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rodAndBarDetection version 1.2.11 : 根据现场数据调整特征生长参数

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jerryzeng 2026-05-15 00:18:31 +08:00
parent da5b2c90a2
commit 968fd0910c
3 changed files with 45 additions and 25 deletions
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47
rodAndBarDetection_test/rodAndBarDetection_test.cpp
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@ -878,23 +878,28 @@ void _outputRGBDScan_RGBD_weldSeam(
sw.close(); sw.close();
} }
#define SCREW_TEST_GROUP 3 #define SCREW_TEST_GROUP 7
void screwTest(void) void screwTest(void)
{ {
const char* dataPath[SCREW_TEST_GROUP] = { const char* dataPath[SCREW_TEST_GROUP] = {
"F:/ShangGu/项目/冠钦项目/螺杆测量/数据/模拟数据/", //0 "F:/ShangGu/项目/冠钦项目/螺杆测量/数据/模拟数据/", //0
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云2/上方两根/", //1 "F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云2/上方两根/", //1
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云3/", //2 "F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云3/", //2
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置1/", //3
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2/", //4
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2未动螺杆拧进去100mm左右/", //5
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/螺杆点云4/位置2向前100mm螺杆拧进去100mm左右/", //6
}; };
SVzNLRange fileIdx[SCREW_TEST_GROUP] = { SVzNLRange fileIdx[SCREW_TEST_GROUP] = {
{1,4},{1,30},{1,11} {1,4},{1,30},{1,11},
{1,20}, {1,20}, {1,5}, {1,21}
}; };
const char* ver = wd_rodAndBarDetectionVersion(); const char* ver = wd_rodAndBarDetectionVersion();
printf("ver:%s\n", ver); printf("ver:%s\n", ver);
for (int grp = 2; grp < SCREW_TEST_GROUP; grp++) for (int grp = 3; grp < SCREW_TEST_GROUP; grp++)
{ {
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{ {
@ -924,7 +929,7 @@ void screwTest(void)
//double rodDiameter = 10.0; //double rodDiameter = 10.0;
SSG_cornerParam cornerParam; SSG_cornerParam cornerParam;
cornerParam.cornerTh = 60; //45度角 cornerParam.cornerTh = 30; //45度角
cornerParam.scale = rodDiameter/4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8; cornerParam.scale = rodDiameter/4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4; cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
cornerParam.minEndingGap_z = 5.0; cornerParam.minEndingGap_z = 5.0;
@ -936,12 +941,12 @@ void screwTest(void)
filterParam.outlierTh = 5; filterParam.outlierTh = 5;
SSG_treeGrowParam growParam; SSG_treeGrowParam growParam;
growParam.maxLineSkipNum = 10; growParam.maxLineSkipNum = 30;
growParam.yDeviation_max = 20.0; growParam.yDeviation_max = 5.0;
growParam.maxSkipDistance = 20.0; growParam.maxSkipDistance = 30.0;
growParam.zDeviation_max = 50.0;// growParam.zDeviation_max = 50;//
growParam.minLTypeTreeLen = 10; //mm, 螺杆长度 growParam.minLTypeTreeLen = 50; //mm, 螺杆长度
growParam.minVTypeTreeLen = 10; //mm growParam.minVTypeTreeLen = 50; //mm
bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道 bool isHorizonScan = true; //true:激光线平行槽道；false:激光线垂直槽道
int errCode = 0; int errCode = 0;
@ -1025,21 +1030,22 @@ void locatingPlateTest(void)
} }
} }
#define ROD_POSITION_TEST_GROUP 1 #define ROD_POSITION_TEST_GROUP 2
void rodPositionTest(void) void rodPositionTest(void)
{ {
const char* dataPath[ROD_POSITION_TEST_GROUP] = { const char* dataPath[ROD_POSITION_TEST_GROUP] = {
"F:/ShangGu/项目/冠钦项目/棒材抓取/", //0 "F:/ShangGu/项目/冠钦项目/矩森棒材抓取/", //0
"F:/ShangGu/项目/冠钦项目/胶布圆棒抓取/模拟测试数据/", //1
}; };
SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = { SVzNLRange fileIdx[ROD_POSITION_TEST_GROUP] = {
{1,8}, {1,8}, {1,5}
}; };
const char* ver = wd_rodAndBarDetectionVersion(); const char* ver = wd_rodAndBarDetectionVersion();
printf("ver:%s\n", ver); printf("ver:%s\n", ver);
for (int grp = 0; grp < ROD_POSITION_TEST_GROUP; grp++) for (int grp = 1; grp < ROD_POSITION_TEST_GROUP; grp++)
{ {
SSG_planeCalibPara poseCalibPara; SSG_planeCalibPara poseCalibPara;
//初始化成单位阵 //初始化成单位阵
@ -1063,6 +1069,9 @@ void rodPositionTest(void)
{ {
//fidx =1; //fidx =1;
char _scan_file[256]; char _scan_file[256];
if(1 == grp)
sprintf_s(_scan_file, "%s%d_LaserData_Hi229156.txt", dataPath[grp], fidx);
else
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx); sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
std::vector<std::vector< SVzNL3DPosition>> scanLines; std::vector<std::vector< SVzNL3DPosition>> scanLines;
@ -1075,8 +1084,16 @@ void rodPositionTest(void)
long t1 = (long)GetTickCount64();//统计时间 long t1 = (long)GetTickCount64();//统计时间
SSX_rodParam rodParam; SSX_rodParam rodParam;
if (0 == grp)
{
rodParam.diameter = 52.0; //圆棒直径 rodParam.diameter = 52.0; //圆棒直径
rodParam.len = 290; rodParam.len = 290;
}
else
{
rodParam.diameter = 68.0; //圆棒直径
rodParam.len = 187;
}
SSG_cornerParam cornerParam; SSG_cornerParam cornerParam;
cornerParam.cornerTh = 60; //45度角 cornerParam.cornerTh = 60; //45度角
@ -1231,7 +1248,7 @@ int main()
locatingPlateTest(); locatingPlateTest();
#endif #endif
#else //棒材抓取定位测试 #else //棒材抓取定位测试
#if 0 #if 1
rodPositionTest(); rodPositionTest();
#else #else
rodWeldSeamPosition_test(); rodWeldSeamPosition_test();

