update:WorkpieceRotor 更新算法解决漏检;更新定子模型

App/StatorWorkpiecePosition/WorkpieceRotorApp/Version.h

@@ -4,7 +4,7 @@
 // 版本字符串
 #define STATORWORKPIECEPOSITION_APP_NAME "转子钢芯定位"
 #define STATORWORKPIECEPOSITION_APP_KEY "WorkpieceRotorApp"
-#define STATORWORKPIECEPOSITION_VERSION_STRING "2.1.2"
+#define STATORWORKPIECEPOSITION_VERSION_STRING "2.1.3"
 #define STATORWORKPIECEPOSITION_BUILD_STRING "1"
 #define STATORWORKPIECEPOSITION_FULL_VERSION_STRING "V" STATORWORKPIECEPOSITION_VERSION_STRING "_" STATORWORKPIECEPOSITION_BUILD_STRING
 

App/StatorWorkpiecePosition/WorkpieceRotorApp/Version.md

@@ -1,3 +1,8 @@
+# 2.1.3
+## build_1 20261030
+1. 更新算法解决漏检
+2. 更新定子模型
+
 # 2.1.2
 ## build_1 20261030
 1. 更新转子模型

AppAlgo/hybridPosePositioning/hybridPosePositioning_test.cpp

@@ -1,10 +1,13 @@
 #include <iostream>
 #include <fstream>
+#include <algorithm>
+#include <cstdio>
+#include <filesystem>
+#include <string>
 #include <vector>
 #include <stdio.h>
 #include <VZNL_Types.h>
 #include "direct.h"
-#include <string>
 #include "hybridPosePositioning_Export.h"
 #include <opencv2/opencv.hpp>
 #include <Windows.h>
@@ -776,14 +779,20 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 		objNumber = 1;
 
 	int lineNum = (int)scanLines.size();
-	std::ofstream sw(fileName);
+	std::ofstream sw(fileName, std::ios::out | std::ios::trunc);
 	int realLines = (objNumber == 0) ? lineNum : (lineNum + 1);
-	sw << "LineNum:" << realLines << std::endl;
-	sw << "DataType: 0" << std::endl;
-	sw << "ScanSpeed: 0" << std::endl;
-	sw << "PointAdjust: 1" << std::endl;
-	sw << "MaxTimeStamp: 0_0" << std::endl;
-
+	sw << "LineNum:" << realLines << '\n';
+	sw << "DataType: 0" << '\n';
+	sw << "ScanSpeed: 0" << '\n';
+	sw << "PointAdjust: 1" << '\n';
+	sw << "MaxTimeStamp: 0_0" << '\n';
+	if (!sw) {
+		std::cerr << "Write failed: line = MaxTimeStamp" 
+			<< ", rdstate = " << sw.rdstate()
+			<< ", bad = " << sw.bad()
+			<< ", fail = " << sw.fail()
+			<< '\n';
+	}
 	int maxLineIndex = 0;
 	int max_stamp = 0;
 	SG_color rgb = { 0, 0, 0 };
@@ -855,9 +864,46 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 			float x = (float)pt3D->pt3D.x;
 			float y = (float)pt3D->pt3D.y;
 			float z = (float)pt3D->pt3D.z;
+
+			errno = 0;
+			// RGB 显式转为整数，避免 unsigned char 被按字符输出。
 			sw << "{" << x << "," << y << "," << z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << rgb.r << "," << rgb.g << "," << rgb.b << "," << size << " }" << std::endl;
+			sw << "{"
+				<< static_cast<int>(rgb.r) << ","
+				<< static_cast<int>(rgb.g) << ","
+				<< static_cast<int>(rgb.b) << ","
+				<< size << " }" << '\n';
+
+			// 临时诊断：每个点写完都刷新，检查实际写出是否成功。
+			// 定位完成后移除，避免影响保存速度。
+			const char* stage = "write";
+			if (sw) {
+				stage = "flush";
+				sw.flush();
+			}
+
+			// 在其他日志操作之前保存 errno。
+			const int savedErrno = errno;
+
+			if (!sw) {
+				std::cerr
+					<< "Write failed: stage = " << stage
+					<< ", line = " << line
+					<< ", i = " << i
+					<< ", lineIdx = " << lineIdx
+					<< ", rdstate = " << sw.rdstate()
+					<< ", bad = " << sw.bad()
+					<< ", fail = " << sw.fail()
+					<< ", errno = " << savedErrno
+					<< ", error = "
+					<< (savedErrno ? std::strerror(savedErrno)
+						: "No errno information")
+					<< '\n';
+
+				// 停止整个保存过程，不能只退出内层循环。
+				throw std::runtime_error("Point-cloud file write failed");
+			}
 		}
 	}
 
