工件孔更新算法,斜着角度不对的问题

App/WorkpieceHole/WorkpieceHoleApp/Version.h

@@ -5,8 +5,8 @@
 #define WORKPIECEHOLE_APP_NAME "工件孔定位"
 
 // 版本字符串
-#define WORKPIECEHOLE_VERSION_STRING "1.2.2"
+#define WORKPIECEHOLE_VERSION_STRING "1.2.3"
-#define WORKPIECEHOLE_BUILD_STRING "2"
+#define WORKPIECEHOLE_BUILD_STRING "1"
 #define WORKPIECEHOLE_FULL_VERSION_STRING "V" WORKPIECEHOLE_VERSION_STRING "_" WORKPIECEHOLE_BUILD_STRING
 
 // 构建日期

App/WorkpieceHole/WorkpieceHoleApp/Version.md

@@ -1,5 +1,13 @@
+# 1.2.3
+## build_1 2026-07-16
+1. 更新算法 工件4，5歇着的情况
+
 # 1.2.2
-## build_1 2026-07-14
+## build_2 2026-07-16
+1. 重新调整了工件序号
+2. 增加正反工件的识别
+
+## build_1 2026-07-16
 1. 工件3和工件5 反了。   
 2. 每个工件有独立的工具参数调整
 

AppAlgo/workpieceHolePositioning/Inc/SG_baseDataType.h

@@ -114,14 +114,6 @@ typedef struct
 	int idx;
 }SSG_intPair;
 
-typedef struct
-{
-	int data_0;
-	int data_1;
-	double value1;
-	double value2;
-}SSG_intPairRelationD;
-
 typedef struct
 {
 	int flag;

AppAlgo/workpieceHolePositioning/workpieceHolePositioning_test.cpp

@@ -978,12 +978,17 @@ void _XOYprojection(
 				int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
 				int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
 				//x轴
+				double mx2 = a_hole.center.x - dirAngleLen * a_hole.x_dir.x;
+				double my2 = a_hole.center.y - dirAngleLen * a_hole.x_dir.y;
+				int mpx2 = (int)((mx2 - x_range.min) / scale + sideWidth);
+				int mpy2 = (int)((my2 - y_range.min) / scale + sideWidth);
+
 				double x2 = a_hole.center.x + dirAngleLen * a_hole.x_dir.x;
 				double y2 = a_hole.center.y + dirAngleLen * a_hole.x_dir.y;
 				int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
 				int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
 				rgb = { 255, 0, 0 }; //x轴用红色
-				cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
+				cv::line(img, cv::Point(mpx2, mpy2), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
 				//y轴
 				x2 = a_hole.center.x + dirAngleLen * a_hole.y_dir.x;
 				y2 = a_hole.center.y + dirAngleLen * a_hole.y_dir.y;
@@ -1557,24 +1562,25 @@ void TuoPuFa_holePosition_test2(void)
 #endif
 }
 
-#define TPF3_TEST_GROUP 7
+#define TPF3_TEST_GROUP 8
 //拓普发工件孔定位（工件定位)
-void TuoPuFa_holePosition_test3(void)
+void TuoPuFa_holePosition_test4(void)
 {
 	const char* dataPath[TPF3_TEST_GROUP] = {
 
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/B10歪/", //7
 	};
 
 	SVzNLRange fileIdx[TPF3_TEST_GROUP] = {
 		{1,11}, {1, 10}, {1,10}, {1,10}, {1, 10},
-		{1,10}, {1, 10},
+		{1,10}, {1, 10}, {1, 10},
 	};
 
 	const char* ver = wd_workpieceHolePositioningVersion();
@@ -1617,7 +1623,7 @@ void TuoPuFa_holePosition_test3(void)
 #endif
 
 #if TEST_COMPUTE_HOLE
-	for (int grp = 0; grp < TPF3_TEST_GROUP; grp++)
+	for (int grp = 7; grp < TPF3_TEST_GROUP; grp++)
 	{
 		SSG_planeCalibPara groundCalibPara;
 		//初始化成单位阵
@@ -1701,7 +1707,7 @@ void TuoPuFa_holePosition_test3(void)
 
 			sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
 			double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 };  //
-			double angleDrawLen = 15;
+			double angleDrawLen = 30;
 			double displayScale = 0.3;
 			cv::String imgName(calibFile);
 			_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
@@ -1710,25 +1716,26 @@ void TuoPuFa_holePosition_test3(void)
 	}
 #endif
 }
-#define TPF4_TEST_GROUP 7
+#define TPF4_TEST_GROUP 8
 //拓普发工件孔定位（工件定位)
-void TuoPuFa_holePosition_test4(void)
+void TuoPuFa_holePosition_test5(void)
 {
 
 	const char* dataPath[TPF4_TEST_GROUP] = {
 
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/B20歪/", //7
 	};
 
