轮胎检测增加TCP协议

App/WheelMeasure/Doc/TCP_Protocol.md

@@ -0,0 +1,131 @@
+# 轮眉测量 TCP/IP 通信协议
+
+## 概述
+
+- **协议类型**: TCP/IP 文本协议
+- **默认端口**: 5000（可在配置文件中修改）
+- **数据格式**: 纯文本，UTF-8编码
+- **通信模式**: 客户端-服务器模式（视觉系统作为服务器）
+
+## 协议格式
+
+### 1. 触发检测命令（客户端 → 服务器）
+
+```
+start,100
+```
+
+**格式说明**：
+- `start`: 命令关键字
+- `100`: 参数（当前未使用，保留用于扩展）
+
+**示例**：
+```
+start,100
+```
+
+### 2. 检测结果响应（服务器 → 客户端）
+
+#### 成功情况（所有相机检测成功）
+
+```
+1,100,200;2,100,200;3,100,200;4,100,200
+```
+
+**格式说明**：
+- 多个相机结果用分号 `;` 分隔
+- 每个相机结果格式：`相机ID,中心点到地面距离,轮眉到地面距离`
+  - `相机ID`: 1-4（对应4个相机）
+  - `中心点到地面距离`: 整数，单位mm
+  - `轮眉到地面距离`: 整数，单位mm
+
+**示例**：
+```
+1,150,250;2,148,252;3,151,249;4,149,251
+```
+表示：
+- 相机1：中心距离150mm，轮眉距离250mm
+- 相机2：中心距离148mm，轮眉距离252mm
+- 相机3：中心距离151mm，轮眉距离249mm
+- 相机4：中心距离149mm，轮眉距离251mm
+
+#### 失败情况（部分相机检测失败）
+
+```
+1,400;2,100,200;3,100,200;4,100,200
+```
+
+**错误码说明**：
+- `400`: 扫描/匹配失败
+- `401`: 工件为空
+
+**格式说明**：
+- 失败的相机只返回：`相机ID,错误码`
+- 成功的相机返回：`相机ID,中心距离,轮眉距离`
+
+**示例**：
+```
+1,400;2,150,250;3,401;4,149,251
+```
+表示：
+- 相机1：扫描失败（错误码400）
+- 相机2：成功，中心距离150mm，轮眉距离250mm
+- 相机3：工件为空（错误码401）
+- 相机4：成功，中心距离149mm，轮眉距离251mm
+
+## 通信流程
+
+```
+客户端                                    服务器（视觉系统）
+  |                                            |
+  |-------- start,100 ------------------------>|
+  |                                            |
+  |                                            | 触发所有相机顺序检测
+  |                                            | （相机1 → 相机2 → 相机3 → 相机4）
+  |                                            |
+  |<------- 1,150,250;2,148,252;... -----------|
+  |                                            |
+```
+
+**时序说明**：
+1. 客户端发送 `start,100` 命令
+2. 服务器收到命令后，依次触发所有启用的相机进行检测
+3. 所有相机检测完成后，服务器发送汇总结果
+4. 客户端接收结果并处理
+
+## 错误处理
+
+### 连接错误
+- 如果TCP连接断开，服务器会清除当前客户端的请求状态
+- 客户端需要重新连接并发送命令
+
+### 超时处理
+- 建议客户端设置接收超时（推荐60秒）
+- 如果超时未收到响应，可以重新发送命令
+
+### 数据解析
+- 客户端应验证返回数据格式
+- 检查相机ID是否在1-4范围内
+- 检查是否包含错误码（400/401）
+
+## 配置说明
+
+TCP服务器端口可在配置文件中修改：
+
+```xml
+<ServerList>
+    <Server>
+        <Name>TCPServer</Name>
+        <IP>0.0.0.0</IP>
+        <Port>5000</Port>
+    </Server>
+</ServerList>
+```
+
+## 注意事项
+
+1. **数据单位**：所有距离值单位为毫米（mm）
+2. **相机顺序**：相机ID固定为1-4，对应配置文件中的相机顺序
+3. **检测时间**：完整检测所有相机通常需要30-50秒，请设置合理的超时时间
+4. **并发限制**：服务器同时只处理一个检测请求，多个客户端连接时按先后顺序处理
+5. **数据精度**：返回的距离值已四舍五入为整数

App/WheelMeasure/WheelMeasureApp/Presenter/Src/WheelMeasurePresenter.cpp

@@ -73,8 +73,11 @@ int WheelMeasurePresenter::InitApp()
         }
     }
 
-    // 初始化TCP服务器
-    int tcpPort = 6800; // 默认端口
+    // 初始化TCP服务器（从配置读取端口）
+    int tcpPort = 5000; // 默认端口
+    if (!m_configResult.servers.empty()) {
+        tcpPort = m_configResult.servers[0].port;
+    }
     int tcpResult = m_tcpProtocol.Initialize(tcpPort);
     if (tcpResult != 0) {
         LOG_ERROR("Failed to initialize TCP server on port %d, error code: %d\n", tcpPort, tcpResult);
@@ -306,6 +309,9 @@ void WheelMeasurePresenter::StartAllDetection()
 
     LOG_INFO("Sequential detection started, total cameras: %d\n", m_sequentialTotalCount);
 
+
+    m_statusUpdate->OnStatusUpdate(QString("开始所有设备的检测"));
+
     // 开始检测第一个设备
     continueSequentialDetection();
 }
@@ -517,7 +523,7 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
     SSG_lineSegParam lineSegParam;
     lineSegParam.segGapTh_y = m_configResult.algorithmParams.lineSegParam.segGapTh_y;
     lineSegParam.segGapTh_z = m_configResult.algorithmParams.lineSegParam.segGapTh_z;
-    lineSegParam.maxDist = m_configResult.algorithmParams.lineSegParam.maxDist;
+    lineSegParam.distScale = m_configResult.algorithmParams.lineSegParam.maxDist;
 
     SSG_outlierFilterParam filterParam;
     filterParam.continuityTh = m_configResult.algorithmParams.filterParam.continuityTh;
@@ -531,7 +537,79 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
     growParam.minLTypeTreeLen = m_configResult.algorithmParams.growParam.minLTypeTreeLen;
     growParam.minVTypeTreeLen = m_configResult.algorithmParams.growParam.minVTypeTreeLen;
 
