棒材的工具参数配置更新

App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Inc/DetectPresenter.h

@@ -34,8 +34,12 @@ public:
                     LaserDataLoader& dataLoader,
                     const double clibMatrix[16],
                     int eulerOrder,
-                    int dirVectorInvert,
+                    double toolRotX,
-                    int longAxisDir,
+                    double toolRotY,
+                    double toolRotZ,
+                    double toolOffsetX,
+                    double toolOffsetY,
+                    double toolOffsetZ,
                     DetectionResult& detectionResult);
 
 };

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

@@ -2,6 +2,7 @@
 #include "rodAndBarDetection_Export.h"
 #include "AlgoParamConverter.h"
 #include "IHandEyeCalib.h"
+#include <cmath>
 #include <fstream>
 #include <memory>
 #include <QColor>
@@ -48,8 +49,12 @@ int DetectPresenter::DetectRod(
     LaserDataLoader& dataLoader,
     const double clibMatrix[16],
     int eulerOrder,
-    int dirVectorInvert,
+    double toolRotX,
-    int longAxisDir,
+    double toolRotY,
+    double toolRotZ,
+    double toolOffsetX,
+    double toolOffsetY,
+    double toolOffsetZ,
     DetectionResult& detectionResult)
 {
     if (laserLines.empty()) {
@@ -165,14 +170,32 @@ int DetectPresenter::DetectRod(
             HECPoint3D(rod.center.x, rod.center.y, rod.center.z),
             HECPoint3D(rod.axialDir.x, rod.axialDir.y, rod.axialDir.z),
             HECPoint3D(rod.normalDir.x, rod.normalDir.y, rod.normalDir.z),
-            dirVectorInvert,
+            0,
             hecEulerOrder,
-            longAxisDir == 1 ? HECLongAxisDir::AxisY : HECLongAxisDir::AxisX,
+            HECLongAxisDir::AxisX,
             poseResult);
         if (!validPose) {
             LOG_WARNING("[Algo Thread] Rod %zu has invalid axial/normal direction, use zero pose\n", i);
         }
 
+        if (std::abs(toolRotX) > 1e-9 || std::abs(toolRotY) > 1e-9 || std::abs(toolRotZ) > 1e-9) {
+            HECRotationMatrix poseRotation;
+            handEyeCalib->EulerToRotationMatrix(poseResult.angles, hecEulerOrder, poseRotation);
+
+            HECRotationMatrix toolRotation;
+            handEyeCalib->EulerToRotationMatrix(
+                HECEulerAngles::fromDegrees(toolRotX, toolRotY, toolRotZ),
+                HECEulerOrder::ZYX,
+                toolRotation);
+
+            HECRotationMatrix adjustedRotation = poseRotation * toolRotation;
+            handEyeCalib->RotationMatrixToEuler(adjustedRotation, hecEulerOrder, poseResult.angles);
+        }
+
+        poseResult.position.x += toolOffsetX;
+        poseResult.position.y += toolOffsetY;
+        poseResult.position.z += toolOffsetZ;
+
         double rollDeg = 0.0, pitchDeg = 0.0, yawDeg = 0.0;
         poseResult.angles.toDegrees(rollDeg, pitchDeg, yawDeg);
 