@@ -896,13 +942,13 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 										poseInfo[m].center.y - poseInfo[m].z_dir.y * dirLen,
 										poseInfo[m].center.z - poseInfo[m].z_dir.z * dirLen };
 
-				sw << "Poly_" << lineIdx << "_2" << std::endl;
+				sw << "Poly_" << lineIdx << "_2" << '\n';
 				sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				lineIdx++;
 			}
 			else
@@ -914,39 +960,39 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 										poseInfo[m].center.y - poseInfo[m].z_dir.y * dirLen,
 										poseInfo[m].center.z - poseInfo[m].z_dir.z * dirLen };
 
-				sw << "Poly_" << lineIdx << "_2" << std::endl;
+				sw << "Poly_" << lineIdx << "_2" << '\n';
 				sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				lineIdx++;
 
 				double sapcerDirLen = 200;
 				dirPt1 = { poseInfo[m].center.x + poseInfo[m].x_dir.x * sapcerDirLen,
 							poseInfo[m].center.y + poseInfo[m].x_dir.y * sapcerDirLen,
 							poseInfo[m].center.z + poseInfo[m].x_dir.z * sapcerDirLen };
-				sw << "Poly_" << lineIdx << "_2" << std::endl;
+				sw << "Poly_" << lineIdx << "_2" << '\n';
 				sw << "{" << poseInfo[m].center.x << "," << poseInfo[m].center.y << "," << poseInfo[m].center.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				lineIdx++;
 
 				dirPt2 = { poseInfo[m].center.x + poseInfo[m].y_dir.x * sapcerDirLen,
 							poseInfo[m].center.y + poseInfo[m].y_dir.y * sapcerDirLen,
 							poseInfo[m].center.z + poseInfo[m].y_dir.z * sapcerDirLen };
 
-				sw << "Poly_" << lineIdx << "_2" << std::endl;
+				sw << "Poly_" << lineIdx << "_2" << '\n';
 				sw << "{" << poseInfo[m].center.x << "," << poseInfo[m].center.y << "," << poseInfo[m].center.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 				sw << "{0,0}-{0,0}-";
-				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+				sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 				lineIdx++;
 			}
 		}
@@ -957,51 +1003,56 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 			//输出外接矩形
 			SVzNL3DPoint dirPt1 = binInfo->minRectVertex[0];
 			SVzNL3DPoint dirPt2 = binInfo->minRectVertex[1];
-			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			sw << "Poly_" << lineIdx << "_2" << '\n';
 			sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			lineIdx++;
 
 			dirPt1 = binInfo->minRectVertex[1];
 			dirPt2 = binInfo->minRectVertex[2];
-			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			sw << "Poly_" << lineIdx << "_2" << '\n';
 			sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			lineIdx++;
 
 			dirPt1 = binInfo->minRectVertex[2];
 			dirPt2 = binInfo->minRectVertex[3];
-			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			sw << "Poly_" << lineIdx << "_2" << '\n';
 			sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			lineIdx++;
 
 			dirPt1 = binInfo->minRectVertex[3];
 			dirPt2 = binInfo->minRectVertex[0];
-			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			sw << "Poly_" << lineIdx << "_2" << '\n';
 			sw << "{" << dirPt1.x << "," << dirPt1.y << "," << dirPt1.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			sw << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
 			sw << "{0,0}-{0,0}-";
-			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << '\n';
 			lineIdx++;
 		}
 	}
 
 	sw.close();
+
+	if (sw.fail()) {
+		std::cerr << "Failed to close output file: "
+			<< fileName << std::endl;
+	}
 }
 
 void _outputRGBDResult_XYZ_RGBD_planningResult(
@@ -2466,8 +2517,50 @@ void HaiRuiMa_groundCalib_test(void)
 
