工件孔的检测算法更新，公共绘图接口的更新

App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp

@@ -28,18 +28,6 @@ HECEulerOrder ToHandEyeEulerOrder(int eulerOrder)
     }
 }
 
-HECCalibResult ToHandEyeCalibResult(const double clibMatrix[16])
-{
-    HECCalibResult calibResult;
-    for (int i = 0; i < 3; ++i) {
-        for (int j = 0; j < 3; ++j) {
-            calibResult.R.at(i, j) = clibMatrix[i * 4 + j];
-        }
-        calibResult.T.at(i) = clibMatrix[i * 4 + 3];
-    }
-    return calibResult;
-}
-
 } // namespace
 
 DetectPresenter::DetectPresenter(/* args */)
@@ -145,7 +133,7 @@ int DetectPresenter::DetectRod(
         return ERR_CODE(DEV_NOT_FIND);
     }
 
-    const HECCalibResult calibResult = ToHandEyeCalibResult(clibMatrix);
+    const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);
     const HECEulerOrder hecEulerOrder = ToHandEyeEulerOrder(eulerOrder);
 
     // 构建检测结果：生成点云图像

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/DetectPresenter.h

@@ -13,7 +13,6 @@
 #include "IYWorkpieceHoleStatus.h"
 #include "PointCloudImageUtils.h"
 #include "VrDateUtils.h"
-#include "CoordinateTransform.h"
 
 class DetectPresenter
 {

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Inc/WorkpieceHolePresenter.h

@@ -68,40 +68,6 @@ public:
     // 手眼标定矩阵管理
     CalibMatrix GetClibMatrix(int index) const;
 
-    // ============ 坐标转换接口 ============
-
-    /**
-     * @brief 将算法检测结果（相机坐标系）转换为机器人坐标系
-     *
-     * @param workpieceInfo 算法输出的工件信息（相机坐标系）
-     * @param robotPose 机器人当前位姿
-     * @param handEye 六轴手眼标定矩阵
-     * @param targetPose 输出的目标抓取位姿（机器人坐标系）
-     *
-     * 使用说明：
-     * - Eye-in-Hand 模式：相机固定在机器人末端
-     * - 算法输出的 x_dir, y_dir, z_dir 为方向向量
-     * - 输出的 targetPose 为机器人基坐标系下的位姿
-     */
-    void ConvertWorkpieceToRobotPose(const WD_workpieceInfo& workpieceInfo,
-                                      const CTRobotPose& robotPose,
-                                      const CTSixAxisCalibResult& handEye,
-                                      CTRobotPose& targetPose);
-
-    /**
-     * @brief 将算法检测结果转换为机器人坐标系（Eye-to-Hand模式）
-     *
-     * @param workpieceInfo 算法输出的工件信息（相机坐标系）
-     * @param cameraToBase 相机到机器人基座的标定矩阵
-     * @param targetPose 输出的目标抓取位姿（机器人坐标系）
-     *
-     * 使用说明：
-     * - Eye-to-Hand 模式：相机固定在外部
-     */
-    void ConvertWorkpieceToRobotPoseEyeToHand(const WD_workpieceInfo& workpieceInfo,
-                                               const CTSixAxisCalibResult& cameraToBase,
-                                               CTRobotPose& targetPose);
-
     // 实现IVrConfigChangeNotify接口
     virtual void OnConfigChanged(const ConfigResult& configResult) override;
 

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp

@@ -2,13 +2,9 @@
 #include "workpieceHolePositioning_Export.h"
 #include "SG_baseAlgo_Export.h"
 #include "AlgoParamConverter.h"
+#include "IHandEyeCalib.h"
 #include <fstream>
-#include <QPainter>
+#include <memory>
-#include <QPen>
-#include <QColor>
-#include <opencv2/opencv.hpp>
-#include "CoordinateTransform.h"
-#include "VrConvert.h"
 
