hybridPosePositioning

version 1.3.9 : 转子钢芯， 改进了料筐检测方法

hybridPosePositioning_test/hybridPosePositioning_test.cpp

@@ -674,6 +674,7 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 	char* fileName,
 	std::vector<std::vector<SVzNL3DPosition>>& scanLines,
 	std::vector<WD_workpieceInfo>& poseInfo, 
+	WD_HRM_BinInfo* binInfo,
 	double dirLen)
 {
 	int objNumber = 0;
@@ -793,6 +794,55 @@ void _outputRGBDResult_XYZ_RGBD_workpieceInfo(
 			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
 			lineIdx++;
 		}
+		
+		if (binInfo)
+		{
+			rgb = { 0, 0, 250 };
+			//输出外接矩形
+			SVzNL3DPoint dirPt1 = binInfo->minRectVertex[0];
+			SVzNL3DPoint dirPt2 = binInfo->minRectVertex[1];
+			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			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 << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
+			sw << "{0,0}-{0,0}-";
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			lineIdx++;
+
+			dirPt1 = binInfo->minRectVertex[1];
+			dirPt2 = binInfo->minRectVertex[2];
+			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			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 << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
+			sw << "{0,0}-{0,0}-";
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			lineIdx++;
+
+			dirPt1 = binInfo->minRectVertex[2];
+			dirPt2 = binInfo->minRectVertex[3];
+			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			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 << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
+			sw << "{0,0}-{0,0}-";
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			lineIdx++;
+
+			dirPt1 = binInfo->minRectVertex[3];
+			dirPt2 = binInfo->minRectVertex[0];
+			sw << "Poly_" << lineIdx << "_2" << std::endl;
+			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 << "{" << dirPt2.x << "," << dirPt2.y << "," << dirPt2.z << "}-";
+			sw << "{0,0}-{0,0}-";
+			sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
+			lineIdx++;
+		}
 	}
 
 	sw.close();
@@ -1651,6 +1701,7 @@ void _XOYprojection_workpieceInfo(
 	cv::Mat& img,
 	std::vector<std::vector< SVzNL3DPosition>>& dataLines,
 	std::vector<WD_workpieceInfo>& workpieceInfo,
+	std::vector<SVzNL3DPoint>& binRectVertex,
 	const double scale,
 	const int sideWidth,
 	const SVzNLRangeD x_range,
@@ -1719,6 +1770,24 @@ void _XOYprojection_workpieceInfo(
 			cv::circle(img, cv::Point(px, py), size, cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
 		}
 	}
+	if (binRectVertex.size() == 4)
+	{
+		for (int i = 0; i < 4; i++)
+		{
+			int idx_0 = i;
+			int idx_1 = (i + 1) % 4;
+			double x1 = binRectVertex[idx_0].x;
+			double y1 = binRectVertex[idx_0].y;
+			int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
+			int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
+			double x2 = binRectVertex[idx_1].x;
+			double y2 = binRectVertex[idx_1].y;
+			int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
+			int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
+			rgb = { 0, 0, 255 }; //y轴用绿色
+			cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 2);
+		}
+	}
 }
 
 void _genXOYProjectionImage_workpieceInfo(
@@ -1726,6 +1795,7 @@ void _genXOYProjectionImage_workpieceInfo(
 	std::vector<std::vector< SVzNL3DPosition>>& scanLines,
 	const double scale,
 	std::vector<WD_workpieceInfo>& workpieceInfo,
+	WD_HRM_BinInfo* binInfo,
 	const double rpy[3], const double dirLen)
 {
 	//旋转视角显示
@@ -1749,7 +1819,40 @@ void _genXOYProjectionImage_workpieceInfo(
 	SVzNLRangeD rx_range, ry_range;
 	_rotateCloudPts(scanLines, matrix3d, rotateLines, rx_range, ry_range);
 