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

@@ -229,22 +229,43 @@ int RodAndBarPositionPresenter::ProcessAlgoDetection(std::vector<std::pair<EVzRe
     ConfigResult configResult = m_pConfigManager->GetConfigResult();
     VrDebugParam debugParam = configResult.debugParam;
     int eulerOrder = configResult.eulerOrder;
+    double toolRotX = 0.0;
+    double toolRotY = 0.0;
+    double toolRotZ = 0.0;
+    double toolOffsetX = 0.0;
+    double toolOffsetY = 0.0;
+    double toolOffsetZ = 0.0;
     const int calibIdx = m_currentCameraIndex - 1;
     if (calibIdx >= 0 && calibIdx < static_cast<int>(configResult.handEyeCalibMatrixList.size())) {
-        eulerOrder = configResult.handEyeCalibMatrixList[calibIdx].eulerOrder;
+        const auto& toolConfig = configResult.handEyeCalibMatrixList[calibIdx];
+        eulerOrder = toolConfig.eulerOrder;
+        toolRotX = toolConfig.rotX;
+        toolRotY = toolConfig.rotY;
+        toolRotZ = toolConfig.rotZ;
+        toolOffsetX = toolConfig.offsetX;
+        toolOffsetY = toolConfig.offsetY;
+        toolOffsetZ = toolConfig.offsetZ;
     } else if (!configResult.handEyeCalibMatrixList.empty()) {
-        eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder;
+        const auto& toolConfig = configResult.handEyeCalibMatrixList[0];
+        eulerOrder = toolConfig.eulerOrder;
+        toolRotX = toolConfig.rotX;
+        toolRotY = toolConfig.rotY;
+        toolRotZ = toolConfig.rotZ;
+        toolOffsetX = toolConfig.offsetX;
+        toolOffsetY = toolConfig.offsetY;
+        toolOffsetZ = toolConfig.offsetZ;
     }
-    const int dirVectorInvert = configResult.dirVectorInvert;
+    LOG_INFO("[Algo Thread] Using tool params: euler=%d, rot=(%.3f, %.3f, %.3f), offset=(%.3f, %.3f, %.3f)\n",
-    const int longAxisDir = configResult.longAxisDir;
+             eulerOrder, toolRotX, toolRotY, toolRotZ, toolOffsetX, toolOffsetY, toolOffsetZ);
-    LOG_INFO("[Algo Thread] Using euler order: %d, dir vector invert: %d, long axis dir: %d\n", eulerOrder, dirVectorInvert, longAxisDir);
 
     DetectionResult detectionResult;
 
     int nRet = m_pDetectPresenter->DetectRod(m_currentCameraIndex, detectionDataCache,
                                 algorithmParams, debugParam, m_dataLoader,
-                                currentClibMatrix.clibMatrix, eulerOrder, dirVectorInvert,
+                                currentClibMatrix.clibMatrix, eulerOrder,
-                                longAxisDir, detectionResult);
+                                toolRotX, toolRotY, toolRotZ,
+                                toolOffsetX, toolOffsetY, toolOffsetZ,
+                                detectionResult);
 
     // 算法返回 SX_ERR_ZERO_OBJECTS(-1010) 表示料框为空：单独提示并写专用协议状态码 4
     if (nRet == ERR_CODE(SX_ERR_ZERO_OBJECTS)) {

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 "1.1.3"
+#define RODANDBARPOSITION_VERSION_STRING "1.1.4"
 #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 @@
+# 1.1.4 2026-06-26
+## build_1
+1. 修改工具的参数配置
+
 # 1.1.3 2026-06-24
 ## build_1
 1. 更新算法

App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.cpp

@@ -4,40 +4,38 @@
 #include "StyledMessageBox.h"
 #include "HandEyeCalibWidget.h"
 #include "NetworkConfigWidget.h"
+#include "ToolExtrinsicWidget.h"
 #include "PathManager.h"
 #include "VrLog.h"
+#include <algorithm>
 #include <cstring>
-#include <QFormLayout>
-#include <QGroupBox>
 
 namespace
 {
 
-/// 姿态输入/输出顺序 → 欧拉角旋转顺序 映射
 int PoseOutputOrderToEulerOrder(int poseOrder)
 {
     switch (poseOrder) {
-    case 0: return 10;  // RX-RY-RZ → XYZ
+    case 0: return 10;  // RX-RY-RZ -> XYZ
-    case 1: return 15;  // RX-RZ-RY → XZY
+    case 1: return 15;  // RX-RZ-RY -> XZY
-    case 2: return 13;  // RY-RX-RZ → YXZ
+    case 2: return 13;  // RY-RX-RZ -> YXZ
-    case 3: return 14;  // RY-RZ-RX → YZX
+    case 3: return 14;  // RY-RZ-RX -> YZX
-    case 4: return 12;  // RZ-RX-RY → ZXY
+    case 4: return 12;  // RZ-RX-RY -> ZXY
-    case 5: return 11;  // RZ-RY-RX → ZYX
+    case 5: return 11;  // RZ-RY-RX -> ZYX
-    default: return 11; // 默认 ZYX
+    default: return 11;
     }
 }
 