 DetectPresenter::DetectPresenter(/* args */)
 {
@@ -91,15 +87,15 @@ int DetectPresenter::DetectWorkpieceHole(
         AlgoParamConverter::LogAlgoParams("[Algo Thread]",
             workpiecePara, lineSegPara, filterParam, growParam, groundCalibPara, clibMatrix);
     }
-
+#if 0
     // 数据预处理：调平和去除地面（使用当前相机的调平参数）
     if(cameraCalibParam){
         LOG_DEBUG("Processing data with plane calibration\n"); 
-        double groundH = -1;
         for(size_t i = 0; i < xyzData.size(); i++){
-            wd_lineDataR(xyzData[i], cameraCalibParam->planeCalib, groundH);
+            wd_lineDataR(xyzData[i], cameraCalibParam->planeCalib, -1);
         }
     }
+#endif
 
     int errCode = 0;
     CVrTimeUtils oTimeUtils;
@@ -124,19 +120,16 @@ int DetectPresenter::DetectWorkpieceHole(
     LOG_INFO("wd_workpieceHolePositioning: found %zu workpieces, err=%d runtime=%.3fms\n", workpiecePositioning.size(), errCode, oTimeUtils.GetElapsedTimeInMilliSec());
     ERR_CODE_RETURN(errCode);
 
-    // 从4x4齐次变换矩阵中提取旋转矩阵R(3x3)和平移向量T(3x1)
+    // 创建手眼标定实例
-    // clibMatrix 是行优先存储的4x4矩阵
+    std::unique_ptr<IHandEyeCalib, decltype(&DestroyHandEyeCalibInstance)> handEyeCalib(
-    cv::Mat R = cv::Mat::zeros(3, 3, CV_64F);
+                                                CreateHandEyeCalibInstance(),
-    cv::Mat T = cv::Mat::zeros(3, 1, CV_64F);
+                                                DestroyHandEyeCalibInstance);
-    for (int i = 0; i < 3; i++) {
+    if (!handEyeCalib) {
-        for (int j = 0; j < 3; j++) {
+        LOG_ERROR("Failed to create HandEyeCalib instance\n");
-            R.at<double>(i, j) = clibMatrix[i * 4 + j];
+        return ERR_CODE(DEV_NOT_FIND);
-        }
-        T.at<double>(i, 0) = clibMatrix[i * 4 + 3];
     }
 
-    // 构建用于可视化的点数组
+    const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);
-    std::vector<std::vector<SVzNL3DPoint>> objOps;
 
     // 处理每个工件的检测结果
     for (size_t i = 0; i < workpiecePositioning.size(); i++) {
@@ -148,52 +141,44 @@ int DetectPresenter::DetectWorkpieceHole(
         }
 
         // 六轴转换：位置+姿态（转换到机械臂坐标系）
-        SVzNL3DPoint centerEye = workpiece.center;
+        HECPoint3D eyeCenter(workpiece.center.x, workpiece.center.y, workpiece.center.z);
 
-        // 1. 位置转换：使用 pointRT_2 进行坐标变换
+        // 构建方向向量（眼坐标系）
-        cv::Point3d ptEye(centerEye.x, centerEye.y, centerEye.z);
+        std::vector<HECPoint3D> dirVectors_eye(3);
-        cv::Point3d ptRobot;
+        dirVectors_eye[0] = HECPoint3D(workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z);
-        pointRT_2(R, T, ptEye, ptRobot);
+        dirVectors_eye[1] = HECPoint3D(workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z);
-
+        dirVectors_eye[2] = HECPoint3D(workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);
-        // 2. 姿态转换：按照测试代码的方式处理方向向量
-        // 从算法输出获取方向向量
-        std::vector<cv::Point3d> dirVectors_eye(3);
-        dirVectors_eye[0] = cv::Point3d(workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z);
-        dirVectors_eye[1] = cv::Point3d(workpiece.y_dir.x, workpiece.y_dir.y, workpiece.y_dir.z);
-        dirVectors_eye[2] = cv::Point3d(workpiece.z_dir.x, workpiece.z_dir.y, workpiece.z_dir.z);
 
