修改结果显示和存储结果

App/DroneScrewbolt/DroneScrewCtrlApp/IYDroneScrewCtrlStatus.h

@@ -17,6 +17,8 @@ struct CtrlDetectionBox
     int    y{0};
     int    width{0};
     int    height{0};
+    bool   hasPhysicalHeight{false};
+    float  physicalHeightMm{0.0f};
 };
 
 /**

App/DroneScrewbolt/DroneScrewCtrlApp/Presenter/Src/DroneScrewCtrlPresenter.cpp

@@ -758,6 +758,8 @@ CtrlDetectionFrame DroneScrewCtrlPresenter::toCtrlFrame(const WDRemoteDetectionF
         cb.y       = b.y;
         cb.width   = b.width;
         cb.height  = b.height;
+        cb.hasPhysicalHeight = b.hasPhysicalHeight;
+        cb.physicalHeightMm = b.physicalHeightMm;
         frame.boxes.push_back(cb);
     }
     frame.distances.reserve(f.distances.size());

App/DroneScrewbolt/DroneScrewCtrlApp/Version.h

@@ -3,8 +3,8 @@
 
 #define DRONESCREWCTRL_APP_NAME               "无人机螺杆控制端"
 #define DRONESCREWCTRL_VERSION_STRING         "1.0.0"
-#define DRONESCREWCTRL_BUILD_STRING           "3"
+#define DRONESCREWCTRL_BUILD_STRING           "4"
-#define DRONESCREWCTRL_FULL_VERSION_STRING    "V1.0.0_3"
+#define DRONESCREWCTRL_FULL_VERSION_STRING    "V1.0.0_4"
 
 inline const char* GetDroneScrewCtrlFullVersion() { return DRONESCREWCTRL_FULL_VERSION_STRING; }
 

App/DroneScrewbolt/DroneScrewCtrlApp/mainwindow.cpp

@@ -355,7 +355,7 @@ void MainWindow::OnDetectionResult(const CtrlDetectionFrame& result)
                 upsertResultItem(row++, head, static_cast<int>(i), ResultItem::DisplayMode::Distance);
         }
     }
-    else if (result.boxes.empty())
+    else if (result.boxes.empty() && result.distances.empty())
     {
         const QString head = QStringLiteral("帧#%1   精准目标 0")
                                  .arg(result.frameId);
@@ -371,6 +371,14 @@ void MainWindow::OnDetectionResult(const CtrlDetectionFrame& result)
                                      .arg(static_cast<int>(result.boxes.size()));
             upsertResultItem(row++, head, static_cast<int>(i), ResultItem::DisplayMode::Precision);
         }
+        for (size_t i = 0; i < result.distances.size(); ++i)
+        {
+            const QString head = QStringLiteral("帧#%1   杆间距 %2/%3")
+                                     .arg(result.frameId)
+                                     .arg(static_cast<int>(i + 1))
+                                     .arg(static_cast<int>(result.distances.size()));
+            upsertResultItem(row++, head, static_cast<int>(i), ResultItem::DisplayMode::PrecisionDistance);
+        }
     }
 
     trimResultItems(row);

App/DroneScrewbolt/DroneScrewCtrlApp/resultitem.cpp

@@ -37,6 +37,11 @@ QString oneDistanceText(const CtrlDetectionDistance& d)
     return QStringLiteral("%1m").arg(meters, 0, 'f', 3);
 }
 
+QString oneDistanceMmText(const CtrlDetectionDistance& d)
+{
+    return QStringLiteral("%1 mm").arg(d.distanceMm, 0, 'f', 2);
+}
+
 QString distanceText(const CtrlDetectionFrame& frame, int targetIndex)
 {
     if (targetIndex >= 0 && targetIndex < static_cast<int>(frame.distances.size()))
@@ -50,6 +55,19 @@ QString distanceText(const CtrlDetectionFrame& frame, int targetIndex)
                : distanceParts.join(" ");
 }
 