-	//统计X和Y的范围
+	std::vector<SVzNL3DPoint> binRectVertex;//最小外接矩形顶点
+	if (binInfo)
+	{
+		binRectVertex.resize(4);
+		for (int i = 0; i < 4; i++)
+		{
+			binRectVertex[i] = _ptRotate(binInfo->minRectVertex[i], matrix3d);
+			if (rx_range.max < rx_range.min)
+			{
+				rx_range.min = binRectVertex[i].x;
+				rx_range.max = binRectVertex[i].x;
+			}
+			else
+			{
+				if (rx_range.min > binRectVertex[i].x)
+					rx_range.min = binRectVertex[i].x;
+				if (rx_range.max < binRectVertex[i].x)
+					rx_range.max = binRectVertex[i].x;
+			}
+			if (ry_range.max < ry_range.min)
+			{
+				ry_range.min = binRectVertex[i].y;
+				ry_range.max = binRectVertex[i].y;
+			}
+			else
+			{
+				if (ry_range.min > binRectVertex[i].y)
+					ry_range.min = binRectVertex[i].y;
+				if (ry_range.max < binRectVertex[i].y)
+					ry_range.max = binRectVertex[i].y;
+			}
+		}
+	}
+
 	int x_cols = (int)((rx_range.max - rx_range.min) / scale) + 1;
 	if (x_cols % 2 == 1)
 		x_cols += 1;
@@ -1763,7 +1866,7 @@ void _genXOYProjectionImage_workpieceInfo(
 
 	cv::Mat img = cv::Mat::zeros(imgRows, imgCols, CV_8UC3);
 	//计算投影比例
-	_XOYprojection_workpieceInfo(img, rotateLines, rotatedWorkpiece, scale, sideWidth, rx_range, ry_range, dirLen);
+	_XOYprojection_workpieceInfo(img, rotateLines, rotatedWorkpiece, binRectVertex, scale, sideWidth, rx_range, ry_range, dirLen);
 	cv::imwrite(fileName, img);
 	return;
 }
@@ -2145,17 +2248,18 @@ void HaiRuiMa_groundCalib_test(void)
 }
 
 //拓普发工件孔定位（工件定位)
-#define HRM_RotorCore_TEST_GROUP 2
+#define HRM_RotorCore_TEST_GROUP 3
 void HaiRuiMa_rotorCorePositioning_test(void)
 {
 	const char* dataPath[HRM_RotorCore_TEST_GROUP] = {
 
 		"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/"
 	};
 
 	SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
-		{1,10}, {3,70}
+		{1,10}, {3,70},{1,1}
 	};
 
 	const char* ver = wd_hybridPositioningVersion();
@@ -2183,7 +2287,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
-			//fidx = 26;
+			//fidx = 50;
 			char _scan_file[256];
 			sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
 			std::vector<std::vector< SVzNLPositionD>> scanLines;
@@ -2199,6 +2303,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 #endif
 
 			WD_HRM_BinInfo binInfo;
+#if 0
 			if (grp == 1)
 			{
 				std::vector< std::vector<SVzNL3DPosition>> scanData;
@@ -2217,13 +2322,13 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 				double zSliceRange = 50.0;  //取料筐最上边沿的Z切片范围
 				binInfo = wd_HRM_getBinSize(scanData, groundCalibPara, binHeight, zSliceRange, &rCode);
 			}
-			else
+			else if(grp == 0)
 			{
 				//读取料筐参数
 				sprintf_s(calibFile, "%sbin_info.txt", dataPath[grp]);
 				binInfo = _readBinInfo(calibFile);
 			}
-
+#endif
 			sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
 			std::vector<WD_objArea2D> objROIs;
 			if( (grp == 0) && (fidx <= 9))
@@ -2235,6 +2340,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 			workpieceParam.radius = 45.0;
 			workpieceParam.height = 20.0;
 
