更新算法(增加了参数)，微调页面和logo

App/HoleDetection/HoleDetectionApp/Presenter/Src/HoleDetectionPresenter.cpp

@@ -205,13 +205,14 @@ int HoleDetectionPresenter::InitAlgoParams()
 
     const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
 
-    LOG_INFO("Loaded XML params - Ransac: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f\n",
+    LOG_INFO("Loaded XML params - Ransac: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f, maxNormalAngleDeg=%.1f\n",
              xmlParams.ransacParam.distanceThreshold,
              xmlParams.ransacParam.maxIterations,
              xmlParams.ransacParam.minPlanePoints,
              xmlParams.ransacParam.maxPlanes,
              xmlParams.ransacParam.growthZThreshold,
-             xmlParams.ransacParam.minPlaneRatio);
+             xmlParams.ransacParam.minPlaneRatio,
+             xmlParams.ransacParam.maxNormalAngleDeg);
 
     LOG_INFO("Loaded XML params - Detection: angleThresholdPos=%.1f, angleThresholdNeg=%.1f, angleSearchDistance=%.2f, minPitDepth=%.2f\n",
              xmlParams.detectionParam.angleThresholdPos,

App/HoleDetection/HoleDetectionApp/Version.h

@@ -5,7 +5,7 @@
 #define HOLEDETECTION_APP_NAME "孔洞检测"
 
 // 版本字符串
-#define HOLEDETECTION_VERSION_STRING "1.1.4"
+#define HOLEDETECTION_VERSION_STRING "1.1.5"
 #define HOLEDETECTION_BUILD_STRING "1"
 #define HOLEDETECTION_FULL_VERSION_STRING "V" HOLEDETECTION_VERSION_STRING "_" HOLEDETECTION_BUILD_STRING
 

App/HoleDetection/HoleDetectionApp/Version.md

@@ -1,37 +1,40 @@
-# 1.1.4 2026-04-05
-## build_1
+## 1.1.5 2026-04-05
+* build_1
+1. 更新算法 1.0.2
+
+## 1.1.4 2026-04-05
+* build_1
 1. 修复 释放点云内存的问题
 
-
-# 1.1.3 2026-04-05
-## build_1
+## 1.1.3 2026-04-05
+* build_1
 1. 更新算法 1.0.1
 
-# 1.1.2 2026-04-02
-## build_1
+## 1.1.2 2026-04-02
+* build_1
 1. 更新算法
 2. 完善算法参数页面参数配置
 
-# 1.1.1 2026-04-02
-## build_1
+## 1.1.1 2026-04-02
+* build_1
 1. 更新算法
 
-# 1.1.0 2026-03-25
-## build_1
+## 1.1.0 2026-03-25
+* build_1
 1. 算法优化
 2. 配置结构修改
 3. 手眼标定，网络配置公用
 
-# 1.0.0 2026-03-11
-## build_4
+## 1.0.0 2026-03-11
+* build_4
 1. 修复矩阵配置
 
-## build_3
+* build_3
 1. 更新算法库
 
-## build_2
+* build_2
 1. 修复单相机检测结果不全的问题
 
-## build_1
+* build_1
 1. 初始版本
 

App/HoleDetection/HoleDetectionApp/dialogalgoarg.cpp

@@ -300,6 +300,7 @@ void DialogAlgoarg::LoadRansacParamToUI(const VrRansacPlaneSegmentationParam& pa
     ui->lineEdit_maxPlanes->setText(QString::number(param.maxPlanes));
     ui->lineEdit_growthZThreshold->setText(QString::number(param.growthZThreshold));
     ui->lineEdit_minPlaneRatio->setText(QString::number(param.minPlaneRatio));
+    ui->lineEdit_maxNormalAngleDeg->setText(QString::number(param.maxNormalAngleDeg));
 }
 
 void DialogAlgoarg::LoadDetectionParamToUI(const VrHoleDetectionParam& param)
@@ -377,6 +378,9 @@ bool DialogAlgoarg::SaveRansacParamFromUI(VrRansacPlaneSegmentationParam& param)
     param.minPlaneRatio = ui->lineEdit_minPlaneRatio->text().toDouble(&ok);
     if (!ok) return false;
 
+    param.maxNormalAngleDeg = ui->lineEdit_maxNormalAngleDeg->text().toDouble(&ok);
+    if (!ok) return false;
+
     return true;
 }
 

App/HoleDetection/HoleDetectionApp/dialogalgoarg.ui

@@ -168,6 +168,16 @@ QScrollArea { border: none; }</string>
               <item row="5" column="1">
                <widget class="QLineEdit" name="lineEdit_minPlaneRatio"/>
               </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_maxNormalAngleDeg">
+                <property name="text">
+                 <string>法向量最大夹角 (度):</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QLineEdit" name="lineEdit_maxNormalAngleDeg"/>
+              </item>
              </layout>
             </widget>
            </item>