-    // 3. 准备调平参数（使用当前相机的调平参数）
+    // 3. 查找当前相机的调平参数（用于后续的ROI检测和调平处理）
+    WheelCameraPlaneCalibParam* calibParam = getPlaneCalibParam(m_currentCameraIndex);
+
+    // 3.5. 调用轮胎存在检测（使用ROI范围过滤）- 在调平处理之前
+    SVzNL3DRangeD wheelRoi3d;
+    if (calibParam) {
+        // 使用当前相机配置的ROI范围
+        wheelRoi3d.xRange.min = calibParam->wheelRoi3d_xMin;
+        wheelRoi3d.xRange.max = calibParam->wheelRoi3d_xMax;
+        wheelRoi3d.yRange.min = calibParam->wheelRoi3d_yMin;
+        wheelRoi3d.yRange.max = calibParam->wheelRoi3d_yMax;
+        wheelRoi3d.zRange.min = calibParam->wheelRoi3d_zMin;
+        wheelRoi3d.zRange.max = calibParam->wheelRoi3d_zMax;
+
+        LOG_INFO("Using ROI range for wheel presence detection:\n");
+        LOG_INFO("  X: [%.1f, %.1f], Y: [%.1f, %.1f], Z: [%.1f, %.1f]\n",
+                 wheelRoi3d.xRange.min, wheelRoi3d.xRange.max,
+                 wheelRoi3d.yRange.min, wheelRoi3d.yRange.max,
+                 wheelRoi3d.zRange.min, wheelRoi3d.zRange.max);
+    } else {
+        // 使用默认ROI范围
+        wheelRoi3d.xRange.min = -1000.0;
+        wheelRoi3d.xRange.max = 1000.0;
+        wheelRoi3d.yRange.min = -1000.0;
+        wheelRoi3d.yRange.max = 1000.0;
+        wheelRoi3d.zRange.min = -1000.0;
+        wheelRoi3d.zRange.max = 1000.0;
+
+        LOG_INFO("Using default ROI range for wheel presence detection: ±1000.0 mm\n");
+    }
+
+    // 调用轮胎存在检测
+    bool wheelPresent = wd_wheelPresenseDetection(scanLines, wheelRoi3d);
+    LOG_INFO("Wheel presence detection result: %s\n", wheelPresent ? "PRESENT" : "NOT PRESENT");
+
+    if (!wheelPresent) {
+        LOG_WARNING("No wheel detected in ROI range, skipping measurement\n");
+        if (m_statusUpdate) {
+            m_statusUpdate->OnStatusUpdate(QString("未检测到轮胎，请检查ROI范围配置"));
+        }
+
+        // 如果是TCP触发的检测，缓存401错误结果
+        if (m_tcpDetectionMode) {
+            WheelMeasureTCPProtocol::CameraMeasureResult tcpResult;
+            tcpResult.cameraId = m_currentCameraIndex;
+            tcpResult.errorCode = 401; // 工件为空
+            tcpResult.centerDistance = 0.0;
+            tcpResult.archDistance = 0.0;
+            m_tcpResults[m_currentCameraIndex] = tcpResult;
+            LOG_INFO("TCP检测结果已缓存: 相机%d, 错误码=401 (未检测到轮胎)\n", m_currentCameraIndex);
+        }
+
+        // 如果正在进行顺序检测，继续检测下一个设备
+        if (m_sequentialDetecting) {
+            m_sequentialCurrentIndex++;
+
+            // TCP模式下，检查是否所有相机都检测完成
+            if (m_tcpDetectionMode && m_tcpResults.size() >= m_sequentialTotalCount) {
+                LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
+                m_sequentialDetecting = false;
+                sendTCPMeasureResults();
+            } else {
+                // 继续检测下一个设备
+                QMetaObject::invokeMethod(this, [this]() {
+                    continueSequentialDetection();
+                }, Qt::QueuedConnection);
+            }
+        }
+
+        return;
+    }
+
+    // 4. 准备调平参数并执行调平处理（使用当前相机的调平参数）
     SSG_planeCalibPara groundCalibPara;
     memset(&groundCalibPara, 0, sizeof(groundCalibPara));
 
@@ -544,8 +622,6 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
     groundCalibPara.invRMatrix[8] = 1.0;
     groundCalibPara.planeHeight = 0.0;
 
-    // 查找当前相机的调平参数
-    WheelCameraPlaneCalibParam* calibParam = getPlaneCalibParam(m_currentCameraIndex);
     if (calibParam && calibParam->isCalibrated) {
         for (int i = 0; i < 9; ++i) {
             groundCalibPara.planeCalib[i] = calibParam->planeCalib[i];
@@ -568,8 +644,7 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
         LOG_WARN("No calibration data for camera %d, using default parameters\n", m_currentCameraIndex);
     }
 
-
-    // 4. 调用算法
+    // 5. 调用算法
     int errCode = 0;
     LOG_INFO("Calling wd_wheelArchHeigthMeasure...\n");
 
@@ -756,13 +831,19 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
     // 如果正在进行顺序检测，继续检测下一个设备
     if (m_sequentialDetecting) {
         m_sequentialCurrentIndex++;
+
+        // TCP模式下，检查是否所有相机都检测完成
+        if (m_tcpDetectionMode && m_tcpResults.size() >= m_sequentialTotalCount) {
+            LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
+            // 先结束顺序检测
+            m_sequentialDetecting = false;
+            // 发送TCP结果
+            sendTCPMeasureResults();
+        } else {
+            // 继续检测下一个设备
             QMetaObject::invokeMethod(this, [this]() {
                 continueSequentialDetection();
             }, Qt::QueuedConnection);
-    } else if (m_tcpDetectionMode) {
-        // TCP模式下，检查是否所有相机都检测完成
-        if (m_tcpResults.size() >= m_sequentialTotalCount) {
-            sendTCPMeasureResults();
         }
     }
 }

