拆包协议问题解决
This commit is contained in:
yiyi
parent
da0361b634
commit
ccf03cf497
@ -1,15 +1,15 @@
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一、设备布局缩略图：
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二、工艺流程：
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1、启动机械臂
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2、机械臂运行至拍照位启动拍照
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3、相机拍照，给出位置信号（位置、角度、高度、有无料）；若无料至第8步
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4、机械臂抓料
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5、机械臂破袋下料
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6、机械臂扔袋子、启动拍照；若无料至第8步
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7、到第3步
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8、机械臂等待新的物料到位
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9、到第2步
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1、启动机械臂
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2、机械臂运行至拍照位启动拍照
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3、相机拍照，给出位置信号（位置、角度、高度、有无料）；若无料至第8步
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4、机械臂抓料
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5、机械臂破袋下料
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6、机械臂扔袋子、启动拍照；若无料至第8步
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7、到第3步
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8、机械臂等待新的物料到位
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9、到第2步
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三、功能要求：
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1、一台触控一体机连两台视觉。
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2、袋子有9种，实际可制作的视觉模版要大于9，通过机械臂发送调用几号视觉模版和视觉拍照启动信号，视觉反馈给机械臂位置信号。
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@ -6,11 +6,22 @@ greaterThan(QT_MAJOR_VERSION, 4): QT += widgets
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TEMPLATE = app
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CONFIG += c++17
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# Add /utf-8 flag only for MSVC builds to enforce UTF-8 encoding
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win32-msvc {
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QMAKE_CXXFLAGS += /utf-8
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# 为MinGW编译器添加更多UTF-8支持
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win32-g++ {
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QMAKE_CXXFLAGS += -fexec-charset=UTF-8 -finput-charset=UTF-8
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}
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# 为MSVC编译器添加更多UTF-8支持
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win32-msvc {
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QMAKE_CXXFLAGS += /utf-8
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QMAKE_CFLAGS += /utf-8
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}
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# Windows平台特定设置
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win32 {
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# 确保链接Windows控制台API
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LIBS += -lkernel32
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}
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# You can make your code fail to compile if it uses deprecated APIs.
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# In order to do so, uncomment the following line.
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@ -179,3 +190,6 @@ unix {
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qnx: target.path = /tmp/$${TARGET}/bin
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else: unix:!android: target.path = /opt/$${TARGET}/bin
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!isEmpty(target.path): INSTALLS += target
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DISTFILES += \
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Version.md
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@ -33,6 +33,7 @@ struct CurrentExecutionParams
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VrCameraParams cameraParam; // 相机参数
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SSG_planeCalibPara planeCalibParam; // 调平参数
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CalibMatrix handEyeCalibMatrix; // 手眼标定参数
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VrBagParam bagParam; // 包裹参数（尺寸）
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};
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class GrabBagPresenter : public QObject, public IVrConfigChangeNotify, public IConfigChangeListener
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@ -50,7 +51,7 @@ public:
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void SetStatusCallback(IYGrabBagStatus* status);
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// 开始检测
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int StartDetection(int cameraIndex = -1, bool isAuto = true); // cameraIndex: -1表示所有相机，1/2...表示特定相机
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int StartDetection(int cameraIndex = -1, bool isAuto = true, bool updateParams = true); // cameraIndex: -1表示所有相机，1/2...表示特定相机; updateParams: 是否更新执行参数
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// 停止检测
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int StopDetection();
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@ -124,6 +125,12 @@ private:
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// TCP客户端连接状态回调处理方法
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void onTcpClientEventFromCallback(const TCPClient* pClient, TCPServerEventType eventType);
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// TCP协议解析和处理函数
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bool _ParseNewFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd);
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bool _ParseOldFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd);
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bool _ParseSimpleProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd);
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bool _HandleTrigCommand(const TCPClient* pClient, int cameraIndex, int templateIndex);
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// 算法初始化接口
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int InitAlgorithmParams();
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@ -138,6 +145,9 @@ private:
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// 连接状态检查和更新
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void CheckAndUpdateWorkStatus();
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// 设置工作状态（同时通知UI）
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void SetWorkStatus(WorkStatus status);
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// 打开相机
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int _OpenDevice(int cameraIndex, const char* cameraName, const char* cameraIp, ProjectType& projectType);
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@ -169,6 +179,7 @@ private:
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void _LoadCurrentWorkPositionAndPackageType();
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int _ApplyCameraParameters();
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void _UpdateCurrentExecutionParams();
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void _UpdateCurrentExecutionParams(const WorkPositionConfig* workPosition, const CameraConfig* camera, const PackageTypeConfig* package, int cameraIndex);
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// 相机重连定时器相关方法
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void _StartCameraReconnectTimer();
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@ -224,12 +235,7 @@ private:
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std::vector<DeviceInfo> m_cameraConfigList; // 保存配置的相机列表
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int m_expectedCameraCount = 0; // 期望的相机数量
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// 工作点、相机和包裹类型管理（三级结构：工作点->相机->包裹）
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std::string m_currentWorkPositionId; // 当前工作点ID
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std::string m_currentCameraId; // 当前相机ID
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std::string m_currentPackageTypeId; // 当前包裹类型ID
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int m_currentWorkPositionIndex; // 当前工作点索引（-1表示使用全局默认参数）
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int m_currentPackageTypeIndex; // 当前包裹类型索引（-1表示使用全局默认参数）
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// 当前执行参数（包含工作点、相机、包裹的完整配置信息）
