From 328129906cf92b8cee30ddfd6c4bf9035967dc9e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=B0=E4=BB=94?= Date: Fri, 26 Jun 2026 14:37:43 +0800 Subject: [PATCH] =?UTF-8?q?=E6=A3=92=E6=9D=90=E7=9A=84=E5=B7=A5=E5=85=B7?= =?UTF-8?q?=E5=8F=82=E6=95=B0=E9=85=8D=E7=BD=AE=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../Presenter/Inc/DetectPresenter.h | 8 +- .../Presenter/Src/DetectPresenter.cpp | 31 ++- .../Src/RodAndBarPositionPresenter.cpp | 35 ++- .../RodAndBarPositionApp/Version.h | 2 +- .../RodAndBarPositionApp/Version.md | 4 + .../RodAndBarPositionApp/dialogalgoarg.cpp | 202 ++++++++++-------- .../RodAndBarPositionApp/dialogalgoarg.h | 8 + .../RodAndBarPositionApp/dialogalgoarg.ui | 21 +- .../RodAndBarPositionConfig/Inc/IVrConfig.h | 8 +- .../RodAndBarPositionConfig/Src/VrConfig.cpp | 8 +- .../RodAndBarPositionConfig/config/config.xml | 4 +- 11 files changed, 213 insertions(+), 118 deletions(-) diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h index 1951ff84..8910e200 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h @@ -34,8 +34,12 @@ public: LaserDataLoader& dataLoader, const double clibMatrix[16], int eulerOrder, - int dirVectorInvert, - int longAxisDir, + double toolRotX, + double toolRotY, + double toolRotZ, + double toolOffsetX, + double toolOffsetY, + double toolOffsetZ, DetectionResult& detectionResult); }; diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp index 8a4b1e0a..977e8002 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp @@ -2,6 +2,7 @@ #include "rodAndBarDetection_Export.h" #include "AlgoParamConverter.h" #include "IHandEyeCalib.h" +#include #include #include #include @@ -48,8 +49,12 @@ int DetectPresenter::DetectRod( LaserDataLoader& dataLoader, const double clibMatrix[16], int eulerOrder, - int dirVectorInvert, - int longAxisDir, + double toolRotX, + double toolRotY, + double toolRotZ, + double toolOffsetX, + double toolOffsetY, + double toolOffsetZ, DetectionResult& detectionResult) { if (laserLines.empty()) { @@ -165,14 +170,32 @@ int DetectPresenter::DetectRod( HECPoint3D(rod.center.x, rod.center.y, rod.center.z), HECPoint3D(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z), HECPoint3D(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z), - dirVectorInvert, + 0, hecEulerOrder, - longAxisDir == 1 ? HECLongAxisDir::AxisY : HECLongAxisDir::AxisX, + HECLongAxisDir::AxisX, poseResult); if (!validPose) { LOG_WARNING("[Algo Thread] Rod %zu has invalid axial/normal direction, use zero pose\n", i); } + if (std::abs(toolRotX) > 1e-9 || std::abs(toolRotY) > 1e-9 || std::abs(toolRotZ) > 1e-9) { + HECRotationMatrix poseRotation; + handEyeCalib->EulerToRotationMatrix(poseResult.angles, hecEulerOrder, poseRotation); + + HECRotationMatrix toolRotation; + handEyeCalib->EulerToRotationMatrix( + HECEulerAngles::fromDegrees(toolRotX, toolRotY, toolRotZ), + HECEulerOrder::ZYX, + toolRotation); + + HECRotationMatrix adjustedRotation = poseRotation * toolRotation; + handEyeCalib->RotationMatrixToEuler(adjustedRotation, hecEulerOrder, poseResult.angles); + } + + poseResult.position.x += toolOffsetX; + poseResult.position.y += toolOffsetY; + poseResult.position.z += toolOffsetZ; + double rollDeg = 0.0, pitchDeg = 0.0, yawDeg = 0.0; poseResult.angles.toDegrees(rollDeg, pitchDeg, yawDeg); diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp index 4b0ea873..99c9a50a 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/RodAndBarPositionPresenter.cpp @@ -229,22 +229,43 @@ int RodAndBarPositionPresenter::ProcessAlgoDetection(std::vectorGetConfigResult(); VrDebugParam