         // 根据配置决定方向向量反向
         switch (dirVectorInvert) {
             case DIR_INVERT_NONE:
-                // 不反向
                 break;
             case DIR_INVERT_XY:
-                // X和Y方向反向
+                dirVectors_eye[0] = dirVectors_eye[0] * (-1.0);
-                dirVectors_eye[0] = cv::Point3d(-dirVectors_eye[0].x, -dirVectors_eye[0].y, -dirVectors_eye[0].z);
+                dirVectors_eye[1] = dirVectors_eye[1] * (-1.0);
-                dirVectors_eye[1] = cv::Point3d(-dirVectors_eye[1].x, -dirVectors_eye[1].y, -dirVectors_eye[1].z);
                 break;
             case DIR_INVERT_XZ:
-                // X和Z方向反向
+                dirVectors_eye[0] = dirVectors_eye[0] * (-1.0);
-                dirVectors_eye[0] = cv::Point3d(-dirVectors_eye[0].x, -dirVectors_eye[0].y, -dirVectors_eye[0].z);
+                dirVectors_eye[2] = dirVectors_eye[2] * (-1.0);
-                dirVectors_eye[2] = cv::Point3d(-dirVectors_eye[2].x, -dirVectors_eye[2].y, -dirVectors_eye[2].z);
                 break;
             case DIR_INVERT_YZ:
             default:
-                // Y和Z方向反向（默认，兼容原有行为）
+                dirVectors_eye[1] = dirVectors_eye[1] * (-1.0);
-                dirVectors_eye[1] = cv::Point3d(-dirVectors_eye[1].x, -dirVectors_eye[1].y, -dirVectors_eye[1].z);
+                dirVectors_eye[2] = dirVectors_eye[2] * (-1.0);
-                dirVectors_eye[2] = cv::Point3d(-dirVectors_eye[2].x, -dirVectors_eye[2].y, -dirVectors_eye[2].z);
                 break;
         }
 
-        // 使用 pointRotate 对方向向量进行旋转变换
+        // 1. 位置转换：R * P_eye + T
-        std::vector<cv::Point3d> dirVectors_robot;
+        HECPoint3D ptRobot;
+        handEyeCalib->TransformPoint(calibResult.R, calibResult.T, eyeCenter, ptRobot);
+
+        // 2. 方向向量旋转变换（仅旋转，不平移）
+        std::vector<HECPoint3D> dirVectors_robot(3);
         for (int j = 0; j < 3; j++) {
-            cv::Point3d rt_pt;
+            handEyeCalib->RotatePoint(calibResult.R, dirVectors_eye[j], dirVectors_robot[j]);
-            pointRotate(R, dirVectors_eye[j], rt_pt);
-            dirVectors_robot.push_back(rt_pt);
         }
 
-        // 3. 构建旋转矩阵（按照测试代码的方式）
+        // 3. 构建旋转矩阵（列向量形式）
         double R_pose[3][3];
         R_pose[0][0] = dirVectors_robot[0].x;
         R_pose[0][1] = dirVectors_robot[1].x;
@@ -205,7 +190,7 @@ int DetectPresenter::DetectWorkpieceHole(
         R_pose[2][1] = dirVectors_robot[1].z;
         R_pose[2][2] = dirVectors_robot[2].z;
 
-        // 4. 使用 rotationMatrixToEulerZYX 转换为欧拉角（外旋ZYX，即RZ-RY-RX）
+        // 4. 使用算法库的 rotationMatrixToEulerZYX 转换为欧拉角（返回角度）
         SSG_EulerAngles robotRpy = rotationMatrixToEulerZYX(R_pose);
 
         // 将机器人坐标系下的位姿添加到positions列表
@@ -213,21 +198,12 @@ int DetectPresenter::DetectWorkpieceHole(
         centerRobotPos.x = ptRobot.x;
         centerRobotPos.y = ptRobot.y;
         centerRobotPos.z = ptRobot.z;
-        centerRobotPos.roll  = robotRpy.roll;   // 已经是角度
+        centerRobotPos.roll  = robotRpy.roll;
-        centerRobotPos.pitch = robotRpy.pitch;  // 已经是角度
+        centerRobotPos.pitch = robotRpy.pitch;
-        centerRobotPos.yaw   = robotRpy.yaw;    // 已经是角度
+        centerRobotPos.yaw   = robotRpy.yaw;
 
         detectionResult.positions.push_back(centerRobotPos);
 