-/// 欧拉角旋转顺序 → 姿态输入/输出顺序 映射（UI 显示用）
 int EulerOrderToPoseOutputOrder(int eulerOrder)
 {
     switch (eulerOrder) {
-    case 10: return 0;  // XYZ → RX-RY-RZ
+    case 10: return 0;  // XYZ -> RX-RY-RZ
-    case 15: return 1;  // XZY → RX-RZ-RY
+    case 15: return 1;  // XZY -> RX-RZ-RY
-    case 13: return 2;  // YXZ → RY-RX-RZ
+    case 13: return 2;  // YXZ -> RY-RX-RZ
-    case 14: return 3;  // YZX → RY-RZ-RX
+    case 14: return 3;  // YZX -> RY-RZ-RX
-    case 12: return 4;  // ZXY → RZ-RX-RY
+    case 12: return 4;  // ZXY -> RZ-RX-RY
-    case 11: return 5;  // ZYX → RZ-RY-RX
+    case 11: return 5;  // ZYX -> RZ-RY-RX
-    default: return 5;  // 默认 RZ-RY-RX
+    default: return 5;
     }
 }
 
@@ -49,6 +47,7 @@ DialogAlgoArg::DialogAlgoArg(QWidget *parent)
     , m_presenter(nullptr)
     , m_handEyeCalibWidget(nullptr)
     , m_networkConfigWidget(nullptr)
+    , m_toolExtrinsicWidget(nullptr)
 {
     ui->setupUi(this);
     setWindowTitle("算法参数设置");
@@ -67,6 +66,9 @@ void DialogAlgoArg::SetPresenter(RodAndBarPositionPresenter* presenter)
     // 初始化手眼标定 tab
     InitHandEyeCalibTab();
 
+    // 初始化工具参数 tab
+    InitToolExtrinsicTab();
+
     // 初始化网络配置 tab
     InitNetworkConfigTab();
 }
@@ -138,27 +140,41 @@ void DialogAlgoArg::saveParams()
 
     m_presenter->SetAlgoParams(params);
 
-    // 保存手眼标定矩阵 + 网络配置到配置文件（统一获取一次配置，避免互相覆盖）
+    // 保存手眼标定矩阵 + 工具参数 + 网络配置到配置文件（统一获取一次配置，避免互相覆盖）
     if (m_presenter->GetConfigManager()) {
         ConfigManager* configManager = m_presenter->GetConfigManager();
         SystemConfig systemConfig = configManager->GetConfig();
-        NetworkConfigData netConfig;
-        bool hasNetworkConfig = false;
 
