void) const char* wd_hybridPositioningVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -1760,28 +1761,39 @@ void wd_HRM_RotorCorePositioning(
//统计ROI中的扫描线和PtIdx范围 //统计ROI中的扫描线和PtIdx范围
SVzNLRange roiLineIndice = { INT_MAX, 0 }; SVzNLRange roiLineIndice = { INT_MAX, 0 };
SVzNLRange roiPtIndice = { INT_MAX, 0 }; SVzNLRange roiPtIndice = { INT_MAX, 0 };
bool isValid = true;
for (int x = L; x <= R; x++) for (int x = L; x <= R; x++)
{ {
for (int y = T; y <= B; y++) for (int y = T; y <= B; y++)
{ {
mapping2DTo3D& a_mapping = mappingTable[x][y]; if (x < mappingTable.size())
for (int m = 0; m < (int)a_mapping.mappings.size(); m++)
{ {
int lineIdx = a_mapping.mappings[m].lineIdx; if (y < mappingTable[x].size())
int ptIdx = a_mapping.mappings[m].ptIdx;
if (scanLines[lineIdx][ptIdx].pt3D.z > 1e-4)
{ {
scanLinesInput[lineIdx][ptIdx].nPointIdx &= 0xffff0000; mapping2DTo3D& a_mapping = mappingTable[x][y];
scanLinesInput[lineIdx][ptIdx].nPointIdx |= (idx + 1); for (int m = 0; m < (int)a_mapping.mappings.size(); m++)
roiLineIndice.nMin = roiLineIndice.nMin > lineIdx ? lineIdx : roiLineIndice.nMin; {
roiLineIndice.nMax = roiLineIndice.nMax < lineIdx ? lineIdx : roiLineIndice.nMax; int lineIdx = a_mapping.mappings[m].lineIdx;
roiPtIndice.nMin = roiPtIndice.nMin > ptIdx ? ptIdx : roiPtIndice.nMin; int ptIdx = a_mapping.mappings[m].ptIdx;
roiPtIndice.nMax = roiPtIndice.nMax < ptIdx ? ptIdx : roiPtIndice.nMax; if (scanLines[lineIdx][ptIdx].pt3D.z > 1e-4)
{
scanLinesInput[lineIdx][ptIdx].nPointIdx &= 0xffff0000;
scanLinesInput[lineIdx][ptIdx].nPointIdx |= (idx + 1);
roiLineIndice.nMin = roiLineIndice.nMin > lineIdx ? lineIdx : roiLineIndice.nMin;
roiLineIndice.nMax = roiLineIndice.nMax < lineIdx ? lineIdx : roiLineIndice.nMax;
roiPtIndice.nMin = roiPtIndice.nMin > ptIdx ? ptIdx : roiPtIndice.nMin;
roiPtIndice.nMax = roiPtIndice.nMax < ptIdx ? ptIdx : roiPtIndice.nMax;
}
}
} }
else
isValid = false;
} }
else
isValid = false;
} }
} }
if (roiLineIndice.nMax < roiLineIndice.nMin) if ( (roiLineIndice.nMax < roiLineIndice.nMin) || (isValid == false))
continue; continue;
//生成ROI中的扫描数据 //生成ROI中的扫描数据