-        // 添加中心点到可视化列表
-        std::vector<SVzNL3DPoint> holePoints;
-        for(size_t j = 0; j < workpiece.holes.size(); j++){
-            SVzNL3DPoint holeEye = workpiece.holes[j];
-            holePoints.push_back(holeEye);
-        }
-        holePoints.push_back(centerEye);
-        objOps.push_back(holePoints);
-
         if(debugParam.enableDebug && debugParam.printDetailLog){
             LOG_INFO("[Algo Thread] Direction vectors (eye): X=(%.3f,%.3f,%.3f), Y=(%.3f,%.3f,%.3f), Z=(%.3f,%.3f,%.3f)\n",
                     workpiece.x_dir.x, workpiece.x_dir.y, workpiece.x_dir.z,
@@ -237,111 +213,29 @@ int DetectPresenter::DetectWorkpieceHole(
                     dirVectors_robot[0].x, dirVectors_robot[0].y, dirVectors_robot[0].z,
                     dirVectors_robot[1].x, dirVectors_robot[1].y, dirVectors_robot[1].z,
                     dirVectors_robot[2].x, dirVectors_robot[2].y, dirVectors_robot[2].z);
-            LOG_INFO("[Algo Thread] Center Eye   Coords: X=%.2f, Y=%.2f, Z=%.2f\n",
+            LOG_INFO("[Algo Thread] Center Eye   Coords: X=%.3f, Y=%.3f, Z=%.3f\n",
-                    centerEye.x, centerEye.y, centerEye.z);
+                    workpiece.center.x, workpiece.center.y, workpiece.center.z);
-            LOG_INFO("[Algo Thread] Center Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, R=%.4f, P=%.4f, Y=%.4f\n",
+            LOG_INFO("[Algo Thread] Center Robot Coords: X=%.3f, Y=%.3f, Z=%.3f, R=%.4f, P=%.4f, Y=%.4f\n",
                     ptRobot.x, ptRobot.y, ptRobot.z,
                     centerRobotPos.roll, centerRobotPos.pitch, centerRobotPos.yaw);
         }
     }
 
