From ffd50bc6c5c69b34aa873662557759f97a9b9df0 Mon Sep 17 00:00:00 2001
From: jerryzeng <laohong_0908@qq.com>
Date: Fri, 7 Aug 2026 12:04:06 +0800
Subject: [PATCH] =?UTF-8?q?hybridPosePositioning=20version=201.3.4=20:=20?=
 =?UTF-8?q?=E4=BF=AE=E6=AD=A3=E4=BA=86=E8=BD=AC=E5=AD=90=E9=92=A2=E8=8A=AF?=
 =?UTF-8?q?=E5=AE=9A=E4=BD=8D=E7=AE=97=E6=B3=95=E4=B8=AD=E7=9A=84bug?=
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---
 .../hybridPosePositioning_test.cpp            | 11 ++--
 sourceCode/hybridPosePositioning.cpp          | 64 +++++++++++--------
 2 files changed, 44 insertions(+), 31 deletions(-)

diff --git a/hybridPosePositioning_test/hybridPosePositioning_test.cpp b/hybridPosePositioning_test/hybridPosePositioning_test.cpp
index ca70445..d672eca 100644
--- a/hybridPosePositioning_test/hybridPosePositioning_test.cpp
+++ b/hybridPosePositioning_test/hybridPosePositioning_test.cpp
@@ -2087,7 +2087,7 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 	};
 
 	SVzNLRange fileIdx[HRM_RotorCore_TEST_GROUP] = {
-		{1,9},
+		{1,10},
 	};
 
 	const char* ver = wd_hybridPositioningVersion();
@@ -2130,7 +2130,10 @@ void HaiRuiMa_rotorCorePositioning_test(void)
 
 			sprintf_s(_scan_file, "%s%d_result.txt", dataPath[grp], fidx);
 			std::vector<WD_objArea2D> objROIs;
-			vzReadObj2DROI(_scan_file, objROIs);
+			if( (grp == 0) && (fidx <= 9))
+				vzReadObj2DROI(_scan_file, objROIs);
+			else
+				vzReadObj2DROI_1(_scan_file, objROIs);
 
 			SWD_Cylinder workpieceParam;  //圆柱形工件的标称半径和高度
 			workpieceParam.radius = 45.0;
@@ -2523,8 +2526,8 @@ typedef enum
 int main()
 {
 	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_地面调平;
-	ESG_testMode testMode = keSG_2D3D定位_海瑞马_锥形工件;
-	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_转子芯;
+	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_锥形工件;
+	ESG_testMode testMode = keSG_2D3D定位_海瑞马_转子芯;
 	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛料筐定位;
 	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛工件尺寸测量;
 	//ESG_testMode testMode = keSG_2D3D定位_海瑞马_码垛位置规划;
diff --git a/sourceCode/hybridPosePositioning.cpp b/sourceCode/hybridPosePositioning.cpp
index 32ab8ba..3d6a600 100644
--- a/sourceCode/hybridPosePositioning.cpp
+++ b/sourceCode/hybridPosePositioning.cpp
@@ -14,7 +14,8 @@
 //version 1.3.1 : �����˺�����ת�Ӹ�о��λλ�����Լ��㣬���ֳ����룬�ߺͽǵ�λ�ã�������������������������Ŀ��
 //version 1.3.2 : �����˺�����׶�ι�����ID�ţ�ID��Ϊ�����ROI�±�+1����1��ʼ��
 //version 1.3.3 : �Ľ��˺�����׶�ι�����λ�㷨���Ż���ROI�ص�ʱ�Ĵ����߼�
-std::string	m_strVersion = "HybridPositioning 1.3.3";
+//version 1.3.4 : ������ת�Ӹ�о��λ�㷨�е�bug
+std::string	m_strVersion = "HybridPositioning 1.3.4";
 const char* wd_hybridPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -440,24 +441,27 @@ WD_workpieceInfo _computeWorkpiecePose(
 				exSegs.push_back(a_seg);
 			}
 		}
-		if (exSegs.size() == 0)
-			return a_pose; 
-		//ȥ���͵ĶΣ���������ε�meanZ���ﵽ�����߶ȵ�һ�룬��Ϊ�͵Ķ�
-		int highestSeg = 0;
-		for (int m = 1; m < (int)exSegs.size(); m++)
-		{
-			if (exSegs[highestSeg].segMeanZ > exSegs[m].segMeanZ)
-				highestSeg = m;
-		}
 
