diff --git a/sourceCode/SG_baseAlgo_Export.h b/sourceCode/SG_baseAlgo_Export.h index e34d023..4cadef3 100644 --- a/sourceCode/SG_baseAlgo_Export.h +++ b/sourceCode/SG_baseAlgo_Export.h @@ -641,6 +641,24 @@ SG_APISHARED_EXPORT void vzCaculateLaserPlane( std::vector Points3ds, std::vector& res); +SG_APISHARED_EXPORT Plane robustFitPlane( + const std::vector& points, + RobustType type = TUKEY, + double delta = 0.5, // 阈值：>此值视为离群点（mm） + int maxIter = 20, // 迭代次数 + double convergeThresh = 1e-5 // 收敛阈值（平面变化足够小就停） +); +// ============================================== +// 带 提前终止 的 RANSAC 平面拟合（工业正式版） +// ============================================== +SG_APISHARED_EXPORT Plane ransacFitPlane( + const std::vector& points, + std::vector& out_inliers, + float dist_thresh = 0.5f, // 内点距离阈值 + int max_iter = 1000, // 最大迭代 + int stop_no_improve = 150 // 连续多少次无提升就提前退出 +); + //计算一个平面调平参数。 //数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平 //旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数 @@ -839,3 +857,9 @@ SG_APISHARED_EXPORT void WD_EulerRpyToRotation(double rpy[3], double matrix3d[9] //从欧拉角计算方向矢量 SG_APISHARED_EXPORT void WD_EulerRpyToDirVectors(double rpy[3], std::vector& dirVectors); + +//3x3平滑 +SG_APISHARED_EXPORT void scanLinesSmooting3x3( + std::vector< std::vector>& gridDataInput, + std::vector< std::vector>& smoothingData +); diff --git a/sourceCode/SG_baseDataType.h b/sourceCode/SG_baseDataType.h index 41885ab..53a67aa 100644 --- a/sourceCode/SG_baseDataType.h +++ b/sourceCode/SG_baseDataType.h @@ -124,6 +124,16 @@ struct RGB { int b; }; +struct Plane { + double A, B, C, D; // 平面 Ax+By+Cz+D=0 + Plane() : A(0), B(0), C(0), D(0) {} + Plane(double a, double b, double c, double d) : A(a), B(b), C(c), D(d) {} +}; +enum RobustType { + HUBER, + TUKEY +}; + #define LINE_FEATURE_NUM 16 #define LINE_FEATURE_UNDEF 0 #define LINE_FEATURE_L_JUMP_H2L 1 diff --git a/sourceCode/SG_baseFunc.cpp b/sourceCode/SG_baseFunc.cpp index 25922ee..9cffbd5 100644 --- a/sourceCode/SG_baseFunc.cpp +++ b/sourceCode/SG_baseFunc.cpp @@ -3148,7 +3148,43 @@ void WD_EulerRpyToDirVectors(double rpy[3],std::vector& dirVectors) return; } +void scanLinesSmooting3x3( + std::vector< std::vector>& gridDataInput, + std::vector< std::vector>& smoothingData +) +{ + int lineNum = (int)gridDataInput.size(); + int linePtNum = (int)gridDataInput[0].size(); + for (int line = 0; line < lineNum; line++) + { + for (int ptIdx = 0; ptIdx < linePtNum; ptIdx++) + { + smoothingData[line][ptIdx] = gridDataInput[line][ptIdx]; + if (gridDataInput[line][ptIdx].pt3D.z > 1e-4) + { + double sumZ = 0; + int num = 0; + for (int i = line - 1; i <= line + 1; i++) + { + for (int j = ptIdx - 1; j <= ptIdx + 1; j++) + { + if ((i >= 0) && (i < lineNum) && (j >= 0) && (j < linePtNum)) + { + if (gridDataInput[i][j].pt3D.z > 1e-4) + { + sumZ += gridDataInput[i][j].pt3D.z; + num++; + } + } + } + } + smoothingData[line][ptIdx].pt3D.z = sumZ / num; + } + } + } + return; +} #if 0 #include diff --git a/sourceCode/dataFitting.cpp b/sourceCode/dataFitting.cpp index 33dab6a..2284b4c 100644 --- a/sourceCode/dataFitting.cpp +++ b/sourceCode/dataFitting.cpp @@ -383,3 +383,255 @@ bool fitLine3DLeastSquares(const std::vector& points, SVzNL3DPoint direction = { dir(0), dir(1), dir(2) }; return true; } + +// ============================== 工具函数 ============================== +// 点到平面距离（带符号） +double pointToPlaneSignedDist(const cv::Point3f& p, const Plane& plane) { + return (plane.A * p.x + plane.B * p.y + plane.C * p.z + plane.D); +} + +// 点到平面的距离（绝对值） +float pointToPlaneDistance(const cv::Point3f& p, const Plane& plane) { + return fabsf(plane.A * p.x + plane.B * p.y + plane.C * p.z + plane.D) + / sqrtf(plane.A * plane.A + plane.B * plane.B + plane.C * plane.C); +} + +// 归一化平面（法向量模长=1） +void normalizePlane(Plane& plane) { + double norm = sqrt(plane.A * plane.A + plane.B * plane.B + plane.C * plane.C); + if (norm < 1e-6) return; + plane.A /= norm; + plane.B /= norm; + plane.C /= norm; + plane.D /= norm; +} + +// ============================== 鲁棒损失函数 ============================== +// Huber 权重 +double huberWeight(double r, double delta) { + r = fabs(r); + if (r <= delta) return 1.0; + else return delta / r; +} + +// Tukey 权重（离群点=0，最适合凹坑/强噪声） +double tukeyWeight(double r, double c) { + r = fabs(r); + if (r > c) return 0.0; + double t = 1.0 - (r * r) / (c * c); + return t * t; +} + +// ============================== 鲁棒加权最小二乘平面拟合 ============================== +Plane robustFitPlane( + const std::vector< cv::Point3f>& points, + RobustType type, + double delta, // 阈值：>此值视为离群点（mm） + int maxIter, // 迭代次数 + double convergeThresh // 收敛阈值（平面变化足够小就停） +) +{ + int n = points.size(); + if (n < 3) return Plane(); + + // 1. 先用普通最小二乘初始化平面 + double cx = 0, cy = 0, cz = 0; + for (auto& p : points) { cx += p.x; cy += p.y; cz += p.z; } + cx /= n; cy /= n; cz /= n; + + double xx = 0, xy = 0, xz = 0, yy = 0, yz = 0, zz = 0; + for (auto& p : points) { + double dx = p.x - cx; + double dy = p.y - cy; + double dz = p.z - cz; + xx += dx * dx; xy += dx * dy; xz += dx * dz; + yy += dy * dy; yz += dy * dz; zz += dz * dz; + } + + double detX = yy * zz - yz * yz; + double detY = xx * zz - xz * xz; + double detZ = xx * yy - xy * xy; + double maxDet = std::max({ detX, detY, detZ }); + + Plane plane; + if (maxDet == detX) { + plane.A = 1; + plane.B = (xy * yz - xz * yy) / detX; + plane.C = (xz * yz - xy * zz) / detX; + } + else if (maxDet == detY) { + plane.A = (xy * yz - xz * yy) / detY; + plane.B = 1; + plane.C = (xz * xy - xx * yz) / detY; + } + else { + plane.A = (xz * yz - xy * zz) / detZ; + plane.B = (yz * xy - xz * yy) / detZ; + plane.C = 1; + } + plane.D = -(plane.A * cx + plane.B * cy + plane.C * cz); + normalizePlane(plane); + + // 2. 