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rodAndBarDetection version 1.3.4 : 新的定位盘中心测量功能算法优化

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jerryzeng 2026-06-03 22:33:54 +08:00
parent 2d837cb108
commit 27244f17d3
2 changed files with 50 additions and 21 deletions
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15
rodAndBarDetection_test/rodAndBarDetection_test.cpp
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@ -1142,25 +1142,26 @@ void locatingPlateTest(void)
}
}
#define NEW_LOCATING_PALTE_TEST_GROUP 1
#define NEW_LOCATING_PALTE_TEST_GROUP 2
void newLocatingPlateTest(void)
{
const char* dataPath[NEW_LOCATING_PALTE_TEST_GROUP] = {
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260621/", //0
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260521/", //0
"F:/ShangGu/项目/冠钦项目/螺杆测量/配天现场点云/定位盘点云20260603/", //1
};
SVzNLRange fileIdx[NEW_LOCATING_PALTE_TEST_GROUP] = {
{12,13},
{12,13}, {1,51}
};
const char* ver = wd_rodAndBarDetectionVersion();
printf("ver:%s\n", ver);
for (int grp = 0; grp < NEW_LOCATING_PALTE_TEST_GROUP; grp++)
for (int grp = 1; grp < NEW_LOCATING_PALTE_TEST_GROUP; grp++)
{
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{
//fidx =2;
//fidx =16;
char _scan_file[256];
sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
@ -1734,9 +1735,9 @@ int main()
{
//ESG_testMode testMode = keSG_测试_配天螺杆定位;
//ESG_testMode testMode = keSG_测试_配天定位盘定位;
//ESG_testMode testMode = keSG_测试_配天新定位盘定位;
ESG_testMode testMode = keSG_测试_配天新定位盘定位;
//ESG_testMode testMode = keSG_测试_棒材抓取;
ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;
//ESG_testMode testMode = keSG_测试_筑裕钢筋焊缝定位;
if(keSG_测试_配天螺杆定位 == testMode)
screwTest();

56
sourceCode/rodAndBarDetection.cpp
View File

@ -24,7 +24,8 @@
//version 1.3.1 : 定位盘中心测量功能添加了噪声过滤
//version 1.3.2 : 矩森棒材抓取修正一个错误码返回错误，测试了地面调平API
//version 1.3.3 : 筑裕钢筋焊缝提取算法改进中间版本
std::string m_strVersion = "1.3.3";
//version 1.3.4 : 新的定位盘中心测量功能算法优化
std::string m_strVersion = "1.3.4";
const char* wd_rodAndBarDetectionVersion(void)
{
return m_strVersion.c_str();
@ -908,13 +909,27 @@ SVzNL3DRangeD _getPointCloudROI(std::vector<SWD3DPointPostion>& scanData)
return;
}
double _getListMeanZ(std::vector< SVzNL3DPosition>& listData)
double _getListMeanZ(std::vector< SVzNL3DPosition>& listData, SVzNLRangeD& zRange)
{
if (listData.size() == 0)
return 0;
double meanZ = 0;
zRange.max = -1;
zRange.min = 0;
for (int i = 0; i < (int)listData.size(); i++)
{
meanZ += listData[i].pt3D.z;
if (zRange.max < 0)
{
zRange.max = listData[i].pt3D.z;
zRange.min = listData[i].pt3D.z;
}
else
{
zRange.max = zRange.max < listData[i].pt3D.z ? listData[i].pt3D.z : zRange.max;
zRange.min = zRange.min > listData[i].pt3D.z ? listData[i].pt3D.z : zRange.min;
}
}
meanZ = meanZ / (double)listData.size();
return meanZ;
}
@ -1378,7 +1393,8 @@ SSX_platePoseInfo sx_getLocationPlatePose(
double w = a_roi.right - a_roi.left;
double h = a_roi.bottom - a_roi.top;
double meanZ = _getListMeanZ(objClusters[i]);
SVzNLRangeD zRange;
double meanZ = _getListMeanZ(objClusters[i], zRange);
objMeanZ[i] = meanZ;
if ( (meanZ > 1e-4) && (w > 150) && (h > 100))
{
@ -2090,7 +2106,7 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
double minObjSize_h = 150;
int clusterCheckWin = 5;
double clusterDist = 5.0;
double clusterDist = 1.5;
int distType = 1; //0 - 2d distance; 1- 3d distance
std::vector<std::vector< SVzNL3DPosition>> objClusters; //result
wd_pointClustering_speedUp(
@ -2102,10 +2118,13 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
);
//保留最前面的目标
const double topPlateMinW = 150;
const double topPlateMinH = 150;
const double topPlateMinW = 150.0;
const double topPlateMinH = 150.0;
const double topPlateMaxZRange = 100.0;
std::vector<double> objMeanZ;
objMeanZ.resize(objClusters.size());
std::vector<SVzNLRangeD> objZRange;
objMeanZ.resize(objClusters.size());
objZRange.resize(objClusters.size());
for (int i = 0; i < (int)objClusters.size(); i++)
{
SSG_ROIRectD a_roi = _getListROI(objClusters[i]);
@ -2113,12 +2132,17 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
double h = a_roi.bottom - a_roi.top;
if ((w > topPlateMinW) && (h > topPlateMinH))
{
double meanZ = _getListMeanZ(objClusters[i]);
SVzNLRangeD zRange;
double meanZ = _getListMeanZ(objClusters[i], zRange);
objMeanZ[i] = meanZ;
objZRange[i]= zRange;
}
else
objMeanZ[i] = 0; 0;
{
objMeanZ[i] = 0;
objZRange[i].max = -1.0;
objZRange[i].min = 0.0;
}
}
//选出z最小的目标作为顶部轮廓
@ -2126,12 +2150,16 @@ SSX_platePoseInfo sx_getLocationPlatePose_new(
double minMeanZ = DBL_MAX;
for (int i = 0; i < (int)objClusters.size(); i++)
{
if (objMeanZ[i] > 1e-4)
if ( (objMeanZ[i] > 1e-4) && (objZRange[i].max > 0))
{
if (minMeanZ > objMeanZ[i])
double range = objZRange[i].max - objZRange[i].min;
if (range < topPlateMaxZRange)
{
minMeanZ = objMeanZ[i];
objIdx = i;
if (minMeanZ > objMeanZ[i])
{
minMeanZ = objMeanZ[i];
objIdx = i;
}
}
}
}