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RodWeldSeam 修复起止点未转换的问题

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This commit is contained in:
YangSn 2026-07-16 15:09:40 +08:00
parent 3d012d8a1a
commit 9926c9907e
5 changed files with 57 additions and 23 deletions
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3
App/RodWeldSeam/Doc/vision_modbus_client.mthings
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@ -4,7 +4,8 @@
<COM Name="COM10" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" /> <COM Name="COM10" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
<COM Name="COM11" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" /> <COM Name="COM11" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
<COM Name="COM9" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" /> <COM Name="COM9" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
<NET Name="VISION_NET" Remarks="" DesIP="127.0.0.1" LocalPortID="0" DesPortID="502" LinkMode="0" LinkResetTime="3000" LinkHoldTime="6000" TransMode="2" CharType="0" MaxAsynNum="15" /> <COM Name="COM1" Remarks="" Baund="9600" Parity="0" StopBit="0" DataBit="0" FlowCtrl="0" TransMode="0" CharType="0" BreakTime="10" />
<NET Name="VISION_NET" Remarks="" DesIP="127.0.0.1" LocalPortID="0" DesPortID="5020" LinkMode="0" LinkResetTime="3000" LinkHoldTime="6000" TransMode="2" CharType="0" MaxAsynNum="15" />
</PORT_LIST> </PORT_LIST>
<DEVICE_LIST> <DEVICE_LIST>
<DEVICE Name="[M]VISION_NET-001" PortName="VISION_NET" DeviceType="1" Addr="1" ForwardZero="0" AddrUIMode="0" CRCByteOder="1" AddrOffset="0" PackWay="1" BitGap="0" RegGap="5" OneReg10="0" OneCoil0F="0" BCast1="0" BCast2="0" IsBCDevice="0" BathReadMode="0" BathWriteMode="0"> <DEVICE Name="[M]VISION_NET-001" PortName="VISION_NET" DeviceType="1" Addr="1" ForwardZero="0" AddrUIMode="0" CRCByteOder="1" AddrOffset="0" PackWay="1" BitGap="0" RegGap="5" OneReg10="0" OneCoil0F="0" BCast1="0" BCast2="0" IsBCDevice="0" BathReadMode="0" BathWriteMode="0">

65
App/RodWeldSeam/RodWeldSeamApp/Presenter/Src/DetectPresenter.cpp
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@ -177,6 +177,35 @@ int DetectPresenter::DetectWeldSeam(
LOG_INFO("[Algo Thread] WeldSeam %zu Input X seed: [%.6f, %.6f, %.6f]\n", i, seam.axialDir.x, seam.axialDir.y, seam.axialDir.z); LOG_INFO("[Algo Thread] WeldSeam %zu Input X seed: [%.6f, %.6f, %.6f]\n", i, seam.axialDir.x, seam.axialDir.y, seam.axialDir.z);
LOG_INFO("[Algo Thread] WeldSeam %zu Input Z seed: [%.6f, %.6f, %.6f]\n", i, seam.normalDir.x, seam.normalDir.y, seam.normalDir.z); LOG_INFO("[Algo Thread] WeldSeam %zu Input Z seed: [%.6f, %.6f, %.6f]\n", i, seam.normalDir.x, seam.normalDir.y, seam.normalDir.z);
HECPoint3D robotCenter;
HECPoint3D robotStartPt;
HECPoint3D robotEndPt;
HECPoint3D robotAxialDir;
HECPoint3D robotNormalDir;
handEyeCalib->TransformPoint(
calibResult.R,
calibResult.T,
HECPoint3D(seam.center.x, seam.center.y, seam.center.z),
robotCenter);
handEyeCalib->TransformPoint(
calibResult.R,
calibResult.T,
HECPoint3D(seam.startPt.x, seam.startPt.y, seam.startPt.z),
robotStartPt);
handEyeCalib->TransformPoint(
calibResult.R,
calibResult.T,
HECPoint3D(seam.endPt.x, seam.endPt.y, seam.endPt.z),
robotEndPt);
handEyeCalib->RotatePoint(
calibResult.R,
HECPoint3D(seam.axialDir.x, seam.axialDir.y, seam.axialDir.z),
robotAxialDir);
handEyeCalib->RotatePoint(
calibResult.R,
HECPoint3D(seam.normalDir.x, seam.normalDir.y, seam.normalDir.z),
robotNormalDir);
HECPoseResult poseResult; HECPoseResult poseResult;
bool validPose = handEyeCalib->TransformPose( bool validPose = handEyeCalib->TransformPose(
calibResult, calibResult,
@ -199,30 +228,30 @@ int DetectPresenter::DetectWeldSeam(
pos.roll = rollDeg; pos.roll = rollDeg;
pos.pitch = pitchDeg; pos.pitch = pitchDeg;
pos.yaw = yawDeg; pos.yaw = yawDeg;
pos.x = poseResult.position.x; pos.x = robotCenter.x;
pos.y = poseResult.position.y; pos.y = robotCenter.y;
pos.z = poseResult.position.z; pos.z = robotCenter.z;
detectionResult.positions.push_back(pos); detectionResult.positions.push_back(pos);
// 保存焊缝信息 // 保存焊缝信息
WeldSeamInfo info; WeldSeamInfo info;
info.weldType = static_cast<int>(seam.weldType); info.weldType = static_cast<int>(seam.weldType);
info.centerX = poseResult.position.x; info.centerX = robotCenter.x;
info.centerY = poseResult.position.y; info.centerY = robotCenter.y;
info.centerZ = poseResult.position.z; info.centerZ = robotCenter.z;
info.axialDirX = seam.axialDir.x; info.axialDirX = robotAxialDir.x;
info.axialDirY = seam.axialDir.y; info.axialDirY = robotAxialDir.y;
info.axialDirZ = seam.axialDir.z; info.axialDirZ = robotAxialDir.z;
info.normalDirX = seam.normalDir.x; info.normalDirX = robotNormalDir.x;
info.normalDirY = seam.normalDir.y; info.normalDirY = robotNormalDir.y;
info.normalDirZ = seam.normalDir.z; info.normalDirZ = robotNormalDir.z;
info.startPtX = seam.startPt.x; info.startPtX = robotStartPt.x;
info.startPtY = seam.startPt.y; info.startPtY = robotStartPt.y;
info.startPtZ = seam.startPt.z; info.startPtZ = robotStartPt.z;
info.endPtX = seam.endPt.x; info.endPtX = robotEndPt.x;
info.endPtY = seam.endPt.y; info.endPtY = robotEndPt.y;
info.endPtZ = seam.endPt.z; info.endPtZ = robotEndPt.z;
// 复制焊缝中心线点和边缘点 // 复制焊缝中心线点和边缘点
for (const auto& cp : seam.centerPts) { for (const auto& cp : seam.centerPts) {

