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hybridPosePositioning

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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
This commit is contained in:
jerryzeng 2026-08-17 10:05:01 +08:00
parent 096e1683a3
commit a7ad978041
2 changed files with 7 additions and 4 deletions
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4
hybridPosePositioning_test/hybridPosePositioning_test.cpp
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@ -1082,7 +1082,7 @@ void _outputWorkpieceInfo(char* fileName, std::vector< WD_workpieceInfo>& workpi
int number = (int)workpiecePositions.size(); int number = (int)workpiecePositions.size();
for (int i = 0; i < number; i++) for (int i = 0; i < number; i++)
{ {
sprintf_s(dataStr, 250, "工件_%d", i + 1); sprintf_s(dataStr, 250, "工件_%d: id=%d, type=%d", i + 1, workpiecePositions[i].id, workpiecePositions[i].workpieceType);
sw << dataStr << std::endl; sw << dataStr << std::endl;
sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpiecePositions[i].center.x, workpiecePositions[i].center.y, workpiecePositions[i].center.z); sprintf_s(dataStr, 50, " center: (%g, %g, %g)", workpiecePositions[i].center.x, workpiecePositions[i].center.y, workpiecePositions[i].center.z);
@ -2183,7 +2183,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{ {
fidx = 26; //fidx = 26;
char _scan_file[256]; char _scan_file[256];
sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx); sprintf_s(_scan_file, "%s%d_cloud.txt", dataPath[grp], fidx);
std::vector<std::vector< SVzNLPositionD>> scanLines; std::vector<std::vector< SVzNLPositionD>> scanLines;

7
sourceCode/hybridPosePositioning.cpp
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@ -17,7 +17,8 @@
//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
//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 1.3.6 : 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"; //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
std::string m_strVersion = "HybridPositioning 1.3.7";
const char* wd_hybridPositioningVersion(void) const char* wd_hybridPositioningVersion(void)
{ {
return m_strVersion.c_str(); return m_strVersion.c_str();
@ -1243,6 +1244,7 @@ void wd_HRM_RotorCorePositioning(
workpieceParam, workpieceParam,
outsideEdgePtIndice, outsideEdgePtIndice,
centerPtIndice); centerPtIndice);
a_workpiece.id = idx + 1;
#ifdef _OUTPUT_DEBUG_DATA #ifdef _OUTPUT_DEBUG_DATA
if (a_workpiece.center.z > 1e-4) if (a_workpiece.center.z > 1e-4)
@ -1535,7 +1537,8 @@ void wd_HRM_RotorCorePositioning(
workpiecePositions.insert(workpiecePositions.end(), RBCorner.begin(), RBCorner.end()); workpiecePositions.insert(workpiecePositions.end(), RBCorner.begin(), RBCorner.end());
} }
else else
{//水平方向排序 {
//水平方向排序
while (zSortWorkpiece.size() > 0) while (zSortWorkpiece.size() > 0)
{ {
std::vector< WD_workpieceInfo> firstLine; std::vector< WD_workpieceInfo> firstLine;