diff --git a/sourceCode/BQ_workpieceCornerExtraction.cpp b/sourceCode/BQ_workpieceCornerExtraction.cpp
index 6c35ddf..716374c 100644
--- a/sourceCode/BQ_workpieceCornerExtraction.cpp
+++ b/sourceCode/BQ_workpieceCornerExtraction.cpp
@@ -2122,6 +2122,7 @@ SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
 			featurePoints,
 			lineNum, linePtNum, clusterCheckWin, //搜索窗口
 			clusterDist,
+			0,  //2D distance
 			objClusters  //result
 		);
 		//取最大的聚类作为轮廓
diff --git a/sourceCode/SG_baseAlgo_Export.h b/sourceCode/SG_baseAlgo_Export.h
index 39fcf0d..7e8c414 100644
--- a/sourceCode/SG_baseAlgo_Export.h
+++ b/sourceCode/SG_baseAlgo_Export.h
@@ -4,6 +4,8 @@
 #include <vector>
 #include <opencv2/opencv.hpp>
 
+//向量叉乘
+SG_APISHARED_EXPORT SVzNL3DPoint vec3_cross(const SVzNL3DPoint& a, const SVzNL3DPoint& b);
 
 //滤除离群点:z跳变门限方法（大于门限视为不连续，根据连续段点数量判断噪声）
 SG_APISHARED_EXPORT void sg_lineDataRemoveOutlier(
diff --git a/sourceCode/SG_baseFunc.cpp b/sourceCode/SG_baseFunc.cpp
index 9cffbd5..09b146f 100644
--- a/sourceCode/SG_baseFunc.cpp
+++ b/sourceCode/SG_baseFunc.cpp
@@ -11,6 +11,15 @@
 
 const double EPS = 1e-10;
 
+SVzNL3DPoint vec3_cross(const SVzNL3DPoint& a, const SVzNL3DPoint& b) 
+{
+	SVzNL3DPoint c;
+	c.x = a.y * b.z - a.z * b.y;
+	c.y = a.z * b.x - a.x * b.z;
+	c.z = a.x * b.y - a.y * b.x;
+	return c;
+}
+
 SVzNL3DRangeD sg_getScanDataROI(
 //计算扫描ROI
 	SVzNL3DLaserLine* laser3DPoints,
diff --git a/sourceCode/SG_errCode.h b/sourceCode/SG_errCode.h
index 7f9a6db..fcc9992 100644
--- a/sourceCode/SG_errCode.h
+++ b/sourceCode/SG_errCode.h
@@ -44,3 +44,6 @@
 //拓普发工件定位
 #define SX_ERR_UNKNOWN_OBJECT				-2501
 
+//配天工件定位
+#define SX_ERR_UNKNOWN_PLATE_DIR		-2601
+
diff --git a/sourceCode/rodAndBarDetection.cpp b/sourceCode/rodAndBarDetection.cpp
index 189c493..094cd84 100644
--- a/sourceCode/rodAndBarDetection.cpp
+++ b/sourceCode/rodAndBarDetection.cpp
@@ -11,7 +11,8 @@
 //version 1.2.0 : 配天螺杆测量增加了定位盘中心测量功能
 //version 1.2.1 : 增加了定位盘中心完整姿态输出
 //version 1.2.2 : 调整了定位盘中心姿态定义：法向（Z向）：向右；Y：向下
-std::string	m_strVersion = "1.2.2";
+//version 1.2.3 : 根据定向盘轮廓的直线段确定向右的向量
+std::string	m_strVersion = "1.2.3";
 const char* wd_rodAndBarDetectionVersion(void)
 {
 	return m_strVersion.c_str();
@@ -481,6 +482,242 @@ SSG_ROIRectD _getListROI(std::vector< SVzNL3DPosition>& listData)
 	return roi;
 }
 
+bool _compareByAngle(const SWD_polarPt& a, const SWD_polarPt& b) {
+	return a.angle < b.angle;
+}
+
+//计算封闭序列（首尾相连）在XOY平面内前向角和后向角以及拐角。 前向角：序号+； 后向角：序号-
+void _computeClosedPntListDirCorners(std::vector<SWD_polarPt>& polarPoints, double scale, std::vector< SSG_dirCornerAngle>& dirCornerAngles)
+{
+	int pntSize = (int)polarPoints.size();
+	//std::fill(dirCornerAngles.begin(), dirCornerAngles.end(), SSG_dirCornerAngle{ 0, 0, 0, 0, 0, 0 });
+	dirCornerAngles.resize(pntSize);