2
App/RodWeldSeam/RodWeldSeamApp/Version.h
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@ -6,7 +6,7 @@
#define RODWELDSEAM_APP_NAME "钢筋焊缝定位" #define RODWELDSEAM_APP_NAME "钢筋焊缝定位"
#define RODWELDSEAM_VERSION_STRING "1.0.0" #define RODWELDSEAM_VERSION_STRING "1.0.0"
#define RODWELDSEAM_BUILD_STRING "1" #define RODWELDSEAM_BUILD_STRING "2"
#define RODWELDSEAM_FULL_VERSION_STRING "V" RODWELDSEAM_VERSION_STRING "_" RODWELDSEAM_BUILD_STRING #define RODWELDSEAM_FULL_VERSION_STRING "V" RODWELDSEAM_VERSION_STRING "_" RODWELDSEAM_BUILD_STRING
// 获取版本信息的便捷函数 // 获取版本信息的便捷函数

8
App/RodWeldSeam/RodWeldSeamApp/Version.md
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@ -1,4 +1,8 @@
# 1.0.0 2026-05-13 # 1.0.0
## build_1
## build_2
1. 修复手眼转换没有转起止点的问题
## build_1 2026-05-13
1. 初始版本 - 从RodAndBarPosition复制并改编为钢筋焊缝定位 1. 初始版本 - 从RodAndBarPosition复制并改编为钢筋焊缝定位

2
GrabBagPrj/AppList.md
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@ -20,7 +20,7 @@
| 14 | 工件孔定位 | WorkpieceHole | 1.2.2.2 | | 14 | 工件孔定位 | WorkpieceHole | 1.2.2.2 |
| 15 | 轮胎孔定位 | TireHolePose | 1.0.2.1 | | 15 | 轮胎孔定位 | TireHolePose | 1.0.2.1 |
| 16 | 坑孔定位 | HolePitPosition | 无 | | 16 | 坑孔定位 | HolePitPosition | 无 |
| 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.1 | | 17 | 钢筋焊缝定位 | RodWeldSeam | 1.0.0.2 |
| 18 | 无人机螺杆检测服务端 | DroneScrewServer | 1.0.1.1 | | 18 | 无人机螺杆检测服务端 | DroneScrewServer | 1.0.1.1 |
| 19 | 无人机螺杆检测控制端 | DroneScrewCtrlApp | 1.0.1.1 | | 19 | 无人机螺杆检测控制端 | DroneScrewCtrlApp | 1.0.1.1 |
| 20 | 砂轮盘孔定位 | DiscHolePose | 1.0.0.1 | | 20 | 砂轮盘孔定位 | DiscHolePose | 1.0.0.1 |