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CurrentExecutionParams m_currentExecutionParams; // 当前执行参数
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};
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@ -36,8 +36,6 @@ GrabBagPresenter::GrabBagPresenter(QObject *parent)
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, m_bCameraConnected(false)
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, m_bRobotConnected(false)
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, m_currentWorkStatus(WorkStatus::Error)
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, m_currentWorkPositionIndex(-1)
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, m_currentPackageTypeIndex(-1)
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{
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m_detectionDataCache.clear();
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@ -291,7 +289,7 @@ int GrabBagPresenter::InitCamera(std::vector<DeviceInfo>& cameraList)
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m_pStatus->OnStatusUpdate("启动重新连接相机...");
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_StartCameraReconnectTimer();
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} else if (allCamerasConnected) {
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LOG_INFO("All cameras connected successfully\\n");
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LOG_INFO("All cameras connected successfully \n");
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m_pStatus->OnStatusUpdate("所有相机连接成功");
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// 确保定时器停止
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_StopCameraReconnectTimer();
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@ -457,225 +455,241 @@ void GrabBagPresenter::onTcpDataReceivedFromCallback(const TCPClient* pClient, c
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LOG_INFO("TCP data received from client %p: %s\n", pClient, qData.toStdString().c_str());
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// 生成客户端ID用于标识
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QString clientId = QString("Client_%1").arg(reinterpret_cast<intptr_t>(pClient));
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if (m_pStatus) {
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m_pStatus->OnStatusUpdate("收到TCP数据: " + qData.toStdString());
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}
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// 解析命令格式：@，视觉号，视觉模版号，启动信息，$
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// 示例：@，1，3，Trig，$ 表示触发1号视觉（相机）拍照，调用3号视觉模版，发出Trig拍照命令
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// 兼容旧格式：@3，Trig$ 或 Trig
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int cameraIndex = -1; // 相机编号（视觉号）
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int templateIndex = -1; // 视觉模板编号
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QString triggerCmd; // 启动信息（Trig等）
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// 方法1：尝试解析新格式 @，视觉号，视觉模版号，启动信息，$
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// 正则表达式：@[,，]\s*(-?\d+)\s*[,，]\s*(-?\d+)\s*[,，]\s*(\w+)
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// 支持负数（-1表示使用默认相机/模板）
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QRegularExpression newFormatRegex("@[,，]\\s*(-?\\d+)\\s*[,，]\\s*(-?\\d+)\\s*[,，]\\s*(\\w+)");
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QRegularExpressionMatch newFormatMatch = newFormatRegex.match(qData);
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// 尝试按优先级解析协议：新格式 -> 旧格式 -> 简单格式
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bool parsed = _ParseNewFormatProtocol(qData, cameraIndex, templateIndex, triggerCmd);
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if (!parsed) {
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parsed = _ParseOldFormatProtocol(qData, cameraIndex, templateIndex, triggerCmd);
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}
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if (!parsed) {
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parsed = _ParseSimpleProtocol(qData, cameraIndex, templateIndex, triggerCmd);
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}
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if (newFormatMatch.hasMatch()) {
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// 新格式解析成功
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cameraIndex = newFormatMatch.captured(1).toInt();
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templateIndex = newFormatMatch.captured(2).toInt();
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triggerCmd = newFormatMatch.captured(3);
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LOG_INFO("Parsed new format command: camera=%d, template=%d, trigger=%s\n", cameraIndex, templateIndex, triggerCmd.toStdString().c_str());
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// 如果相机索引为-1，使用当前默认相机
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if (cameraIndex == -1) {
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cameraIndex = m_currentCameraIndex;
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LOG_INFO("Camera index is -1, using current default camera: %d\n", cameraIndex);
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}
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// 如果模板索引为-1或0，表示使用当前模板（不切换）
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if (templateIndex == -1 || templateIndex == 0) {
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LOG_INFO("Template index is %d, will use current template (no switch)\n", templateIndex);
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templateIndex = -1; // 标准化为-1表示不切换
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}
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} else {
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// 方法2：尝试解析旧格式 @模板编号，Trig$ 或 @模板编号Trig
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QRegularExpression oldFormatRegex("@(\\d+).*Trig");
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QRegularExpressionMatch oldFormatMatch = oldFormatRegex.match(qData);
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if (oldFormatMatch.hasMatch()) {
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// 旧格式解析成功（只有模板编号）
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templateIndex = oldFormatMatch.captured(1).toInt();
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cameraIndex = m_currentCameraIndex; // 使用当前默认相机
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triggerCmd = "Trig";
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LOG_INFO("Parsed old format command: template=%d, using current camera=%d\n", templateIndex, cameraIndex);
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} else if (qData.contains("Trig", Qt::CaseInsensitive)) {
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// 方法3：简单的Trig命令（不切换模板和相机）
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cameraIndex = m_currentCameraIndex;
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templateIndex = -1; // 不切换模板
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triggerCmd = "Trig";
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LOG_INFO("Parsed simple Trig command, using current camera=%d and template\n", cameraIndex);
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} else {
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// 未识别的命令
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LOG_WARNING("Unknown TCP command received: %s\n", qData.toStdString().c_str());
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if (m_pStatus) {
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m_pStatus->OnStatusUpdate("未知TCP命令: " + qData.toStdString());
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}
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// 发送错误响应
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std::string err = "Unknown_Command";
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m_pTcpServer->SendData(pClient, err.c_str(), err.length());
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return;
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// 如果所有格式都无法解析，返回错误
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if (!parsed) {
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LOG_WARNING("Unknown TCP command received: %s\n", qData.toStdString().c_str());
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if (m_pStatus) {
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m_pStatus->OnStatusUpdate("未知TCP命令: " + qData.toStdString());
