diff --git a/App/BeltTearing/BeltTearingApp/Version.h b/App/BeltTearing/BeltTearingApp/Version.h index 237d4dc9..3142d377 100644 --- a/App/BeltTearing/BeltTearingApp/Version.h +++ b/App/BeltTearing/BeltTearingApp/Version.h @@ -1,14 +1,14 @@ #ifndef VERSION_H #define VERSION_H -#define BELT_TEARING_APP_VERSION_STRING "2.1.2" -#define BELT_TEARING_APP_VERSION_BUILD "2" +#define BELT_TEARING_APP_VERSION_STRING "2.1.3" +#define BELT_TEARING_APP_VERSION_BUILD "1" #define BELT_TEARING_APP_PRODUCT_NAME "BeltTearingApp" #define BELT_TEARING_APP_COMPANY_NAME "VisionRobot" #define BELT_TEARING_APP_COPYRIGHT "Copyright (C) 2024-2026 VisionRobot. All rights reserved." #define BELT_TEARING_APP_DESCRIPTION "Belt Tearing Detection Application" -// 构建信息 +// 构建信3 #define BELT_TEARING_APP_BUILD_DATE __DATE__ #define BELT_TEARING_APP_BUILD_TIME __TIME__ diff --git a/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp b/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp index 78c802d1..1350d667 100644 --- a/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp +++ b/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.cpp @@ -1600,6 +1600,7 @@ int BeltTearingPresenter::RestartDetectStream() m_pointCloudSendLineCounter.store(0); m_bInitAlgo = false; + m_detectIndex = 0; m_hLineWorkers.clear(); m_beltTearings_new.clear(); m_beltTearings_growing.clear(); @@ -1852,18 +1853,20 @@ int BeltTearingPresenter::_DetectTask() m_algorithmParam ); m_bInitAlgo = true; + LOG_DEBUG("Algorithm initialized errorCode: %d\n", errorCode); } // 对缓存中的每一帧数据进行检测 for (auto& algorithmData : algorithmDataCache) { // 直接调用皮带撕裂检测算法 - sg_detectBeltTearing(&algorithmData, static_cast(algorithmData.nTimeStamp), + sg_detectBeltTearing(&algorithmData, static_cast(m_detectIndex), algorithmData.nPositionCnt, &errorCode, m_hLineWorkers, m_beltTearings_new, m_beltTearings_growing, m_beltTearings_ended, m_beltTearings_unknown, m_algorithmParam ); - + m_detectIndex++; + // 合并各个撕裂结果容器 #if 1 _MergeAndReplace(allTearings, m_beltTearings_new); diff --git a/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.h b/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.h index 6348293d..22113ce7 100644 --- a/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.h +++ b/App/BeltTearing/BeltTearingServer/BeltTearingPresenter.h @@ -108,6 +108,7 @@ private: std::vector m_beltTearings_growing; std::vector m_beltTearings_ended; std::vector m_beltTearings_unknown; + unsigned long long m_detectIndex{0}; // 激光线队列管理 std::deque m_laserLineQueue; // 激光线数据队列 diff --git a/App/BeltTearing/BeltTearingServer/BeltTearingServer.pro b/App/BeltTearing/BeltTearingServer/BeltTearingServer.pro index d1ab871f..b661d8ae 100644 --- a/App/BeltTearing/BeltTearingServer/BeltTearingServer.pro +++ b/App/BeltTearing/BeltTearingServer/BeltTearingServer.pro @@ -57,32 +57,32 @@ FORMS += win32:CONFIG(debug, debug|release) { LIBS += -L../BeltTearingConfig/debug -lBeltTearingConfig - LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice - LIBS += -L../../../Utils/CloudUtils/debug -lCloudUtils - LIBS += -L../../../Nets/debug -lVrTcpServer + LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice + LIBS += -L../../../Utils/CloudUtils/debug -lCloudUtils + LIBS += -L../../../Nets/debug -lVrTcpServer LIBS += -L../../../Nets/debug -lModbusTCPServer - LIBS += -L../../../Nets/debug -lVrModbus + LIBS += -L../../../Nets/debug -lVrModbus LIBS += -L../../../Module/AuthModule/debug -lAuthModule - LIBS += -L../../../Utils/VrUtils/debug -lVrUtils + LIBS += -L../../../Utils/VrUtils/debug -lVrUtils }else:win32:CONFIG(release, debug|release){ - LIBS += -L../BeltTearingConfig/release -lBeltTearingConfig - LIBS += -L../../../Device/VrEyeDevice/release -lVrEyeDevice - LIBS += -L../../../Utils/CloudUtils/release -lCloudUtils - LIBS += -L../../../Nets/release -lVrTcpServer - LIBS += -L../../../Nets/release -lModbusTCPServer - LIBS += -L../../../Nets/release -lVrModbus - LIBS += -L../../../Module/AuthModule/release -lAuthModule - LIBS += -L../../../Utils/VrUtils/release -lVrUtils + LIBS += -L../BeltTearingConfig/release -lBeltTearingConfig + LIBS += -L../../../Device/VrEyeDevice/release -lVrEyeDevice + LIBS += -L../../../Utils/CloudUtils/release -lCloudUtils + LIBS += -L../../../Nets/release -lVrTcpServer + LIBS += -L../../../Nets/release -lModbusTCPServer + LIBS += -L../../../Nets/release -lVrModbus + LIBS += -L../../../Module/AuthModule/release -lAuthModule + LIBS += -L../../../Utils/VrUtils/release -lVrUtils }else:unix:!macx { # Unix/Linux library links. -LIBS += -L../BeltTearingConfig -lBeltTearingConfig +LIBS += -L../BeltTearingConfig -lBeltTearingConfig LIBS += -L../../../Nets -lModbusTCPServer - LIBS += -L../../../Nets -lVrModbus - LIBS += -L../../../Nets -lVrTcpServer - LIBS += -L../../../Device/VrEyeDevice -lVrEyeDevice - LIBS += -L../../../Utils/CloudUtils -lCloudUtils - LIBS += -L../../../Module/AuthModule -lAuthModule - LIBS += -L../../../Utils/VrUtils -lVrUtils + LIBS += -L../../../Nets -lVrModbus + LIBS += -L../../../Nets -lVrTcpServer + LIBS += -L../../../Device/VrEyeDevice -lVrEyeDevice + LIBS += -L../../../Utils/CloudUtils -lCloudUtils + LIBS += -L../../../Module/AuthModule -lAuthModule + LIBS += -L../../../Utils/VrUtils -lVrUtils # System library dependencies. @@ -129,22 +129,22 @@ win32:CONFIG(release, debug|release): { LIBS += -L$$PWD/../../../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320 # Algorithm SDK library. -LIBS += -L$$PWD/../../../AppAlgo/beltTearing/Windows/x64/Release -lbeltTearingDetection + LIBS += -L$$PWD/../../../AppAlgo/beltTearing/Windows/x64/Release -lbeltTearingDetection } else:win32:CONFIG(debug, debug|release): { LIBS += -L$$PWD/../../../SDK/OpenCV320/Windows/vc14/Release -lopencv_world320 # Algorithm SDK library. -LIBS += -L$$PWD/../../../AppAlgo/beltTearing/Windows/x64/Release -lbeltTearingDetection + LIBS += -L$$PWD/../../../AppAlgo/beltTearing/Windows/x64/Debug -lbeltTearingDetection } else:unix:!macx: { LIBS += -L$$PWD/../../../SDK/OpenCV320/Arm/aarch64 -lopencv_core -lopencv_imgproc -lopencv_highgui # Algorithm SDK library. -LIBS += -L$$PWD/../../../AppAlgo/beltTearing/Arm/aarch64 -lbeltTearingDetection + LIBS += -L$$PWD/../../../AppAlgo/beltTearing/Arm/aarch64 -lbeltTearingDetection } -# 添加Windows系统库依赖? +# 添加Windows系统库依赖 win32 { LIBS += -lshell32 LIBS += -lws2_32 diff --git a/App/BeltTearing/BeltTearingServer/Version.h b/App/BeltTearing/BeltTearingServer/Version.h index 8e07acf2..75e8145d 100644 --- a/App/BeltTearing/BeltTearingServer/Version.h +++ b/App/BeltTearing/BeltTearingServer/Version.h @@ -1,8 +1,8 @@ #ifndef VERSION_H #define VERSION_H -#define BELTTEARING_VERSION_STRING "2.1.2" -#define BELTTEARING_VERSION_BUILD "2" +#define BELTTEARING_VERSION_STRING "2.1.3" +#define BELTTEARING_VERSION_BUILD "1" #define BELTTEARING_PRODUCT_NAME "BeltTearingServer" #define BELTTEARING_COMPANY_NAME "VisionRobot" #define BELTTEARING_COPYRIGHT "Copyright (C) 2024-2026 VisionRobot. All rights reserved." diff --git a/App/BeltTearing/BeltTearingServer/Version.md b/App/BeltTearing/BeltTearingServer/Version.md index 20ae5725..1cd40257 100644 --- a/App/BeltTearing/BeltTearingServer/Version.md +++ b/App/BeltTearing/BeltTearingServer/Version.md @@ -1,3 +1,7 @@ +# 2.1.3 +## build_1 2026-10-26 +1. 修复算法检测索引问题 + # 2.1.2 ## build_1 2026-10-22 1. 更新算法：增加了焊缝最小，最大宽度; 最大深度参数 diff --git a/App/BeltTearing/BeltTearingServer/main.cpp b/App/BeltTearing/BeltTearingServer/main.cpp index d420aaa5..26685e23 100644 --- a/App/BeltTearing/BeltTearingServer/main.cpp +++ b/App/BeltTearing/BeltTearingServer/main.cpp @@ -90,7 +90,7 @@ int main(int argc, char *argv[]) std::this_thread::sleep_for(std::chrono::seconds(5)); // while (true) { - presenter.sendTestData("D:\\Project\\wood\\GrabBag\\TestData\\beltTearing\\LaserData\\2026-10-23-10-45-34_LaserData_Ik012067.txt"); + presenter.sendTestData("D:\\Project\\wood\\GrabBag\\TestData\\beltTearing\\2\\LaserLine2_grid.txt"); // presenter.sendSimulationData(); // 启用发送模拟撕裂数据 std::this_thread::sleep_for(std::chrono::seconds(1)); // 等待1秒 } diff --git