App/WheelMeasure/WheelMeasureApp/Version.h

@@ -3,7 +3,7 @@
 
 
 #define WHEELMEASURE_VERSION_STRING "1.0.1"
-#define WHEELMEASURE_BUILD_STRING "5"
+#define WHEELMEASURE_BUILD_STRING "6"
 #define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING
 
 // 获取版本信息的便捷函数

App/WheelMeasure/WheelMeasureApp/WheelMeasureApp.pro

@@ -27,6 +27,7 @@ INCLUDEPATH += ../../../Utils/VrCommon/Inc
 INCLUDEPATH += ../../../AppUtils/UICommon/Inc
 INCLUDEPATH += ../../../Utils/CloudUtils/Inc
 INCLUDEPATH += ../../../AppUtils/AppCommon/Inc
+INCLUDEPATH += ../../../Module/AuthModule/Inc
 
 INCLUDEPATH += ../../../SDK/Device/VzNLSDK/Inc
 INCLUDEPATH += ../../../AppAlgo/wheelArchHeigthMeasure/Inc
@@ -40,6 +41,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../AppUtils/UICommon/debug      -lUICommon
     LIBS += -L../../../Utils/CloudUtils/debug       -lCloudUtils
     LIBS += -L../../../AppUtils/AppCommon/debug     -lAppCommon
+    LIBS += -L../../../Module/AuthModule/debug      -lAuthModule
     LIBS += -L../../../Module/ModbusTCPServer/debug -lModbusTCPServer
     LIBS += -L../../../VrNets/debug                 -lVrModbus
 } else:win32:CONFIG(release, debug|release) {
@@ -50,6 +52,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../AppUtils/UICommon/release      -lUICommon
     LIBS += -L../../../Utils/CloudUtils/release       -lCloudUtils
     LIBS += -L../../../AppUtils/AppCommon/release     -lAppCommon
+    LIBS += -L../../../Module/AuthModule/release      -lAuthModule
     LIBS += -L../../../Module/ModbusTCPServer/release -lModbusTCPServer
     LIBS += -L../../../VrNets/release                 -lVrModbus
 }else:unix:!macx {
@@ -57,6 +60,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../WheelMeasureConfig          -lWheelMeasureConfig
     LIBS += -L../../../AppUtils/AppCommon    -lAppCommon
     LIBS += -L../../../AppUtils/UICommon     -lUICommon
+    LIBS += -L../../../Module/AuthModule     -lAuthModule
     LIBS += -L../../../Utils/CloudUtils      -lCloudUtils
     LIBS += -L../../../Device/VrEyeDevice    -lVrEyeDevice
     LIBS += -L../../../VrNets                -lVrTcpClient -lVrTcpServer

App/WheelMeasure/WheelMeasureApp/dialogcameralevel.cpp

@@ -71,6 +71,7 @@ void DialogCameraLevel::setConfig(IVrWheelMeasureConfig* config, WheelMeasureCon
     // 修复：打开页面时配置可能在相机列表之后设置，导致初始加载失败
     if (m_currentCameraIndex >= 0 && m_currentCameraIndex < static_cast<int>(m_cameraList.size())) {
         checkAndDisplayCalibrationStatus(m_currentCameraIndex);
+        loadCameraRoiRange(m_currentCameraIndex);
     }
 }
 
@@ -614,6 +615,7 @@ void DialogCameraLevel::on_combo_camera_currentIndexChanged(int index)
                  QString::fromStdString(m_cameraList[index].first).toUtf8().constData());
 