+			double groundRemoveOffset = 200;  //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
 			long t1 = (long)GetTickCount64();//统计时间
 
 			int errCode = 0;
@@ -2243,10 +2349,11 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 			wd_HRM_RotorCorePositioning(
 				scanLines,
 				objROIs,
-				binInfo,
 				groundCalibPara,
 				workpieceParam,
+				groundRemoveOffset,
 				workpiecePositions,
+				binInfo,
 #ifdef _OUTPUT_DEBUG_DATA
 				debugScanLines,
 #endif
@@ -2277,14 +2384,14 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 				workpiecePositions[i].x_dir = rpt;
 			}
 			sprintf_s(_scan_file, "%sresult/result_%d.txt", dataPath[grp], fidx);
-			_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, debugScanLines, workpiecePositions, 50);
+			_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;
 			cv::String imgName(calibFile);
-			_genXOYProjectionImage_workpieceInfo(imgName, debugScanLines, displayScale, workpiecePositions, rpy, angleDrawLen);
+			_genXOYProjectionImage_workpieceInfo(imgName, debugScanLines, displayScale, workpiecePositions, &binInfo, rpy, angleDrawLen);
 #endif
 			printf("done\n");
 		}
@@ -2487,7 +2594,7 @@ void HaiRuiMa_workpieceSizeCompute_test(void)
 			a_pose.value = workpieceInfo.workpieceRadius;
 			a_pose.z_dir = { 0, 0, 1.0 };
 			poseInfo.push_back(a_pose);
-			_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, scanLines, poseInfo, 500);
+			_outputRGBDResult_XYZ_RGBD_workpieceInfo(_scan_file, scanLines, poseInfo, NULL, 500);
 			sprintf_s(_scan_file, "%sresult/%d_workpiece_info.txt", dataPath[grp], fidx);
 			_outputWorkpieceInfo(_scan_file, workpieceInfo);
 
@@ -2496,7 +2603,7 @@ void HaiRuiMa_workpieceSizeCompute_test(void)
 			double angleDrawLen = 500;
 			double displayScale = 1.0;
 			cv::String imgName(calibFile);
-			_genXOYProjectionImage_workpieceInfo(imgName, scanLines, displayScale, poseInfo, rpy, angleDrawLen);
+			_genXOYProjectionImage_workpieceInfo(imgName, scanLines, displayScale, poseInfo, NULL, rpy, angleDrawLen);
 			printf("done\n");
 		}
 	}

sourceCode/hybridPosePositioning.cpp

@@ -19,7 +19,8 @@
 //version 1.3.6 : 在1.3.5版本的基础上根据现场数据修正了转子钢芯定位算法中的bug
 //version 1.3.7 : 在1.3.6版本的基础上添加了ID， 与2D结果保持一致
 //version 1.3.8 : 添加了输入栅格格式检查， 调整边缘目标为目标距料筐外廓边的距离在直径的1.1倍以内
-std::string	m_strVersion = "HybridPositioning 1.3.8";
+//version 1.3.9 : 转子钢芯， 改进了料筐检测方法
+std::string	m_strVersion = "HybridPositioning 1.3.9";
 const char* wd_hybridPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -937,13 +938,160 @@ void _getYTopLine(
 	return;
 }
 