App/HoleDetection/HoleDetectionApp/mainwindow.ui

@@ -97,7 +97,7 @@ background-color: rgba(255, 255, 255, 0);</string>
    <widget class="QPushButton" name="btn_test">
     <property name="geometry">
      <rect>
-      <x>973</x>
+      <x>1110</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -120,7 +120,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_algo_config">
     <property name="geometry">
      <rect>
-      <x>728</x>
+      <x>845</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -143,7 +143,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_camera">
     <property name="geometry">
      <rect>
-      <x>483</x>
+      <x>580</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -330,7 +330,7 @@ background-color: rgba(255, 255, 255, 0);</string>
      <x>0</x>
      <y>0</y>
      <width>1920</width>
-     <height>21</height>
+     <height>20</height>
     </rect>
    </property>
    <property name="styleSheet">

App/HoleDetection/HoleDetectionConfig/Inc/IVrConfig.h

@@ -23,6 +23,7 @@ struct VrRansacPlaneSegmentationParam
     int maxPlanes = 5;                // 最大提取平面数量
     double growthZThreshold = 1.0;    // 区域生长时相邻点 Z 差阈值（mm）
     double minPlaneRatio = 0.1;       // 平面最小点数占比
+    double maxNormalAngleDeg = 30.0;  // 平面法向量与Z轴最大夹角（度），<=0 表示不过滤
 };
 
 /**

App/HoleDetection/HoleDetectionConfig/Src/AlgoParamConverter.cpp

@@ -13,6 +13,7 @@ RansacPlaneSegmentationParams ToAlgoParam(const VrRansacPlaneSegmentationParam&
     algo.maxPlanes = param.maxPlanes;
     algo.growthZThreshold = static_cast<float>(param.growthZThreshold);
     algo.minPlaneRatio = static_cast<float>(param.minPlaneRatio);
+    algo.maxNormalAngleDeg = static_cast<float>(param.maxNormalAngleDeg);
     return algo;
 }
 
@@ -65,14 +66,15 @@ void LogAlgoParams(const std::string& logTag,
         clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
         clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
 
-    LOG_INFO("%s RansacParams: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f\n",
+    LOG_INFO("%s RansacParams: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f, maxNormalAngleDeg=%.1f\n",
         logTag.c_str(),
         ransacParams.distanceThreshold,
         ransacParams.maxIterations,
         ransacParams.minPlanePoints,
         ransacParams.maxPlanes,
         ransacParams.growthZThreshold,
-        ransacParams.minPlaneRatio);
+        ransacParams.minPlaneRatio,
+        ransacParams.maxNormalAngleDeg);
 
     LOG_INFO("%s DetectionParams: angleThresholdPos=%.1f, angleThresholdNeg=%.1f, angleSearchDistance=%.2f, minPitDepth=%.2f\n",
         logTag.c_str(),

App/HoleDetection/HoleDetectionConfig/Src/VrConfig.cpp

@@ -76,6 +76,8 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
                 configResult.algorithmParams.ransacParam.growthZThreshold = ransacParamElement->DoubleAttribute("growthZThreshold");
             if (ransacParamElement->Attribute("minPlaneRatio"))
                 configResult.algorithmParams.ransacParam.minPlaneRatio = ransacParamElement->DoubleAttribute("minPlaneRatio");
+            if (ransacParamElement->Attribute("maxNormalAngleDeg"))
+                configResult.algorithmParams.ransacParam.maxNormalAngleDeg = ransacParamElement->DoubleAttribute("maxNormalAngleDeg");
         }
 
         XMLElement* detectionParamElement = algoParamsElement->FirstChildElement("DetectionParam");
@@ -209,6 +211,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     ransacParamElement->SetAttribute("maxPlanes", configResult.algorithmParams.ransacParam.maxPlanes);
     ransacParamElement->SetAttribute("growthZThreshold", configResult.algorithmParams.ransacParam.growthZThreshold);
     ransacParamElement->SetAttribute("minPlaneRatio", configResult.algorithmParams.ransacParam.minPlaneRatio);
+    ransacParamElement->SetAttribute("maxNormalAngleDeg", configResult.algorithmParams.ransacParam.maxNormalAngleDeg);
     algoParamsElement->InsertEndChild(ransacParamElement);
 
     // 检测参数 DetectionParam 需要覆盖算法库当前全部检测字段。

AppAlgo/holeDetection/include/HoleDetectionParams.h

@@ -14,6 +14,7 @@ struct RansacPlaneSegmentationParams {
     int maxPlanes;              // 最大提取平面数量, 建议 3-10
     float growthZThreshold;     // 区域生长时相邻点Z差阈值 (mm), 建议 0.5-2.0
     float minPlaneRatio;        // 平面最小点数占比 (相对最大平面), 建议 0.05-0.2
+    float maxNormalAngleDeg;    // 平面法向量与Z轴最大夹角 (度), 超过则直接丢弃; <=0 表示不过滤
 
     RansacPlaneSegmentationParams()
         : distanceThreshold(0.5f)
@@ -22,6 +23,7 @@ struct RansacPlaneSegmentationParams {
         , maxPlanes(5)
         , growthZThreshold(1.0f)
         , minPlaneRatio(0.1f)
+        , maxNormalAngleDeg(30.0f)
     {
     }
 };