 	SVzNLRange fileIdx[TPF4_TEST_GROUP] = {
 		{1,11}, {1, 11}, {1,11}, {1,10}, {1, 10},
-		{1,10}, {1, 10},
+		{1,10}, {1, 10}, {1, 10},
 	};
 
 	const char* ver = wd_workpieceHolePositioningVersion();
@@ -1771,7 +1778,7 @@ void TuoPuFa_holePosition_test4(void)
 #endif
 
 #if TEST_COMPUTE_HOLE
-	for (int grp = 0; grp < TPF4_TEST_GROUP; grp++)
+	for (int grp = 7; grp < TPF4_TEST_GROUP; grp++)
 	{
 		SSG_planeCalibPara groundCalibPara;
 		//初始化成单位阵
@@ -1855,7 +1862,7 @@ void TuoPuFa_holePosition_test4(void)
 
 			sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
 			double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 };  //
-			double angleDrawLen = 15;
+			double angleDrawLen = 30;
 			double displayScale = 0.3;
 			cv::String imgName(calibFile);
 			_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
@@ -1867,28 +1874,28 @@ void TuoPuFa_holePosition_test4(void)
 
 #define TPF5_TEST_GROUP 14
 //拓普发工件孔定位（工件定位)
-void TuoPuFa_holePosition_test5(void)
+void TuoPuFa_holePosition_test3(void)
 {
 	const char* dataPath[TPF5_TEST_GROUP] = {
 
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/8层/", //7
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/8层/", //7
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/9层/", //8
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/9层/", //8
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/10层/", //9
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/10层/", //9
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/11层/", //10
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/11层/", //10
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/12层/", //11
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/12层/", //11
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/13层/", //12
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/13层/", //12
-		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/14层/", //13
+		"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/14层/", //13
 	};
 
 	SVzNLRange fileIdx[TPF5_TEST_GROUP] = {
-		{1,10}, {1, 10}, {1,10}, {1,10}, {1, 10},
+		{1,12}, {1, 10}, {1,10}, {1,10}, {1, 10},
 		{1,11}, {1, 10}, {1,11}, {1,10}, {1,10},
 		{1, 10}, {1,10}, {1,11}, {1,10}
 	};
@@ -2742,9 +2749,9 @@ int main()
 	{
 		//TuoPuFa_holePosition_test();
 		//TuoPuFa_holePosition_test2();
-		TuoPuFa_holePosition_test3();
+		//TuoPuFa_holePosition_test3();
 		TuoPuFa_holePosition_test4();
-		//TuoPuFa_holePosition_test5();
+		TuoPuFa_holePosition_test5();
 	}
 	else if (keSG_华航孔定位 == testMode)
 		HuaHang_holePosition_test();

AppUtils/AppConfig/Inc/ConfigXmlUtils.h

@@ -29,10 +29,12 @@ namespace ConfigXmlUtils
  * @param root XML 根节点
  * @param list 输出的矩阵列表
  * @param defaultEulerOrder 当 XML 中无 eulerOrder 属性时使用的默认值
+ * @param defaultCalibType 当 XML 中无 calibType 属性时使用的默认值（0=眼在手外，1=眼在手上）
  */
 void LoadHandEyeCalibMatrixs(tinyxml2::XMLElement* root,
                              std::vector<VrHandEyeCalibMatrix>& list,
-                             int defaultEulerOrder = 11);
+                             int defaultEulerOrder = 11,
+                             int defaultCalibType = 0);
 
 /**
  * @brief 保存手眼标定矩阵列表到 XML 根节点（<HandEyeCalibMatrixs> 格式）

AppUtils/AppConfig/Inc/VrHandEyeCalibConfig.h

@@ -16,6 +16,7 @@
 struct VrHandEyeCalibMatrix
 {
     int cameraIndex;
+    int calibType;             // 0=眼在手外，1=眼在手上
     double matrix[16];
     int eulerOrder;
     double rotX;
@@ -35,6 +36,7 @@ struct VrHandEyeCalibMatrix
 