-    // 从点云数据生成投影图像（单色灰色点云 + 红色孔位标记）
+    // 使用 PointCloudCanvas 生成点云图像（灰色底图 + 红色孔位标记 + 中心点编号）
     {
-        // 固定图像尺寸
+        PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
-        int imgRows = 992;
+        for (size_t i = 0; i < workpiecePositioning.size(); i++) {
-        int imgCols = 1056;
+            const WD_workpieceInfo& workpiece = workpiecePositioning[i];
-        int x_skip = 50;
+            // 红色小圆点标记每个孔
-        int y_skip = 50;
+            for (size_t j = 0; j < workpiece.holes.size(); j++) {
-
+                canvas.drawPoint(workpiece.holes[j].x, workpiece.holes[j].y, QColor(255, 0, 0), 4);
-        // 计算点云范围
-        double xMin = 1e10, xMax = -1e10, yMin = 1e10, yMax = -1e10;
-        for (const auto& line : xyzData) {
-            for (const auto& pt : line) {
-                if (pt.pt3D.z < 1e-4) continue;
-                xMin = std::min(xMin, (double)pt.pt3D.x);
-                xMax = std::max(xMax, (double)pt.pt3D.x);
-                yMin = std::min(yMin, (double)pt.pt3D.y);
-                yMax = std::max(yMax, (double)pt.pt3D.y);
             }
+            // 中心点标记 + 白色编号
+            canvas.drawPoint(workpiece.center.x, workpiece.center.y, QColor(255, 0, 0), 4);
+            canvas.drawText(workpiece.center.x, workpiece.center.y,
+                            QString("%1").arg(i + 1), Qt::white, 14);
         }
-
+        detectionResult.image = canvas.image();
-        // 不扩展边界，直接使用点云范围
-
-        // 计算投影比例
-        double y_rows = (double)(imgRows - y_skip * 2);
-        double x_cols = (double)(imgCols - x_skip * 2);
-        double x_scale = (xMax - xMin) / x_cols;
-        double y_scale = (yMax - yMin) / y_rows;
-        if (x_scale < y_scale)
-            x_scale = y_scale;
-        else
-            y_scale = x_scale;
-
-        // 创建图像
-        QImage image(imgCols, imgRows, QImage::Format_RGB888);
-        image.fill(Qt::black);
-        QPainter painter(&image);
-        painter.setRenderHint(QPainter::Antialiasing);
-
-        // 绘制点云数据 - 使用单色灰色
-        QColor grayColor(150, 150, 150);
-        for (const auto& scanLine : xyzData) {
-            for (const auto& point : scanLine) {
-                if (point.pt3D.z < 1e-4) continue;
-
-                int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip);
-                int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip);
-
-                if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
-                    painter.setPen(QPen(grayColor, 1));
-                    painter.drawPoint(px, py);
-                }
-            }
-        }
-
-        // 绘制孔位标记 - 使用红色
-        if (!objOps.empty()) {
-            QColor holeColor(255, 0, 0);  // 红色
-            painter.setPen(QPen(holeColor, 1));
-            painter.setBrush(QBrush(holeColor));
-
-            for (size_t i = 0; i < objOps.size(); i++) {
-                const auto& holeGroup = objOps[i];
-                size_t groupSize = holeGroup.size();
-
-                for (size_t j = 0; j < groupSize; j++) {
-                    const SVzNL3DPoint& hole = holeGroup[j];
-
-                    // 跳过全0的点
-                    if (fabs(hole.x) < 0.0001 && fabs(hole.y) < 0.0001 && fabs(hole.z) < 0.0001) {
-                        continue;
-                    }
-
-                    int px = (int)((hole.x - xMin) / x_scale + x_skip);
-                    int py = (int)((hole.y - yMin) / y_scale + y_skip);
-
-                    if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
-                        // 绘制圆点标记
-                        int circleSize = 2;
-                        painter.drawEllipse(px - circleSize/2, py - circleSize/2, circleSize, circleSize);
-
-                        // 只有中心点（最后一个点）才绘制编号
-                        if (j == groupSize - 1) {
-                            painter.setPen(QPen(Qt::white, 1));
-                            QFont font("Arial", 14, QFont::Bold);
-                            painter.setFont(font);
-                            painter.drawText(px + 8, py + 6, QString("%1").arg(i + 1));
-
-                            // 恢复画笔
-                            painter.setPen(QPen(holeColor, 1));
-                            painter.setBrush(QBrush(holeColor));
-                        }
-                    }
-                }
-            }
-        }
-
-        detectionResult.image = image;
     }
 
     if(debugParam.enableDebug && debugParam.saveDebugImage){

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/WorkpieceHolePresenter.cpp

@@ -255,88 +255,6 @@ CalibMatrix WorkpieceHolePresenter::GetClibMatrix(int index) const
     return clibMatrix;
 }
 
