feat: 更新轮眉高度测量版本; 棒材修复内存泄露问题

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

@@ -51,15 +51,8 @@ int DetectPresenter::DetectHoles(
         return ERR_CODE(DEV_DATA_INVALID);
     }
 
-    // 保存debug数据
+    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
-    // 调试模式下先保存原始激光线数据，便于后续离线复现问题。
     std::string timeStamp = CVrDateUtils::GetNowTime();
-    if (debugParam.enableDebug && debugParam.savePointCloud) {
-        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
-
-        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
-        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
-    }
 
     int nRet = SUCCESS;
 

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

@@ -3,11 +3,7 @@
 #include "AlgoParamConverter.h"
 #include "IHandEyeCalib.h"
 #include <fstream>
-#define _USE_MATH_DEFINES
-#include <cmath>
 #include <memory>
-#include <QPainter>
-#include <QPen>
 #include <QColor>
 
 namespace
@@ -68,17 +64,8 @@ int DetectPresenter::DetectRod(
         cameraCalibParam = &cameraCalibParamValue;
     }
 
-    // 保存debug数据
+    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
     std::string timeStamp = CVrDateUtils::GetNowTime();
-    if(debugParam.enableDebug && debugParam.savePointCloud){
-        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
-
-        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
-        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
-
-        // 直接使用统一格式保存数据
-        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
-    }
 
     int nRet = SUCCESS;
 
@@ -136,96 +123,32 @@ int DetectPresenter::DetectRod(
     const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);
     const HECEulerOrder hecEulerOrder = ToHandEyeEulerOrder(eulerOrder);
 
-    // 构建检测结果：生成点云图像
+    // 使用 PointCloudCanvas 生成点云图像（灰色底图 + 棒材中心/方向线标记）
-    // 1. 获取所有棒材的中心点用于可视化
+    {
-    std::vector<std::vector<SVzNL3DPoint>> objOps;
+        PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
-    std::vector<SVzNL3DPoint> rodCenters;
 
-    for (const auto& rod : rodInfo) {
+        for (size_t i = 0; i < rodInfo.size(); i++) {
-        SVzNL3DPoint pt;
+            const auto& rod = rodInfo[i];
-        pt.x = rod.center.x;
-        pt.y = rod.center.y;
-        pt.z = rod.center.z;
-        rodCenters.push_back(pt);
-    }
-    if (!rodCenters.empty()) {
-        objOps.push_back(rodCenters);
-    }
 
-    // 从点云数据生成投影图像（10cm边界），同时获取点云原始范围
+            // 绘制棒材中心点（红色）
-    double margin = 100.0;  // 10cm = 100mm
+            canvas.drawPoint(rod.center.x, rod.center.y, QColor(255, 0, 0), 6);
-    double xMin, xMax, yMin, yMax;
-    detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, margin, &xMin, &xMax, &yMin, &yMax);
 
-    // 在图像上绘制棒材的轴向方向线
-    if (!detectionResult.image.isNull() && !rodInfo.empty()) {
-        QPainter painter(&detectionResult.image);
-        painter.setRenderHint(QPainter::Antialiasing);
-
-        // 扩展边界（与GeneratePointCloudRetPointImage相同）
-        xMin -= margin;
-        xMax += margin;
-        yMin -= margin;
-        yMax += margin;
-
-        // 使用与GeneratePointCloudRetPointImage相同的参数
-        int imgRows = detectionResult.image.height();
-        int imgCols = detectionResult.image.width();
-        int x_skip = 50;
-        int y_skip = 50;
-
-        // 计算投影比例（与PointCloudImageUtils相同的方式）
-        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;
-
-        // 使用统一的比例尺
-        double scale = std::max(x_scale, y_scale);
-        x_scale = scale;
-        y_scale = scale;
-
-        // 计算点云在图像中居中的偏移量（与PointCloudImageUtils一致）
-        double cloudWidth = (xMax - xMin) / scale;
-        double cloudHeight = (yMax - yMin) / scale;
-        int x_offset = x_skip + (int)((x_cols - cloudWidth) / 2);
-        int y_offset = y_skip + (int)((y_rows - cloudHeight) / 2);
-
-        // 转换3D坐标到图像坐标的lambda函数（使用居中偏移）
-        auto toImageCoord = [&](const SVzNL3DPoint& pt) -> QPointF {
-            int px = (int)((pt.x - xMin) / x_scale + x_offset);
-            int py = (int)((pt.y - yMin) / y_scale + y_offset);
-            return QPointF(px, py);
-        };
-
-        // 绘制棒材的轴向方向线
-        for (const auto& rod : rodInfo) {
             // 绘制轴向方向线（红色）
             double len = 60;
-            QPen axisPen(QColor(255, 0, 0), 2);
+            double ax0 = rod.center.x - len * rod.axialDir.x;
-            painter.setPen(axisPen);
+            double ay0 = rod.center.y - len * rod.axialDir.y;
-
+            double ax1 = rod.center.x + len * rod.axialDir.x;
-            SVzNL3DPoint pt0 = { rod.center.x - len * rod.axialDir.x,
+            double ay1 = rod.center.y + len * rod.axialDir.y;
-                                 rod.center.y - len * rod.axialDir.y,
+            canvas.drawLine(ax0, ay0, ax1, ay1, QColor(255, 0, 0), 2);
-                                 rod.center.z - len * rod.axialDir.z };
-            SVzNL3DPoint pt1 = { rod.center.x + len * rod.axialDir.x,
-                                 rod.center.y + len * rod.axialDir.y,
-                                 rod.center.z + len * rod.axialDir.z };
-
-            QPointF imgPt0 = toImageCoord(pt0);
-            QPointF imgPt1 = toImageCoord(pt1);
-            painter.drawLine(imgPt0, imgPt1);
 