a/AppAlgo/beltTearing/Arm/aarch64/libbaseAlgorithm.so b/AppAlgo/beltTearing/Arm/aarch64/libbaseAlgorithm.so index 1bd4631b..449241bf 100644 Binary files a/AppAlgo/beltTearing/Arm/aarch64/libbaseAlgorithm.so and b/AppAlgo/beltTearing/Arm/aarch64/libbaseAlgorithm.so differ diff --git a/AppAlgo/beltTearing/Arm/aarch64/libbeltTearingDetection.so b/AppAlgo/beltTearing/Arm/aarch64/libbeltTearingDetection.so index 25ac9e2f..3965cb5e 100644 Binary files a/AppAlgo/beltTearing/Arm/aarch64/libbeltTearingDetection.so and b/AppAlgo/beltTearing/Arm/aarch64/libbeltTearingDetection.so differ diff --git a/AppAlgo/beltTearing/Inc/beltTearingDetection_Export.h b/AppAlgo/beltTearing/Inc/beltTearingDetection_Export.h index 4ffdbd25..0a804eea 100644 --- a/AppAlgo/beltTearing/Inc/beltTearingDetection_Export.h +++ b/AppAlgo/beltTearing/Inc/beltTearingDetection_Export.h @@ -83,7 +83,7 @@ SG_APISHARED_EXPORT const char* sg_beltTearingVersion(void); SG_APISHARED_EXPORT void sg_detectBeltTearing( SVzNL3DLaserLine* laser3DPoints, //һɨ - int lineIdx, + unsigned long long lineIdx, int nPointCount, //ÿɨߵĵGridݸʽʱÿɨߵĵͬġʹGridʽ int* errCode, std::vector& hLineWorkers, diff --git a/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.dll b/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.dll index b511a781..70f3a4f7 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.dll and b/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.dll differ diff --git a/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.pdb b/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.pdb index 9af587ee..f5bd1ec5 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.pdb and b/AppAlgo/beltTearing/Windows/x64/Debug/baseAlgorithm.pdb differ diff --git a/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.dll b/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.dll index 05bad03d..4e466082 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.dll and b/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.dll differ diff --git a/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.lib b/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.lib index c11657db..02ddd589 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.lib and b/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.lib differ diff --git a/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.pdb b/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.pdb index e80e1830..1860558e 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.pdb and b/AppAlgo/beltTearing/Windows/x64/Debug/beltTearingDetection.pdb differ diff --git a/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.dll b/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.dll index 6daf65e7..ae00aae2 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.dll and b/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.dll differ diff --git a/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.pdb b/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.pdb index a98f9584..9881e0d7 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.pdb and b/AppAlgo/beltTearing/Windows/x64/Release/baseAlgorithm.pdb differ diff --git a/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.dll b/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.dll index 6f28a49b..f4387039 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.dll and b/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.dll differ diff --git a/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.lib b/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.lib index 3ac6f2a5..54c9d2ec 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.lib and b/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.lib differ diff --git a/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.pdb b/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.pdb index 9ffd1c3e..b0093873 100644 Binary files a/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.pdb and b/AppAlgo/beltTearing/Windows/x64/Release/beltTearingDetection.pdb differ