sg_getBagPosition version 1.1.1

增加了错误代码。当托盘为空时，错误代码为 SX_BAG_TRAY_EMPTY，指示托盘为空

bagPositioning_test/bagPositioning_test.cpp

@@ -3101,7 +3101,8 @@ int main()
 					lineV, maxTimeStamp, clockPerSecond);
 #endif
 				std::vector<SSG_peakRgnInfo> objOps;
-				sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps);
+				int errCode = 0;
+				sg_getBagPosition(laser3DPoints, lineNum, algoParam, poseCalibPara, objOps, &errCode);
 #endif
 				long t2 = GetTickCount64();
 

sourceCode/SG_bagPositioning.cpp

@@ -6,7 +6,8 @@
 #include <limits>
 
 //version 1.1.0 : 基准版本基础上添加了（1）版本号（2）输出模式，支持按序输出和按大输出
-std::string	m_strVersion = "1.1.0";
+//version 1.1.1 : 增加了错误代码。当托盘为空时，错误代码为 SX_BAG_TRAY_EMPTY，指示托盘为空
+std::string	m_strVersion = "1.1.1";
 const char* sg_bagPositioningVersion(void)
 {
 	return m_strVersion.c_str();
@@ -2237,8 +2238,10 @@ void sg_getBagPosition(
 	//std::vector<std::vector<int>>& noisePts, 
 	const SG_bagPositionParam algoParam,
 	const SSG_planeCalibPara poseCalibPara,
-	std::vector<SSG_peakRgnInfo>& objOps)
+	std::vector<SSG_peakRgnInfo>& objOps,
+	int* errCode)
 {
+	*errCode = 0;
 	///噪点过滤
 	//垂直方向过滤
 	for (int i = 0; i < lineNum; i++)
@@ -2299,7 +2302,10 @@ void sg_getBagPosition(
 	if (maskY % 2 > 0)
 		maskY++;
 	if ((maskX < 16) || (maskY < 16))
+	{
+		*errCode = SX_BAG_TRAY_EMPTY;
 		return;
+	}
 	const int x_skip = 2;
 	const int y_skip = 2;
 	maskY = maskY + y_skip * 2;
@@ -2382,6 +2388,8 @@ void sg_getBagPosition(
 #endif
 
 	int vldRgnSize = (int)((algoParam.bagParam.bagL * algoParam.bagParam.bagW / 2) / (scale * scale));
+	//统计有效目标数
+	int vldRgnNum = 0;
 	for (int rgnid = 0, rgn_max = (int)labelRgns.size(); rgnid < rgn_max; rgnid++)
 	{
 		SSG_Region* a_rgn = &labelRgns[rgnid];
@@ -2397,7 +2405,16 @@ void sg_getBagPosition(
 				}
 			}
 		}
+		else
+			vldRgnNum++;
 	}
+
+	if(vldRgnNum == 0)
+	{
+		*errCode = SX_BAG_TRAY_EMPTY;
+		return;
+	}
+
 	//将无效rgn的点无效
 	for (int line = 0; line < lineNum; line++)
 	{
@@ -2414,6 +2431,7 @@ void sg_getBagPosition(
 				pt3D->pt3D.z = 0;
 		}
 	}
+
 #if OUTPUT_DEBUG
 	cv::Mat filterMaskImage;
 	//cv::normalize(distTranformMask, maskImage, 0, 255, cv::NORM_MINMAX, CV_8U);
@@ -2750,7 +2768,10 @@ if (hLine == 14)
 	maskX = (int)(x_range.max - x_range.min) + 1;
 	maskY = (int)(y_range.max - y_range.min) + 1;
 	if ((maskX < 16) || (maskY < 16))
+	{
+		*errCode = SX_BAG_TRAY_EMPTY;
 		return;
+	}
 	maskY = maskY + y_skip * 2;
 	maskX = maskX + x_skip * 2;
 	cv::Mat distTranformMask(maskY, maskX, CV_32FC1, 0.0f);  //距离变换Mask，初始化为一个极大值1e+6
@@ -4138,7 +4159,8 @@ void sg_getBagPositionAndOrientation(
 		(int)cloudPts.size(),
 		algoParam,
 		poseCalibPara,
-		peakRgn);
+		peakRgn,
+		errCode);
 
 	//释放内存
 	for (int i = 0, i_max = (int)cloudPts.size(); i < i_max; i++)

sourceCode/SG_bagPositioning_Export.h

@@ -71,7 +71,8 @@ SG_APISHARED_EXPORT void sg_getBagPosition(
 	//std::vector<std::vector<int>>& noisePts, 
 	const SG_bagPositionParam algoParam, 
 	const SSG_planeCalibPara poseCalibPara,
-	std::vector<SSG_peakRgnInfo>& objOps);
+	std::vector<SSG_peakRgnInfo>& objOps,
+	int* errCode);
 
 SG_APISHARED_EXPORT void sg_getBagPositionAndOrientation(
 	SVzNLXYZRGBDLaserLine* laser3DPoints,

sourceCode/SG_errCode.h

@@ -20,3 +20,6 @@
 //¶¨×Óץȡ
 #define SX_ERR_INVLID_CUTTING_Z		-2101
 #define SX_ERR_ZERO_OBJ				-2102
+
+//뀔관
+#define SX_BAG_TRAY_EMPTY			-2201