     VrHandEyeCalibMatrix()
         : cameraIndex(1)
+        , calibType(0)
         , eulerOrder(11)
         , rotX(0.0)
         , rotY(0.0)

AppUtils/AppConfig/Src/ConfigXmlUtils.cpp

@@ -12,11 +12,22 @@ namespace ConfigXmlUtils
 
 static void LoadSingleHandEyeCalibMatrix(XMLElement* handEyeElement,
                                           VrHandEyeCalibMatrix& calibMatrix,
-                                          int defaultEulerOrder)
+                                          int defaultEulerOrder,
+                                          int defaultCalibType)
 {
     if (handEyeElement->Attribute("cameraIndex"))
         calibMatrix.cameraIndex = handEyeElement->IntAttribute("cameraIndex");
 
+    const int fallbackCalibType = defaultCalibType == 1 ? 1 : 0;
+    if (handEyeElement->Attribute("calibType")) {
+        const int calibType = handEyeElement->IntAttribute("calibType");
+        calibMatrix.calibType = (calibType == 0 || calibType == 1)
+                                    ? calibType
+                                    : fallbackCalibType;
+    } else {
+        calibMatrix.calibType = fallbackCalibType;
+    }
+
     for (int i = 0; i < 16; i++)
     {
         char attrName[32];
@@ -60,7 +71,8 @@ static void LoadSingleHandEyeCalibMatrix(XMLElement* handEyeElement,
 
 void LoadHandEyeCalibMatrixs(XMLElement* root,
                              std::vector<VrHandEyeCalibMatrix>& list,
-                             int defaultEulerOrder)
+                             int defaultEulerOrder,
+                             int defaultCalibType)
 {
     // 优先找 <HandEyeCalibMatrixs>
     XMLElement* containerElement = root->FirstChildElement("HandEyeCalibMatrixs");
@@ -76,7 +88,8 @@ void LoadHandEyeCalibMatrixs(XMLElement* root,
         {
             VrHandEyeCalibMatrix calibMatrix;
             calibMatrix.cameraIndex = static_cast<int>(list.size()) + 1;  // 默认递增
-            LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix, defaultEulerOrder);
+            LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix,
+                                         defaultEulerOrder, defaultCalibType);
             list.push_back(calibMatrix);
             handEyeElement = handEyeElement->NextSiblingElement("HandEyeCalibMatrix");
         }
@@ -89,7 +102,8 @@ void LoadHandEyeCalibMatrixs(XMLElement* root,
         {
             VrHandEyeCalibMatrix calibMatrix;
             calibMatrix.cameraIndex = 1;
-            LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix, defaultEulerOrder);
+            LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix,
+                                         defaultEulerOrder, defaultCalibType);
             list.push_back(calibMatrix);
         }
     }
@@ -104,6 +118,7 @@ void SaveHandEyeCalibMatrixs(XMLDocument& doc,
     {
         XMLElement* handEyeElement = doc.NewElement("HandEyeCalibMatrix");
         handEyeElement->SetAttribute("cameraIndex", calibMatrix.cameraIndex);
+        handEyeElement->SetAttribute("calibType", calibMatrix.calibType);
         for (int i = 0; i < 16; i++)
         {
             char attrName[32];

AppUtils/UICommon/HandEyeCalibWidget.ui

@@ -57,6 +57,26 @@ padding: 2px;</string>
      </item>
     </layout>
    </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayoutCalibType">
+     <item>
+      <widget class="QLabel" name="labelCalibType">
+       <property name="minimumSize">
+        <size>
+         <width>120</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>标定方式:</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QComboBox" name="comboCalibType"/>
+     </item>
+    </layout>
+   </item>
    <item>
     <widget class="QLabel" name="labelStatus">
      <property name="text">

AppUtils/UICommon/Inc/HandEyeCalibWidget.h

@@ -30,6 +30,7 @@ struct HandEyeCalibCameraInfo
 struct HandEyeCalibData
 {
     int cameraIndex = 0;
+    int calibType = 0;       // 0=眼在手外，1=眼在手上
     double matrix[16] = {
         1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
@@ -72,6 +73,23 @@ public:
      */
     void setCalibData(int cameraIndex, const double matrix[16], bool isCalibrated);
 