+QString distanceMmText(const CtrlDetectionFrame& frame, int targetIndex)
+{
+    if (targetIndex >= 0 && targetIndex < static_cast<int>(frame.distances.size()))
+        return oneDistanceMmText(frame.distances[static_cast<size_t>(targetIndex)]);
+
+    QStringList distanceParts;
+    for (size_t i = 0; i < frame.distances.size(); ++i)
+        distanceParts << oneDistanceMmText(frame.distances[i]);
+    return distanceParts.isEmpty()
+               ? QStringLiteral("未测到距离")
+               : distanceParts.join(" ");
+}
+
 QString distanceIndexText(const CtrlDetectionFrame& frame, int targetIndex)
 {
     const int total = static_cast<int>(frame.distances.size());
@@ -60,6 +78,22 @@ QString distanceIndexText(const CtrlDetectionFrame& frame, int targetIndex)
     }
     return QStringLiteral("-");
 }
+
+QString precisionDistanceIndexText(const CtrlDetectionFrame& frame, int targetIndex)
+{
+    const int total = static_cast<int>(frame.distances.size());
+    if (targetIndex >= 0 && targetIndex < total)
+    {
+        const CtrlDetectionDistance& d = frame.distances[static_cast<size_t>(targetIndex)];
+        if (d.fromId >= 0 && d.toId >= 0)
+            return QStringLiteral("%1-%2").arg(d.fromId + 1).arg(d.toId + 1);
+        if (d.fromId >= 0)
+            return QString::number(d.fromId + 1);
+        if (d.toId >= 0)
+            return QString::number(d.toId + 1);
+    }
+    return QStringLiteral("-");
+}
 }
 
 ResultItem::ResultItem(QWidget* parent)
@@ -110,15 +144,23 @@ void ResultItem::setResultData(int targetIndex,
                                DisplayMode mode)
 {
     const bool precisionMode = (mode == DisplayMode::Precision);
+    const bool precisionDistanceMode = (mode == DisplayMode::PrecisionDistance);
     setResultTextStyle(ui);
-    setMinimumHeight(precisionMode ? 104 : 108);
+    setMinimumHeight((precisionMode || precisionDistanceMode) ? 104 : 108);
 
     if (ui->lb_id_t)
         ui->lb_id_t->setText(QStringLiteral("ID"));
     if (ui->lb_status_t)
-        ui->lb_status_t->setText(mode == DisplayMode::Distance
+    {
-                                     ? QStringLiteral("距离")
+        if (mode == DisplayMode::Distance)
-                                     : QStringLiteral("状态"));
+            ui->lb_status_t->setText(QStringLiteral("距离"));
+        else if (precisionDistanceMode)
+            ui->lb_status_t->setText(QStringLiteral("杆间距"));
+        else if (precisionMode)
+            ui->lb_status_t->setText(QStringLiteral("物理高度"));
+        else
+            ui->lb_status_t->setText(QStringLiteral("状态"));
+    }
 
     if (ui->label_id)
     {
@@ -126,6 +168,10 @@ void ResultItem::setResultData(int targetIndex,
             ui->label_id->setText(QString("%1/%2")
                                       .arg(targetIndex + 1)
                                       .arg(static_cast<int>(frame.boxes.size())));
+        else if (precisionDistanceMode)
+        {
+            ui->label_id->setText(precisionDistanceIndexText(frame, targetIndex));
+        }
         else if (mode == DisplayMode::Distance)
         {
             ui->label_id->setText(distanceIndexText(frame, targetIndex));
@@ -134,10 +180,16 @@ void ResultItem::setResultData(int targetIndex,
             ui->label_id->setText(QStringLiteral("0/0"));
     }
 
-    if (mode == DisplayMode::Distance)
+    if (mode == DisplayMode::Distance || precisionDistanceMode)
     {
         if (ui->label_status)
-            ui->label_status->setText(frame.success ? distanceText(frame, targetIndex) : failedText(frame));
+        {
+            ui->label_status->setText(frame.success
+                                          ? (precisionDistanceMode
+                                                 ? distanceMmText(frame, targetIndex)
+                                                 : distanceText(frame, targetIndex))
+                                          : failedText(frame));
+        }
         return;
     }
 