-		double highestZ = exSegs[highestSeg].segMeanZ;
 		std::vector<SWD_indexingSeg> validExSegs;
-		for (int m = 0; m < (int)exSegs.size(); m++)
+		if (exSegs.size() > 0)
 		{
-			double zDiff = exSegs[m].segMeanZ - highestZ;
-			if (zDiff < workpieceParam.height / 2)
+			//ȥ���͵ĶΣ���������ε�meanZ���ﵽ�����߶ȵ�һ�룬��Ϊ�͵Ķ�
+			int highestSeg = 0;
+			for (int m = 1; m < (int)exSegs.size(); m++)
 			{
-				validExSegs.push_back(exSegs[m]);
+				if (exSegs[highestSeg].segMeanZ > exSegs[m].segMeanZ)
+					highestSeg = m;
+			}
+
+			double highestZ = exSegs[highestSeg].segMeanZ;
+
+			for (int m = 0; m < (int)exSegs.size(); m++)
+			{
+				double zDiff = exSegs[m].segMeanZ - highestZ;
+				if (zDiff < workpieceParam.height / 2)
+				{
+					validExSegs.push_back(exSegs[m]);
+				}
 			}
 		}
 		vScanLineSegs.push_back(validExSegs);
@@ -541,22 +545,26 @@ WD_workpieceInfo _computeWorkpiecePose(
 				exSegs.push_back(a_seg);
 			}
 		}
-		//ȥ���͵ĶΣ���������ε�meanZ���ﵽ�����߶ȵ�һ�룬��Ϊ�͵Ķ�
-		int highestSeg = 0;
-		for (int m = 1; m < (int)exSegs.size(); m++)
-		{
-			if (exSegs[highestSeg].segMeanZ > exSegs[m].segMeanZ)
-				highestSeg = m;
-		}
 
-		double highestZ = exSegs[highestSeg].segMeanZ;
 		std::vector<SWD_indexingSeg> validExSegs;
-		for (int m = 0; m < (int)exSegs.size(); m++)
+		if (exSegs.size() > 0)
 		{
-			double zDiff = exSegs[m].segMeanZ - highestZ;
-			if (zDiff < workpieceParam.height / 2)
+			//ȥ���͵ĶΣ���������ε�meanZ���ﵽ�����߶ȵ�һ�룬��Ϊ�͵Ķ�
+			int highestSeg = 0;
+			for (int m = 1; m < (int)exSegs.size(); m++)
 			{
-				validExSegs.push_back(exSegs[m]);
+				if (exSegs[highestSeg].segMeanZ > exSegs[m].segMeanZ)
+					highestSeg = m;
+			}
+
+			double highestZ = exSegs[highestSeg].segMeanZ;
+			for (int m = 0; m < (int)exSegs.size(); m++)
+			{
+				double zDiff = exSegs[m].segMeanZ - highestZ;
+				if (zDiff < workpieceParam.height / 2)
+				{
+					validExSegs.push_back(exSegs[m]);
+				}
 			}
 		}
 		hScanLineSegs.push_back(validExSegs);
@@ -1093,6 +1101,8 @@ void wd_HRM_RotorCorePositioning(
 				}
 			}
 		}
+		if (roiLineIndice.nMax < roiLineIndice.nMin)
+			continue;
 
 		//����ROI�е�ɨ������
 		SWDScanPosition centerPosition = { 0, 0 };