+    /**
+     * @brief 设置新增相机数据使用的默认标定类型
+     * @param calibType 0=眼在手外，1=眼在手上
+     */
+    void setDefaultCalibType(int calibType);
+
+    /**
+     * @brief 设置指定相机的标定类型
+     */
+    void setCalibType(int cameraIndex, int calibType);
+
+    /**
+     * @brief 获取指定相机的标定类型
+     * @return 是否存在该相机的数据
+     */
+    bool getCalibType(int cameraIndex, int& outCalibType) const;
+
     /**
      * @brief 设置指定相机的欧拉角顺序与补偿旋转
      */
@@ -165,6 +183,7 @@ signals:
 
 private slots:
     void onCameraSelectionChanged(int index);
+    void onCalibTypeChanged(int index);
     void onLoadCalibMatrixClicked();
     void onSaveCalibMatrixClicked();
 
@@ -174,6 +193,7 @@ private:
     void clearMatrix();
     void displayIdentityMatrix();
     void updateCalibStatus(bool isCalibrated);
+    void updateCalibType(int calibType);
 
     // 从矩阵编辑框读取当前矩阵值
     bool readMatrixFromUI(double outMatrix[16]) const;
@@ -187,6 +207,7 @@ private:
     Ui::HandEyeCalibWidget* ui = nullptr;
 
     QComboBox*   m_comboCamera;
+    QComboBox*   m_comboCalibType;
     QLabel*      m_labelStatus;
     QLineEdit*   m_matrixEdits[4][4];  // 4x4 矩阵编辑框
     QPushButton* m_btnLoad;
@@ -195,6 +216,7 @@ private:
     QVector<HandEyeCalibData> m_calibDataCache;  // 按相机索引缓存
     QString m_defaultFilePath;
     bool m_matrixEditable;
+    int m_defaultCalibType;
 };
 
 #endif // HANDEYECALIBWIDGET_H

AppUtils/UICommon/Src/HandEyeCalibWidget.cpp

@@ -12,10 +12,12 @@ HandEyeCalibWidget::HandEyeCalibWidget(QWidget *parent)
     : QWidget(parent)
     , ui(new Ui::HandEyeCalibWidget)
     , m_comboCamera(nullptr)
+    , m_comboCalibType(nullptr)
     , m_labelStatus(nullptr)
     , m_btnLoad(nullptr)
     , m_btnSave(nullptr)
     , m_matrixEditable(false)
+    , m_defaultCalibType(0)
 {
     memset(m_matrixEdits, 0, sizeof(m_matrixEdits));
     setupUI();
@@ -62,6 +64,38 @@ void HandEyeCalibWidget::setCalibData(int cameraIndex, const double matrix[16],
     }
 }
 
+void HandEyeCalibWidget::setDefaultCalibType(int calibType)
+{
+    m_defaultCalibType = (calibType == 1) ? 1 : 0;
+
+    const int cameraIndex = currentCameraIndex();
+    const HandEyeCalibData* data = findCalibData(cameraIndex);
+    if (!data) {
+        updateCalibType(m_defaultCalibType);
+    }
+}
+
+void HandEyeCalibWidget::setCalibType(int cameraIndex, int calibType)
+{
+    HandEyeCalibData& data = ensureCalibData(cameraIndex);
+    data.calibType = (calibType == 1) ? 1 : 0;
+
+    if (currentCameraIndex() == cameraIndex) {
+        updateCalibType(data.calibType);
+    }
+}
+
+bool HandEyeCalibWidget::getCalibType(int cameraIndex, int& outCalibType) const
+{
+    const HandEyeCalibData* data = findCalibData(cameraIndex);
+    if (!data) {
+        return false;
+    }
+
+    outCalibType = data->calibType;
+    return true;
+}
+
 void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
                                           double rotX, double rotY, double rotZ)
 {
@@ -214,13 +248,16 @@ void HandEyeCalibWidget::onCameraSelectionChanged(int index)
     if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
         m_btnLoad->setEnabled(false);
         m_btnSave->setEnabled(false);
+        m_comboCalibType->setEnabled(false);
         displayIdentityMatrix();
         updateCalibStatus(false);
+        updateCalibType(m_defaultCalibType);
         return;
     }
 
     m_btnLoad->setEnabled(true);
     m_btnSave->setEnabled(true);
+    m_comboCalibType->setEnabled(true);
 
     int camIdx = m_comboCamera->itemData(index).toInt();
     const HandEyeCalibData* data = findCalibData(camIdx);
@@ -231,7 +268,22 @@ void HandEyeCalibWidget::onCameraSelectionChanged(int index)
         displayIdentityMatrix();
         updateCalibStatus(false);
     }
+    updateCalibType(data ? data->calibType : m_defaultCalibType);
+}
 