+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;
+}
+
+//检测料筐边缘，以中心点为基准进行规划
+WD_HRM_BinInfo wd_HRM_getBinSize_2(
+	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
+	const SVzNLRangeD zSliceRange)
+{
+	WD_HRM_BinInfo resultPose;
+	memset(&resultPose, 0, sizeof(WD_HRM_BinInfo));
+
+	int lineNum = (int)scanLines.size();
+	int linePtNum = (int)scanLines[0].size();
+
+	//Z层切
+	std::vector<SVzNL3DPosition> zBinSliceData;
+	for (int line = 0; line < lineNum; line++)
+	{
+		for (int j = 0; j < linePtNum; j++)
+		{
+			scanLines[line][j].nPointIdx = 0;
+			if ((scanLines[line][j].pt3D.z > zSliceRange.min) && (scanLines[line][j].pt3D.z < zSliceRange.max))
+			{
+				SVzNL3DPosition a_pt;
+				a_pt.nPointIdx = (line << 16) | (j & 0xffff);
+				a_pt.pt3D = scanLines[line][j].pt3D;
+				zBinSliceData.push_back(a_pt);
+				scanLines[line][j].nPointIdx = 1;  //标注
+			}
+		}
+	}
+
+	//聚类
+	int clusterCheckWin = 5;
+	double clusterDist = 10.0;
+	int distType = 1; //0 - 2d distance; 1- 3d distance 
+	std::vector<std::vector< SVzNL3DPosition>> objClusters;
+	wd_pointClustering_speedUp(zBinSliceData, lineNum, linePtNum, clusterCheckWin, clusterDist, distType, objClusters);
+	if(objClusters.size() == 0)
+		return resultPose;
+
+	int bestIdx = 0;
+	for (int i = 1; i < (int)objClusters.size(); i++)
+	{
+		if (objClusters[bestIdx].size() < objClusters[i].size())
+			bestIdx = i;
+	}
+
+	std::vector<SVzNL3DPosition>& zSliceData = objClusters[bestIdx];
+	SVzNLRangeD dataZRange;
+	double zSliceZ = _getListMeanZ(zSliceData, dataZRange);
+	//计算轮廓
+	// 最小外接矩形
+	std::vector<cv::Point2f> points;
+	for (int i = 0; i < (int)zSliceData.size(); i++)
+	{
+		cv::Point2f a_pt = cv::Point2f(zSliceData[i].pt3D.x, zSliceData[i].pt3D.y);
+		points.push_back(a_pt);
+	}
+	if (points.size() == 0)
+	{
+		return resultPose;
+	}
+
+	cv::RotatedRect rect = minAreaRect(points);
+	cv::Point2f vertices[4];
+	rect.points(vertices);
+	double width = rect.size.width;  //投影的宽和高
+	double height = rect.size.height;
+	if (width < height)
+	{
+		double tmp = height;
+		height = width;
+		width = tmp;
+	}
+	//计算姿态角vertices[0]是旋转点
+	double dist_v0v3 = sqrt(pow(vertices[0].x - vertices[3].x, 2) + pow(vertices[0].y - vertices[3].y, 2));
+	double width_diff = abs(dist_v0v3 - width);
+	double pose_yaw;
+	if (CV_VERSION == "3.2.0")
+	{
+		if (width_diff < 10.0)//width方向
+		{
+			pose_yaw = -rect.angle;
+		}
+		else //长度方向
+		{
+			pose_yaw = -rect.angle - 90;
+			if (pose_yaw < -90)
+				pose_yaw = 180 + pose_yaw;
+		}
+	}
+	else  //if (CV_VERSION == "4.8.0")
+	{
+		if (width_diff < 10.0)  //width方向
+		{
+			pose_yaw = -rect.angle;
+		}
+		else//长度方向
+		{
+			pose_yaw = -rect.angle + 90;
+			if (pose_yaw > 90)
+				pose_yaw = pose_yaw - 180;
+		}
+	}
+	//生成料筐信息
+	double binZ = zSliceRange.min;
+	double sinTheta = sin(-PI * pose_yaw / 180);
+	double cosTheta = cos(-PI * pose_yaw / 180);
+	resultPose.center = { rect.center.x, rect.center.y, binZ };
+	resultPose.bottomNormal = { 0.0, 0.0, 1.0 };
+	resultPose.x_dir = { cosTheta , sinTheta , 0.0 };
+	resultPose.y_dir = vec3_cross(resultPose.bottomNormal, resultPose.x_dir);  //叉乘出y_dir
+	resultPose.length = width;
+	resultPose.width = height;
+	resultPose.binTopZ = zSliceZ;
+	resultPose.minRectVertex[0] = { vertices[0].x, vertices[0].y, binZ };
+	resultPose.minRectVertex[1] = { vertices[1].x, vertices[1].y, binZ };
+	resultPose.minRectVertex[2] = { vertices[2].x, vertices[2].y, binZ };
+	resultPose.minRectVertex[3] = { vertices[3].x, vertices[3].y, binZ };
+
+	return resultPose;
+}
+
 void wd_HRM_RotorCorePositioning(
 	std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
 	std::vector<WD_objArea2D>& objROIs,
-	const WD_HRM_BinInfo binInfo,
 	const SSG_planeCalibPara groundCalibPara,
 	const SWD_Cylinder workpieceParam,  //圆柱形工件的标称半径和高度
+	const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
 	std::vector< WD_workpieceInfo>& workpiecePositions,
+	WD_HRM_BinInfo& binInfo,  //输出Bin信息，用于debug，确认料筐信息检测正确
 #ifdef _OUTPUT_DEBUG_DATA
 	std::vector<std::vector<SVzNL3DPosition>>& debugScanLines,
 #endif
@@ -1025,6 +1173,14 @@ void wd_HRM_RotorCorePositioning(
 		wd_lineDataR(scanLines[i], groundCalibPara.planeCalib, -1);
 	}
 