-// ============ 坐标转换实现 ============
-
-void WorkpieceHolePresenter::ConvertWorkpieceToRobotPose(const WD_workpieceInfo& workpieceInfo,
-                                                          const CTRobotPose& robotPose,
-                                                          const CTSixAxisCalibResult& handEye,
-                                                          CTRobotPose& targetPose)
-{
-    // 1. 从方向向量构建旋转矩阵
-    CTRotationMatrix rotMatrix;
-    rotMatrix.at(0, 0) = workpieceInfo.x_dir.x;
-    rotMatrix.at(1, 0) = workpieceInfo.x_dir.y;
-    rotMatrix.at(2, 0) = workpieceInfo.x_dir.z;
-    rotMatrix.at(0, 1) = workpieceInfo.y_dir.x;
-    rotMatrix.at(1, 1) = workpieceInfo.y_dir.y;
-    rotMatrix.at(2, 1) = workpieceInfo.y_dir.z;
-    rotMatrix.at(0, 2) = workpieceInfo.z_dir.x;
-    rotMatrix.at(1, 2) = workpieceInfo.z_dir.y;
-    rotMatrix.at(2, 2) = workpieceInfo.z_dir.z;
-
-    // 2. 将旋转矩阵转换为欧拉角
-    CTEulerAngles eulerAngles = CCoordinateTransform::rotationMatrixToEuler(rotMatrix, CTEulerOrder::sZYX);
-
-    // 3. 构造相机坐标系下的目标位姿
-    CTCameraPose cameraPose(
-        workpieceInfo.center.x,
-        workpieceInfo.center.y,
-        workpieceInfo.center.z,
-        eulerAngles.roll,
-        eulerAngles.pitch,
-        eulerAngles.yaw
-    );
-
-    // 4. 使用六轴手眼转换（Eye-in-Hand模式）计算机器人目标位姿
-    CCoordinateTransform::sixAxisEyeInHandCalcGraspPose(cameraPose, robotPose, handEye, targetPose);
-
-    LOG_DEBUG("ConvertWorkpieceToRobotPose: Camera(%f, %f, %f, %f, %f, %f) -> Robot(%f, %f, %f, %f, %f, %f)\n",
-              cameraPose.x, cameraPose.y, cameraPose.z,
-              cameraPose.rx, cameraPose.ry, cameraPose.rz,
-              targetPose.x, targetPose.y, targetPose.z,
-              targetPose.rx, targetPose.ry, targetPose.rz);
-}
-
-void WorkpieceHolePresenter::ConvertWorkpieceToRobotPoseEyeToHand(const WD_workpieceInfo& workpieceInfo,
-                                                                   const CTSixAxisCalibResult& cameraToBase,
-                                                                   CTRobotPose& targetPose)
-{
-    // 1. 从方向向量构建旋转矩阵
-    CTRotationMatrix rotMatrix;
-    rotMatrix.at(0, 0) = workpieceInfo.x_dir.x;
-    rotMatrix.at(1, 0) = workpieceInfo.x_dir.y;
-    rotMatrix.at(2, 0) = workpieceInfo.x_dir.z;
-    rotMatrix.at(0, 1) = workpieceInfo.y_dir.x;
-    rotMatrix.at(1, 1) = workpieceInfo.y_dir.y;
-    rotMatrix.at(2, 1) = workpieceInfo.y_dir.z;
-    rotMatrix.at(0, 2) = workpieceInfo.z_dir.x;
-    rotMatrix.at(1, 2) = workpieceInfo.z_dir.y;
-    rotMatrix.at(2, 2) = workpieceInfo.z_dir.z;
-
-    // 2. 将旋转矩阵转换为欧拉角
-    CTEulerAngles eulerAngles = CCoordinateTransform::rotationMatrixToEuler(rotMatrix, CTEulerOrder::sZYX);
-
-    // 3. 构造相机坐标系下的目标位姿
-    CTCameraPose cameraPose(
-        workpieceInfo.center.x,
-        workpieceInfo.center.y,
-        workpieceInfo.center.z,
-        eulerAngles.roll,
-        eulerAngles.pitch,
-        eulerAngles.yaw
-    );
-
-    // 4. 使用六轴手眼转换（Eye-to-Hand模式）计算机器人目标位姿
-    CCoordinateTransform::sixAxisEyeToHandCalcGraspPose(cameraPose, cameraToBase, targetPose);
-
-    LOG_DEBUG("ConvertWorkpieceToRobotPoseEyeToHand: Camera(%f, %f, %f, %f, %f, %f) -> Robot(%f, %f, %f, %f, %f, %f)\n",
-              cameraPose.x, cameraPose.y, cameraPose.z,
-              cameraPose.rx, cameraPose.ry, cameraPose.rz,
-              targetPose.x, targetPose.y, targetPose.z,
-              targetPose.rx, targetPose.ry, targetPose.rz);
-}
-
-
 void WorkpieceHolePresenter::CheckAndUpdateWorkStatus()
 {
     if (m_bCameraConnected) {

