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rodAndBarDetection version 1.2.2 :

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调整了定位盘中心姿态定义：法向（Z向）：向右；Y：向下
This commit is contained in:
jerryzeng 2026-04-19 11:56:16 +08:00
parent f06bc65347
commit 96938e61b5
2 changed files with 11 additions and 10 deletions
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12
rodAndBarDetection_test/rodAndBarDetection_test.cpp
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@ -492,9 +492,9 @@ void _outputRGBDScan_RGBD_centerPose(
double len = 60; double len = 60;
lineIdx = 0; lineIdx = 0;
{ {
SVzNL3DPoint pt0 = { poseInfo.center.x - len * poseInfo.normalDir.x, SVzNL3DPoint pt0 = { poseInfo.center.x, // - len * poseInfo.normalDir.x,
poseInfo.center.y - len * poseInfo.normalDir.y, poseInfo.center.y, // - len * poseInfo.normalDir.y,
poseInfo.center.z - len * poseInfo.normalDir.z }; poseInfo.center.z }; // - len * poseInfo.normalDir.z };
SVzNL3DPoint pt1 = { poseInfo.center.x + len * poseInfo.normalDir.x, SVzNL3DPoint pt1 = { poseInfo.center.x + len * poseInfo.normalDir.x,
poseInfo.center.y + len * poseInfo.normalDir.y, poseInfo.center.y + len * poseInfo.normalDir.y,
poseInfo.center.z + len * poseInfo.normalDir.z }; poseInfo.center.z + len * poseInfo.normalDir.z };
@ -1079,7 +1079,7 @@ void rodWeldSeamPosition_test(void)
{ {
//fidx =1; //fidx =1;
char _scan_file[256]; char _scan_file[256];
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx); sprintf_s(_scan_file, "%s%d_LaserData_ID019567.txt", dataPath[grp], fidx);
std::vector<std::vector< SVzNL3DPosition>> scanLines; std::vector<std::vector< SVzNL3DPosition>> scanLines;
wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines); wdReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanLines);
@ -1091,8 +1091,8 @@ void rodWeldSeamPosition_test(void)
long t1 = (long)GetTickCount64();//统计时间 long t1 = (long)GetTickCount64();//统计时间
SSX_rodParam rodParam; SSX_rodParam rodParam;
rodParam.diameter = 52.0; //圆棒直径 rodParam.diameter = 16.0; //钢筋直径
rodParam.len = 290; rodParam.len = 50;
SSG_cornerParam cornerParam; SSG_cornerParam cornerParam;
cornerParam.cornerTh = 60; //45度角 cornerParam.cornerTh = 60; //45度角

9
sourceCode/rodAndBarDetection.cpp
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@ -10,7 +10,8 @@
//version 1.1.1 : 初始发布给客户的版本 //version 1.1.1 : 初始发布给客户的版本
//version 1.2.0 : 配天螺杆测量增加了定位盘中心测量功能 //version 1.2.0 : 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 1.2.1 : 增加了定位盘中心完整姿态输出
std::string m_strVersion = "1.2.1"; //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";
const char* wd_rodAndBarDetectionVersion(void) const char* wd_rodAndBarDetectionVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -832,9 +833,9 @@ SSX_pointPoseInfo sx_getLocationPlatePose(
} }
double center_z = (ptTop.z + ptBtm.z + ptLeft.z + ptRight.z) / 4; double center_z = (ptTop.z + ptBtm.z + ptLeft.z + ptRight.z) / 4;
resultPose.center = { center_x, center_y, center_z }; resultPose.center = { center_x, center_y, center_z };
resultPose.xDir = { 1.0, 0.0, 0 }; resultPose.xDir = { 0.0, 0.0, -1.0 }; // { 1.0, 0.0, 0 };
resultPose.yDir = { 0.0, 1.0, 0 }; resultPose.yDir = { 0.0, 1.0, 0 };
resultPose.normalDir = { 0.0, 0.0, 1.0 }; resultPose.normalDir = { 1.0, 0.0, 0 };// { 0.0, 0.0, 1.0 };
//旋转回去 //旋转回去
for (int i = 0; i < lineNum; i++) for (int i = 0; i < lineNum; i++)
{ {
@ -875,7 +876,7 @@ 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 == 424) if (line == 1100)
int kkk = 1; int kkk = 1;
std::vector<SVzNL3DPosition>& lineData = scanLines[line]; std::vector<SVzNL3DPosition>& lineData = scanLines[line];