+	//生成数据副本，用于Bin信息检测
+	std::vector<std::vector<SVzNL3DPosition>> dataCopy;
+	dataCopy.resize(scanLines.size());
+	for (int i = 0; i < lineNum; i++)
+	{
+		dataCopy[i].insert(dataCopy[i].end(), scanLines[i].begin(), scanLines[i].end());
+	}
+
 	//产生水平扫描数据
 	std::vector< std::vector<SVzNL3DPosition>> scanLines_h;
 	scanLines_h.resize(linePtNum);
@@ -1294,6 +1450,13 @@ void wd_HRM_RotorCorePositioning(
 	double highest_z = allWorkpiece[0].center.z;
 	for (int i = 1; i < (int)allWorkpiece.size(); i++)
 		highest_z = highest_z > allWorkpiece[i].center.z ? allWorkpiece[i].center.z : highest_z;
+
+	//计算料筐信息
+	SVzNLRangeD zSliceRange;
+	zSliceRange.min = highest_z - workpieceParam.height;
+	zSliceRange.max = groundCalibPara.planeHeight - groundRemoveOffset;
+	binInfo = wd_HRM_getBinSize_2(dataCopy, zSliceRange);
+
 	//z方向排序 
 	std::vector< WD_workpieceInfo> zSortWorkpiece;
 	double topLayerTh = highest_z + workpieceParam.height * 0.75;
@@ -1747,31 +1910,6 @@ SSG_ROIRectD _getListROI(std::vector< SVzNL3DPosition>& listData)
 	return roi;
 }
 
-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;
-}
-
 //逆时针旋转时 θ > 0 ；顺时针旋转时 θ < 0 
 cv::Point2f _rotate2D(cv::Point2f pt, double sinTheta, double cosTheta)
 {

sourceCode/hybridPosePositioning_Export.h

@@ -61,10 +61,11 @@ SG_APISHARED_EXPORT void wd_lineDataR(
 SG_APISHARED_EXPORT void wd_HRM_RotorCorePositioning(
 	std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
 	std::vector<WD_objArea2D>& objROIs,
-	const WD_HRM_BinInfo binInfo,
 	const SSG_planeCalibPara groundCalibPara,
 	const SWD_Cylinder workpieceParam,  //圆柱形工件的标称半径和高度
+	const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
 	std::vector< WD_workpieceInfo>& workpiecePositions,
+	WD_HRM_BinInfo& binInfo,  //输出Bin信息，用于debug，确认料筐信息检测正确
 #ifdef _OUTPUT_DEBUG_DATA
 	std::vector<std::vector<SVzNL3DPosition>>& debugScanLines,
 #endif