+	for (int i = 0; i < pntSize; i++)
+	{
+		if (i == 68)
+			int kkk = 1;
+		memset(&dirCornerAngles[i], 0, sizeof(SSG_dirCornerAngle));
+		SWD_polarPt& a_polarPt = polarPoints[i];
+		//前向寻找
+		int minus_i = -1;
+		for (int loop = i - 1; loop >= i - pntSize; loop--)
+		{
+			int j = loop >= 0 ? loop : (loop + pntSize);
+			double dist = sqrt(pow(polarPoints[i].x - polarPoints[j].x, 2) +
+				pow(polarPoints[i].y - polarPoints[j].y, 2));
+			if (dist >= scale)
+			{
+				minus_i = j;
+				break;
+			}
+		}
+		//后向寻找
+		int plus_i = -1;
+		for (int loop = i + 1; loop < i + pntSize; loop++)
+		{
+			int j = loop % pntSize;
+			double dist = sqrt(pow(polarPoints[i].x - polarPoints[j].x, 2) +
+				pow(polarPoints[i].y - polarPoints[j].y, 2));
+			if (dist >= scale)
+			{
+				plus_i = j;
+				break;
+			}
+		}
+		//计算拐角
+		if ((minus_i >= 0) && (plus_i >= 0))
+		{
+			double backwardAngle = atan2(polarPoints[i].y - polarPoints[minus_i].y, polarPoints[i].x - polarPoints[minus_i].x) * 180.0 / PI;
+			double forwardAngle = atan2(polarPoints[plus_i].y - polarPoints[i].y, polarPoints[plus_i].x - polarPoints[i].x) * 180.0 / PI;
+			dirCornerAngles[i].forwardAngle = forwardAngle;
+			dirCornerAngles[i].backwardAngle = backwardAngle;
+
+			double corner = forwardAngle - backwardAngle;
+			if (corner < -180)
+				corner += 360;
+			else if (corner > 180)
+				corner = corner - 360;
+
+			dirCornerAngles[i].flag = 0;
+			//过滤掉由于极角和方向角相近产生的轮廓点位序错误导致的corner错误
+			double polarAngle = dirCornerAngles[i].point.angle;
+			double angleDiff1 = abs(polarAngle - dirCornerAngles[i].forwardAngle);
+			if (angleDiff1 > 180)
+				angleDiff1 = 360 - angleDiff1;
+			double angleDiff2 = abs(polarAngle - dirCornerAngles[i].backwardAngle);
+			if (angleDiff2 > 180)
+				angleDiff2 = 360 - angleDiff2;
+			if ((angleDiff1 < 10) || (angleDiff2 < 10))  //过滤掉边与极线方向相近导致的波动
+			{
+				if (dirCornerAngles[i].corner > 160)  //乱序产生角度错误
+				{
+					dirCornerAngles[i].flag = -1;
+				}
+			}
+
+			dirCornerAngles[i].corner = corner;  //图像坐标系与正常坐标系y方向相反，所以有“-”号
+			dirCornerAngles[i].pntIdx = i;
+			dirCornerAngles[i].forward_pntIdx = plus_i;
+			dirCornerAngles[i].backward_pntIdx = minus_i;
+			dirCornerAngles[i].point = polarPoints[i];
+		}
+	}
+}
+
+//提取corner极值（较早实现函数可以使用此函数进行代码优化）
+void _searchPlusCornerPeaks(
+	std::vector< SSG_dirCornerAngle>& corners,
+	double cutAngleTh,
+	std::vector< SSG_dirCornerAngle>& cornerPlusPeaks
+)
+{
+	std::vector<SSG_dirCornerAngle> peakCorners;
+	int cornerSize = (int)corners.size();
+	//搜索拐角极值
+	int _state = 0;
+	int pre_i = -1;
+	int sEdgePtIdx = -1;
+	int eEdgePtIdx = -1;
+	SSG_dirCornerAngle* pre_data = NULL;
+	for (int i = 0, i_max = cornerSize; i < i_max; i++)
+	{
+		if (i == 451)
+			int kkk = 1;