App/WorkpieceHole/WorkpieceHoleApp/Version.md

@@ -1,6 +1,7 @@
 # 1.1.0
 ## build_0 2026-04-28
-1. 更新内存泄露问题
+1. 更新算法
+2. 更新内存泄露问题
 
 # 1.0.3
 ## build_0 2026-03-24

App/WorkpieceHole/WorkpieceHoleApp/WorkpieceHoleApp.pro

@@ -42,6 +42,8 @@ INCLUDEPATH += $$PWD/../../../Module/AuthModule/Inc
 
 # 坐标变换库
 INCLUDEPATH += $$PWD/../../../Utils/DataUtils/CoordinateTransform/Inc
+# 手眼标定模块
+INCLUDEPATH += $$PWD/../../../Module/HandEyeCalib/Inc
 # eigen 依赖
 INCLUDEPATH += $$PWD/../../../SDK/eigen-3.3.9
 
@@ -110,6 +112,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../VrNets/debug                 -lVrModbus
     LIBS += -L../../../VrNets/debug                 -lVrTcpServer
     LIBS += -L../../../Utils/DataUtils/CoordinateTransform/debug -lCoordinateTransformd
+    LIBS += -L../../../Module/HandEyeCalib/debug    -lHandEyeCalib
 
 }else:win32:CONFIG(release, debug|release){
     LIBS += -L../../../Utils/VrUtils/release        -lVrUtils
@@ -126,6 +129,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../VrNets/release               -lVrModbus
     LIBS += -L../../../VrNets/release               -lVrTcpServer
     LIBS += -L../../../Utils/DataUtils/CoordinateTransform/release -lCoordinateTransform
+    LIBS += -L../../../Module/HandEyeCalib/release  -lHandEyeCalib
 }else:unix:!macx {
     # Unix/Linux平台库链接（包括交叉编译）
     # 注意链接顺序：依赖关系从高到低（被依赖的库放在后面）
@@ -143,6 +147,7 @@ win32:CONFIG(debug, debug|release) {
     LIBS += -L../../../VrNets                 -lVrTcpServer
     LIBS += -L../../../Utils/VrUtils           -lVrUtils
     LIBS += -L../../../Utils/DataUtils/CoordinateTransform -lCoordinateTransform
+    LIBS += -L../../../Module/HandEyeCalib          -lHandEyeCalib
 
     # 添加系统库依赖
     LIBS += -lpthread

App/WorkpieceHole/WorkpieceHoleApp/dialogalgoarg.ui

@@ -953,6 +953,19 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
        </property>
       </widget>
      </item>
+     <item>
+      <spacer name="horizontalSpacer_3">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>40</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
      <item>
       <widget class="QPushButton" name="btn_camer_cancel">
        <property name="minimumSize">

AppAlgo/workpieceHolePositioning/Inc/SG_baseDataType.h

@@ -39,6 +39,13 @@ typedef struct
 	SWD3DPoint point;
 }SWDIndexing3DPoint;
 
+typedef struct
+{
+	int lineIdx;
+	int ptIdx;
+	SVzNL3DPoint point;
+}SWDIndexingVzPoint;
+
 typedef struct
 {
 	int start;
@@ -604,6 +611,7 @@ typedef struct
 	double backwardDiffZ;
 	double pre_stepDist;
 	double post_stepDist;
+	double curr_z;
 	double forward_z;
 	double backward_z;
 }SSG_pntDirAngle;

AppAlgo/workpieceHolePositioning/Inc/SG_errCode.h

@@ -32,6 +32,10 @@
 
 //汽车轮眉高度测量
 #define SX_ERR_INVALID_ARC			-2301
+#define SX_ERR_INVALID_WHEEL_EDGE			-2302
+#define SX_ERR_NO_WHEEL_COMMON_EDGE			-2303
+#define SX_ERR_NO_WHEEL_ARC			-2304
+
 