@@ -146,11 +198,19 @@ void ResultItem::setResultData(int targetIndex,
         if (targetIndex >= 0 && targetIndex < static_cast<int>(frame.boxes.size()))
         {
             const CtrlDetectionBox& b = frame.boxes[static_cast<size_t>(targetIndex)];
-            const QString text = QStringLiteral("score=%1  w=%2 h=%3")
+            if (b.hasPhysicalHeight)
-                               .arg(b.score, 0, 'f', 3)
+            {
-                               .arg(b.width)
+                ui->label_status->setText(QStringLiteral("%1 mm")
-                               .arg(b.height);
+                                           .arg(b.physicalHeightMm, 0, 'f', 2));
-            ui->label_status->setText(text);
+            }
+            else
+            {
+                const QString text = QStringLiteral("score=%1  w=%2 h=%3")
+                                   .arg(b.score, 0, 'f', 3)
+                                   .arg(b.width)
+                                   .arg(b.height);
+                ui->label_status->setText(text);
+            }
         }
         else if (!frame.success)
         {

App/DroneScrewbolt/DroneScrewCtrlApp/resultitem.h

@@ -14,7 +14,8 @@ public:
     enum class DisplayMode
     {
         Distance,
-        Precision
+        Precision,
+        PrecisionDistance
     };
 
     explicit ResultItem(QWidget* parent = nullptr);

App/DroneScrewbolt/DroneScrewServer/Algo/DroneScrewAlgoStub.cpp

@@ -700,6 +700,18 @@ void DroneScrewAlgoStub::appendRoiBox(const StereoBoltModuleRoiC& roi,
         result.boxes.push_back(box);
 }
 
+void DroneScrewAlgoStub::appendBoltBox(const StereoBoltModuleBoltC& bolt,
+                                       DroneScrewResult& result) const
+{
+    DroneScrewBox box;
+    if (mapRectifiedLeftRoi(bolt.left_roi, result.imageWidth, result.imageHeight, box))
+    {
+        box.hasPhysicalHeight = true;
+        box.physicalHeightMm = static_cast<float>(bolt.height_mm);
+        result.boxes.push_back(box);
+    }
+}
+
 int DroneScrewAlgoStub::Init(const DroneScrewAlgoParams& params)
 {
     std::lock_guard<std::mutex> lk(m_mutex);
@@ -899,7 +911,7 @@ int DroneScrewAlgoStub::Detect(const DroneScrewInputImage& leftImage,
         if (out.data.n_bolts > 0 && out.data.bolts)
         {
             for (int i = 0; i < out.data.n_bolts; ++i)
-                appendRoiBox(out.data.bolts[i].left_roi, result);
+                appendBoltBox(out.data.bolts[i], result);
         }
         if (out.data.n_adjacent_distances > 0 && out.data.adjacent_distances)
         {

App/DroneScrewbolt/DroneScrewServer/Algo/DroneScrewAlgoStub.h

@@ -47,6 +47,8 @@ private:
                              DroneScrewBox& box) const;
     void appendRoiBox(const StereoBoltModuleRoiC& roi,
                       DroneScrewResult& result) const;
+    void appendBoltBox(const StereoBoltModuleBoltC& bolt,
+                       DroneScrewResult& result) const;
 #endif
 
     DroneScrewAlgoParams    m_params;

App/DroneScrewbolt/DroneScrewServer/Algo/IDroneScrewAlgo.h

@@ -16,6 +16,8 @@ struct DroneScrewBox
     int    y{0};
     int    width{0};
     int    height{0};
+    bool   hasPhysicalHeight{false};
+    float  physicalHeightMm{0.0f};
 };
 
 /**

App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.cpp

@@ -69,7 +69,6 @@ constexpr int kDetectPipelineDistance = 1;
 constexpr const char* kImageSaveRootDir = "/home/cat";
 constexpr size_t kMaxImageSaveQueueDepth = 100;
 constexpr size_t kImageSaveWorkerCount = 4;
-constexpr int kDistanceImageSaveStride = 3;
 
 const char* mvsSdkErrorName(int code)
 {
@@ -253,6 +252,70 @@ void logDetectionResultFixed(const char* tag, int frameNo, const DroneScrewResul
     }
 }
 