+		SSG_dirCornerAngle* curr_data = &corners[i];
+		if (curr_data->flag < 0)
+			continue;
+
+		if (NULL == pre_data)
+		{
+			sEdgePtIdx = i;
+			eEdgePtIdx = i;
+			pre_data = curr_data;
+			pre_i = i;
+			continue;
+		}
+
+		eEdgePtIdx = i;
+		double cornerDiff = curr_data->corner - pre_data->corner;
+		switch (_state)
+		{
+		case 0:  //初态
+			if (cornerDiff < 0) //下降
+			{
+				_state = 2;
+			}
+			else if (cornerDiff > 0) //上升
+			{
+				_state = 1;
+			}
+			break;
+		case 1: //上升
+			if (cornerDiff < 0)   //下降
+			{
+				if (pre_data->corner > cutAngleTh)  //截角门限，滤除点波动导致的角度变化
+					peakCorners.push_back(*pre_data);
+				_state = 2;
+			}
+			break;
+		case 2: //下降
+			if (cornerDiff > 0)   //  上升
+				_state = 1;
+			break;
+		default:
+			_state = 0;
+			break;
+		}
+		pre_data = curr_data;
+		pre_i = i;
+	}
+	//注意：最后一个不处理，为基座位置
+
+	//极小值点（峰顶）
+	//极值比较，在尺度窗口下寻找局部极值点
+	for (int i = 0, i_max = (int)peakCorners.size(); i < i_max; i++)
+	{
+		bool isPeak = true;
+		SSG_dirCornerAngle& a_dirAngle = peakCorners[i];
+		int curr_dist1 = a_dirAngle.pntIdx - a_dirAngle.backward_pntIdx;
+		if (curr_dist1 < 0)
+			curr_dist1 += cornerSize;
+		int curr_dist2 = a_dirAngle.forward_pntIdx - a_dirAngle.pntIdx;
+		if (curr_dist2 < 0)
+			curr_dist2 += cornerSize;
+
+		//minus方向寻找
+		int minus_i = i;
+		while (1)
+		{
+			minus_i--;
+			if (minus_i < 0)
+				minus_i += i_max;
+			SSG_dirCornerAngle& minus_dirAngle = peakCorners[minus_i];
+			int pntDist_0 = a_dirAngle.pntIdx - minus_dirAngle.pntIdx;
+			if (pntDist_0 < 0)
+				pntDist_0 += cornerSize;
+			if (pntDist_0 > curr_dist1)
+				break;
+
+			if (a_dirAngle.corner < minus_dirAngle.corner)
+			{
+				isPeak = false;
+				break;
+			}
+		}
+		//plus方向寻找
+		int plus_i = i;
+		while (1)
+		{
+			plus_i++;
+			if (plus_i >= i_max)
+				plus_i = 0;
+			SSG_dirCornerAngle& plus_dirAngle = peakCorners[plus_i];
+			int pntDist_0 = plus_dirAngle.pntIdx - a_dirAngle.pntIdx;
+			if (pntDist_0 < 0)
+				pntDist_0 += cornerSize;
+			if (pntDist_0 > curr_dist2)
+				break;
+
+			if (a_dirAngle.corner < plus_dirAngle.corner)
+			{
+				isPeak = false;
+				break;
+			}
+		}
+		if (true == isPeak)
+		{
+			double corner_curr = a_dirAngle.corner;
+			double corner_1 = corners[a_dirAngle.forward_pntIdx].corner;
+			double corner_2 = corners[a_dirAngle.backward_pntIdx].corner;
+			double diff_1 = corner_curr - corner_1;
+			double diff_2 = corner_curr - corner_2;
+			if ((diff_1 > corner_curr / 4) && (diff_2 > corner_curr / 4))
+			{
+				double polarAngle = a_dirAngle.point.angle;
+				double angleDiff1 = abs(polarAngle - a_dirAngle.forwardAngle);
+				if (angleDiff1 > 180)
+					angleDiff1 = 360 - angleDiff1;
+				double angleDiff2 = abs(polarAngle - a_dirAngle.backwardAngle);
+				if (angleDiff2 > 180)