 //糖袋子拆线
 #define SX_ERR_NO_MARK				-2401

AppUtils/UICommon/AboutDialog.ui

@@ -29,6 +29,9 @@
    <string notr="true">background-color: rgb(25, 26, 28);</string>
   </property>
   <layout class="QVBoxLayout" name="mainLayout">
+   <property name="spacing">
+    <number>6</number>
+   </property>
    <property name="leftMargin">
     <number>40</number>
    </property>
@@ -41,15 +44,11 @@
    <property name="bottomMargin">
     <number>25</number>
    </property>
-   <property name="spacing">
-    <number>6</number>
-   </property>
    <item>
     <widget class="QLabel" name="labelAppName">
      <property name="font">
       <font>
        <pointsize>22</pointsize>
-       <weight>75</weight>
        <bold>true</bold>
       </font>
      </property>
@@ -82,22 +81,6 @@
      </property>
     </widget>
    </item>
-   <item>
-    <spacer name="spacerAfterVersion">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>0</width>
-       <height>10</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
    <item>
     <widget class="Line" name="line">
      <property name="styleSheet">
@@ -109,32 +92,13 @@
     </widget>
    </item>
    <item>
-    <spacer name="spacerAfterLine">
+    <layout class="QGridLayout" name="infoGrid" columnstretch="0,0">
-     <property name="orientation">
-      <enum>Qt::Vertical</enum>
-     </property>
-     <property name="sizeType">
-      <enum>QSizePolicy::Fixed</enum>
-     </property>
-     <property name="sizeHint" stdset="0">
-      <size>
-       <width>0</width>
-       <height>8</height>
-      </size>
-     </property>
-    </spacer>
-   </item>
-   <item>
-    <layout class="QGridLayout" name="infoGrid">
      <property name="horizontalSpacing">
       <number>16</number>
      </property>
      <property name="verticalSpacing">
       <number>12</number>
      </property>
-     <property name="columnStretch" stdset="0">
-      <string>1,4</string>
-     </property>
      <item row="0" column="0">
       <widget class="QLabel" name="labelMachineCodeTitle">
        <property name="font">
@@ -149,7 +113,7 @@
         <string>机器码</string>
        </property>
        <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignVCenter</set>
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
        </property>
       </widget>
      </item>
@@ -185,7 +149,7 @@
         <string>CPU序列号</string>
        </property>
        <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignVCenter</set>
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
        </property>
       </widget>
      </item>
@@ -221,7 +185,7 @@
         <string>硬盘序列号</string>
        </property>
        <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignVCenter</set>
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
        </property>
       </widget>
      </item>
@@ -257,7 +221,7 @@
         <string>算法版本</string>
        </property>
        <property name="alignment">
-        <set>Qt::AlignRight|Qt::AlignVCenter</set>
+        <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
        </property>
       </widget>
      </item>
@@ -301,6 +265,12 @@
        <property name="orientation">
         <enum>Qt::Horizontal</enum>
        </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
       </spacer>
      </item>
      <item>
@@ -331,6 +301,12 @@ border-radius: 4px;</string>
        <property name="orientation">
         <enum>Qt::Horizontal</enum>
        </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
       </spacer>
      </item>
     </layout>

Module/HandEyeCalib/Inc/HandEyeCalibTypes.h

@@ -392,6 +392,22 @@ struct HECCalibResult
 
     HECCalibResult() = default;
 
+    /**
+     * @brief 从4x4齐次变换矩阵（行优先double[16]）构造标定结果
+     * 提取旋转矩阵R(3x3)和平移向量T(3x1)
+     */
+    static HECCalibResult fromHomogeneousArray(const double matrix[16])
+    {
+        HECCalibResult result;
+        for (int i = 0; i < 3; ++i) {
+            for (int j = 0; j < 3; ++j) {
+                result.R.at(i, j) = matrix[i * 4 + j];
+            }
+            result.T.at(i) = matrix[i * 4 + 3];
+        }
+        return result;
+    }
+
     // 转换为齐次变换矩阵
     HECHomogeneousMatrix toHomogeneousMatrix() const
     {