debugParam = configResult.debugParam; int eulerOrder = configResult.eulerOrder; + double toolRotX = 0.0; + double toolRotY = 0.0; + double toolRotZ = 0.0; + double toolOffsetX = 0.0; + double toolOffsetY = 0.0; + double toolOffsetZ = 0.0; const int calibIdx = m_currentCameraIndex - 1; if (calibIdx >= 0 && calibIdx < static_cast(configResult.handEyeCalibMatrixList.size())) { - eulerOrder = configResult.handEyeCalibMatrixList[calibIdx].eulerOrder; + const auto& toolConfig = configResult.handEyeCalibMatrixList[calibIdx]; + eulerOrder = toolConfig.eulerOrder; + toolRotX = toolConfig.rotX; + toolRotY = toolConfig.rotY; + toolRotZ = toolConfig.rotZ; + toolOffsetX = toolConfig.offsetX; + toolOffsetY = toolConfig.offsetY; + toolOffsetZ = toolConfig.offsetZ; } else if (!configResult.handEyeCalibMatrixList.empty()) { - eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder; + const auto& toolConfig = configResult.handEyeCalibMatrixList[0]; + eulerOrder = toolConfig.eulerOrder; + toolRotX = toolConfig.rotX; + toolRotY = toolConfig.rotY; + toolRotZ = toolConfig.rotZ; + toolOffsetX = toolConfig.offsetX; + toolOffsetY = toolConfig.offsetY; + toolOffsetZ = toolConfig.offsetZ; } - const int dirVectorInvert = configResult.dirVectorInvert; - const int longAxisDir = configResult.longAxisDir; - LOG_INFO("[Algo Thread] Using euler order: %d, dir vector invert: %d, long axis dir: %d\n", eulerOrder, dirVectorInvert, longAxisDir); + LOG_INFO("[Algo Thread] Using tool params: euler=%d, rot=(%.3f, %.3f, %.3f), offset=(%.3f, %.3f, %.3f)\n", + eulerOrder, toolRotX, toolRotY, toolRotZ, toolOffsetX, toolOffsetY, toolOffsetZ); DetectionResult detectionResult; int nRet = m_pDetectPresenter->DetectRod(m_currentCameraIndex, detectionDataCache, algorithmParams, debugParam, m_dataLoader, - currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert, - longAxisDir, detectionResult); + currentClibMatrix.clibMatrix, eulerOrder, + toolRotX, toolRotY, toolRotZ, + toolOffsetX, toolOffsetY, toolOffsetZ, + detectionResult); // 算法返回 SX_ERR_ZERO_OBJECTS(-1010) 表示料框为空：单独提示并写专用协议状态码 4 if (nRet == ERR_CODE(SX_ERR_ZERO_OBJECTS)) { diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Version.h b/App/RodAndBarPosition/RodAndBarPositionApp/Version.h index a0f3ebd7..647371cf 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Version.h +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Version.h @@ -5,7 +5,7 @@ // 应用名称 #define RODANDBARPOSITION_APP_NAME "棒材定位" -#define RODANDBARPOSITION_VERSION_STRING "1.1.3" +#define RODANDBARPOSITION_VERSION_STRING "1.1.4" #define RODANDBARPOSITION_BUILD_STRING "1" #define RODANDBARPOSITION_FULL_VERSION_STRING "V" RODANDBARPOSITION_VERSION_STRING "_" RODANDBARPOSITION_BUILD_STRING diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Version.md b/App/RodAndBarPosition/RodAndBarPositionApp/Version.md index 2f38583e..39337722 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Version.md +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Version.md @@ -1,3 +1,7 @@ +# 1.1.4 2026-06-26 +## build_1 +1. 修改工具的参数配置 + # 1.1.3 2026-06-24 ## build_1 1. 