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}
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std::string err = "Unknown_Command";
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m_pTcpServer->SendData(pClient, err.c_str(), err.length());
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return;
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}
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// 处理Trig命令
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if (triggerCmd.contains("Trig", Qt::CaseInsensitive)) {
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// 1. 验证相机编号有效性
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if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
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LOG_ERROR("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
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if (m_pStatus) {
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m_pStatus->OnStatusUpdate(QString("无效的相机编号: %1").arg(cameraIndex).toStdString());
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}
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// 发送错误响应
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QString response = QString("Error_Invalid_Camera_%1").arg(cameraIndex);
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m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
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return;
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bool bRet = _HandleTrigCommand(pClient, cameraIndex, templateIndex);
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if(!bRet){
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SetWorkStatus(WorkStatus::Error);
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}
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// 检查相机是否已连接
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if (m_vrEyeDeviceList[cameraIndex - 1].second == nullptr) {
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LOG_ERROR("Camera %d is not connected\n", cameraIndex);
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if (m_pStatus) {
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QString cameraName = QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first);
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m_pStatus->OnStatusUpdate(QString("相机%1未连接").arg(cameraName).toStdString());
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}
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// 发送错误响应
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QString response = QString("Error_Camera_%1_Not_Connected").arg(cameraIndex);
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m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
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return;
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}
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// 2. 如果指定了模板编号，进行模板切换
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if (templateIndex > 0) {
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// 在新的三级结构中，需要找到指定相机下的包裹
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// 首先获取当前工作点
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WorkPositionConfig* currentWorkPosition = nullptr;
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for (auto& wp : m_configResult.workPositions) {
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if (wp.id == m_currentWorkPositionId) {
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currentWorkPosition = ℘
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break;
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}
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}
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if (!currentWorkPosition) {
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LOG_ERROR("No current work position found (ID: %s), cannot switch template\n",
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m_currentWorkPositionId.c_str());
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QString response = QString("Error_No_Work_Position");
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m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
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return;
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}
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// 从工作点中找到对应cameraIndex的相机配置
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CameraConfig* targetCamera = currentWorkPosition->GetCameraByIndex(cameraIndex);
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if (!targetCamera) {
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LOG_ERROR("No camera config found for camera index %d in work position %s\n",
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cameraIndex, m_currentWorkPositionId.c_str());
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QString response = QString("Error_No_Camera_Config_%1").arg(cameraIndex);
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m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
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return;
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}
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// 验证模板编号的有效性（1-based索引，对应相机下的包裹列表）
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if (templateIndex < 1 || templateIndex > static_cast<int>(targetCamera->packages.size())) {
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LOG_ERROR("Invalid template index: %d for camera %d, valid range: 1-%zu\n",
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templateIndex, cameraIndex, targetCamera->packages.size());
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if (m_pStatus) {
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m_pStatus->OnStatusUpdate(QString("相机%1的无效模板编号: %2").arg(cameraIndex).arg(templateIndex).toStdString());
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}
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// 发送错误<E99499><E8AFAF>应
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QString response = QString("Error_Invalid_Template_%1_For_Camera_%2").arg(templateIndex).arg(cameraIndex);
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m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
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return;
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}
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// 切换到指定的包裹类型（视觉模板）
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const PackageTypeConfig& selectedPackage = targetCamera->packages[templateIndex - 1];
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m_currentCameraId = targetCamera->id;
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m_currentPackageTypeId = selectedPackage.id;
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std::string templateName = selectedPackage.name;
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LOG_INFO("Switched to template %d for camera %d: %s (Camera ID: %s, Package ID: %s)\n",
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templateIndex, cameraIndex, templateName.c_str(),
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m_currentCameraId.c_str(), m_currentPackageTypeId.c_str());
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if (m_pStatus) {
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m_pStatus->OnStatusUpdate(QString("切换到相机%1的视觉模板%2: %3")
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.arg(cameraIndex)
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.arg(templateIndex)
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.arg(QString::fromStdString(templateName)).toStdString());
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}
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// 更新执行参数（使用新的模板配置）
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// 注意：这里需要先设置相机索引，以便_UpdateCurrentExecutionParams使用正确的相机
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int savedCameraIndex = m_currentCameraIndex;
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m_currentCameraIndex = cameraIndex;
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_UpdateCurrentExecutionParams();
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m_currentCameraIndex = savedCameraIndex; // 恢复原来的默认相机
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}
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// 3. 显示状态信息
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QString cameraName = (cameraIndex >= 1 && cameraIndex <= static_cast<int>(m_vrEyeDeviceList.size())) ?
