diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp index fad932f3..44f5276e 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp @@ -5,7 +5,11 @@ #include #include #include +#include #include +#include +#include +#include namespace { @@ -60,20 +64,6 @@ bool IsAngleInRange(double angle, double rangeMin, double rangeMax) return a + kEpsilon >= minAngle || a - kEpsilon <= maxAngle; } -double DistanceToAngleRange(double angle, double rangeMin, double rangeMax) -{ - if (IsAngleInRange(angle, rangeMin, rangeMax)) { - return 0.0; - } - - const double a = NormalizeAngleDeg(angle); - const double minAngle = NormalizeAngleDeg(rangeMin); - const double maxAngle = NormalizeAngleDeg(rangeMax); - const double toMin = std::fabs(NormalizeAngleDeg(a - minAngle)); - const double toMax = std::fabs(NormalizeAngleDeg(a - maxAngle)); - return toMin < toMax ? toMin : toMax; -} - struct AxialDirectionAdjustment { HECPoint3D direction; @@ -104,12 +94,7 @@ AxialDirectionAdjustment AdjustAxialDirectionByRange(const HECPoint3D& axialDir, } const double flippedAngle = NormalizeAngleDeg(result.inputAngle + 180.0); - const bool flippedInRange = IsAngleInRange(flippedAngle, rangeMin, rangeMax); - const bool flippedCloser = - DistanceToAngleRange(flippedAngle, rangeMin, rangeMax) - < DistanceToAngleRange(result.inputAngle, rangeMin, rangeMax); - - if (flippedInRange || flippedCloser) { + if (IsAngleInRange(flippedAngle, rangeMin, rangeMax)) { result.direction = axialDir * -1.0; result.outputAngle = flippedAngle; result.flipped = true; @@ -192,6 +177,42 @@ void ApplyToolRotationToEyeAxes(IHandEyeCalib& handEyeCalib, + oldZ * toolRotation.at(2, 2)).normalized(); } +void DrawCanvasArrow(PointCloudCanvas& canvas, + double startX, + double startY, + double endX, + double endY, + const QColor& color, + int penWidth) +{ + if (!canvas.isValid()) { + return; + } + + QLineF line(QPointF(canvas.project(startX, startY)), + QPointF(canvas.project(endX, endY))); + if (line.length() < 1.0) { + return; + } + + QPainter painter(&canvas.image()); + painter.setRenderHint(QPainter::Antialiasing); + painter.setPen(QPen(color, penWidth, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin)); + painter.setBrush(QBrush(color)); + painter.drawLine(line); + + const double arrowSize = 14.0; + const double angle = std::atan2(line.dy(), line.dx()); + const QPointF arrowP1 = line.p2() - QPointF(std::cos(angle - M_PI / 6.0) * arrowSize, + std::sin(angle - M_PI / 6.0) * arrowSize); + const QPointF arrowP2 = line.p2() - QPointF(std::cos(angle + M_PI / 6.0) * arrowSize, + std::sin(angle + M_PI / 6.0) * arrowSize); + + QPolygonF arrowHead; + arrowHead << line.p2() << arrowP1 << arrowP2; + painter.drawPolygon(arrowHead); +} + } // namespace DetectPresenter::DetectPresenter(/* args */) @@ -318,13 +339,18 @@ int DetectPresenter::DetectRod( // 绘制棒材中心点（红色） canvas.drawPoint(rod.center.x, rod.center.y, QColor(255, 0, 0), 6); - // 绘制轴向方向线（红色） - double len = 60; - double ax0 = rod.center.x - len * axialDir.x; - double ay0 = rod.center.y - len * axialDir.y; - double ax1 = rod.center.x + len * axialDir.x; - double ay1 = rod.center.y + len * axialDir.y; - canvas.drawLine(ax0, ay0, ax1, ay1, QColor(255, 0, 0), 2); + // 绘制轴向箭头（黄色） + const double axialXYNorm = std::hypot(axialDir.x, axialDir.y); + if (axialXYNorm > 1e-9) { + const double axisUx = axialDir.x / axialXYNorm; + const double axisUy = axialDir.y / axialXYNorm; + const double axisHalfLen = std::max(60.0, algorithmParams.rodParam.rodLen * 0.25); + const double ax0 = rod.center.x - axisHalfLen * axisUx; + const double ay0 = rod.center.y - axisHalfLen * axisUy; + const double ax1 = rod.center.x + axisHalfLen * axisUx; + const double ay1 = rod.center.y + axisHalfLen * axisUy; + DrawCanvasArrow(canvas, ax0, ay0, ax1, ay1, QColor(255, 220, 0), 3); + } // 绘制起点到终点线段（绿色） canvas.drawLine(rod.startPt.x, rod.startPt.y, rod.endPt.x, rod.endPt.y, QColor(0, 255, 0), 2); diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Version.h b/App/RodAndBarPosition/RodAndBarPositionApp/Version.h index 43f1d27f..3ab57cec 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Version.h +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Version.h @@ -6,7 +6,7 @@ #define RODANDBARPOSITION_APP_NAME "棒材定位" #define RODANDBARPOSITION_VERSION_STRING "1.1.4" -#define RODANDBARPOSITION_BUILD_STRING "3" +#define RODANDBARPOSITION_BUILD_STRING "4" #define RODANDBARPOSITION_FULL_VERSION_STRING "V" RODANDBARPOSITION_VERSION_STRING "_" RODANDBARPOSITION_BUILD_STRING // 获取版本信息的便捷函数 diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/Version.md b/App/RodAndBarPosition/RodAndBarPositionApp/Version.md index b734ca88..1159090b 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/Version.md +++ b/App/RodAndBarPosition/RodAndBarPositionApp/Version.md @@ -1,4 +1,8 @@ # 1.1.4 2026-06-26 +## build_4 7-1 +1. 对输出姿态角做了范围限制 + + ## build_3 1. 修复工具的欧拉角顺序与协议的欧拉角顺序复用的问题 diff --git a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp index a37ff470..205f9b82 100644 --- a/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp +++ b/App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp @@ -7,6 +7,7 @@ #include "ToolExtrinsicWidget.h" #include "PathManager.h" #include "VrLog.h" +#include #include #include @@ -50,6 +51,11 @@ DialogAlgoArg::DialogAlgoArg(QWidget *parent) , m_toolExtrinsicWidget(nullptr) { ui->setupUi(this); + const QList spinBoxes = findChildren(); + for (QAbstractSpinBox* spinBox : spinBoxes) { + spinBox->setButtonSymbols(QAbstractSpinBox::NoButtons); + spinBox->setKeyboardTracking(false); + } setWindowTitle("算法参数设置"); }