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hybridPosePositioning version 1.5.3 : 转子钢芯，转子改进虚假目标过滤逻辑

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jerryzeng 2026-10-30 00:03:34 +08:00
parent 821d07fa93
commit 237988f944
2 changed files with 68 additions and 20 deletions
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30
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -2467,7 +2467,7 @@ void HaiRuiMa_groundCalib_test(void)
}
//拓普发工件孔定位（工件定位)
#define HRM_RotorCore_TEST_GROUP 11
#define HRM_RotorCore_TEST_GROUP 15
void HaiRuiMa_rotorCorePositioning_test(void)
{
const char* dataPath[HRM_RotorCore_TEST_GROUP] = {
@ -2477,24 +2477,28 @@ void HaiRuiMa_rotorCorePositioning_test(void)
"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/", //5
"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
};
SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
{1,10}, {3,70},{9,9}, {1,54}, {1,54},
{1,6}, {1,8}, {1, 16},{1,24}, {25,63},
{64,87}
{7,9}, {1,8}, {1, 16},{1,24}, {25,63},
{64,87},{1,80}, {1,178}, {1, 39}, {1,38}
};
const char* ver = wd_hybridPositioningVersion();
printf("ver:%s\n", ver);
for (int grp = 3; grp <= 7; grp++)
for (int grp = 14; grp <= 14; grp++)
{
SSG_planeCalibPara groundCalibPara;
//初始化成单位阵
@ -2518,7 +2522,10 @@ void HaiRuiMa_rotorCorePositioning_test(void)
{
//fidx = 50;
char _scan_file[256];
sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
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);
std::vector<std::vector< SVzNLPositionD>> scanLines;
vzReadLaserScanPointFromFile_XYZUV_vector(_scan_file, scanLines);
_removeZeroLines_XYZUV(scanLines);
@ -2570,7 +2577,14 @@ 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 (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);
//
// 读取 BMP 文件（彩色，默认）
cv::Mat img = cv::imread(_scan_file, cv::IMREAD_COLOR);
@ -2630,6 +2644,8 @@ void HaiRuiMa_rotorCorePositioning_test(void)
EWD_WorkpieceClass workpieceClass = keWD_Class_Stator;
if ((grp >= 8) && (grp <= 10))
workpieceClass = keWD_Class_Rotor;
else if(grp == 14)
workpieceClass = keWD_Class_Rotor;
SVzNLSizeD spacerParam; //隔板参数：长和宽
spacerParam.dWidth = 720.0;