+void HandEyeCalibWidget::onCalibTypeChanged(int index)
+{
+    if (index < 0 || !m_comboCalibType) {
+        return;
+    }
+
+    const int cameraIndex = currentCameraIndex();
+    if (cameraIndex < 0) {
+        return;
+    }
+
+    HandEyeCalibData& data = ensureCalibData(cameraIndex);
+    data.calibType = (m_comboCalibType->itemData(index).toInt() == 1) ? 1 : 0;
 }
 
 void HandEyeCalibWidget::onLoadCalibMatrixClicked()
@@ -254,6 +306,11 @@ void HandEyeCalibWidget::onLoadCalibMatrixClicked()
     settings.setIniCodec("UTF-8");
     settings.beginGroup("CalibMatrixInfo_0");
 
+    int calibType = settings.value("eCalibType", m_defaultCalibType).toInt();
+    if (calibType != 0 && calibType != 1) {
+        calibType = m_defaultCalibType;
+    }
+
     double matrix[16];
     for (int i = 0; i < 16; ++i) {
         int row = i / 4;
@@ -264,6 +321,7 @@ void HandEyeCalibWidget::onLoadCalibMatrixClicked()
     settings.endGroup();
 
     setCalibData(camIdx, matrix, true);
+    setCalibType(camIdx, calibType);
     emit calibMatrixLoaded(camIdx, matrix);
 }
 
@@ -322,10 +380,15 @@ void HandEyeCalibWidget::setupUI()
     matrixFont.setPointSize(16);
 
     m_comboCamera = ui->comboCamera;
+    m_comboCalibType = ui->comboCalibType;
     m_labelStatus = ui->labelStatus;
     m_btnLoad = ui->btnLoad;
     m_btnSave = ui->btnSave;
 
+    m_comboCalibType->addItem(QStringLiteral("眼在手外"), 0);
+    m_comboCalibType->addItem(QStringLiteral("眼在手上"), 1);
+    updateCalibType(m_defaultCalibType);
+
     m_matrixEdits[0][0] = ui->editMatrix00;
     m_matrixEdits[0][1] = ui->editMatrix01;
     m_matrixEdits[0][2] = ui->editMatrix02;
@@ -363,6 +426,8 @@ void HandEyeCalibWidget::setupUI()
 
     connect(m_comboCamera, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
             this, &HandEyeCalibWidget::onCameraSelectionChanged);
+    connect(m_comboCalibType, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
+            this, &HandEyeCalibWidget::onCalibTypeChanged);
     connect(m_btnLoad, &QPushButton::clicked,
             this, &HandEyeCalibWidget::onLoadCalibMatrixClicked);
     connect(m_btnSave, &QPushButton::clicked,
@@ -411,6 +476,18 @@ void HandEyeCalibWidget::updateCalibStatus(bool isCalibrated)
     }
 }
 
+void HandEyeCalibWidget::updateCalibType(int calibType)
+{
+    if (!m_comboCalibType) {
+        return;
+    }
+
+    const int index = m_comboCalibType->findData(calibType == 1 ? 1 : 0);
+    m_comboCalibType->blockSignals(true);
+    m_comboCalibType->setCurrentIndex(index);
+    m_comboCalibType->blockSignals(false);
+}
+
 bool HandEyeCalibWidget::readMatrixFromUI(double outMatrix[16]) const
 {
     for (int r = 0; r < 4; ++r) {
@@ -455,6 +532,7 @@ HandEyeCalibData& HandEyeCalibWidget::ensureCalibData(int cameraIndex)
 
     HandEyeCalibData newData;
     newData.cameraIndex = cameraIndex;
+    newData.calibType = m_defaultCalibType;
     m_calibDataCache.append(newData);
     return m_calibDataCache.last();
 }