         checkAndDisplayCalibrationStatus(m_currentCameraIndex);
+        loadCameraRoiRange(m_currentCameraIndex);
     } else {
         LOG_WARNING("Invalid camera index selected: %d\n", index);
         ui->label_level_result->setText("无效的相机选择");
@@ -703,3 +705,129 @@ void DialogCameraLevel::on_btn_save_compensation_clicked()
         LOG_ERROR("Failed to save error compensation\n");
     }
 }
+
+void DialogCameraLevel::loadCameraRoiRange(int cameraIndex)
+{
+    if (!m_pConfig || !m_pConfigResult) {
+        LOG_WARNING("Config is null, cannot load ROI range\n");
+        return;
+    }
+
+    if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
+        LOG_WARNING("Invalid camera index: %d\n", cameraIndex);
+        return;
+    }
+
+    int configCameraIndex = cameraIndex + 1;  // 转换为1-based索引
+
+    // 查找相机的调平参数
+    for (const auto& param : m_pConfigResult->planeCalibParams) {
+        if (param.cameraIndex == configCameraIndex) {
+            // 加载ROI范围到UI
+            ui->edit_roi_x_min->setText(QString::number(param.wheelRoi3d_xMin, 'f', 1));
+            ui->edit_roi_x_max->setText(QString::number(param.wheelRoi3d_xMax, 'f', 1));
+            ui->edit_roi_y_min->setText(QString::number(param.wheelRoi3d_yMin, 'f', 1));
+            ui->edit_roi_y_max->setText(QString::number(param.wheelRoi3d_yMax, 'f', 1));
+            ui->edit_roi_z_min->setText(QString::number(param.wheelRoi3d_zMin, 'f', 1));
+            ui->edit_roi_z_max->setText(QString::number(param.wheelRoi3d_zMax, 'f', 1));
+
+            LOG_INFO("Loaded ROI range for camera %d: X[%.1f, %.1f], Y[%.1f, %.1f], Z[%.1f, %.1f]\n",
+                     configCameraIndex,
+                     param.wheelRoi3d_xMin, param.wheelRoi3d_xMax,
+                     param.wheelRoi3d_yMin, param.wheelRoi3d_yMax,
+                     param.wheelRoi3d_zMin, param.wheelRoi3d_zMax);
+            return;
+        }
+    }
+
+    // 如果没有找到，使用默认值
+    ui->edit_roi_x_min->setText("-1000.0");
+    ui->edit_roi_x_max->setText("1000.0");
+    ui->edit_roi_y_min->setText("-1000.0");
+    ui->edit_roi_y_max->setText("1000.0");
+    ui->edit_roi_z_min->setText("-1000.0");
+    ui->edit_roi_z_max->setText("1000.0");
+    LOG_INFO("No ROI range found for camera %d, using default values\n", configCameraIndex);
+}
+
+void DialogCameraLevel::saveCameraRoiRange()
+{
+    if (!m_pConfig || !m_pConfigResult) {
+        LOG_ERROR("Config is null, cannot save ROI range\n");
+        QMessageBox::warning(this, "错误", "配置对象为空，无法保存ROI范围");
+        return;
+    }
+
+    if (m_currentCameraIndex < 0 || m_currentCameraIndex >= static_cast<int>(m_cameraList.size())) {
+        LOG_WARNING("Invalid camera index: %d\n", m_currentCameraIndex);
+        QMessageBox::warning(this, "错误", "请先选择相机");
+        return;
+    }
+
+    // 获取UI中的ROI范围值
+    double xMin = ui->edit_roi_x_min->text().toDouble();
+    double xMax = ui->edit_roi_x_max->text().toDouble();
+    double yMin = ui->edit_roi_y_min->text().toDouble();
+    double yMax = ui->edit_roi_y_max->text().toDouble();
+    double zMin = ui->edit_roi_z_min->text().toDouble();
+    double zMax = ui->edit_roi_z_max->text().toDouble();
+
+    // 验证范围有效性
+    if (xMin >= xMax || yMin >= yMax || zMin >= zMax) {
+        QMessageBox::warning(this, "错误", "ROI范围无效：最小值必须小于最大值");
+        return;
+    }
+
+    int cameraIndex = m_currentCameraIndex + 1;  // 转换为1-based索引
+    QString cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
+
+    LOG_INFO("Saving ROI range for camera %d (%s): X[%.1f, %.1f], Y[%.1f, %.1f], Z[%.1f, %.1f]\n",
+             cameraIndex, cameraName.toUtf8().constData(),
+             xMin, xMax, yMin, yMax, zMin, zMax);
+
+    // 查找或创建相机调平参数
+    bool found = false;
+    for (auto& param : m_pConfigResult->planeCalibParams) {
+        if (param.cameraIndex == cameraIndex) {
+            param.wheelRoi3d_xMin = xMin;
+            param.wheelRoi3d_xMax = xMax;
+            param.wheelRoi3d_yMin = yMin;
+            param.wheelRoi3d_yMax = yMax;
+            param.wheelRoi3d_zMin = zMin;
+            param.wheelRoi3d_zMax = zMax;
+            found = true;
+            break;
+        }
+    }
+
+    // 如果没有找到现有记录，创建一个新的
+    if (!found) {
+        WheelCameraPlaneCalibParam newParam;
+        newParam.cameraIndex = cameraIndex;
+        newParam.cameraName = cameraName.toStdString();
+        newParam.wheelRoi3d_xMin = xMin;
+        newParam.wheelRoi3d_xMax = xMax;
+        newParam.wheelRoi3d_yMin = yMin;
+        newParam.wheelRoi3d_yMax = yMax;
+        newParam.wheelRoi3d_zMin = zMin;
+        newParam.wheelRoi3d_zMax = zMax;
+        newParam.isCalibrated = false;  // 尚未标定
+        m_pConfigResult->planeCalibParams.push_back(newParam);
+    }
+
+    // 保存配置到文件
+    QString configPath = PathManager::GetInstance().GetConfigFilePath();
+    bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
+    if (saveResult) {
+        LOG_INFO("ROI range saved successfully for camera %d\n", cameraIndex);
+        QMessageBox::information(this, "成功", "ROI范围已保存");
+    } else {
+        LOG_ERROR("Failed to save ROI range\n");
+        QMessageBox::critical(this, "错误", "保存ROI范围失败");
+    }
+}
+
+void DialogCameraLevel::on_btn_save_roi_clicked()
+{
+    saveCameraRoiRange();
+}

App/WheelMeasure/WheelMeasureApp/dialogcameralevel.h

@@ -49,6 +49,7 @@ private slots:
     void on_btn_cancel_clicked();
     void on_combo_camera_currentIndexChanged(int index);
     void on_btn_save_compensation_clicked();
+    void on_btn_save_roi_clicked();
 
 private:
     Ui::DialogCameraLevel *ui;
@@ -113,6 +114,10 @@ private:
 
     // 检查并显示相机标定状态
     void checkAndDisplayCalibrationStatus(int cameraIndex);
+
+    // 加载和保存ROI范围
+    void loadCameraRoiRange(int cameraIndex);
+    void saveCameraRoiRange();
 };
 