 }
 
+// directory：由 const char* 给出的测试目录
+namespace fs = std::filesystem;
+bool ends_with(const std::string& str, const std::string& suffix)
+{
+	return str.size() >= suffix.size() &&
+		str.compare(str.size() - suffix.size(),
+			suffix.size(), suffix) == 0;
+}
+void test_directory(const char* directory, std::vector<fs::path>& files)
+{
+	if (directory == nullptr)
+		return;
+
+	try {
+		// 先收集文件，避免测试过程中生成结果文件影响目录遍历
+		for (const auto& entry : fs::directory_iterator(directory)) {
+			if (!entry.is_regular_file())
+				continue;
+
+			const fs::path& path = entry.path();
+			const std::string filename = path.filename().string();
+
+			if (path.extension() != ".txt")
+				continue;
+
+			if (ends_with(filename, "_result.txt"))
+				continue;
+			if (ends_with(filename, "_info.txt"))
+				continue;
+
+			files.push_back(path);
+		}
+	}
+	catch (const fs::filesystem_error& e) {
+		std::cerr << "Directory error: " << e.what() << '\n';
+		return;
+	}
+
+	// 固定测试顺序，不需要排序时可删除
+	std::sort(files.begin(), files.end());
+}
+
 //拓普发工件孔定位（工件定位)
-#define HRM_RotorCore_TEST_GROUP 9
+#define HRM_RotorCore_TEST_GROUP 19
 void HaiRuiMa_rotorCorePositioning_test(void)
 {
 	const char* dataPath[HRM_RotorCore_TEST_GROUP] = {
@@ -2475,22 +2568,35 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/数据2D3D/", //0
 		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/WorkpieceRotor/", //1
 		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/现场数据/",  //2
-		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/09-14/",  //3
-		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/09-14中/", //4
-		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/异常数据/",  //5
-		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/2026-09-海瑞马/10-09小/", //6
-		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/更换5mm镜头相机/", //7
-		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子钢芯/1019定子数据/",  //8
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/09-14/",  //3
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/09-14中/", //4
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/异常数据_1/",  //5
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/10-09小/", //6
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/更换5mm镜头相机/", //7 
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/转子数据/10.21数据/1-24中型/",  //8
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/转子数据/10.21数据/25-63小型/", //9
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/转子数据/10.21数据/64-87大型/", //10
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/20261023数据/", //11
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/20261024数据/", //12
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/异常数据/",  //13
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/转子数据/2楼转子异常数据/", //14
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/20261028数据/",  //15
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/定子数据/20261029数据/",  //16
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/转子数据/20261028数据/", //17
+		"F:/ShangGu/项目/冠钦项目/宁波海瑞马/转子定子抓取/转子数据/20261029数据/", //18
 	};
 
 	SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
-		{1,10}, {3,70},{9,9}, {1,54}, {1,54}, {1,6}, {1,8}, {1, 16},{4,78},
+		{1,10}, {3,70},{9,9}, {1,54}, {1,54}, 
+		{7,9}, {1,8}, {1, 16},{1,24}, {25,63},
+		{64,87},{1,80}, {1,178}, {1, 39}, {1,38},
+		{-1,-1}, {-1,-1}, {-1,-1}, {-1,-1}
 	};
 
 	const char* ver = wd_hybridPositioningVersion();
 	printf("ver:%s\n", ver);
 
-	for (int grp = 4; grp <= 8; grp++)
+	for (int grp = 16; grp <= 18; grp++)
 	{
 		SSG_planeCalibPara groundCalibPara;
 		//初始化成单位阵
@@ -2510,11 +2616,33 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 		sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
 		groundCalibPara = _readCalibPara(calibFile);
 
-		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
+		int fstart = fileIdx[grp].nMin;
+		int fend = fileIdx[grp].nMax;
+		std::vector<fs::path> files;
+		if (fstart < 0)
+		{
+			test_directory(dataPath[grp], files);
+			if (files.size() == 0)
+				continue;
+			fstart = 0;
+			fend = (int)files.size() - 1;
+		}
+		for (int fidx = 98; fidx <= fend; fidx++)
 		{
 			//fidx = 50;
 			char _scan_file[256];
-			sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
+			if (fileIdx[grp].nMin >= 0)
+			{
+				if ((grp >= 12) && (grp <= 14))
+					sprintf_s(_scan_file, "%s%d.txt", dataPath[grp], fidx);
+				else
+					sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
+			}
+			else
+			{
+				sprintf_s(_scan_file, "%s", files[fidx].string().c_str());
+
+			}
 			std::vector<std::vector< SVzNLPositionD>> scanLines;
 			vzReadLaserScanPointFromFile_XYZUV_vector(_scan_file, scanLines);
 			_removeZeroLines_XYZUV(scanLines);
@@ -2522,7 +2650,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 				continue;
 