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QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first) :
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QString("相机%1").arg(cameraIndex);
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if (m_pStatus) {
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if (templateIndex > 0) {
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m_pStatus->OnStatusUpdate(QString("收到触发命令[相机%1，模板%2]，启动%3检测")
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.arg(cameraIndex).arg(templateIndex).arg(cameraName).toStdString());
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} else {
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m_pStatus->OnStatusUpdate(QString("收到触发命令，启动%1检测")
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.arg(cameraName).toStdString());
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}
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}
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LOG_INFO("Starting detection with camera %d (template %d)\n", cameraIndex, templateIndex);
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// 4. 启动指定相机的检测（非自动模式）
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int result = StartDetection(cameraIndex, false);
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// 5. 发送响应给客户端
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QString response;
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if (result != SUCCESS) {
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response = QString("Error_%1").arg(result);
|
||||
LOG_ERROR("Failed to start camera %d detection, error: %d\n", cameraIndex, result);
|
||||
} else {
|
||||
response = QString("OK_Camera_%1_Template_%2").arg(cameraIndex).arg(templateIndex);
|
||||
LOG_INFO("Detection started successfully: camera %d, template %d\n", cameraIndex, templateIndex);
|
||||
}
|
||||
|
||||
// 向客户端发送响应
|
||||
m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
|
||||
} else {
|
||||
// 其他启动命令（未来扩展）
|
||||
LOG_WARNING("Unknown trigger command: %s\n", triggerCmd.toStdString().c_str());
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate("未知触发命令: " + triggerCmd.toStdString());
|
||||
}
|
||||
|
||||
// 发送错误响应
|
||||
std::string err = "Unknown_Trigger_Command";
|
||||
m_pTcpServer->SendData(pClient, err.c_str(), err.length());
|
||||
}
|
||||
}
|
||||
|
||||
// 解析新格式协议：@，视觉号，视觉模版号，启动信息，$
|
||||
// 示例：@，1，3，Trig，$ 表示触发1号视觉（相机）拍照，调用3号视觉模版，发出Trig拍照命令
|
||||
bool GrabBagPresenter::_ParseNewFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd)
|
||||
{
|
||||
// 正则表达式：@[,，]\s*(-?\d+)\s*[,，]\s*(-?\d+)\s*[,，]\s*(\w+)
|
||||
// 支持负数（-1表示使用默认相机/模板）
|
||||
QRegularExpression newFormatRegex("@[,，]\\s*(-?\\d+)\\s*[,，]\\s*(-?\\d+)\\s*[,，]\\s*(\\w+)");
|
||||
QRegularExpressionMatch newFormatMatch = newFormatRegex.match(qData);
|
||||
|
||||
if (!newFormatMatch.hasMatch()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 新格式解析成功（相机编号、模板编号、触发命令）
|
||||
cameraIndex = newFormatMatch.captured(1).toInt();
|
||||
templateIndex = newFormatMatch.captured(2).toInt();
|
||||
triggerCmd = newFormatMatch.captured(3);
|
||||
|
||||
LOG_INFO("Parsed new format command: camera=%d, template=%d, trigger=%s\n", cameraIndex, templateIndex, triggerCmd.toStdString().c_str());
|
||||
|
||||
// 如果相机索引为-1，使用当前默认相机
|
||||
if (cameraIndex == -1) {
|
||||
cameraIndex = m_currentCameraIndex;
|
||||
LOG_INFO("Camera index is -1, using current default camera: %d\n", cameraIndex);
|
||||
}
|
||||
|
||||
// 如果模板索引为-1或0，表示使用当前模板（不切换）
|
||||
if (templateIndex == -1 || templateIndex == 0) {
|
||||
LOG_INFO("Template index is %d, will use current template (no switch)\n", templateIndex);