 #endif // DIALOGCAMERALEVEL_H

App/WheelMeasure/WheelMeasureApp/dialogcameralevel.ui

@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>659</width>
-    <height>453</height>
+    <height>599</height>
    </rect>
   </property>
   <property name="windowTitle">
@@ -65,7 +65,7 @@
    <property name="geometry">
     <rect>
      <x>170</x>
-     <y>400</y>
+     <y>550</y>
      <width>101</width>
      <height>38</height>
     </rect>
@@ -86,7 +86,7 @@
    <property name="geometry">
     <rect>
      <x>380</x>
-     <y>400</y>
+     <y>550</y>
      <width>111</width>
      <height>38</height>
     </rect>
@@ -300,6 +300,454 @@ QPushButton:pressed {
     </item>
    </layout>
   </widget>
+  <widget class="QGroupBox" name="groupBox_roi">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>390</y>
+     <width>621</width>
+     <height>150</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>14</pointsize>
+    </font>
+   </property>
+   <property name="styleSheet">
+    <string notr="true">QGroupBox {
+    color: rgb(221, 225, 233);
+    border: 1px solid #3B3D47;
+    border-radius: 4px;
+    margin-top: 10px;
+    padding-top: 10px;
+}
+QGroupBox::title {
+    subcontrol-origin: margin;
+    subcontrol-position: top left;
+    padding: 0 5px;
+}</string>
+   </property>
+   <property name="title">
+    <string>轮胎存在检测ROI范围 (mm)</string>
+   </property>
+   <layout class="QGridLayout" name="gridLayout_roi">
+    <property name="leftMargin">
+     <number>15</number>
+    </property>
+    <property name="rightMargin">
+     <number>15</number>
+    </property>
+    <item row="1" column="2">
+     <widget class="QLabel" name="label_to_2">
+      <property name="minimumSize">
+       <size>
+        <width>20</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>20</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);</string>
+      </property>
+      <property name="text">
+       <string>~</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="1">
+     <widget class="QLineEdit" name="edit_roi_z_min">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+      </property>
+      <property name="text">
+       <string>-1000.0</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="4">
+     <widget class="QPushButton" name="btn_save_roi">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>35</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>35</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>14</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">QPushButton {
+    color: rgb(221, 225, 233);
+    background-color: rgb(60, 63, 65);
+    border: 1px solid #3B3D47;
+    border-radius: 4px;
+}
+QPushButton:hover {
+    background-color: rgb(80, 83, 85);
+}
+QPushButton:pressed {
+    background-color: rgb(45, 48, 50);
+}</string>
+      </property>
+      <property name="text">
+       <string>保存</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="3">
+     <widget class="QLineEdit" name="edit_roi_z_max">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+      </property>
+      <property name="text">
+       <string>500.0</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="0">
+     <widget class="QLabel" name="label_x_range">
+      <property name="minimumSize">
+       <size>
+        <width>70</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>70</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);</string>
+      </property>
+      <property name="text">
+       <string>X范围：</string>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="0">
+     <widget class="QLabel" name="label_z_range">
+      <property name="minimumSize">
+       <size>
+        <width>70</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>70</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);</string>
+      </property>
+      <property name="text">
+       <string>Z范围：</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="1">
+     <widget class="QLineEdit" name="edit_roi_x_min">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+      </property>
+      <property name="text">
+       <string>-500.0</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="2" column="2">
+     <widget class="QLabel" name="label_to_3">
+      <property name="minimumSize">
+       <size>
+        <width>20</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>20</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);</string>
+      </property>
+      <property name="text">
+       <string>~</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="2">
+     <widget class="QLabel" name="label_to_1">
+      <property name="minimumSize">
+       <size>
+        <width>20</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>20</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);</string>
+      </property>
+      <property name="text">
+       <string>~</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="3">
+     <widget class="QLineEdit" name="edit_roi_y_max">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+      </property>
+      <property name="text">
+       <string>1000.0</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="3">
+     <widget class="QLineEdit" name="edit_roi_x_max">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+      </property>
+      <property name="text">
+       <string>1000.0</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="1">
+     <widget class="QLineEdit" name="edit_roi_y_min">
+      <property name="minimumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>80</width>
+        <height>30</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);
+background-color: rgb(47, 48, 52);</string>
+      </property>
+      <property name="text">
+       <string>-1000.0</string>
+      </property>
+      <property name="alignment">
+       <set>Qt::AlignCenter</set>
+      </property>
+     </widget>
+    </item>
+    <item row="1" column="0">
+     <widget class="QLabel" name="label_y_range">
+      <property name="minimumSize">
+       <size>
+        <width>70</width>
+        <height>0</height>
+       </size>
+      </property>
+      <property name="maximumSize">
+       <size>
+        <width>70</width>
+        <height>16777215</height>
+       </size>
+      </property>
+      <property name="font">
+       <font>
+        <pointsize>13</pointsize>
+       </font>
+      </property>
+      <property name="styleSheet">
+       <string notr="true">color: rgb(221, 225, 233);</string>
+      </property>
+      <property name="text">
+       <string>Y范围：</string>
+      </property>
+     </widget>
+    </item>
+    <item row="0" column="5" rowspan="3">
+     <spacer name="horizontalSpacer_roi">
+      <property name="orientation">
+       <enum>Qt::Horizontal</enum>
+      </property>
+      <property name="sizeHint" stdset="0">
+       <size>
+        <width>40</width>
+        <height>20</height>
+       </size>
+      </property>
+     </spacer>
+    </item>
+   </layout>
+  </widget>
  </widget>
  <resources/>
  <connections/>

App/WheelMeasure/WheelMeasureApp/main.cpp

@@ -2,6 +2,7 @@
 #include "IWheelMeasureStatus.h"
 #include "IVrWheelMeasureConfig.h"
 #include "CrashHandler.h"
+#include "AuthView.h"
 
 #include <QApplication>
 #include <QMetaType>
@@ -69,6 +70,12 @@ int main(int argc, char *argv[])
         return 0;
     }
 
+    // 检查授权，无授权则显示授权对话框
+    if (!AuthView::CheckAndShow(nullptr)) {
+        // 用户取消授权或授权失败，退出程序
+        return 0;
+    }
+
     MainWindow w;
     w.show();
     return a.exec();

App/WheelMeasure/WheelMeasureApp/mainwindow.cpp

@@ -531,6 +531,8 @@ void MainWindow::OnDeviceStatusChanged(const QString &deviceName, int deviceStat
 
 void MainWindow::OnClearMeasureData()
 {
+    if (m_logHelper) m_logHelper->clearLog();
+
     if (m_measureResultWidget) {
         m_measureResultWidget->clearAllResults();
     }

App/WheelMeasure/WheelMeasureConfig/Inc/IVrWheelMeasureConfig.h

@@ -28,7 +28,7 @@ struct WheelServerInfo
 {
     std::string name;      // 服务器名称
     std::string ip;        // 服务器IP地址
-    int port = 5800;       // 服务器端口
+    int port = 5000;       // 服务器端口
 };
 
 /**
@@ -62,6 +62,14 @@ struct WheelCameraPlaneCalibParam
     double invRMatrix[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};  // 逆旋转矩阵（回到原坐标系）
     bool isCalibrated = false;          // 是否已标定
     double errorCompensation = -5.0;    // 误差补偿（mm）
+
+    // 轮胎存在检测的3D ROI范围
+    double wheelRoi3d_xMin = -1000.0;    // X方向最小值（mm）
+    double wheelRoi3d_xMax = 1000.0;     // X方向最大值（mm）
+    double wheelRoi3d_yMin = -1000.0;    // Y方向最小值（mm）
+    double wheelRoi3d_yMax = 1000.0;     // Y方向最大值（mm）
+    double wheelRoi3d_zMin = -1000.0;    // Z方向最小值（mm）
+    double wheelRoi3d_zMax = 1000.0;     // Z方向最大值（mm）
 };
 