 #if 0
-			SVzNLRangeD yRange = { -400, 300 };
+			SVzNLRangeD yRange = { -400, 400 };
 			_yRangeFilter_XYZUV(scanLines, yRange);
 			int headNullLines = 0;
 			sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
@@ -2566,7 +2694,23 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 			std::vector<WD_objArea2D> objROIs;
 			vzReadObj2DROI(_scan_file, objROIs);
 #else  //使用掩膜
-			sprintf_s(_scan_file, "%s%d_mask.bmp", dataPath[grp], fidx);
+			if (fileIdx[grp].nMin >= 0)
+			{
+				if (grp == 11) //20261023数据
+					sprintf_s(_scan_file, "%s%d_reinspection_2d_mask.bmp", dataPath[grp], fidx);
+				else if ((grp == 12) || (grp == 14)) ////20261024数据
+					sprintf_s(_scan_file, "%s%d_input_reinspection_2d_mask.bmp", dataPath[grp], fidx);
+				else if (grp == 13)
+					sprintf_s(_scan_file, "%s%d_reinspection_2d_mask.bmp", dataPath[grp], fidx);
+				else
+					sprintf_s(_scan_file, "%s%d_mask.bmp", dataPath[grp], fidx);
+			}
+			else
+			{
+				const std::string file_prefix = files[fidx].stem().string();
+				const fs::path maskFile_path = files[fidx].parent_path() / (file_prefix + "_2d_mask.bmp");
+				sprintf_s(_scan_file, "%s", maskFile_path.string().c_str());
+			}
 			//
 				// 读取 BMP 文件（彩色，默认）
 			cv::Mat img = cv::imread(_scan_file, cv::IMREAD_COLOR);
@@ -2623,6 +2767,11 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 				workpieceParam.height = 20.0;
 			}
 #endif
+			EWD_WorkpieceClass workpieceClass = keWD_Class_Stator;
+			if ((grp >= 8) && (grp <= 10))
+				workpieceClass = keWD_Class_Rotor;
+			else if( (grp == 14) || (grp == 17) || (grp == 18))
+				workpieceClass = keWD_Class_Rotor;
 
 			SVzNLSizeD spacerParam; //隔板参数：长和宽
 			spacerParam.dWidth = 720.0;
@@ -2641,7 +2790,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 			wd_HRM_RotorCorePositioning(
 				scanLines,
 				objDataMask,
-				keWD_Class_Rotor,
+				workpieceClass,
 				groundCalibPara,
 				spacerParam,
 				workpieceParam,
@@ -2672,7 +2821,14 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 					printf("%s: %d(ms), errCode=%d 结果: %d...", _scan_file, (int)(t2 - t1), errCode, num);
 			}
 			//输出测试结果
-			sprintf_s(calibFile, "%sresult/LaserLine%d_workpiece_info.txt", dataPath[grp], fidx);
+			if (fileIdx[grp].nMin >= 0)
+				sprintf_s(calibFile, "%sresult/LaserLine%d_workpiece_info.txt", dataPath[grp], fidx);
+			else
+			{
+				const std::string file_prefix = files[fidx].stem().string();
+				const fs::path rsltFile_path = files[fidx].parent_path() / ("result/" + file_prefix + "_workpiece_info.txt");
+				sprintf_s(calibFile, "%s", rsltFile_path.string().c_str());
+			}
 			_outputWorkpieceInfo(calibFile, workpiecePositions);
 			//旋转到调平坐标系
 			int workpieceNum = (int)workpiecePositions.size();
@@ -2688,10 +2844,22 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 				rpt = wd_ptRotate(workpiecePositions[i].x_dir, groundCalibPara.planeCalib);
 				workpiecePositions[i].x_dir = rpt;
 			}
-			sprintf_s(_scan_file, "%sresult/result_%d.txt", dataPath[grp], fidx);
+			if (fileIdx[grp].nMin >= 0)
+			{
+				sprintf_s(_scan_file, "%sresult/result_%d.txt", dataPath[grp], fidx);
+				sprintf_s(calibFile, "%sresult/result_%d_projection.png", dataPath[grp], fidx);
+			}
+			else
+			{
+				const std::string file_prefix = files[fidx].stem().string();
+				const fs::path rsltFile_path_1 = files[fidx].parent_path() / ("result/" + file_prefix + "_result.txt");
+				sprintf_s(_scan_file, "%s", rsltFile_path_1.string().c_str());
+				const fs::path rsltFile_path_2 = files[fidx].parent_path() / ("result/" + file_prefix + "_projection.png");
+				sprintf_s(calibFile, "%s", rsltFile_path_2.string().c_str());
+			}
+			
 			_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, debugScanLines, workpiecePositions, &binInfo, 50);
 #if 1
-			sprintf_s(calibFile, "%sresult/result_%d_projection.png", dataPath[grp], fidx);
 			double rpy[3] = { 0, 0, 0 }; //{ 0,-45, 0 };  //
 			double angleDrawLen = 15;
 			double displayScale = 0.3;