58
sourceCode/hybridPosePositioning.cpp
View File

@ -36,7 +36,8 @@
//version 1.5.1 : 转子钢芯，2D结果由ROI输入换成掩码输入
//version 1.5.2 : 转子钢芯，(1)2D结果添加坐标保护。点云输出的坐标会超过（1920， 1216）。
// (2)改进定子检测检测方法 （3）改进隔板检测，工件掩膜中的点不参与隔板检测
std::string m_strVersion = "HybridPositioning 1.5.2";
//version 1.5.3 : 转子钢芯，转子改进虚假目标过滤逻辑（原因是转子中间孔比较小，原来没有隔板时的过滤逻辑有问题
std::string m_strVersion = "HybridPositioning 1.5.3";
const char* wd_hybridPositioningVersion(void)
{
return m_strVersion.c_str();
@ -2642,9 +2643,9 @@ void wd_HRM_RotorCorePositioning(
if (idx == 44)
int kkk = 1;
SSG_ROIRect& obj_roi = objROIs[idx];
int ex_w = (obj_roi.right - obj_roi.left) / 6;
int ex_h = (obj_roi.bottom - obj_roi.top) / 6;
double roi_R = ex_w < ex_h ? (double)ex_w : (double)ex_h;
int ex_w = (obj_roi.right - obj_roi.left) / 3;
int ex_h = (obj_roi.bottom - obj_roi.top) / 3;
double roi_R = ex_w < ex_h ? (double)ex_w : (double)ex_h; //转子中央孔范围
int L = obj_roi.left - ex_w;
if (L < 0)
L = 0;
@ -2715,6 +2716,10 @@ void wd_HRM_RotorCorePositioning(
roiScanLines[line].resize(roiLinePtNum);
dataRoiMask[line].resize(roiLinePtNum);
}
int totalPixelsInR = 0;
int zeroPointsInR = 0;
std::vector<SVzNL3DPoint> pointsInR;
for (int x = L; x <= R; x++)
{
for (int y = T; y <= B; y++)
@ -2726,6 +2731,8 @@ void wd_HRM_RotorCorePositioning(
int ptIdx = a_mapping.mappings[m].ptIdx;
if ((lineIdx == 275) && (ptIdx == 929))
int kkk = 1;
double dist = sqrt((x - nCx) * (x - nCx) + (y - nCy) * (y - nCy));
if (scanLines[lineIdx][ptIdx].pt3D.z > 1e-4)
{
scanLines[lineIdx][ptIdx].nPointIdx &= 0xffff0000;
@ -2740,7 +2747,6 @@ void wd_HRM_RotorCorePositioning(
dataRoiMask[roiLineIdx][roiPtIdx] = 1;
//搜索中心点
double dist = sqrt((x - nCx) * (x - nCx) + (y - nCy) * (y - nCy));
if (minDist < 0)
{
minDist = dist;
@ -2752,6 +2758,14 @@ void wd_HRM_RotorCorePositioning(
centerPosition = { roiLineIdx, roiPtIdx };
}
}
if (dist < roi_R)
{
totalPixelsInR++;
if (scanLines[lineIdx][ptIdx].pt3D.z > 1e-4)
pointsInR.push_back(scanLines[lineIdx][ptIdx].pt3D);
else
zeroPointsInR++;
}
}
}
}
@ -2803,18 +2817,36 @@ void wd_HRM_RotorCorePositioning(
a_workpiece.center = { 0.0, 0.0, 0.0 };
}
}
else
else
{
//搜索点云与工件中心最接近的点
std::vector<SVzNL3DPoint> roiPoints;
_searchRCirclePoints(roiScanLines_copy, dataRoiMask, a_workpiece.center, a_workpiece.value * 0.1, roiPoints);
double meanZ = _getListMeanZ_2(roiPoints);
if (meanZ > 1e-4)
if (keWD_Class_Stator == workpieceClass) //version1.5.3: 只有定子可以使用这种逻辑，转子中间孔比较小，需要另一种逻辑
{
double heightDiff = meanZ - a_workpiece.center.z;
if (heightDiff < workpieceParam.height / 2)
//搜索点云与工件中心最接近的点
std::vector<SVzNL3DPoint> roiPoints;
_searchRCirclePoints(roiScanLines_copy, dataRoiMask, a_workpiece.center, a_workpiece.value * 0.1, roiPoints);
double meanZ = _getListMeanZ_2(roiPoints);
if (meanZ > 1e-4)
{
double heightDiff = meanZ - a_workpiece.center.z;
if (heightDiff < workpieceParam.height / 2)
a_workpiece.center = { 0.0, 0.0, 0.0 };
}
}
#if 0
else //version1.5.3: 转子过滤逻辑：搜索窗口内空白点和大于（workpieceParam.height / 2）的点，看点的数目
{
double zMin = a_workpiece.center.z + workpieceParam.height / 2;
int vldPtsNum = 0;
for (int m = 0; m < (int)pointsInR.size(); m++)
{
if (pointsInR[m].z > zMin)
vldPtsNum++;
}
vldPtsNum += zeroPointsInR;
if (vldPtsNum < 1) //version1.5.3：此处是过滤噪声
a_workpiece.center = { 0.0, 0.0, 0.0 };
}
#endif
}
#ifdef _OUTPUT_DEBUG_DATA