 /**
@@ -168,6 +176,8 @@ struct WheelMeasureResult
     QImage image;                       // 图像
     bool bImageValid = false;           // 图像是否有效
     bool bResultValid = false;          // 结果是否有效
+    int errorCode = 0;                  // 错误码（0表示成功，401表示工件为空）
+    QString errorMessage = "";          // 错误信息
     std::vector<WheelMeasureData> result; // 测量结果列表
 };
 

App/WheelMeasure/WheelMeasureConfig/Src/VrWheelMeasureConfig.cpp

@@ -91,6 +91,24 @@ WheelMeasureConfigResult VrWheelMeasureConfig::LoadConfig(const std::string& fil
                         calibParam.errorCompensation = -5.0;
                     }
 
+                    // 读取轮胎存在检测的3D ROI范围
+                    if (xml.attributes().hasAttribute("wheelRoi3d_xMin")) {
+                        calibParam.wheelRoi3d_xMin = xml.attributes().value("wheelRoi3d_xMin").toDouble();
+                        calibParam.wheelRoi3d_xMax = xml.attributes().value("wheelRoi3d_xMax").toDouble();
+                        calibParam.wheelRoi3d_yMin = xml.attributes().value("wheelRoi3d_yMin").toDouble();
+                        calibParam.wheelRoi3d_yMax = xml.attributes().value("wheelRoi3d_yMax").toDouble();
+                        calibParam.wheelRoi3d_zMin = xml.attributes().value("wheelRoi3d_zMin").toDouble();
+                        calibParam.wheelRoi3d_zMax = xml.attributes().value("wheelRoi3d_zMax").toDouble();
+                    } else {
+                        // 默认值
+                        calibParam.wheelRoi3d_xMin = -1000.0;
+                        calibParam.wheelRoi3d_xMax = 1000.0;
+                        calibParam.wheelRoi3d_yMin = -1000.0;
+                        calibParam.wheelRoi3d_yMax = 1000.0;
+                        calibParam.wheelRoi3d_zMin = -1000.0;
+                        calibParam.wheelRoi3d_zMax = 1000.0;
+                    }
+
                     // 读取planeCalib矩阵
                     QString planeCalibStr = xml.attributes().value("planeCalib").toString();
                     QStringList planeCalibList = planeCalibStr.split(",");
@@ -330,6 +348,14 @@ bool VrWheelMeasureConfig::SaveConfig(const std::string& filePath, WheelMeasureC
         xml.writeAttribute("isCalibrated", QString::number(calibParam.isCalibrated ? 1 : 0));
         xml.writeAttribute("errorCompensation", QString::number(calibParam.errorCompensation, 'f', 2));
 
+        // 保存轮胎存在检测的3D ROI范围
+        xml.writeAttribute("wheelRoi3d_xMin", QString::number(calibParam.wheelRoi3d_xMin, 'f', 2));
+        xml.writeAttribute("wheelRoi3d_xMax", QString::number(calibParam.wheelRoi3d_xMax, 'f', 2));
+        xml.writeAttribute("wheelRoi3d_yMin", QString::number(calibParam.wheelRoi3d_yMin, 'f', 2));
+        xml.writeAttribute("wheelRoi3d_yMax", QString::number(calibParam.wheelRoi3d_yMax, 'f', 2));
+        xml.writeAttribute("wheelRoi3d_zMin", QString::number(calibParam.wheelRoi3d_zMin, 'f', 2));
+        xml.writeAttribute("wheelRoi3d_zMax", QString::number(calibParam.wheelRoi3d_zMax, 'f', 2));
+
         // 保存planeCalib矩阵
         QStringList planeCalibList;
         for (int i = 0; i < 9; ++i) {

AppAlgo/wheelArchHeigthMeasure/Inc/SG_baseDataType.h

@@ -25,6 +25,26 @@ typedef struct
 	double yawAngle;   //偏转角：绕Z轴的偏转, 弧度
 }SSG_6AxisAttitude;
 
+typedef struct
+{
+	double x;
+	double y;
+	double z;
+}SWD3DPoint;
+
+typedef struct
+{
+	int lineIdx;
+	int ptIdx;
+	SWD3DPoint point;
+}SWDIndexing3DPoint;
+
+typedef struct
+{
+	int start;
+	int end;
+}SWD_Interval;  //区间
+
 typedef struct
 {
 	bool validFlag;  //指示结果是否有效
@@ -41,6 +61,12 @@ typedef enum
 	keSG_PoseSorting_T2B_L2R,           ///从上到下，从左到右排序
 } ESG_poseSortingMode;
 
+typedef enum
+{
+	KeWD_Mask_ValidPt = 0,
+	KeWD_Mask_NullPt,
+}EWD_maskMode;
+
 typedef struct
 {
 	int data_0;
@@ -48,6 +74,13 @@ typedef struct
 	int idx;
 }SSG_intPair;
 
+typedef struct
+{
+	int flag;
+	int validFlag;
+	int clusterID;
+}SSG_clusterLabel;
+
 typedef struct
 {
 	int featurType;
@@ -67,6 +100,18 @@ typedef struct
 	double bottom;
 }SSG_ROIRectD;
 
+typedef struct
+{
+	double width;
+	double height;
+}SSG_size2D;
+
+typedef struct
+{
+	SVzNL3DPoint center;
+	double radius;
+}SWD_HoleInfo;
+
 struct HSV {
 	double h; // 色相 (0-360)
 	double s; // 饱和度 (0-1)
@@ -172,9 +217,16 @@ typedef struct
 {
 	double segGapTh_y;  //y方向连续段门限。大于此门限，为不连续
 	double segGapTh_z;  //z方向连续段门限。大于此门限，为不连续
-	double maxDist;  //计算方向角的窗口比例尺
+	double distScale;  //计算方向角的窗口比例尺
 }SSG_lineSegParam;
 
