棒材增加了输出姿态角的限制

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

@@ -5,7 +5,11 @@
 #include <cmath>
 #include <fstream>
 #include <memory>
+#include <QBrush>
 #include <QColor>
+#include <QLineF>
+#include <QPainter>
+#include <QPolygonF>
 
 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);

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

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
 

App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp

@@ -7,6 +7,7 @@
 #include "ToolExtrinsicWidget.h"
 #include "PathManager.h"
 #include "VrLog.h"
+#include <QAbstractSpinBox>
 #include <algorithm>
 #include <cstring>
 
@@ -50,6 +51,11 @@ DialogAlgoArg::DialogAlgoArg(QWidget *parent)
     , m_toolExtrinsicWidget(nullptr)
 {
     ui->setupUi(this);
+    const QList<QAbstractSpinBox*> spinBoxes = findChildren<QAbstractSpinBox*>();
+    for (QAbstractSpinBox* spinBox : spinBoxes) {
+        spinBox->setButtonSymbols(QAbstractSpinBox::NoButtons);
+        spinBox->setKeyboardTracking(false);
+    }
     setWindowTitle("算法参数设置");
 }