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sg_getBagPosition version 1.1.1

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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
This commit is contained in:
jerryzeng 2025-12-13 23:24:26 +08:00
parent 335ee0a92f
commit 05e5ef143b
4 changed files with 33 additions and 6 deletions
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3
bagPositioning_test/bagPositioning_test.cpp
View File

@ -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();

28
sourceCode/SG_bagPositioning.cpp
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@ -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++)

3
sourceCode/SG_bagPositioning_Export.h
View File

@ -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,

5
sourceCode/SG_errCode.h
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@ -19,4 +19,7 @@
//¶¨×Óץȡ
#define SX_ERR_INVLID_CUTTING_Z -2101
#define SX_ERR_ZERO_OBJ -2102
#define SX_ERR_ZERO_OBJ -2102
//뀔관
#define SX_BAG_TRAY_EMPTY -2201