+typedef struct
+{
+	double minJumpZ;  //z方向跳变门限
+	double minK;  //跳变的最小斜率
+	SVzNLRangeD widthRange;  //z方向连续段门限。大于此门限，为不连续
+}SSG_raisedFeatureParam;
+
 typedef struct
 {
 	double scale_angle;  //计算方向角的窗口比例尺
@@ -202,6 +254,7 @@ typedef struct
 	int endPtIdx;
 	SVzNL3DPoint startPt;
 	SVzNL3DPoint endPt;
+	double featureValue;
 }SWD_segFeature;
 
 typedef struct
@@ -394,9 +447,9 @@ typedef struct
 
 typedef struct
 {
-	SVzNL3DPoint opCenter;  //定子中心位置
-	double objR;
-}SWD_motorStatorPosition;
+	int objID;
+	SSG_6DOF opCenter;  //定子中心位置
+}SWD_statorInnerGrasper;
 
 typedef struct
 {
@@ -479,6 +532,20 @@ typedef struct
 	double invRMatrix[9];  //旋转矩阵，回到原坐标系
 }SSG_planeCalibPara;
 
+typedef struct
+{
+	int pkId;
+	int lineIdx;
+	int ptIdx;
+	int cptIndex;  //圆周扫描上的点序
+	//double cornerAngle;  //以点为中心的两侧弦的夹角
+	double R;
+	double angle;
+	double x;
+	double y;
+	double z;
+}SWD_polarPt;
+
 typedef struct
 {
 	int pntIdx;
@@ -494,6 +561,18 @@ typedef struct
 	double backward_z;
 }SSG_pntDirAngle;
 
+typedef struct
+{
+	double forwardAngle;  //前向角
+	double backwardAngle;  //后向角
+	double corner; //拐角
+	int pntIdx;
+	int forward_pntIdx;
+	int backward_pntIdx;
+	int flag;
+	SWD_polarPt point;
+}SSG_dirCornerAngle;
+
 // 图像数据结构
 typedef struct {
 	int width;
@@ -515,20 +594,6 @@ typedef struct
 	SVzNL3DPoint pt2;
 }SWD_3DPointPair;
 
-typedef struct
-{
-	int pkId;
-	int lineIdx;
-	int ptIdx;
-	int cptIndex;  //圆周扫描上的点序
-	//double cornerAngle;  //以点为中心的两侧弦的夹角
-	double R;
-	double angle;
-	double x;
-	double y;
-	double z;
-}SWD_polarPt;
-
 typedef struct
 {
 	int cptIndex;
@@ -536,6 +601,8 @@ typedef struct
 	int L2_ptIndex;
 	double cornerAngle;
 	int cornerDir;
+	int flag;
+	SWD_polarPt point;
 }SWD_polarPeakInfo;
 
 typedef struct

AppAlgo/wheelArchHeigthMeasure/Inc/SG_errCode.h

@@ -7,6 +7,9 @@
 #define SG_ERR_LABEL_INFO_ERROR		-1004
 #define SG_ERR_INVLD_SORTING_MODE	-1005
 #define SG_ERR_INVLD_Q_SCALE		-1006
+#define SG_ERR_ZERO_OBJECTS			-1007
+#define SG_ERR_LASER_DIR_NOT_SUPPORTED	-1008
+#define SG_ERR_SCAN_DIR_NOT_SUPPORTED	-1009
 
 //BQ_workpiece
 #define SX_ERR_INVLD_VTREE_NUM		-2001
@@ -20,7 +23,9 @@
 
 //定子抓取
 #define SX_ERR_INVLID_CUTTING_Z		-2101
-#define SX_ERR_ZERO_OBJ				-2102
+#define SX_ERR_ZERO_OBJ_TOPLAYER	-2102
+#define SX_ERR_ZERO_OBJ_BTMLAYER	-2103
+#define SX_ERR_GET_INVALID_PALTE	-2104  //¸ô°åÌáÈ¡´íÎó
 
 //拆包
 #define SX_BAG_TRAY_EMPTY			-2201
@@ -28,3 +33,6 @@
 //汽车轮眉高度测量
 #define SX_ERR_INVALID_ARC			-2301
 
+//ÌÇ´ü×Ó²ðÏß
+#define SX_ERR_NO_MARK				-2401
+

AppAlgo/wheelArchHeigthMeasure/Inc/wheelArchHeigthMeasure_Export.h

@@ -33,6 +33,11 @@ SG_APISHARED_EXPORT void wd_horizonCamera_lineDataR(
 	const double* camPoseR,
 	double groundH);
 
+//相机水平时姿态调平，并去除地面
+SG_APISHARED_EXPORT bool wd_wheelPresenseDetection(
+	std::vector<std::vector< SVzNL3DPosition>>& scanLine,
+	const SVzNL3DRangeD wheelRoi3d);
+
 //提取工件角点及定位长度信息
 SG_APISHARED_EXPORT WD_wheelArchInfo wd_wheelArchHeigthMeasure(
 	std::vector< std::vector<SVzNL3DPosition>>& scanLines,

AppAlgo/wheelArchHeigthMeasure/wheelArchHeigthMeasure_test.cpp

@@ -2637,7 +2637,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine * scanData
 
 #define TEST_CONVERT_TO_GRID		0
 #define TEST_COMPUTE_WHEEL_ARCH		1
-#define TEST_COMPUTE_CALIB_PARA		0
+#define TEST_COMPUTE_CALIB_PARA		1
 
 #define TEST_GROUP 1
 int main()
@@ -2683,7 +2683,7 @@ int main()
 
 #if TEST_COMPUTE_CALIB_PARA
 	char _calib_datafile[256];
-	sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/LaserLine1_grid.txt");
+	sprintf_s(_calib_datafile, "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/现场数据/ground_LaserData.txt");
 
 	std::vector< std::vector<SVzNL3DPosition>> scanLines;
 	vzReadLaserScanPointFromFile_XYZ_vector(_calib_datafile, scanLines);
@@ -2704,10 +2704,10 @@ int main()
 #endif
 		//
 		char calibFile[250];
-		sprintf_s(calibFile, "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/ground_calib_para.txt");
+		sprintf_s(calibFile, "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/现场数据/ground_calib_para.txt");
 		_outputCalibPara(calibFile, calibPara);
 		char _out_file[256];
-		sprintf_s(_out_file, "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/LaserLine1_grid_calib.txt");
+		sprintf_s(_out_file, "F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/现场数据/LaserLine_grund_calib.txt");
 		_outputScanDataFile_self(_out_file, scanLines, 0, 0, 0);
 		printf("%s: calib done!\n", _calib_datafile);
 	}
@@ -2716,11 +2716,11 @@ int main()
 