|
||||
templateIndex = -1; // 标准化为-1表示不切换
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
// 解析旧格式协议：@模板编号，Trig$ 或 @模板编号Trig
|
||||
// 示例：@3，Trig$ 表示调用3号视觉模版
|
||||
bool GrabBagPresenter::_ParseOldFormatProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd)
|
||||
{
|
||||
QRegularExpression oldFormatRegex("@(\\d+).*Trig");
|
||||
QRegularExpressionMatch oldFormatMatch = oldFormatRegex.match(qData);
|
||||
|
||||
if (!oldFormatMatch.hasMatch()) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 旧格式解析成功（只有模板编号）
|
||||
templateIndex = oldFormatMatch.captured(1).toInt();
|
||||
cameraIndex = m_currentCameraIndex; // 使用当前默认相机
|
||||
triggerCmd = "Trig";
|
||||
|
||||
LOG_INFO("Parsed old format command: template=%d, using current camera=%d\n", templateIndex, cameraIndex);
|
||||
return true;
|
||||
}
|
||||
|
||||
// 解析简单协议：Trig
|
||||
// 示例：Trig 表示使用当前相机和当前模板触发检测
|
||||
bool GrabBagPresenter::_ParseSimpleProtocol(const QString& qData, int& cameraIndex, int& templateIndex, QString& triggerCmd)
|
||||
{
|
||||
if (!qData.contains("Trig", Qt::CaseInsensitive)) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// 简单的Trig命令（不切换模板和相机）
|
||||
cameraIndex = m_currentCameraIndex;
|
||||
templateIndex = -1; // 不切换模板
|
||||
triggerCmd = "Trig";
|
||||
|
||||
LOG_INFO("Parsed simple Trig command, using current camera=%d and template\n", cameraIndex);
|
||||
return true;
|
||||
}
|
||||
|
||||
// 处理Trig命令
|
||||
bool GrabBagPresenter::_HandleTrigCommand(const TCPClient* pClient, int cameraIndex, int templateIndex)
|
||||
{
|
||||
SetWorkStatus(WorkStatus::Working);
|
||||
// 1. 验证相机编号有效性
|
||||
if (cameraIndex < 1 || cameraIndex > static_cast<int>(m_vrEyeDeviceList.size())) {
|
||||
LOG_ERROR("Invalid camera index: %d, valid range: 1-%zu\n", cameraIndex, m_vrEyeDeviceList.size());
|
||||
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate(QString("无效的相机编号: %1").arg(cameraIndex).toStdString());
|
||||
}
|
||||
|
||||
// 发送错误响应
|
||||
QString response = QString("Error_Invalid_Camera_%1").arg(cameraIndex);
|
||||
m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
|
||||
return false;
|
||||
}
|
||||
|
||||
// 检查相机是否已连接
|
||||
if (m_vrEyeDeviceList[cameraIndex - 1].second == nullptr) {
|
||||
LOG_ERROR("Camera %d is not connected\n", cameraIndex);
|
||||
|
||||
if (m_pStatus) {
|
||||
QString cameraName = QString::fromStdString(m_vrEyeDeviceList[cameraIndex - 1].first);
|
||||
m_pStatus->OnStatusUpdate(QString("相机%1未连接").arg(cameraName).toStdString());
|
||||
}
|
||||
|
||||
// 发送错误响应
|
||||
QString response = QString("Error_Camera_%1_Not_Connected").arg(cameraIndex);
|
||||
m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
|
||||
return false;
|
||||
}
|
||||
|
||||
// 2. 如果指定了模板编号，进行模板切换
|
||||
if (templateIndex > 0) {
|
||||
// 通过包裹ID（全局唯一）在配置文件中查询包裹、相机和工位信息
|
||||
std::string packageId = "pkg_" + std::to_string(templateIndex);
|
||||
|
||||
WorkPositionConfig* foundWorkPosition = nullptr;
|
||||
CameraConfig* foundCamera = nullptr;
|
||||
PackageTypeConfig* foundPackage = nullptr;
|
||||
|
||||
// 遍历所有工位、相机、包裹，查找匹配的包裹ID
|
||||
for (auto& wp : m_configResult.workPositions) {
|
||||
for (auto& cam : wp.cameras) {
|
||||
for (auto& pkg : cam.packages) {
|
||||
if (pkg.id == packageId) {
|
||||
foundWorkPosition = ℘
|
||||
foundCamera = &cam;
|
||||
foundPackage = &pkg;
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (foundPackage) break;
|
||||
}
|
||||
if (foundPackage) break;
|
||||
}
|
||||
|
||||
// 检查是否找到包裹
|
||||
if (!foundPackage || !foundCamera || !foundWorkPosition) {
|
||||
LOG_ERROR("Package not found with ID: %s (template index: %d)\n", packageId.c_str(), templateIndex);