+QString savedImageFileName(unsigned long long index, const QString& prefix)
+{
+    return QStringLiteral("%1_%2Image.png").arg(index).arg(prefix);
+}
+
+bool saveDetectionResultText(const QString& dirPath,
+                             unsigned long long imageIndex,
+                             const DroneScrewResult& result)
+{
+    const QString filePath = QDir(dirPath).filePath(
+        QStringLiteral("%1_result.txt").arg(imageIndex));
+    QFile file(filePath);
+    if (!file.open(QIODevice::WriteOnly | QIODevice::Truncate | QIODevice::Text))
+    {
+        LOG_WARN("[SAVE] result save open failed: %s\n",
+                 filePath.toStdString().c_str());
+        return false;
+    }
+
+    QTextStream out(&file);
+    out << "index:" << static_cast<qulonglong>(imageIndex) << '\n';
+    out << "leftImage:" << savedImageFileName(imageIndex, QStringLiteral("left")) << '\n';
+    out << "rightImage:" << savedImageFileName(imageIndex, QStringLiteral("right")) << '\n';
+    out << "frameId:" << static_cast<qulonglong>(result.frameId) << '\n';
+    out << "timestampUs:" << static_cast<qlonglong>(result.timestampUs) << '\n';
+    out << "success:" << (result.success ? 1 : 0) << '\n';
+    out << "errorCode:" << result.errorCode << '\n';
+    out << "message:" << QString::fromStdString(result.message) << '\n';
+
+    int physicalHeightCount = 0;
+    for (const auto& b : result.boxes)
+    {
+        if (b.hasPhysicalHeight)
+            ++physicalHeightCount;
+    }
+    out << "physicalHeightCount:" << physicalHeightCount << '\n';
+    int physicalHeightIndex = 1;
+    for (const auto& b : result.boxes)
+    {
+        if (!b.hasPhysicalHeight)
+            continue;
+        out << "physicalHeight" << physicalHeightIndex << "Id:" << physicalHeightIndex << '\n';
+        out << "physicalHeight" << physicalHeightIndex << "Mm:"
+            << QString::number(b.physicalHeightMm, 'f', 3) << '\n';
+        ++physicalHeightIndex;
+    }
+
+    out << "rodSpacingCount:" << static_cast<int>(result.distances.size()) << '\n';
+    for (size_t i = 0; i < result.distances.size(); ++i)
+    {
+        const auto& d = result.distances[i];
+        const int index = static_cast<int>(i + 1);
+        out << "rodSpacing" << index << "FromId:" << (d.fromId + 1) << '\n';
+        out << "rodSpacing" << index << "ToId:" << (d.toId + 1) << '\n';
+        out << "rodSpacing" << index << "Mm:"
+            << QString::number(d.distanceMm, 'f', 3) << '\n';
+    }
+    out.flush();
+    if (out.status() != QTextStream::Ok)
+        return false;
+
+    return true;
+}
+
 double clampCameraFloatFeature(IMvsDevice* camera,
                                const char* role,
                                const char* featureName,
@@ -1814,9 +1877,9 @@ int DroneScrewServerPresenter::stopDetectionWork()
 