 #if TEST_COMPUTE_WHEEL_ARCH
 	const char* dataPath[TEST_GROUP] = {
-	"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/",  //0
+	"F:/ShangGu/项目/冠钦_轮眉高度测量/测试数据/现场数据/",  //0
 	};
 
 	SVzNLRange fileIdx[TEST_GROUP] = {
-		{1,1},
+		{1,2},
 	};
 
 	SSG_planeCalibPara poseCalibPara;
@@ -2752,7 +2752,7 @@ int main()
 		for (int fidx = fileIdx[grp].nMin; fidx <= fileIdx[grp].nMax; fidx++)
 		{
 			//fidx = 193;
-			sprintf_s(_scan_file, "%sLaserLine1_grid.txt", dataPath[grp], fidx);
+			sprintf_s(_scan_file, "%sLaserData_%d.txt", dataPath[grp], fidx);
 			std::vector<std::vector< SVzNL3DPosition>> scanData;
 			vzReadLaserScanPointFromFile_XYZ_vector(_scan_file, scanData);
 			if (scanData.size() == 0)
@@ -2762,21 +2762,10 @@ int main()
 			//algoParam.filterParam.outlierTh = 5;
 
 			long t1 = GetTickCount64();
-			int lineNum = (int)scanData.size();
-			for (int i = 0; i < lineNum; i++)
-			{
-				if (i == 14)
-					int kkk = 1;
-				//行处理
-				//调平，去除地面
-				wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight);
-			}
-#if 0  //数据转存
-			sprintf_s(_scan_file, "%sLaserLine%d_grid_RTadjust.txt", dataPath[grp], fidx);
-			_outputScanDataFile_self(_scan_file, scanData, 0, 0, 0);
-#endif
+
+			SVzNL3DRangeD wheelRoi3d = { {-1000, 1000}, {-2000, 2000}, {500, 2500} };
 			SSG_cornerParam cornerParam;
-			cornerParam.cornerTh = 60;  //45度角
+			cornerParam.cornerTh = 45;  //45度角
 			cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
 			cornerParam.minEndingGap = 20; // algoParam.bagParam.bagW / 4;
 			cornerParam.minEndingGap_z = 20;
@@ -2784,7 +2773,7 @@ int main()
 			cornerParam.jumpCornerTh_2 = 60;
 
 			SSG_lineSegParam lineSegPara;
-			lineSegPara.maxDist = 1.0;
+			lineSegPara.distScale = 1.0;
 			lineSegPara.segGapTh_y = 5.0;  //y方向间隔大于5mm认为是分段
 			lineSegPara.segGapTh_z = 10.0; //z方向间隔大于10mm认为是分段
 
@@ -2800,6 +2789,27 @@ int main()
 			growParam.minLTypeTreeLen = 100; //mm
 			growParam.minVTypeTreeLen = 100; //mm
 
+			WD_wheelArchInfo wheelArcHeight;
+			memset(&wheelArcHeight, 0, sizeof(WD_wheelArchInfo));
+
+			bool wheePresense = wd_wheelPresenseDetection(	scanData, wheelRoi3d);
+			if (true == wheePresense)
+			{
+				int lineNum = (int)scanData.size();
+				for (int i = 0; i < lineNum; i++)
+				{
+					if (i == 14)
+						int kkk = 1;
+					//行处理
+					//调平，去除地面
+					wd_horizonCamera_lineDataR(scanData[i], poseCalibPara.planeCalib, poseCalibPara.planeHeight - 5);
+				}
+#if 0  //数据转存
+				sprintf_s(_scan_file, "%sLaserLine%d_grid_RTadjust.txt", dataPath[grp], fidx);
+				_outputScanDataFile_self(_scan_file, scanData, 0, 0, 0);
+#endif
+
+
 				int errCode = 0;
 				WD_wheelArchInfo wheelArcHeight = wd_wheelArchHeigthMeasure(
 					scanData,
@@ -2809,20 +2819,20 @@ int main()
 					growParam,
 					poseCalibPara,
 					&errCode);
-#endif
+			}
 				long t2 = GetTickCount64();
 
+
 				char _dbg_file[256];
 #if 1
 
 			sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
 			_outputScanDataFile_RGBD_obj(_dbg_file, scanData, 0, 0, 0, wheelArcHeight);
 #endif
-			printf("%s: height=%f, %d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, (int)(t2 - t1));
-
-
+			printf("%s: height=%f, arcToGrund=%f, time=%d(ms)!\n", _scan_file, wheelArcHeight.archToCenterHeigth, wheelArcHeight.archToGroundHeigth, (int)(t2 - t1));
 		}
 	}
+#endif
 	printf("all done!\n");
 }
 

GrabBagPrj/pkg_wheelmeasure.sh

@@ -65,6 +65,12 @@ echo "复制 Qt 运行时环境..."
 cp -rfd ${QT_PKG_PATH}/ext          ${PKG_PATH}/opt/firefly_qt5.15
 cp ${QT_PKG_PATH}/target_qtEnv.sh   ${PKG_PATH}/etc/profile.d/
 
+echo "清理不需要的 Qt WebEngine 库文件..."
+rm -f ${PKG_PATH}/opt/firefly_qt5.15/lib/libQt5WebEngine*
+rm -rf ${PKG_PATH}/opt/firefly_qt5.15/libexec/QtWebEngineProcess
+rm -rf ${PKG_PATH}/opt/firefly_qt5.15/resources/qtwebengine*
+rm -rf ${PKG_PATH}/opt/firefly_qt5.15/translations/qtwebengine*
+
 # 复制 Qt 库文件
 for libfile in ${QT_LIB_PATH}/*.so*; do
     # 获取文件名用于比较