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

hybridPosePositioning_test/hybridPosePositioning_test.cpp

@@ -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},
+		{7,9}, {1,8}, {1, 16},{1,24}, {25,63},
-		{64,87}
+		{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;

sourceCode/hybridPosePositioning.cpp

@@ -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_w = (obj_roi.right - obj_roi.left) / 3;
-		int ex_h = (obj_roi.bottom - obj_roi.top) / 6;
+		int ex_h = (obj_roi.bottom - obj_roi.top) / 3;
-		double roi_R = ex_w < ex_h ? (double)ex_w : (double)ex_h;
+		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++;
+					}
 				}
 			}
 		}
@@ -2805,16 +2819,34 @@ void wd_HRM_RotorCorePositioning(
 		}
 		else 
 		{
-			//搜索点云与工件中心最接近的点
+			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
-			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;
+				//搜索点云与工件中心最接近的点
-				if (heightDiff < workpieceParam.height / 2)
+				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