|
||||
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate(QString("未找到包裹ID: %1 (模板编号: %2)")
|
||||
.arg(QString::fromStdString(packageId))
|
||||
.arg(templateIndex).toStdString());
|
||||
}
|
||||
|
||||
QString response = QString("Error_Package_Not_Found_%1").arg(templateIndex);
|
||||
m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
|
||||
return false;
|
||||
}
|
||||
|
||||
// 验证找到的相机索引是否与请求的相机索引匹配
|
||||
if (foundCamera->cameraIndex != cameraIndex) {
|
||||
LOG_WARNING("Package %s belongs to camera %d, but requested camera is %d. Using package's camera.\n",
|
||||
packageId.c_str(), foundCamera->cameraIndex, cameraIndex);
|
||||
// 更新相机索引为包裹所属的相机
|
||||
cameraIndex = foundCamera->cameraIndex;
|
||||
}
|
||||
|
||||
// 记录找到的配置信息
|
||||
std::string templateName = foundPackage->name;
|
||||
|
||||
LOG_INFO("Switched to package by ID: %s (template index: %d)\n", packageId.c_str(), templateIndex);
|
||||
LOG_INFO(" Work Position: %s (ID: %s)\n", foundWorkPosition->name.c_str(), foundWorkPosition->id.c_str());
|
||||
LOG_INFO(" Camera: %s (ID: %s, Index: %d)\n", foundCamera->cameraName.c_str(), foundCamera->id.c_str(), foundCamera->cameraIndex);
|
||||
LOG_INFO(" Package: %s (ID: %s)\n", templateName.c_str(), foundPackage->id.c_str());
|
||||
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate(QString("切换到[工位:%1, 相机:%2, 包裹:%3]")
|
||||
.arg(QString::fromStdString(foundWorkPosition->name))
|
||||
.arg(QString::fromStdString(foundCamera->cameraName))
|
||||
.arg(QString::fromStdString(foundPackage->name)).toStdString());
|
||||
}
|
||||
|
||||
// 更新执行参数（使用新的模板配置）
|
||||
_UpdateCurrentExecutionParams(foundWorkPosition, foundCamera, foundPackage, cameraIndex);
|
||||
}
|
||||
|
||||
// 3. 显示状态信息
|
||||
LOG_INFO("Starting detection with camera %d (template %d)\n", cameraIndex, templateIndex);
|
||||
|
||||
// 4. 启动指定相机的检测（非自动模式）
|
||||
// 如果已经切换了模板（templateIndex > 0），则不需要再更新参数
|
||||
// 如果没有切换模板，则需要在 StartDetection 中更新参数
|
||||
bool needUpdateParams = (templateIndex <= 0);
|
||||
int result = StartDetection(cameraIndex, false, needUpdateParams);
|
||||
|
||||
// 5. 发送响应给客户端
|
||||
if (result != SUCCESS) {
|
||||
QString response = QString("Error_%1").arg(result);
|
||||
LOG_ERROR("Failed to start camera %d detection, error: %d\n", cameraIndex, result);
|
||||
m_pTcpServer->SendData(pClient, response.toStdString().c_str(), response.toStdString().length());
|
||||
}
|
||||
return result == SUCCESS;
|
||||
}
|
||||
|
||||
// TCP客户端连接状态回调处理方法
|
||||
void GrabBagPresenter::onTcpClientEventFromCallback(const TCPClient* pClient, TCPServerEventType eventType)
|
||||
{
|
||||
@ -812,11 +826,11 @@ void GrabBagPresenter::SetStatusCallback(IYGrabBagStatus* status)
|
||||
}
|
||||
|
||||
// 模拟检测函数，用于演示
|
||||
int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
|
||||
{
|
||||
int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto, bool updateParams)
|
||||
{
|
||||
LOG_INFO("--------------------------------\n");
|
||||
LOG_INFO("Start detection with camera index: %d\n", cameraIdx);
|
||||
|
||||
LOG_INFO("Start detection with camera index: %d, updateParams: %d\n", cameraIdx, updateParams);
|
||||
|
||||
// 检查设备状态是否准备就绪
|
||||
if (isAuto && m_currentWorkStatus != WorkStatus::Ready) {
|
||||
LOG_INFO("Device not ready, cannot start detection\n");
|
||||
@ -826,19 +840,17 @@ int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
|
||||
return ERR_CODE(DEV_BUSY);
|
||||
}
|
||||
|
||||
// 保存当前使用的相机ID（从1开始编号）
|
||||
if(-1 != cameraIdx){
|
||||
m_currentCameraIndex = cameraIdx;
|
||||
}
|
||||
int cameraIndex = m_currentCameraIndex;
|
||||
// 确定要使用的相机索引（不修改默认相机索引）
|