+        int toolEulerOrder = systemConfig.configResult.eulerOrder;
+        double toolRotX = 0.0;
+        double toolRotY = 0.0;
+        double toolRotZ = 0.0;
+        double toolOffsetX = 0.0;
+        double toolOffsetY = 0.0;
+        double toolOffsetZ = 0.0;
+        if (!systemConfig.configResult.handEyeCalibMatrixList.empty()) {
+            const auto& toolConfig = systemConfig.configResult.handEyeCalibMatrixList.front();
+            toolEulerOrder = toolConfig.eulerOrder;
+            toolRotX = toolConfig.rotX;
+            toolRotY = toolConfig.rotY;
+            toolRotZ = toolConfig.rotZ;
+            toolOffsetX = toolConfig.offsetX;
+            toolOffsetY = toolConfig.offsetY;
+            toolOffsetZ = toolConfig.offsetZ;
+        }
+        if (m_toolExtrinsicWidget) {
+            m_toolExtrinsicWidget->getData(toolEulerOrder,
+                                           toolRotX, toolRotY, toolRotZ,
+                                           toolOffsetX, toolOffsetY, toolOffsetZ);
+        }
+        systemConfig.configResult.eulerOrder = toolEulerOrder;
+
+        // 网络配置保存通信字节序和姿态输入/输出顺序；方向向量/长轴不再提供配置。
         if (m_networkConfigWidget) {
-            netConfig = m_networkConfigWidget->getConfig();
+            NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
-            // 欧拉角旋转顺序由姿态输入/输出顺序决定
+            toolEulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder);
-            netConfig.eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder);
+            systemConfig.configResult.eulerOrder = toolEulerOrder;
-            hasNetworkConfig = true;
-            systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
-            systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert;
             systemConfig.configResult.byteOrder = netConfig.byteOrder;
-            systemConfig.configResult.longAxisDir = netConfig.longAxisDir;
-        }
-        if (hasNetworkConfig) {
-            for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) {
-                calibMatrix.eulerOrder = netConfig.eulerOrder;
-            }
         }
 
         // 保存手眼标定矩阵
@@ -174,14 +190,26 @@ void DialogAlgoArg::saveParams()
                 // 先从已有配置中获取该相机的矩阵作为基础
                 VrHandEyeCalibMatrix calibMatrix;
                 calibMatrix.cameraIndex = camIdx;
-                calibMatrix.eulerOrder = systemConfig.configResult.eulerOrder;
+                calibMatrix.eulerOrder = toolEulerOrder;
+                calibMatrix.rotX = toolRotX;
+                calibMatrix.rotY = toolRotY;
+                calibMatrix.rotZ = toolRotZ;
+                calibMatrix.offsetX = toolOffsetX;
+                calibMatrix.offsetY = toolOffsetY;
+                calibMatrix.offsetZ = toolOffsetZ;
                 for (const auto& old : oldMatrixList) {
                     if (old.cameraIndex == camIdx) {
                         calibMatrix = old;
                         break;
                     }
                 }
-                calibMatrix.eulerOrder = systemConfig.configResult.eulerOrder;
+                calibMatrix.eulerOrder = toolEulerOrder;
+                calibMatrix.rotX = toolRotX;
+                calibMatrix.rotY = toolRotY;
+                calibMatrix.rotZ = toolRotZ;
+                calibMatrix.offsetX = toolOffsetX;
+                calibMatrix.offsetY = toolOffsetY;
+                calibMatrix.offsetZ = toolOffsetZ;
 
                 // 如果控件中有更新的数据则覆盖
                 bool isCalibrated = false;
@@ -195,16 +223,6 @@ void DialogAlgoArg::saveParams()
             systemConfig.configResult.handEyeCalibMatrixList = newMatrixList;
         }
 
-        // 保存网络配置
-        if (m_networkConfigWidget) {
-            NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
-            // 欧拉角旋转顺序由姿态输入/输出顺序决定
-            netConfig.eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder);
-            systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
-            systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert;
-            systemConfig.configResult.byteOrder = netConfig.byteOrder;
-        }
-
         // 统一更新并保存到文件
         configManager->UpdateFullConfig(systemConfig);
         QString configPath = PathManager::GetInstance().GetConfigFilePath();
@@ -330,44 +348,60 @@ void DialogAlgoArg::onSaveCalibRequested(int cameraIndex, const double* matrix)
     StyledMessageBox::information(this, "成功", "手眼标定参数已保存！");
 }
 
