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hybridPosePositioning

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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
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jerryzeng 2026-08-16 14:42:35 +08:00
parent 2d145399fd
commit 096e1683a3
1 changed files with 5 additions and 4 deletions
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sourceCode/hybridPosePositioning.cpp
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@ -16,7 +16,8 @@
//version 1.3.3 : 改进了海瑞马锥形工件定位算法，优化的ROI重叠时的处理逻辑 //version 1.3.3 : 改进了海瑞马锥形工件定位算法，优化的ROI重叠时的处理逻辑
//version 1.3.4 : 修正了转子钢芯定位算法中的bug //version 1.3.4 : 修正了转子钢芯定位算法中的bug
//version 1.3.5 : 根据现场数据修正了转子钢芯定位算法中的bug //version 1.3.5 : 根据现场数据修正了转子钢芯定位算法中的bug
std::string m_strVersion = "HybridPositioning 1.3.5"; //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
std::string m_strVersion = "HybridPositioning 1.3.6";
const char* wd_hybridPositioningVersion(void) const char* wd_hybridPositioningVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -370,7 +371,7 @@ WD_workpieceInfo _computeWorkpiecePose(
SSG_lineSegParam filterSegPara; SSG_lineSegParam filterSegPara;
filterSegPara.distScale = 0; filterSegPara.distScale = 0;
filterSegPara.segGapTh_y = topSeg_maxWidth; filterSegPara.segGapTh_y = 5.0; //超过5.0mm间隔视为新分段
filterSegPara.segGapTh_z = workpieceParam.height / 2; filterSegPara.segGapTh_z = workpieceParam.height / 2;
//垂直 //垂直
@ -596,7 +597,7 @@ WD_workpieceInfo _computeWorkpiecePose(
//垂直扫描处理 //垂直扫描处理
for (int line = 0; line < lineNum; line++) for (int line = 0; line < lineNum; line++)
{ {
if (line == 83) if (line == 47)
int kkk = 1; int kkk = 1;
int mostLeftSegId = -1; //对于垂直扫描，实际上是最上面 int mostLeftSegId = -1; //对于垂直扫描，实际上是最上面
int mostRightSegId = -1;//对于垂直扫描，实际上是最下面 int mostRightSegId = -1;//对于垂直扫描，实际上是最下面
@ -1146,7 +1147,7 @@ void wd_HRM_RotorCorePositioning(
std::vector<WD_workpieceInfo> allWorkpiece; std::vector<WD_workpieceInfo> allWorkpiece;
for (int idx = 0; idx < objNum; idx++) for (int idx = 0; idx < objNum; idx++)
{ {
if (idx == 47) if (idx == 44)
int kkk = 1; int kkk = 1;
WD_objArea2D& obj_roi = objROIs[idx]; WD_objArea2D& obj_roi = objROIs[idx];
double cx = (obj_roi.roi.left + obj_roi.roi.right) / 2; double cx = (obj_roi.roi.left + obj_roi.roi.right) / 2;