||||
int cameraIndex = (cameraIdx != -1) ? cameraIdx : m_currentCameraIndex;
|
||||
|
||||
m_currentWorkStatus = WorkStatus::Working;
|
||||
LOG_INFO("Using camera index: %d (default: %d)\n", cameraIndex, m_currentCameraIndex);
|
||||
|
||||
m_currentWorkStatus = WorkStatus::Detecting;
|
||||
|
||||
// 通知UI工作状态变更为"正在工作"
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnWorkStatusChanged(WorkStatus::Working);
|
||||
m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);
|
||||
}
|
||||
|
||||
|
||||
// 设置机械臂工作状态为忙碌
|
||||
if (m_pRobotProtocol) {
|
||||
m_pRobotProtocol->SetWorkStatus(RobotProtocol::WORK_STATUS_BUSY);
|
||||
@ -855,8 +867,14 @@ int GrabBagPresenter::StartDetection(int cameraIdx, bool isAuto)
|
||||
// 清空检测数据缓存（释放之前的内存）
|
||||
_ClearDetectionDataCache();
|
||||
|
||||
// 更新当前执行参数（包括相机参数、调平参数、手眼标定参数）
|
||||
_UpdateCurrentExecutionParams();
|
||||
// 更新当前执行参数（如果需要）
|
||||
if (updateParams) {
|
||||
// 临时保存默认相机索引
|
||||
int savedDefaultCameraIndex = m_currentCameraIndex;
|
||||
m_currentCameraIndex = cameraIndex;
|
||||
_UpdateCurrentExecutionParams();
|
||||
m_currentCameraIndex = savedDefaultCameraIndex; // 恢复默认相机索引
|
||||
}
|
||||
|
||||
// 配置相机参数
|
||||
int nRet = _ApplyCameraParameters();
|
||||
@ -1033,7 +1051,10 @@ int GrabBagPresenter::_OpenDevice(int cameraIndex, const char* cameraName, const
|
||||
|
||||
// 先设置状态回调
|
||||
nRet = pDevice->SetStatusCallback(&GrabBagPresenter::_StaticCameraNotify, this);
|
||||
LOG_DEBUG("SetStatusCallback result: %d\n", nRet);
|
||||
if(nRet != SUCCESS){
|
||||
delete pDevice;
|
||||
LOG_ERROR("SetStatusCallback failed, error code: %d\n", nRet);
|
||||
}
|
||||
ERR_CODE_RETURN(nRet);
|
||||
|
||||
// 尝试打开相机1
|
||||
@ -1261,13 +1282,25 @@ void GrabBagPresenter::CheckAndUpdateWorkStatus()
|
||||
}
|
||||
}
|
||||
|
||||
void GrabBagPresenter::SetWorkStatus(WorkStatus status)
|
||||
{
|
||||
m_currentWorkStatus = status;
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnWorkStatusChanged(m_currentWorkStatus);
|
||||
}
|
||||
|
||||
if(WorkStatus::Error == status){
|
||||
m_currentWorkStatus = WorkStatus::Ready;
|
||||
}
|
||||
}
|
||||
|
||||
void GrabBagPresenter::_AlgoDetectThread()
|
||||
{
|
||||
while(m_bAlgoDetectThreadRunning)
|
||||
{
|
||||
std::unique_lock<std::mutex> lock(m_algoDetectMutex);
|
||||
m_algoDetectCondition.wait(lock, [this]() {
|
||||
return m_currentWorkStatus == WorkStatus::Working;
|
||||
return m_currentWorkStatus == WorkStatus::Working || m_currentWorkStatus == WorkStatus::Detecting;
|
||||
});
|
||||
|
||||
if(!m_bAlgoDetectThreadRunning){
|
||||
@ -1312,63 +1345,48 @@ int GrabBagPresenter::_DetectTask()
|
||||
return ERR_CODE(DEV_ARG_INVAILD);
|
||||
}
|
||||
|
||||
// 2. 准备算法参数 - 使用 ParameterManager 获取参数
|
||||
// 2. 准备算法参数 - 直接从 m_currentExecutionParams 和全局配置获取
|
||||
SG_bagPositionParam detectionAlgoParam;
|
||||
SSG_planeCalibPara detectionCalibParam;
|
||||
CalibMatrix detectionHandEyeMatrix;
|
||||
|
||||
// 初始化调平参数为单位矩阵
|
||||
double identityCalibMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
|
||||
memcpy(detectionCalibParam.planeCalib, identityCalibMatrix, sizeof(identityCalibMatrix));
|
||||
memcpy(detectionCalibParam.invRMatrix, identityCalibMatrix, sizeof(identityCalibMatrix));
|
||||
detectionCalibParam.planeHeight = -1.0;
|
||||
// 2.1 初始化算法参数结构
|
||||
memset(&detectionAlgoParam, 0, sizeof(SG_bagPositionParam));
|
||||
|
||||
// 初始化手眼矩阵为单位矩阵
|
||||
double identityHandEyeMatrix[16] = {
|
||||
1.0, 0.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0, 0.0,
|
||||
0.0, 0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 0.0, 1.0
|
||||
};
|
||||