     stopGpioTriggerLoop();
     m_bThreadExit  = true;
-    stopImageSaveThread();
     if (m_detectThread.joinable())
         m_detectThread.join();
+    stopImageSaveThread();
     m_bIsDetecting = false;
     m_detectPipelineMode = kDetectPipelinePrecision;
     m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
@@ -1909,7 +1972,6 @@ int DroneScrewServerPresenter::startLiveStream()
     m_bLiveStreaming = true;
     m_bThreadExit = false;
     m_bIsDetecting = true;
-    startImageSaveThread(imageSaveModeName());
     startGpioTriggerLoop();
     m_detectThread = std::thread(&DroneScrewServerPresenter::detectThreadFunc, this);
     emit statusChanged(QStringLiteral("开始实时传图"));
@@ -1935,9 +1997,9 @@ int DroneScrewServerPresenter::stopLiveStream()
     m_bRtspStarted = false;
     stopGpioTriggerLoop();
     m_bThreadExit = true;
-    stopImageSaveThread();
     if (m_detectThread.joinable())
         m_detectThread.join();
+    stopImageSaveThread();
     m_bIsDetecting = false;
     m_detectPipelineMode = kDetectPipelinePrecision;
     m_activeTriggerFps = static_cast<int>(kPrecisionFrameRate);
@@ -2374,7 +2436,7 @@ void DroneScrewServerPresenter::startImageSaveThread(const QString& modeName)
 void DroneScrewServerPresenter::stopImageSaveThread()
 {
     const bool shouldJoin = !m_imageSaveThreads.empty();
-    size_t droppedPending = 0;
+    size_t pendingJobs = 0;
     {
         std::lock_guard<std::mutex> lk(m_imageSaveMutex);
         if (!shouldJoin)
@@ -2384,16 +2446,14 @@ void DroneScrewServerPresenter::stopImageSaveThread()
             m_imageSaveThreadExit = false;
             return;
         }
-        droppedPending = m_imageSaveQueue.size();
+        pendingJobs = m_imageSaveQueue.size();
-        if (droppedPending > 0)
-            m_imageSaveQueue.clear();
         m_imageSaveThreadExit = true;
     }
 
-    if (droppedPending > 0)
+    if (pendingJobs > 0)
     {
-        LOG_WARN("[SAVE] stop requested, drop pending save jobs=%zu\n",
+        LOG_INFO("[SAVE] stop requested, flush pending save jobs=%zu\n",
-                 droppedPending);
+                 pendingJobs);
     }
 
     m_imageSaveCv.notify_all();
@@ -2414,6 +2474,7 @@ void DroneScrewServerPresenter::stopImageSaveThread()
 
 void DroneScrewServerPresenter::enqueueImageSave(const MvsImageData& leftImg,
                                                  const MvsImageData& rightImg,
+                                                 const DroneScrewResult& result,
                                                  unsigned long long index)
 {
     auto dropIfQueueFull = [this, index]() -> bool {
@@ -2460,6 +2521,8 @@ void DroneScrewServerPresenter::enqueueImageSave(const MvsImageData& leftImg,
 
     ImageSaveJob job;
     job.index = index;
+    job.result = result;
+    job.hasResult = true;
     if (!copyMono8(leftImg, job.left) || !copyMono8(rightImg, job.right))
     {
         LOG_WARN("[SAVE] skip image save: unsupported image pair index=%llu left=%ux%u pf=0x%x right=%ux%u pf=0x%x\n",
@@ -2494,14 +2557,10 @@ void DroneScrewServerPresenter::imageSaveThreadFunc(int workerIndex)
                 return m_imageSaveThreadExit.load() || !m_imageSaveQueue.empty();
             });
 
-            if (m_imageSaveThreadExit.load())
-            {
-                m_imageSaveQueue.clear();
-                break;
-            }
-
             if (m_imageSaveQueue.empty())
             {
+                if (m_imageSaveThreadExit.load())
+                    break;
                 continue;
             }
 
@@ -2523,7 +2582,7 @@ void DroneScrewServerPresenter::imageSaveThreadFunc(int workerIndex)
                      static_cast<int>(img.width),
                      QImage::Format_Grayscale8);
             const QString filePath = QDir(job.dirPath).filePath(
-                QStringLiteral("%1_%2Image.png").arg(job.index).arg(prefix));
+                savedImageFileName(job.index, prefix));
             if (!q.save(filePath, "PNG"))
             {
                 LOG_WARN("[SAVE] image save failed: %s\n",
@@ -2532,9 +2591,9 @@ void DroneScrewServerPresenter::imageSaveThreadFunc(int workerIndex)
         };
 