+					angleDiff2 = 360 - angleDiff2;
+				if ((angleDiff1 < 10) || (angleDiff2 < 10))  //过滤掉边与极线方向相近导致的波动
+				{
+					if (a_dirAngle.corner < 160)  //乱序产生角度错误
+					{
+						a_dirAngle.flag = 0;
+						cornerPlusPeaks.push_back(a_dirAngle);
+					}
+				}
+				else
+				{
+					a_dirAngle.flag = 0;
+					cornerPlusPeaks.push_back(a_dirAngle);
+				}
+			}
+		}
+	}
+}
+
 //计算定位盘中心点位姿
 SSX_pointPoseInfo sx_getLocationPlatePose(
 	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
@@ -706,10 +943,20 @@ SSX_pointPoseInfo sx_getLocationPlatePose(
 
 	//拟合平面
 	std::vector<cv::Point3f> Points3ds;
+	std::vector<SWD_polarPt> polarPoints;
 	for (int i = 0; i < (int)objClusters[objIdx].size(); i++)
 	{
 		cv::Point3f a_pt = cv::Point3f(objClusters[objIdx][i].pt3D.x, objClusters[objIdx][i].pt3D.y, objClusters[objIdx][i].pt3D.z);
 		Points3ds.push_back(a_pt);
+		SWD_polarPt a_polarPt;
+		a_polarPt.lineIdx = objClusters[objIdx][i].nPointIdx >> 16;
+		a_polarPt.ptIdx = objClusters[objIdx][i].nPointIdx & 0x0000FFFF;
+		a_polarPt.R = 0;
+		a_polarPt.angle = 0;
+		a_polarPt.x = objClusters[objIdx][i].pt3D.x;
+		a_polarPt.y = objClusters[objIdx][i].pt3D.y;
+		a_polarPt.z = objClusters[objIdx][i].pt3D.z;
+		polarPoints.push_back(a_polarPt);
 	}
 	//计算面参数: z = Ax + By + C
 	//res: [0]=A, [1]= B, [2]=-1.0, [3]=C,
@@ -734,6 +981,9 @@ SSX_pointPoseInfo sx_getLocationPlatePose(
 		double y = Points3ds[i].x * poseR.planeCalib[3] + Points3ds[i].y * poseR.planeCalib[4] + Points3ds[i].z * poseR.planeCalib[5];
 		double z = Points3ds[i].x * poseR.planeCalib[6] + Points3ds[i].y * poseR.planeCalib[7] + Points3ds[i].z * poseR.planeCalib[8];
 		projectPoints3ds[i] = cv::Point3f(x, y, z);
+		polarPoints[i].x = x;
+		polarPoints[i].y = y;
+		polarPoints[i].z = z;
 		sum_x += x;
 		sum_y += y;
 	}
@@ -751,6 +1001,90 @@ SSX_pointPoseInfo sx_getLocationPlatePose(
 	double center_x = sum_x / (double)Points3ds.size();
 	double center_y = sum_y / (double)Points3ds.size();
 
+	//计算极坐标的R和Theta
+	for (int pi = 0; pi < (int)polarPoints.size(); pi++)
+	{
+		double angle = atan2(polarPoints[pi].y - center_y, polarPoints[pi].x - center_x);
+		angle = (angle / PI) * 180 + 180.0;
+		double R = sqrt(pow(polarPoints[pi].y - center_y, 2) + pow(polarPoints[pi].x - center_x, 2));
+		polarPoints[pi].R = R;
+		polarPoints[pi].angle = angle;
+	}
+	//按角度大小排序
+	std::sort(polarPoints.begin(), polarPoints.end(), _compareByAngle);
+	for (int pi = 0; pi < (int)polarPoints.size(); pi++)
+		polarPoints[pi].cptIndex = pi;  // index
+
+	//计算有序边缘点的角度变化 2026.03.06
+	std::vector< SSG_dirCornerAngle> dirCornerAngles;
+	double dirAngleScale = 20.0;
+	_computeClosedPntListDirCorners(polarPoints, dirAngleScale, dirCornerAngles);
+	//提取方向角拐点(正）极值
+	std::vector< SSG_dirCornerAngle> cornerPlusPeaks;
+	double minCutAngleTh = 30;