             // 绘制起点到终点线段（绿色）
-            QPen segPen(QColor(0, 255, 0), 2);
+            canvas.drawLine(rod.startPt.x, rod.startPt.y, rod.endPt.x, rod.endPt.y, QColor(0, 255, 0), 2);
-            painter.setPen(segPen);
 
-            SVzNL3DPoint startPt = { rod.startPt.x, rod.startPt.y, rod.startPt.z };
+            // 中心点白色编号
-            SVzNL3DPoint endPt   = { rod.endPt.x,   rod.endPt.y,   rod.endPt.z   };
+            canvas.drawText(rod.center.x, rod.center.y, QString("%1").arg(i + 1), Qt::white, 14);
-            QPointF imgStart = toImageCoord(startPt);
-            QPointF imgEnd   = toImageCoord(endPt);
-            painter.drawLine(imgStart, imgEnd);
         }
+
+        detectionResult.image = canvas.image();
     }
 
     // 转换检测结果为UI显示格式（使用机械臂坐标系数据）

App/RodAndBarPosition/RodAndBarPositionApp/Version.h

@@ -5,7 +5,7 @@
 // 应用名称
 #define RODANDBARPOSITION_APP_NAME "棒材定位"
 
-#define RODANDBARPOSITION_VERSION_STRING "1.0.2"
+#define RODANDBARPOSITION_VERSION_STRING "1.1.0"
 #define RODANDBARPOSITION_BUILD_STRING "1"
 #define RODANDBARPOSITION_FULL_VERSION_STRING "V" RODANDBARPOSITION_VERSION_STRING "_" RODANDBARPOSITION_BUILD_STRING
 

App/RodAndBarPosition/RodAndBarPositionApp/Version.md

@@ -1,3 +1,7 @@
+# 1.1.0 2026-04-13
+## build_1
+1. 更新内存泄露问题
+
 # 1.0.1 2026-03-27
 ## build_1
 1. 修复协议，增加读取下一个目标的

App/WheelMeasure/WheelMeasureApp/Version.h

@@ -3,7 +3,7 @@
 
 
 #define WHEELMEASURE_APP_NAME "轮眉高度测量"
-#define WHEELMEASURE_VERSION_STRING "1.1.1"
+#define WHEELMEASURE_VERSION_STRING "1.1.2"
 #define WHEELMEASURE_BUILD_STRING "1"
 #define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING
 

App/WheelMeasure/WheelMeasureApp/Version.md

@@ -1,3 +1,7 @@
+# 1.1.2
+## build_1 2026-04-09
+1. 更新算法1.3.4
+
 # 1.1.1
 ## build_1 2026-04-09
 1. 更新算法1.3.3

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

@@ -45,17 +45,8 @@ int DetectPresenter::DetectWorkpieceHole(
         cameraCalibParam = &cameraCalibParamValue;
     }
 
-    // 保存debug数据
+    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
     std::string timeStamp = CVrDateUtils::GetNowTime();
-    if(debugParam.enableDebug && debugParam.savePointCloud){
-        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
-
-        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
-        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
-
-        // 直接使用统一格式保存数据
-        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
-    }
 
     int nRet = SUCCESS;