+// ========== 工具参数相关实现 ==========
+
+void DialogAlgoArg::InitToolExtrinsicTab()
+{
+    if (!ui || !m_presenter) return;
+
+    m_toolExtrinsicWidget = new ToolExtrinsicWidget(this);
+    m_toolExtrinsicWidget->setTargetOffsetVisible(true);
+    ui->verticalLayout_toolExtrinsicHost->addWidget(m_toolExtrinsicWidget);
+
+    loadToolExtrinsicConfig();
+}
+
+void DialogAlgoArg::loadToolExtrinsicConfig()
+{
+    if (!m_presenter || !m_toolExtrinsicWidget) return;
+
+    ConfigManager* configManager = m_presenter->GetConfigManager();
+    if (!configManager) return;
+
+    ConfigResult configResult = configManager->GetConfigResult();
+    int eulerOrder = configResult.eulerOrder;
+    double rotX = 0.0;
+    double rotY = 0.0;
+    double rotZ = 0.0;
+    double offsetX = 0.0;
+    double offsetY = 0.0;
+    double offsetZ = 0.0;
+
+    if (!configResult.handEyeCalibMatrixList.empty()) {
+        const auto& toolConfig = configResult.handEyeCalibMatrixList.front();
+        eulerOrder = toolConfig.eulerOrder;
+        rotX = toolConfig.rotX;
+        rotY = toolConfig.rotY;
+        rotZ = toolConfig.rotZ;
+        offsetX = toolConfig.offsetX;
+        offsetY = toolConfig.offsetY;
+        offsetZ = toolConfig.offsetZ;
+    }
+
+    m_toolExtrinsicWidget->setData(eulerOrder, rotX, rotY, rotZ, offsetX, offsetY, offsetZ);
+}
+
 // ========== 网络配置相关实现 ==========
 
 void DialogAlgoArg::InitNetworkConfigTab()
 {
     if (!ui || !m_presenter) return;
 
-    // 创建网络配置控件：不显示PLC配置，不显示TCP配置
     m_networkConfigWidget = new NetworkConfigWidget(false, false, this);
     ui->verticalLayout_networkConfigHost->addWidget(m_networkConfigWidget);
+    m_networkConfigWidget->setExtrinsicControlsVisible(false);
+    m_networkConfigWidget->setPoseOutputOrderVisible(true);
 
-    // 隐藏"欧拉角旋转顺序"和"输出欧拉角顺序"控件（本项目由姿态输入/输出顺序统一控制）
-    {
-        QList<QGroupBox*> groups = m_networkConfigWidget->findChildren<QGroupBox*>();
-        for (QGroupBox* group : groups) {
-            if (group->title() == QStringLiteral("通信参数")) {
-                QFormLayout* form = qobject_cast<QFormLayout*>(group->layout());
-                if (form) {
-                    for (int i = 0; i < form->rowCount(); ++i) {
-                        QLayoutItem* labelItem = form->itemAt(i, QFormLayout::LabelRole);
-                        if (labelItem && labelItem->widget()) {
-                            QLabel* label = qobject_cast<QLabel*>(labelItem->widget());
-                            if (label && (label->text().contains(QStringLiteral("欧拉角旋转顺序"))
-                                       || label->text().contains(QStringLiteral("输出欧拉角顺序")))) {
-                                label->hide();
-                                QLayoutItem* fieldItem = form->itemAt(i, QFormLayout::FieldRole);
-                                if (fieldItem && fieldItem->widget()) {
-                                    fieldItem->widget()->hide();
-                                }
-                            }
-                        }
-                    }
-                }
-                break;
-            }
-        }
-    }
-
-    // 加载当前配置
     loadNetworkConfig();
 }
 
@@ -381,16 +415,12 @@ void DialogAlgoArg::loadNetworkConfig()
     ConfigResult configResult = configManager->GetConfigResult();
 
     NetworkConfigData netConfig;
-    // 欧拉角旋转顺序由姿态输入/输出顺序统一控制
-    // 从存储的 eulerOrder 反推 poseOutputOrder 用于UI显示
     netConfig.eulerOrder = configResult.eulerOrder;
     if (!configResult.handEyeCalibMatrixList.empty()) {
-        netConfig.eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder;
+        netConfig.eulerOrder = configResult.handEyeCalibMatrixList.front().eulerOrder;
     }
     netConfig.poseOutputOrder = EulerOrderToPoseOutputOrder(netConfig.eulerOrder);
-    netConfig.dirVectorInvert = configResult.dirVectorInvert;
     netConfig.byteOrder = configResult.byteOrder;
-    netConfig.longAxisDir = configResult.longAxisDir;
 
     m_networkConfigWidget->setConfig(netConfig);
 }
@@ -402,18 +432,14 @@ void DialogAlgoArg::saveNetworkConfig()
     ConfigManager* configManager = m_presenter->GetConfigManager();
     if (!configManager) return;
 