+	_searchPlusCornerPeaks(dirCornerAngles, minCutAngleTh, cornerPlusPeaks);
+
+	//生成直线段数据
+	int cornerIdx_0 = -1;
+	int cornerIdx_1 = -1;
+	for (int i = 0; i < (int)cornerPlusPeaks.size(); i++)
+	{
+		if ((cornerPlusPeaks[i].point.angle > 0) && (cornerPlusPeaks[i].point.angle < 90))
+			cornerIdx_0 = i;
+		if ((cornerPlusPeaks[i].point.angle > 90) && (cornerPlusPeaks[i].point.angle < 180))
+			cornerIdx_1 = i;
+	}
+	if ((cornerIdx_0 < 0) && (cornerIdx_1 < 0))
+	{
+		if (objIdx < 0)
+		{
+			*errCode = SX_ERR_UNKNOWN_PLATE_DIR;
+			return resultPose;
+		}
+	}
+	std::vector<SVzNL3DPoint> lineFittingPts;
+	double endingRemoveDist = 10.0;
+	double validFittingLen = 100;
+	if (cornerIdx_0 >= 0)
+	{
+		int startIdx = cornerPlusPeaks[cornerIdx_0].pntIdx;
+		double sx = polarPoints[startIdx].x;
+		double sy = polarPoints[startIdx].y;
+		for (int m = startIdx; m < (int)polarPoints.size(); m++)
+		{
+			double dist = sqrt(pow(polarPoints[m].x - sx, 2) + pow(polarPoints[m].y - sy, 2));
+			if ((dist >= endingRemoveDist) && (dist <= (validFittingLen + endingRemoveDist)))
+			{
+				SVzNL3DPoint a_fitPt = { polarPoints[m].x, polarPoints[m].y, polarPoints[m].z };
+				lineFittingPts.push_back(a_fitPt);
+			}
+			if (dist > (validFittingLen + endingRemoveDist))
+				break;
+		}
+	}
+	else
+	{
+		int startIdx = cornerPlusPeaks[cornerIdx_1].pntIdx;
+		double sx = polarPoints[startIdx].x;
+		double sy = polarPoints[startIdx].y;
+		for (int m = startIdx; m >= 0; m--)
+		{
+			double dist = sqrt(pow(polarPoints[m].x - sx, 2) + pow(polarPoints[m].y - sy, 2));
+			if ((dist >= endingRemoveDist) && (dist <= (validFittingLen + endingRemoveDist)))
+			{
+				SVzNL3DPoint a_fitPt = { polarPoints[m].x, polarPoints[m].y, polarPoints[m].z };
+				lineFittingPts.push_back(a_fitPt);
+			}
+			if (dist > (validFittingLen + endingRemoveDist))
+				break;
+		}
+	}
+	//直线拟合
+	double _k, _b;
+	lineFitting(lineFittingPts, &_k, &_b);
+	double normData = sqrt(pow(_k, 2) + 1);
+	SVzNL3DPoint xDir = { 1.0/normData, _k/normData, 0.0 };
+	
 	//计算4个点
 	SVzNL2DPointD top_pt = { center_x, center_y - centerZ_R };
 	SVzNL2DPointD bottom_pt = { center_x, center_y + centerZ_R };
@@ -834,8 +1168,12 @@ SSX_pointPoseInfo sx_getLocationPlatePose(
 	double center_z = (ptTop.z + ptBtm.z + ptLeft.z + ptRight.z) / 4;
 	resultPose.center = { center_x, center_y, center_z };
 	resultPose.xDir = { 0.0, 0.0, -1.0 }; // { 1.0, 0.0, 0 };
-	resultPose.yDir		= { 0.0, 1.0, 0 };
-	resultPose.normalDir = { 1.0, 0.0, 0 };// { 0.0, 0.0, 1.0 };
+	//resultPose.yDir		= { 0.0, 1.0, 0 };
+	resultPose.normalDir = xDir; // { 1.0, 0.0, 0 };// { 0.0, 0.0, 1.0 };
+	//叉乘出y;
+	//向量叉乘
+	resultPose.yDir = vec3_cross(resultPose.normalDir, resultPose.xDir);
+
 	//旋转回去
 	for (int i = 0; i < lineNum; i++)
 	{