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workpieceHolePositioning v1.1.1

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调整了方向矢量的方向
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jerryzeng 2026-02-01 15:25:55 +08:00
parent 7b66de6dd7
commit fbc21da905
1 changed files with 15 additions and 6 deletions
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21
workpieceHolePositioning_test/workpieceHolePositioning_test.cpp
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@ -368,20 +368,27 @@ void _outputRGBDResult_RGBD(
size = 2; size = 2;
for (int i = 0; i < objNumber; i++) for (int i = 0; i < objNumber; i++)
{ {
SVzNL3DPoint dirPt;
dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].y_dir.x * 10,
workpiecePositioning[i].center.y + workpiecePositioning[i].y_dir.y * 10,
workpiecePositioning[i].center.z + workpiecePositioning[i].y_dir.z * 10 };
sw << "Poly_" << lineIdx << "_2" << std::endl; sw << "Poly_" << lineIdx << "_2" << std::endl;
sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-"; sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
sw << "{0,0}-{0,0}-"; sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl; sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
sw << "{" << workpiecePositioning[i].y_dir.x << "," << workpiecePositioning[i].y_dir.y << "," << workpiecePositioning[i].y_dir.z << "}-"; sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
sw << "{0,0}-{0,0}-"; sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl; sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
lineIdx++; lineIdx++;
dirPt = { workpiecePositioning[i].center.x + workpiecePositioning[i].z_dir.x * 10,
workpiecePositioning[i].center.y + workpiecePositioning[i].z_dir.y * 10,
workpiecePositioning[i].center.z + workpiecePositioning[i].z_dir.z * 10 };
sw << "Poly_" << lineIdx << "_2" << std::endl; sw << "Poly_" << lineIdx << "_2" << std::endl;
sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-"; sw << "{" << workpiecePositioning[i].center.x << "," << workpiecePositioning[i].center.y << "," << workpiecePositioning[i].center.z << "}-";
sw << "{0,0}-{0,0}-"; sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl; sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
sw << "{" << workpiecePositioning[i].z_dir.x << "," << workpiecePositioning[i].z_dir.y << "," << workpiecePositioning[i].z_dir.z << "}-"; sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
sw << "{0,0}-{0,0}-"; sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl; sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
lineIdx++; lineIdx++;
@ -398,15 +405,17 @@ void _outputRGBDResult_RGBD(
lineIdx++; lineIdx++;
} }
} }
SVzNL3DPoint dirPt = { workpiecePositioning[0].center.x + workpiecePositioning[0].y_dir.x * 10,
workpiecePositioning[0].center.y + workpiecePositioning[0].y_dir.y * 10,
workpiecePositioning[0].center.z + workpiecePositioning[0].y_dir.z * 10 };
sw << "Poly_" << lineIdx << "_2" << std::endl; sw << "Poly_" << lineIdx << "_2" << std::endl;
sw << "{" << workpiecePositioning[0].center.x << "," << workpiecePositioning[0].center.y << "," << workpiecePositioning[0].center.z << "}-"; sw << "{" << workpiecePositioning[0].center.x << "," << workpiecePositioning[0].center.y << "," << workpiecePositioning[0].center.z << "}-";
sw << "{0,0}-{0,0}-"; sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl; sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
sw << "{" << workpiecePositioning[0].y_dir.x << "," << workpiecePositioning[0].y_dir.y << "," << workpiecePositioning[0].y_dir.z << "}-"; sw << "{" << dirPt.x << "," << dirPt.y << "," << dirPt.z << "}-";
sw << "{0,0}-{0,0}-"; sw << "{0,0}-{0,0}-";
sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl; sw << "{" << (int)rgb.r << "," << (int)rgb.g << "," << (int)rgb.b << "," << size << "}" << std::endl;
sw.close(); sw.close();
} }
@ -433,7 +442,7 @@ int main()
}; };
SVzNLRange fileIdx[TEST_GROUP] = { SVzNLRange fileIdx[TEST_GROUP] = {
{1,4}, {5,5},
}; };
const char* ver = wd_workpieceHolePositioningVersion(); const char* ver = wd_workpieceHolePositioningVersion();
@ -514,7 +523,7 @@ int main()
groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i]; groundCalibPara.invRMatrix[i] = groundCalibPara.planeCalib[i];
char calibFile[250]; char calibFile[250];
sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]); sprintf_s(calibFile, "%sground_calib_para.txt", dataPath[grp]);
groundCalibPara = _readCalibPara(calibFile); //groundCalibPara = _readCalibPara(calibFile);
for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++) for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
{ {