迭代加权最小二乘 (IRLS) + std::vector weights(n, 1.0); + + for (int iter = 0; iter < maxIter; iter++) { + Plane prevPlane = plane; + + double sum_w = 0; + double swx = 0, swy = 0, swz = 0; + double swxx = 0, swxy = 0, swxz = 0, swyy = 0, swyz = 0; + + for (int i = 0; i < n; i++) { + double r = pointToPlaneSignedDist(points[i], plane); + if (type == HUBER) weights[i] = huberWeight(r, delta); + else weights[i] = tukeyWeight(r, delta); + + double w = weights[i]; + sum_w += w; + swx += w * points[i].x; + swy += w * points[i].y; + swz += w * points[i].z; + } + + double mx = swx / sum_w; + double my = swy / sum_w; + double mz = swz / sum_w; + + for (int i = 0; i < n; i++) { + double w = weights[i]; + double dx = points[i].x - mx; + double dy = points[i].y - my; + double dz = points[i].z - mz; + swxx += w * dx * dx; + swxy += w * dx * dy; + swxz += w * dx * dz; + swyy += w * dy * dy; + swyz += w * dy * dz; + } + + // 解特征向量 + double detXw = swyy * swyz - swyz * swyz; + double detYw = swxx * swyz - swxz * swxz; + double detZw = swxx * swyy - swxy * swxy; + double maxDw = std::max({ detXw, detYw, detZw }); + + if (maxDw == detXw) { + plane.A = 1; + plane.B = (swxy * swyz - swxz * swyy) / detXw; + plane.C = (swxz * swyz - swxy * swyz) / detXw; + } + else if (maxDw == detYw) { + plane.A = (swxy * swyz - swxz * swyy) / detYw; + plane.B = 1; + plane.C = (swxz * swxy - swxx * swyz) / detYw; + } + else { + plane.A = (swxz * swyz - swxy * swyz) / detZw; + plane.B = (swyz * swxy - swxz * swyy) / detZw; + plane.C = 1; + } + plane.D = -(plane.A * mx + plane.B * my + plane.C * mz); + normalizePlane(plane); + + // ========== 关键：判断是否收敛 ========== + double da = fabs(plane.A - prevPlane.A); + double db = fabs(plane.B - prevPlane.B); + double dc = fabs(plane.C - prevPlane.C); + double dd = fabs(plane.D - prevPlane.D); + + double maxDiff = std::max({ da, db, dc, dd }); + + // 平面几乎不再变化 → 提前终止 + if (maxDiff < convergeThresh) { + break; + } + } + return plane; +} + +// 三点拟合平面 +Plane planeFrom3Points(const cv::Point3f& p1, const cv::Point3f& p2, const cv::Point3f& p3) { + float v1x = p2.x - p1.x; + float v1y = p2.y - p1.y; + float v1z = p2.z - p1.z; + + float v2x = p3.x - p1.x; + float v2y = p3.y - p1.y; + float v2z = p3.z - p1.z; + + float A = v1y * v2z - v1z * v2y; + float B = v1z * v2x - v1x * v2z; + float C = v1x * v2y - v1y * v2x; + float D = -(A * p1.x + B * p1.y + C * p1.z); + + float norm = sqrtf(A * A + B * B + C * C); + if (norm > 1e-6) { A /= norm; B /= norm; C /= norm; D /= norm; } + return Plane(A, B, C, D); +} + +// ============================================== +// 带 提前终止 的 RANSAC 平面拟合（工业正式版） +// ============================================== +Plane ransacFitPlane( + const std::vector& points, + std::vector& out_inliers, + float dist_thresh, // 内点距离阈值 + int max_iter, // 最大迭代 + int stop_no_improve // 连续多少次无提升就提前退出 +) +{ + out_inliers.clear(); + int n = points.size(); + if (n < 3) return Plane(); + + int best_inlier = 0; + Plane best_plane; + + srand((unsigned)time(nullptr)); + + int no_improve_count = 0; // 无提升计数 + + for (int i = 0; i < max_iter; ++i) { + // 随机3个不重复点 + int idx[3]; + idx[0] = rand() % n; + do { idx[1] = rand() % n; } while (idx[1] == idx[0]); + do { idx[2] = rand() % n; } while (idx[2] == idx[0] || idx[2] == idx[1]); + + Plane plane = planeFrom3Points( + points[idx[0]], + points[idx[1]], + points[idx[2]] + ); + + // 统计内点 + int cnt = 0; + for (auto& p : points) { + if (pointToPlaneDistance(p, plane) < dist_thresh) cnt++; + } + + // 更新最优模型 + if (cnt > best_inlier) { + best_inlier = cnt; + best_plane = plane; + no_improve_count = 0; // 有提升 → 清零 + } + else { + no_improve_count++; + } + + // ====================== 提前终止条件 ====================== + if (no_improve_count >= stop_no_improve) { + break; + } + } + + // 收集内点 + for (auto& p : points) { + if (pointToPlaneDistance(p, best_plane) < dist_thresh) + out_inliers.push_back(p); + } + + return best_plane; +} \ No newline at end of file diff --git a/sourceCode/workpieceHolePositioning.cpp b/sourceCode/workpieceHolePositioning.cpp index 5768d2f..c767174 100644 --- a/sourceCode/workpieceHolePositioning.cpp +++ b/sourceCode/workpieceHolePositioning.cpp @@ -12,7 +12,8 @@ //version 1.3.0 : (1)绠楁硶杩涜浜嗚凯浠 (2)瀵圭粨鏋滆繘琛屼簡鍒嗗眰鍜屾帓搴忥紝杈撳嚭鏈涓婂眰鐩爣 //version 1.4.0 : 娣诲姞浜嗗崕鑸瓟瀹氫綅鍔熻兘 //version 1.4.1 : 鍗庤埅瀛斿畾浣嶅鎴峰彂甯冨垵濮嬬増鏈紝淇浜1.4.0鐗堟湰鐨勪竴浜涢棶棰 -std::string m_strVersion = "1.4.1"; +//version 1.4.2 : 鍗庤埅瀛斿畾浣嶆敼杩涳細锛1锛夋硶鍚戦噺璁＄畻鏀硅繘锛2锛夋坊鍔3x3骞虫粦锛3锛変慨姝ｄ簡bug +std::string m_strVersion = "1.4.2"; const char* wd_workpieceHolePositioningVersion(void) { return m_strVersion.c_str(); @@ -307,6 +308,7 @@ void wd_getHoleInfo( const SSG_lineSegParam lineSegPara, const SSG_outlierFilterParam filterParam, const SSG_treeGrowParam growParam, + const double valieCommonNumRatio, std::vector& segTrees_v, std::vector& segTrees_h, std::vector& validObjects @@ -530,7 +532,9 @@ void wd_getHoleInfo( if (hTreeIdx >= 0) { int totalSize_h = treeInfo_h[hTreeIdx].treeType; - if ((commonSize > totalSize_h / 4) && (commonSize > totalSize_v / 4)) + int sizeV_th = (int)((double)totalSize_v * valieCommonNumRatio); + int sizeH_th = (int)((double)totalSize_h * valieCommonNumRatio); + if ((commonSize > sizeH_th) && (commonSize > sizeV_th)) { SSG_intPair a_obj; a_obj.data_0 = i; @@ -676,7 +680,8 @@ void wd_workpieceHolePositioning( std::vector segTrees_v; std::vector segTrees_h; std::vector validObjects; - wd_getHoleInfo(scanLines, lineSegPara, filterParam, growParam, segTrees_v, segTrees_h, validObjects); + double valieCommonNumRatio = 0.25; + wd_getHoleInfo(scanLines, lineSegPara, filterParam, growParam, valieCommonNumRatio, segTrees_v, segTrees_h, validObjects); //鐢熸垚鑱氱被淇℃伅锛 std::vector> clusters; //鍙褰曚綅缃 @@ -954,6 +959,7 @@ typedef struct bool _getZMaxPeakROI(SVzNL2DPoint seedPos, std::vector>& pntDirAngles_v, std::vector>& pntDirAngles_h, + double pntCornenrMax, SVzNLRect& roi ) { @@ -964,7 +970,7 @@ bool _getZMaxPeakROI(SVzNL2DPoint seedPos, int left = -1; for (int line = seedPos.x; line >= 0; line--) { - if ((pntDirAngles_v[line][seedPos.y].type >= 0) && (abs(pntDirAngles_v[line][seedPos.y].corner) < 5.0)) + if ((pntDirAngles_v[line][seedPos.y].type >= 0) && (abs(pntDirAngles_v[line][seedPos.y].corner) < pntCornenrMax)) { left = line; break; @@ -974,7 +980,7 @@ bool _getZMaxPeakROI(SVzNL2DPoint seedPos, int right = -1; for (int line = seedPos.x; line < lineNum; line++) { - if ((pntDirAngles_v[line][seedPos.y].type >= 0) && (abs(pntDirAngles_v[line][seedPos.y].corner) < 5.0)) + if ((pntDirAngles_v[line][seedPos.y].type >= 0) && (abs(pntDirAngles_v[line][seedPos.y].corner) < pntCornenrMax)) { right = line; break; @@ -984,7 +990,7 @@ bool _getZMaxPeakROI(SVzNL2DPoint seedPos, int top = -1; for (int ptIdx = seedPos.y; ptIdx >= 0; ptIdx--) { - if ((pntDirAngles_h[ptIdx][seedPos.x].type >= 0) && (abs(pntDirAngles_h[ptIdx][seedPos.x].corner) < 5.0)) + if ((pntDirAngles_h[ptIdx][seedPos.x].type >= 0) && (abs(pntDirAngles_h[ptIdx][seedPos.x].corner) < pntCornenrMax)) { top = ptIdx; break; @@ -994,7 +1000,7 @@ bool _getZMaxPeakROI(SVzNL2DPoint seedPos, int bottom = -1; for (int ptIdx = seedPos.y; ptIdx < ptNum; ptIdx++) { - if ((pntDirAngles_h[ptIdx][seedPos.x].type >= 0) && (abs(pntDirAngles_h[ptIdx][seedPos.x].corner) < 5.0)) + if ((pntDirAngles_h[ptIdx][seedPos.x].type >= 0) && (abs(pntDirAngles_h[ptIdx][seedPos.x].corner) < pntCornenrMax)) { bottom = ptIdx; break; @@ -1053,10 +1059,16 @@ void wd_HolePositioning( return; } + //娣诲姞3x3骞虫粦 + scanLinesSmooting3x3(scanLinesInput, scanLines); + //鍐呴儴鍙傛暟 - double zPeakScale = 25.0; //璁＄畻ZPeak鏃剁殑灏哄害 - double minZPeakHeight = 2.5; //鏈灏忕殑鍑瑰潙娣卞害 - double planeInlierDistTh = 1.0; //骞抽潰鐐硅窛绂诲钩闈㈢殑璺濈銆傝秴鍑烘璺濈琚垽鍒负绂荤兢鐐 + double zPeakScale = 10.0; //璁＄畻ZPeak鏃剁殑灏哄害 + double minZPeakHeight = 2.0; //鏈灏忕殑鍑瑰潙娣卞害 + double planeInlierDistTh = 1.5; //骞抽潰鐐硅窛绂诲钩闈㈢殑璺濈銆傝秴鍑烘璺濈琚垽鍒负绂荤兢鐐 + double flagCornerMax = 3.0; //鐩寸嚎涓婄偣鐨勬嫄瑙掓渶澶у + double maxHoleDiameter = 30.0;//鏈澶х殑瀛旂洿寰 + double valieCommonNumRatio = 0.125; //1/8 //璁＄畻dirAngle std::vector> pntDirAngles_v; @@ -1147,7 +1159,7 @@ void wd_HolePositioning( { //鍒ゆ柇ROI SVzNLRect a_roi; - bool validPk = _getZMaxPeakROI(a_lineZMax[j].jumpPos2D, pntDirAngles_v, pntDirAngles_h, a_roi); + bool validPk = _getZMaxPeakROI(a_lineZMax[j].jumpPos2D, pntDirAngles_v, pntDirAngles_h, flagCornerMax, a_roi); if (true == validPk) { double meanZ = scanLines[a_roi.left][idx_pt].pt3D.z; @@ -1156,7 +1168,10 @@ void wd_HolePositioning( meanZ += scanLines[idx_line][a_roi.bottom].pt3D.z; meanZ = meanZ / 4.0; double z_diff = a_lineZMax[j].jumpPos.z - meanZ; - if (z_diff > minZPeakHeight) + + double xLen = abs(scanLines[a_roi.right][idx_pt].pt3D.x - scanLines[a_roi.left][idx_pt].pt3D.x); + double yLen = abs(scanLines[idx_line][a_roi.bottom].pt3D.y - scanLines[idx_line][a_roi.top].pt3D.y); + if ( (z_diff > minZPeakHeight) && (xLen < maxHoleDiameter) && (yLen < maxHoleDiameter)) { _zMaxInfo a_info; a_info.flag = 0; @@ -1263,7 +1278,46 @@ void wd_HolePositioning( } //璁＄畻闈㈠弬鏁: z = Ax + By + C , res: [0]=A, [1]= B, [2]=-1.0, [3]=C, std::vector res; +#if 0 vzCaculateLaserPlane(Points3ds, res); +#else +#if 0 + double delta = 1.0; + int maxIter = 20; + Plane robustPlane = robustFitPlane( + Points3ds, TUKEY, + delta , // 闃堝硷細>姝ゅ艰涓虹缇ょ偣锛坢m锛 + maxIter // 杩唬娆℃暟 + ); +#else + float dist_thresh = 0.5f; + int max_iter = 1000; + int stop_no_improve = 150; + std::vector out_inliers; + Plane robustPlane = ransacFitPlane( + Points3ds, + out_inliers, + dist_thresh, // 鍐呯偣璺濈闃堝 + max_iter, // 鏈澶ц凯浠 + stop_no_improve // 杩炵画澶氬皯娆℃棤鎻愬崌灏辨彁鍓嶉鍑 + ); +#endif + res.resize(4); + if (robustPlane.C > 0) + { + res[0] = -robustPlane.A; + res[1] = -robustPlane.B; + res[2] = -robustPlane.C; + res[3] = -robustPlane.D; + } + else + { + res[0] = robustPlane.A; + res[1] = robustPlane.B; + res[2] = robustPlane.C; + res[3] = robustPlane.D; + } +#endif double normValue = sqrt(pow(res[0], 2) + pow(res[1], 2) + pow(res[2],2)); double norm_A = res[0] / normValue; double norm_B = res[1] / normValue; @@ -1276,7 +1330,7 @@ void wd_HolePositioning( roi_scanLines.resize(roi_lineNum); for (int j = 0; j < roi_lineNum; j++) roi_scanLines[j].resize(roi_ptNum); - + //鐢熸垚闈笂鐐 for (int line = extend_roi.left; line <= extend_roi.right; line++) { @@ -1302,7 +1356,7 @@ void wd_HolePositioning( std::vector segTrees_v; std::vector segTrees_h; std::vector validObjects; - wd_getHoleInfo(roi_scanLines, lineSegPara, filterParam, growParam, segTrees_v, segTrees_h, validObjects); + wd_getHoleInfo(roi_scanLines, lineSegPara, filterParam, growParam, valieCommonNumRatio, segTrees_v, segTrees_h, validObjects); if (validObjects.size() > 0) { SSG_intPair a_hvPair = validObjects[0]; @@ -1310,7 +1364,7 @@ void wd_HolePositioning( { for (int j = 1; j < (int)validObjects.size(); j++) { - if (validObjects[j].idx < validObjects[j].idx) + if (a_hvPair.idx < validObjects[j].idx) a_hvPair = validObjects[j]; } } diff --git a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp index b373ff2..825c903 100644 --- a/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp +++ b/workpieceHolePositioning_test/workpieceHolePositioning_test.cpp @@ -174,9 +174,9 @@ void _outputHoleInfo(char* fileName, std::vector< WD_HolePositionInfo>& holePosi { sprintf_s(dataStr, 250, "瀛擾%d", i + 1); sw << dataStr << std::endl; - sprintf_s(dataStr, 50, " center: (%g, %g, %g)", holePositioning[i].center.x, holePositioning[i].center.y, holePositioning[i].center.z); + sprintf_s(dataStr, 250, " center: (%g, %g, %g)", holePositioning[i].center.x, holePositioning[i].center.y, holePositioning[i].center.z); sw << dataStr << std::endl; - sprintf_s(dataStr, 50, " norm_dir: (%g, %g, %g)", holePositioning[i].normDir.x, holePositioning[i].normDir.y, holePositioning[i].normDir.z); + sprintf_s(dataStr, 250, " norm_dir: (%g, %g, %g)", holePositioning[i].normDir.x, holePositioning[i].normDir.y, holePositioning[i].normDir.z); sw << dataStr << std::endl; } sw.close(); @@ -823,7 +823,7 @@ void HuaHang_holePosition_test(void) }; SVzNLRange fileIdx[HH_TEST_GROUP] = { - {1,15}, {1, 21},{1,19}, {1,9} + {1,15}, {1, 21},{1,19}, {1,13} }; const char* ver = wd_workpieceHolePositioningVersion(); @@ -834,7 +834,7 @@ void HuaHang_holePosition_test(void) { for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) { - //fidx =2; + //fidx =17; char _scan_file[256]; sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx); std::vector> scanLines; @@ -852,7 +852,7 @@ void HuaHang_holePosition_test(void) SSG_cornerParam cornerParam; cornerParam.cornerTh = 60; //45搴﹁ cornerParam.scale = 4; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8; - cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4; + cornerParam.minEndingGap = 10; // algoParam.bagParam.bagW / 4; cornerParam.minEndingGap_z = 5.0; cornerParam.jumpCornerTh_1 = 15; //姘村钩瑙掑害锛屽皬浜庢瑙掑害瑙嗕负姘村钩 cornerParam.jumpCornerTh_2 = 60;