-    NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
-    // 欧拉角旋转顺序由姿态输入/输出顺序决定
-    netConfig.eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder);
-
     // 获取当前完整配置并更新网络参数
+    NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
     SystemConfig systemConfig = configManager->GetConfig();
-    systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
+    const int eulerOrder = PoseOutputOrderToEulerOrder(netConfig.poseOutputOrder);
-    systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert;
+    systemConfig.configResult.eulerOrder = eulerOrder;
     systemConfig.configResult.byteOrder = netConfig.byteOrder;
-    systemConfig.configResult.longAxisDir = netConfig.longAxisDir;
     for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) {
-        calibMatrix.eulerOrder = netConfig.eulerOrder;
+        calibMatrix.eulerOrder = eulerOrder;
     }
 
     // 更新并保存

App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.h

@@ -10,6 +10,7 @@ class DialogAlgoArg;
 class RodAndBarPositionPresenter;
 class HandEyeCalibWidget;
 class NetworkConfigWidget;
+class ToolExtrinsicWidget;
 
 /**
  * @brief 算法参数设置对话框
@@ -42,6 +43,10 @@ private:
     // 手眼标定
     void InitHandEyeCalibTab();
 
+    // 工具参数
+    void InitToolExtrinsicTab();
+    void loadToolExtrinsicConfig();
+
     // 网络配置
     void InitNetworkConfigTab();
     void loadNetworkConfig();
@@ -56,6 +61,9 @@ private:
 
     // 网络配置共享控件
     NetworkConfigWidget* m_networkConfigWidget;
+
+    // 工具参数共享控件
+    ToolExtrinsicWidget* m_toolExtrinsicWidget;
 };
 
 #endif // DIALOGALGOARG_H

App/RodAndBarPosition/RodAndBarPositionApp/dialogalgoarg.ui

@@ -6,7 +6,7 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>761</width>
+    <width>864</width>
     <height>547</height>
    </rect>
   </property>
@@ -699,6 +699,25 @@ QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px;
        </property>
       </layout>
      </widget>
+     <widget class="QWidget" name="tabToolExtrinsic">
+      <attribute name="title">
+       <string>工具参数</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_toolExtrinsicHost">
+       <property name="leftMargin">
+        <number>10</number>
+       </property>
+       <property name="topMargin">
+        <number>10</number>
+       </property>
+       <property name="rightMargin">
+        <number>10</number>
+       </property>
+       <property name="bottomMargin">
+        <number>10</number>
+       </property>
+      </layout>
+     </widget>
      <widget class="QWidget" name="tabNetworkConfig">
       <attribute name="title">
        <string>网络配置</string>

App/RodAndBarPosition/RodAndBarPositionConfig/Inc/IVrConfig.h

@@ -76,9 +76,7 @@ struct ConfigResult
     VrAlgorithmParams          algorithmParams;  // 算法参数
     std::vector<VrHandEyeCalibMatrix> handEyeCalibMatrixList;  // 多相机手眼标定矩阵列表
     int                        eulerOrder = 11;   // 欧拉角旋转顺序，默认11=外旋ZYX
-    int                        dirVectorInvert = 0; // 方向向量反向，默认0=不反向
     int                        byteOrder = 0;     // 数据字节序，默认0=大端序
-    int                        longAxisDir = 0;   // 目标物长边对应轴：0=X轴, 1=Y轴
 