         saveMono8(job.left, QStringLiteral("left"));
-        if (m_imageSaveThreadExit.load())
-            break;
         saveMono8(job.right, QStringLiteral("right"));
+        if (job.hasResult)
+            saveDetectionResultText(job.dirPath, job.index, job.result);
     }
     LOG_DEBUG("[SAVE] worker #%d stopped\n", workerIndex);
 }
@@ -2908,12 +2967,6 @@ void DroneScrewServerPresenter::detectThreadFunc()
                 haveProcessedFrame = true;
                 lastProcessedLeftFrameId = leftImg.frameID;
                 lastProcessedRightFrameId = rightImg.frameID;
-                const bool distanceSaveMode =
-                    (m_detectPipelineMode.load() == kDetectPipelineDistance);
-                const bool shouldSaveFrame =
-                    !distanceSaveMode || ((frameCnt % kDistanceImageSaveStride) == 0);
-                if (shouldSaveFrame)
-                    enqueueImageSave(leftImg, rightImg, ++savedFrameCnt);
 
             // Publish the display frame before detection work. detectMode only controls raw transport.
             if (m_bRawPubEnabled.load())
@@ -3138,6 +3191,9 @@ void DroneScrewServerPresenter::detectThreadFunc()
                       result.success ? 1 : 0, result.errorCode,
                       result.boxes.size(), result.distances.size());
 
+            if (!distanceMode)
+                enqueueImageSave(leftImg, rightImg, result, ++savedFrameCnt);
+
             emit detectionResult(result);
 
             LOG_DEBUG("[DETECT] frame #%d after detectionResult emit\n", frameCnt + 1);

App/DroneScrewbolt/DroneScrewServer/DroneScrewServerPresenter.h

@@ -239,6 +239,7 @@ private:
     void imageSaveThreadFunc(int workerIndex);
     void enqueueImageSave(const MvsImageData& leftImg,
                           const MvsImageData& rightImg,
+                          const DroneScrewResult& result,
                           unsigned long long index);
     QString imageSaveModeName() const;
 
@@ -258,6 +259,8 @@ private:
         unsigned long long index{0};
         ImageSaveBuffer left;
         ImageSaveBuffer right;
+        DroneScrewResult result;
+        bool hasResult{false};
     };
 
     // 双目相机设备

App/DroneScrewbolt/DroneScrewServer/DroneScrewZmqProtocol.cpp

@@ -163,6 +163,8 @@ void fillDetectionJson(const DroneScrewResult& result, QJsonObject& obj)
         jb["y"]     = b.y;
         jb["w"]     = b.width;
         jb["h"]     = b.height;
+        if (b.hasPhysicalHeight)
+            jb["physicalHeightMm"] = static_cast<double>(b.physicalHeightMm);
         boxes.append(jb);
     }
     obj["boxes"] = boxes;

App/DroneScrewbolt/DroneScrewServer/Version.h

@@ -8,6 +8,6 @@
 #define DRONESCREWSERVER_COMPANY_NAME    "VisionTech"
 #define DRONESCREWSERVER_COPYRIGHT       "Copyright (C) 2026"
 #define DRONESCREWSERVER_VERSION_STRING  "1.0.0"
-#define DRONESCREWSERVER_VERSION_BUILD   "3"
+#define DRONESCREWSERVER_VERSION_BUILD   "4"
 
 #endif // DRONESCREW_VERSION_H

Module/WDRemoteReceiver/Inc/WDRemoteDataTypes.h

@@ -55,6 +55,8 @@ struct WDRemoteDetectionBox
     int   y{0};
     int   width{0};
     int   height{0};
+    bool  hasPhysicalHeight{false};
+    float physicalHeightMm{0.0f};
 };
 
 /**

Module/WDRemoteReceiver/Src/WDRemoteReceiver.cpp

@@ -1297,6 +1297,8 @@ bool WDRemoteReceiver::parseDetectionJson(const std::string& jsonStr,
             box.y       = b.get("y",     0  ).asInt();
             box.width   = b.get("w",     0  ).asInt();
             box.height  = b.get("h",     0  ).asInt();
+            box.hasPhysicalHeight = b.isMember("physicalHeightMm");
+            box.physicalHeightMm = static_cast<float>(b.get("physicalHeightMm", 0.0).asDouble());
             outFrame.boxes.push_back(box);
         }
     }