4
sourceCode/SG_lineFeature.cpp
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@ -4619,6 +4619,7 @@ void wd_getRodArcFeature_segmentPeakCornerMethod(
//逐个极小值点判断 //逐个极小值点判断
int peakNum = (int)localZMin.size(); int peakNum = (int)localZMin.size();
SSG_intPair prePos = { -1, -1, -1 };
for (int i = 0; i < peakNum; i++) for (int i = 0; i < peakNum; i++)
{ {
int pkIdx = localZMin[i].jumpPos2D.y; int pkIdx = localZMin[i].jumpPos2D.y;
@ -4628,7 +4629,7 @@ void wd_getRodArcFeature_segmentPeakCornerMethod(
ptDirAngles, lineData, ptDirAngles, lineData,
arcPerPointCornerMinValue, arcTotalCornerMinValue, arcPerPointCornerMinValue, arcTotalCornerMinValue,
a_rodPos); a_rodPos);
if (true == isArc) if ( (true == isArc) && (prePos.idx != a_rodPos.idx))
{ {
SWD_rodArcFeature a_rodArc; SWD_rodArcFeature a_rodArc;
memset(&a_rodArc, 0, sizeof(SWD_rodArcFeature)); memset(&a_rodArc, 0, sizeof(SWD_rodArcFeature));
@ -4641,6 +4642,7 @@ void wd_getRodArcFeature_segmentPeakCornerMethod(
a_rodArc.peakPt = lineData[a_rodPos.idx].pt3D; a_rodArc.peakPt = lineData[a_rodPos.idx].pt3D;
a_rodArc.featureValue = ptDirAngles[a_rodPos.idx].corner; a_rodArc.featureValue = ptDirAngles[a_rodPos.idx].corner;
line_rodArcs.push_back(a_rodArc); line_rodArcs.push_back(a_rodArc);
prePos = a_rodPos;
} }
} }
return; return;

13
sourceCode/rodAndBarDetection.cpp
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@ -19,7 +19,8 @@
//version 1.2.8 : 修正螺杆定位算法中的一个Bug //version 1.2.8 : 修正螺杆定位算法中的一个Bug
//version 1.2.9 : 修正螺杆定位算法中轴向拟合计算时方向确定的问题，保证投影后的点云与投影前的点云的Z变化趋势一致 //version 1.2.9 : 修正螺杆定位算法中轴向拟合计算时方向确定的问题，保证投影后的点云与投影前的点云的Z变化趋势一致
//version 1.2.10 : 改进螺杆定位取点算法 //version 1.2.10 : 改进螺杆定位取点算法
std::string m_strVersion = "1.2.10"; //version 1.2.11 : 根据现场数据调整特征生长参数
std::string m_strVersion = "1.2.11";
const char* wd_rodAndBarDetectionVersion(void) const char* wd_rodAndBarDetectionVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -242,7 +243,7 @@ void rodAarcFeatueDetection(
int linePtNum = (int)scanLines[0].size(); int linePtNum = (int)scanLines[0].size();
for (int line = 0; line < lineNum; line++) for (int line = 0; line < lineNum; line++)
{ {
if (line == 827) if (line == 1304)
int kkk = 1; int kkk = 1;
std::vector<SVzNL3DPosition>& lineData = scanLines[line]; std::vector<SVzNL3DPosition>& lineData = scanLines[line];
@ -632,8 +633,8 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SWD3DPointPostion>& scanData)
} }
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() - 15, fitPoints.end());
fit2DPos.erase(fit2DPos.end() - 5, fit2DPos.end()); fit2DPos.erase(fit2DPos.end() - 15, fit2DPos.end());
} }
else else
{ {
@ -655,8 +656,8 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SWD3DPointPostion>& scanData)
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());
fitPoints.erase(fitPoints.begin(), fitPoints.begin() + 5); fitPoints.erase(fitPoints.begin(), fitPoints.begin() + 15);
fit2DPos.erase(fit2DPos.begin(), fit2DPos.begin() + 5); fit2DPos.erase(fit2DPos.begin(), fit2DPos.begin() + 15);
} }
//置标志 //置标志
for (int j = 0; j < (int)fit2DPos.size(); j++) for (int j = 0; j < (int)fit2DPos.size(); j++)