更新算法 diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp index 250e0f1c..a152cbc6 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp @@ -4,40 +4,38 @@ #include "StyledMessageBox.h" #include "HandEyeCalibWidget.h" #include "NetworkConfigWidget.h" +#include "ToolExtrinsicWidget.h" #include "PathManager.h" #include "VrLog.h" +#include #include -#include -#include namespace { -/// 姿态输入/输出顺序 → 欧拉角旋转顺序 映射 int PoseOutputOrderToEulerOrder(int poseOrder) { switch (poseOrder) { - case 0: return 10; // RX-RY-RZ → XYZ - case 1: return 15; // RX-RZ-RY → XZY - case 2: return 13; // RY-RX-RZ → YXZ - case 3: return 14; // RY-RZ-RX → YZX - case 4: return 12; // RZ-RX-RY → ZXY - case 5: return 11; // RZ-RY-RX → ZYX - default: return 11; // 默认 ZYX + case 0: return 10; // RX-RY-RZ -> XYZ + case 1: return 15; // RX-RZ-RY -> XZY + case 2: return 13; // RY-RX-RZ -> YXZ + case 3: return 14; // RY-RZ-RX -> YZX + case 4: return 12; // RZ-RX-RY -> ZXY + case 5: return 11; // RZ-RY-RX -> ZYX + default: return 11; } } -/// 欧拉角旋转顺序 → 姿态输入/输出顺序 映射（UI 显示用） int EulerOrderToPoseOutputOrder(int eulerOrder) { switch (eulerOrder) { - case 10: return 0; // XYZ → RX-RY-RZ - case 15: return 1; // XZY → RX-RZ-RY - case 13: return 2; // YXZ → RY-RX-RZ - case 14: return 3; // YZX → RY-RZ-RX - case 12: return 4; // ZXY → RZ-RX-RY - case 11: return 5; // ZYX → RZ-RY-RX - default: return 5; // 默认 RZ-RY-RX + case 10: return 0; // XYZ -> RX-RY-RZ + case 15: return 1; // XZY -> RX-RZ-RY + case 13: return 2; // YXZ -> RY-RX-RZ + case 14: return 3; // YZX -> RY-RZ-RX + case 12: return 4; // ZXY -> RZ-RX-RY + case 11: return 5; // ZYX -> RZ-RY-RX + default: return 5; } } @@ -49,6 +47,7 @@ DialogAlgoArg::DialogAlgoArg(QWidget *parent) , m_presenter(nullptr) , m_handEyeCalibWidget(nullptr) , m_networkConfigWidget(nullptr) + , m_toolExtrinsicWidget(nullptr) { ui->setupUi(this); setWindowTitle("算法参数设置"); @@ -67,6 +66,9 @@ void DialogAlgoArg::SetPresenter(RodAndBarPositionPresenter* presenter) // 初始化手眼标定 tab InitHandEyeCalibTab(); + // 初始化工具参数 tab + InitToolExtrinsicTab(); + // 初始化网络配置 tab InitNetworkConfigTab(); } @@ -138,27 +140,41 @@ void DialogAlgoArg::saveParams() m_presenter->SetAlgoParams(params); - // 保存手眼标定矩阵 + 网络配置到配置文件（统一获取一次配置，避免互相覆盖） + // 保存手眼标定矩阵 + 工具参数 + 网络配置到配置文件（统一获取一次配置，避免互相覆盖） if (m_presenter->GetConfigManager()) { ConfigManager* configManager = m_presenter->GetConfigManager(); SystemConfig systemConfig = configManager->GetConfig(); - NetworkConfigData netConfig; - bool hasNetworkConfig = false; - if (m_networkConfigWidget) { - netConfig = m_networkConfigWidget->getConfig(); - // 欧拉角旋转顺序由姿态输入/输出顺序决定 - netConfig.eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder); - hasNetworkConfig = true; - systemConfig.configResult.eulerOrder = netConfig.eulerOrder; - systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert; - systemConfig.configResult.byteOrder = netConfig.byteOrder; - systemConfig.configResult.longAxisDir = netConfig.longAxisDir; + int toolEulerOrder = systemConfig.configResult.eulerOrder; + double toolRotX = 0.0; + double toolRotY = 0.0; + double toolRotZ = 0.0; + double toolOffsetX = 0.0; + double toolOffsetY = 0.0; + double toolOffsetZ = 0.0; + if (!systemConfig.configResult.handEyeCalibMatrixList.empty()) { + const auto& toolConfig = systemConfig.configResult.handEyeCalibMatrixList.front(); + toolEulerOrder = toolConfig.eulerOrder; + toolRotX = toolConfig.rotX; + toolRotY = toolConfig.rotY; + toolRotZ = toolConfig.rotZ; + toolOffsetX = toolConfig.offsetX; + toolOffsetY = toolConfig.offsetY; + toolOffsetZ = toolConfig.offsetZ; } - if (hasNetworkConfig) { - for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) { - calibMatrix.eulerOrder = netConfig.eulerOrder; - } + if (m_toolExtrinsicWidget) { + m_toolExtrinsicWidget->getData(toolEulerOrder, + toolRotX, toolRotY, toolRotZ, + toolOffsetX, toolOffsetY, toolOffsetZ); + } + systemConfig.configResult.eulerOrder = toolEulerOrder; + + // 网络配置保存通信字节序和姿态输入/输出顺序；方向向量/长轴不再提供配置。 + if (m_networkConfigWidget) { + NetworkConfigData netConfig = m_networkConfigWidget->getConfig(); + toolEulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder); + systemConfig.configResult.eulerOrder = toolEulerOrder; + systemConfig.configResult.byteOrder = netConfig.byteOrder; } // 保存手眼标定矩阵 @@ -174,14 +190,26 @@ void DialogAlgoArg::saveParams() // 先从已有配置中获取该相机的矩阵作为基础 VrHandEyeCalibMatrix calibMatrix; calibMatrix.cameraIndex = camIdx; - calibMatrix.eulerOrder = systemConfig.configResult.eulerOrder; + calibMatrix.eulerOrder = toolEulerOrder; + calibMatrix.rotX = toolRotX; + calibMatrix.rotY = toolRotY; + calibMatrix.rotZ = toolRotZ; + calibMatrix.offsetX = toolOffsetX; + calibMatrix.offsetY = toolOffsetY; + calibMatrix.offsetZ = toolOffsetZ; for (const auto& old : oldMatrixList) { if (old.cameraIndex == camIdx) { calibMatrix = old; break; } } - calibMatrix.eulerOrder = systemConfig.configResult.eulerOrder; + calibMatrix.eulerOrder = toolEulerOrder; + calibMatrix.rotX = toolRotX; + calibMatrix.rotY = toolRotY; + calibMatrix.rotZ = toolRotZ; + calibMatrix.offsetX = toolOffsetX; + calibMatrix.offsetY = toolOffsetY; + calibMatrix.offsetZ = toolOffsetZ; // 如果控件中有更新的数据则覆盖 bool isCalibrated = false; @@ -195,16 +223,6 @@ void DialogAlgoArg::saveParams() systemConfig.configResult.handEyeCalibMatrixList = newMatrixList; } - // 保存网络配置 - if (m_networkConfigWidget) { - NetworkConfigData netConfig = m_networkConfigWidget->getConfig(); - // 欧拉角旋转顺序由姿态输入/输出顺序决定 - netConfig.eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder); - systemConfig.configResult.eulerOrder = netConfig.eulerOrder; - systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert; - systemConfig.configResult.byteOrder = netConfig.byteOrder; - } - // 统一更新并保存到文件 configManager->UpdateFullConfig(systemConfig); QString configPath = PathManager::GetInstance().GetConfigFilePath(); @@ -330,44 +348,60 @@ void DialogAlgoArg::onSaveCalibRequested(int cameraIndex, const double* matrix) StyledMessageBox::information(this, "成功", "手眼标定参数已保存！"); } +// ========== 工具参数相关实现 ========== + +void DialogAlgoArg::InitToolExtrinsicTab() +{ + if (!ui || !m_presenter) return; + + m_toolExtrinsicWidget = new ToolExtrinsicWidget(this); + m_toolExtrinsicWidget->setTargetOffsetVisible(true); + ui->verticalLayout_toolExtrinsicHost->addWidget(m_toolExtrinsicWidget); + + loadToolExtrinsicConfig(); +} + +void DialogAlgoArg::loadToolExtrinsicConfig() +{ + if (!m_presenter || !m_toolExtrinsicWidget) return; + + ConfigManager* configManager = m_presenter->GetConfigManager(); + if (!configManager) return; + + ConfigResult configResult = configManager->GetConfigResult(); + int eulerOrder = configResult.eulerOrder; + double rotX = 0.0; + double rotY = 0.0; + double rotZ = 0.0; + double offsetX = 0.0; + double offsetY = 0.0; + double offsetZ = 0.0; + + if (!configResult.handEyeCalibMatrixList.empty()) { + const auto& toolConfig = configResult.handEyeCalibMatrixList.front(); + eulerOrder = toolConfig.eulerOrder; + rotX = toolConfig.rotX; + rotY = toolConfig.rotY; + rotZ = toolConfig.rotZ; + offsetX = toolConfig.offsetX; + offsetY = toolConfig.offsetY; + offsetZ = toolConfig.offsetZ; + } + + m_toolExtrinsicWidget->setData(eulerOrder, rotX, rotY, rotZ, offsetX, offsetY, offsetZ); +} + // ========== 网络配置相关实现 ========== void DialogAlgoArg::InitNetworkConfigTab() { if (!ui || !m_presenter) return; - // 创建网络配置控件：不显示PLC配置，不显示TCP配置 m_networkConfigWidget = new