     // 显式赋值构造函数，确保正确的深拷贝
     ConfigResult& operator=(const ConfigResult& other) {
@@ -89,9 +87,7 @@ struct ConfigResult
             algorithmParams = other.algorithmParams;
             handEyeCalibMatrixList = other.handEyeCalibMatrixList;
             eulerOrder = other.eulerOrder;
-            dirVectorInvert = other.dirVectorInvert;
             byteOrder = other.byteOrder;
-            longAxisDir = other.longAxisDir;
         }
         return *this;
     }
@@ -104,9 +100,7 @@ struct ConfigResult
         , algorithmParams(other.algorithmParams)
         , handEyeCalibMatrixList(other.handEyeCalibMatrixList)
         , eulerOrder(other.eulerOrder)
-        , dirVectorInvert(other.dirVectorInvert)
+        , byteOrder(other.byteOrder) {
-        , byteOrder(other.byteOrder)
-        , longAxisDir(other.longAxisDir) {
     }
 
     // 默认构造函数

App/RodAndBarPosition/RodAndBarPositionConfig/Src/VrConfig.cpp

@@ -115,12 +115,10 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
     if (networkElement)
     {
         networkElement->QueryIntAttribute("eulerOrder", &configResult.eulerOrder);
-        networkElement->QueryIntAttribute("dirVectorInvert", &configResult.dirVectorInvert);
         networkElement->QueryIntAttribute("byteOrder", &configResult.byteOrder);
-        networkElement->QueryIntAttribute("longAxisDir", &configResult.longAxisDir);
 
-        LOG_INFO("Network config: eulerOrder=%d, dirVectorInvert=%d, byteOrder=%d, longAxisDir=%d\n",
+        LOG_INFO("Network config: eulerOrder=%d, byteOrder=%d\n",
-                 configResult.eulerOrder, configResult.dirVectorInvert, configResult.byteOrder, configResult.longAxisDir);
+                 configResult.eulerOrder, configResult.byteOrder);
     }
 
     // 6. 解析手眼标定矩阵列表（支持多相机）
@@ -194,9 +192,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     // 5. 保存网络参数
     XMLElement* networkElement = doc.NewElement("NetworkConfig");
     networkElement->SetAttribute("eulerOrder", configResult.eulerOrder);
-    networkElement->SetAttribute("dirVectorInvert", configResult.dirVectorInvert);
     networkElement->SetAttribute("byteOrder", configResult.byteOrder);
-    networkElement->SetAttribute("longAxisDir", configResult.longAxisDir);
     root->InsertEndChild(networkElement);
 
     // 6. 保存手眼标定矩阵列表（支持多相机）

App/RodAndBarPosition/RodAndBarPositionConfig/config/config.xml

@@ -42,9 +42,9 @@
     <!-- 串口配置 -->
     <SerialConfig portName="COM6" baudRate="115200" dataBits="8" stopBits="1" parity="0" flowControl="0" enabled="false" />
     <!-- 网络参数 -->
-    <NetworkConfig eulerOrder="11" dirVectorInvert="0" byteOrder="0" longAxisDir="0" />
+    <NetworkConfig eulerOrder="11" byteOrder="0" />
     <!-- 手眼标定矩阵 -->
     <HandEyeCalibMatrixs>
-        <HandEyeCalibMatrix cameraIndex="1" m0="1" m1="0" m2="0" m3="0" m4="0" m5="1" m6="0" m7="0" m8="0" m9="0" m10="1" m11="0" m12="0" m13="0" m14="0" m15="1" eulerOrder="11"/>
+        <HandEyeCalibMatrix cameraIndex="1" m0="1" m1="0" m2="0" m3="0" m4="0" m5="1" m6="0" m7="0" m8="0" m9="0" m10="1" m11="0" m12="0" m13="0" m14="0" m15="1" eulerOrder="11" rotX="0" rotY="0" rotZ="0" offsetX="0" offsetY="0" offsetZ="0"/>
     </HandEyeCalibMatrixs>
 </RodAndBarPositionConfig>