NetworkConfigWidget(false, false, this); ui->verticalLayout_networkConfigHost->addWidget(m_networkConfigWidget); + m_networkConfigWidget->setExtrinsicControlsVisible(false); + m_networkConfigWidget->setPoseOutputOrderVisible(true); - // 隐藏"欧拉角旋转顺序"和"输出欧拉角顺序"控件（本项目由姿态输入/输出顺序统一控制） - { - QList groups = m_networkConfigWidget->findChildren(); - for (QGroupBox* group : groups) { - if (group->title() == QStringLiteral("通信参数")) { - QFormLayout* form = qobject_cast(group->layout()); - if (form) { - for (int i = 0; i < form->rowCount(); ++i) { - QLayoutItem* labelItem = form->itemAt(i, QFormLayout::LabelRole); - if (labelItem && labelItem->widget()) { - QLabel* label = qobject_cast(labelItem->widget()); - if (label && (label->text().contains(QStringLiteral("欧拉角旋转顺序")) - || label->text().contains(QStringLiteral("输出欧拉角顺序")))) { - label->hide(); - QLayoutItem* fieldItem = form->itemAt(i, QFormLayout::FieldRole); - if (fieldItem && fieldItem->widget()) { - fieldItem->widget()->hide(); - } - } - } - } - } - break; - } - } - } - - // 加载当前配置 loadNetworkConfig(); } @@ -381,16 +415,12 @@ void DialogAlgoArg::loadNetworkConfig() ConfigResult configResult = configManager->GetConfigResult(); NetworkConfigData netConfig; - // 欧拉角旋转顺序由姿态输入/输出顺序统一控制 - // 从存储的 eulerOrder 反推 poseOutputOrder 用于UI显示 netConfig.eulerOrder = configResult.eulerOrder; if (!configResult.handEyeCalibMatrixList.empty()) { - netConfig.eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder; + netConfig.eulerOrder = configResult.handEyeCalibMatrixList.front().eulerOrder; } netConfig.poseOutputOrder = EulerOrderToPoseOutputOrder(netConfig.eulerOrder); - netConfig.dirVectorInvert = configResult.dirVectorInvert; netConfig.byteOrder = configResult.byteOrder; - netConfig.longAxisDir = configResult.longAxisDir; m_networkConfigWidget->setConfig(netConfig); } @@ -402,18 +432,14 @@ void DialogAlgoArg::saveNetworkConfig() ConfigManager* configManager = m_presenter->GetConfigManager(); if (!configManager) return; - NetworkConfigData netConfig = m_networkConfigWidget->getConfig(); - // 欧拉角旋转顺序由姿态输入/输出顺序决定 - netConfig.eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder); - // 获取当前完整配置并更新网络参数 + NetworkConfigData netConfig = m_networkConfigWidget->getConfig(); SystemConfig systemConfig = configManager->GetConfig(); - systemConfig.configResult.eulerOrder = netConfig.eulerOrder; - systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert; + const int eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder); + systemConfig.configResult.eulerOrder = eulerOrder; systemConfig.configResult.byteOrder = netConfig.byteOrder; - systemConfig.configResult.longAxisDir = netConfig.longAxisDir; for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) { - calibMatrix.eulerOrder = netConfig.eulerOrder; + calibMatrix.eulerOrder = eulerOrder; } // 更新并保存 diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.h b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.h index f98a93d8..b3bd89f6 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.h +++ b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.h @@ -10,6 +10,7 @@ class DialogAlgoArg; class RodAndBarPositionPresenter; class HandEyeCalibWidget; class NetworkConfigWidget; +class ToolExtrinsicWidget; /** * @brief 算法参数设置对话框 @@ -42,6 +43,10 @@ private: // 手眼标定 void InitHandEyeCalibTab(); + // 工具参数 + void InitToolExtrinsicTab(); + void loadToolExtrinsicConfig(); + // 网络配置 void InitNetworkConfigTab(); void loadNetworkConfig(); @@ -56,6 +61,9 @@ private: // 网络配置共享控件 NetworkConfigWidget* m_networkConfigWidget; + + // 工具参数共享控件 + ToolExtrinsicWidget* m_toolExtrinsicWidget; }; #endif // DIALOGALGOARG_H diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.ui b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.ui index 84175d41..03b8265f 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.ui +++ b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.ui @@ -6,7 +6,7 @@ 0 0 - 761 + 864 547 @@ -699,6 +699,25 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; + + + 工具参数 + + + + 10 + + + 10 + + + 10 + + + 10 + + + 网络配置 diff --git a/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h b/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h index cc53c74e..813bb0f9 100644 --- a/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h +++ b/App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h @@ -76,9 +76,7 @@ struct ConfigResult VrAlgorithmParams algorithmParams; // 算法参数 std::vector handEyeCalibMatrixList; // 多相机手眼标定矩阵列表 int eulerOrder = 11; // 欧拉角旋转顺序，默认11=外旋ZYX - int dirVectorInvert = 0; // 方向向量反向，默认0=不反向 int byteOrder = 0; // 数据字节序，默认0=大端序 - int longAxisDir = 0; // 目标物长边对应轴：0=X轴, 1=Y轴 // 显式赋值构造函数，确保正确的深拷贝 ConfigResult& operator=(const ConfigResult& other) { @@ -89,9 +87,7 @@ struct ConfigResult algorithmParams = other.algorithmParams; handEyeCalibMatrixList = other.handEyeCalibMatrixList; eulerOrder = other.eulerOrder; - dirVectorInvert = other.dirVectorInvert; byteOrder = other.byteOrder; - longAxisDir = other.longAxisDir; } return *this; } @@ -104,9 +100,7 @@ struct ConfigResult , algorithmParams(other.algorithmParams) , handEyeCalibMatrixList(other.handEyeCalibMatrixList) , eulerOrder(other.eulerOrder) - , dirVectorInvert(other.dirVectorInvert) - , byteOrder(other.byteOrder) - , longAxisDir(other.longAxisDir) { + , byteOrder(other.byteOrder) { } // 默认构造函数 diff --git a/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp b/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp index 611de2df..979fb497 100644 --- a/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp @@ -115,12 +115,10 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul if (networkElement) { networkElement->QueryIntAttribute("eulerOrder", &configResult.eulerOrder); - networkElement->QueryIntAttribute("dirVectorInvert", &configResult.dirVectorInvert); networkElement->QueryIntAttribute("byteOrder", &configResult.byteOrder); - networkElement->QueryIntAttribute("longAxisDir", &configResult.longAxisDir); - LOG_INFO("Network config: eulerOrder=%d, dirVectorInvert=%d, byteOrder=%d, longAxisDir=%d\n", - configResult.eulerOrder, configResult.dirVectorInvert, configResult.byteOrder, configResult.longAxisDir); + LOG_INFO("Network config: eulerOrder=%d, byteOrder=%d\n", + configResult.eulerOrder, configResult.byteOrder); } // 6. 解析手眼标定矩阵列表（支持多相机） @@ -194,9 +192,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu // 5. 保存网络参数 XMLElement* networkElement = doc.NewElement("NetworkConfig"); networkElement->SetAttribute("eulerOrder", configResult.eulerOrder); - networkElement->SetAttribute("dirVectorInvert", configResult.dirVectorInvert); networkElement->SetAttribute("byteOrder", configResult.byteOrder); - networkElement->SetAttribute("longAxisDir", configResult.longAxisDir); root->InsertEndChild(networkElement); // 6. 保存手眼标定矩阵列表（支持多相机） diff --git a/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml b/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml index d4e7f2d1..7e7a4b5a 100644 --- a/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml +++ b/App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml @@ -42,9 +42,9 @@ - + - +