memcpy(detectionHandEyeMatrix.clibMatrix, identityHandEyeMatrix, sizeof(identityHandEyeMatrix));
|
||||
// 从全局配置中获取算法参数
|
||||
const VrAlgorithmParams& xmlParams = m_configResult.algorithmParams;
|
||||
|
||||
LOG_INFO("[Algo Thread] work position index: %d, camera index: %d, package index: %d \n", m_currentWorkPositionIndex, m_currentCameraIndex, m_currentPackageTypeIndex);
|
||||
// 2.1 获取包裹类型参数（优先级：指定索引 > 默认配置 > 全局默认）
|
||||
bool packageParamsSuccess = false;
|
||||
try {
|
||||
packageParamsSuccess = m_pParameterManager->GetPackageTypeParams(m_currentPackageTypeIndex, detectionAlgoParam);
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("[Algo Thread] Exception in GetPackageTypeParams: %s\n", e.what());
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate("获取包裹参数异常");
|
||||
}
|
||||
return ERR_CODE(DEV_ARG_INVAILD);
|
||||
} catch (...) {
|
||||
LOG_ERROR("[Algo Thread] Unknown exception in GetPackageTypeParams\n");
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate("获取包裹参数异常");
|
||||
}
|
||||
return ERR_CODE(DEV_ARG_INVAILD);
|
||||
}
|
||||
// 滤波参数
|
||||
detectionAlgoParam.filterParam.continuityTh = xmlParams.filterParam.continuityTh;
|
||||
detectionAlgoParam.filterParam.outlierTh = xmlParams.filterParam.outlierTh;
|
||||
|
||||
// 2.2 获取工作点参数（优先级：指定索引 > 默认配置 > 当前执行参数）
|
||||
try {
|
||||
LOG_INFO("[Algo Thread] Getting work position params...\n");
|
||||
bool ret2 = m_pParameterManager->GetWorkPositionParams(m_currentWorkPositionIndex, m_currentCameraIndex, detectionCalibParam, detectionHandEyeMatrix);
|
||||
LOG_INFO("[Algo Thread] GetWorkPositionParams returned: %d\n", ret2);
|
||||
} catch (const std::exception& e) {
|
||||
LOG_ERROR("[Algo Thread] Exception in GetWorkPositionParams: %s\n", e.what());
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate("获取工作点参数异常");
|
||||
}
|
||||
return ERR_CODE(DEV_ARG_INVAILD);
|
||||
} catch (...) {
|
||||
LOG_ERROR("[Algo Thread] Unknown exception in GetWorkPositionParams\n");
|
||||
if (m_pStatus) {
|
||||
m_pStatus->OnStatusUpdate("获取工作点参数异常");
|
||||
}
|
||||
return ERR_CODE(DEV_ARG_INVAILD);
|
||||
}
|
||||
// 角点参数
|
||||
detectionAlgoParam.cornerParam.cornerTh = xmlParams.cornerParam.cornerTh;
|
||||
detectionAlgoParam.cornerParam.scale = xmlParams.cornerParam.scale;
|
||||
detectionAlgoParam.cornerParam.minEndingGap = xmlParams.cornerParam.minEndingGap;
|
||||
detectionAlgoParam.cornerParam.minEndingGap_z = xmlParams.cornerParam.minEndingGap_z;
|
||||
detectionAlgoParam.cornerParam.jumpCornerTh_1 = xmlParams.cornerParam.jumpCornerTh_1;
|
||||
detectionAlgoParam.cornerParam.jumpCornerTh_2 = xmlParams.cornerParam.jumpCornerTh_2;
|
||||
|
||||
// 生长参数
|
||||
detectionAlgoParam.growParam.maxLineSkipNum = xmlParams.growParam.maxLineSkipNum;
|
||||
detectionAlgoParam.growParam.yDeviation_max = xmlParams.growParam.yDeviation_max;
|
||||
detectionAlgoParam.growParam.maxSkipDistance = xmlParams.growParam.maxSkipDistance;
|
||||
detectionAlgoParam.growParam.zDeviation_max = xmlParams.growParam.zDeviation_max;
|
||||
detectionAlgoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
|
||||
detectionAlgoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
|
||||
|
||||
// 支持旋转
|
||||
detectionAlgoParam.supportRotate = xmlParams.supportRotate;
|
||||
|
||||
// 使用 m_currentExecutionParams 中的包裹参数
|
||||
detectionAlgoParam.bagParam.bagL = m_currentExecutionParams.bagParam.bagL;
|
||||
detectionAlgoParam.bagParam.bagW = m_currentExecutionParams.bagParam.bagW;
|
||||
detectionAlgoParam.bagParam.bagH = m_currentExecutionParams.bagParam.bagH;
|
||||
|
||||
// 2.2 直接使用 m_currentExecutionParams 中的调平参数和手眼标定参数
|
||||
detectionCalibParam = m_currentExecutionParams.planeCalibParam;
|
||||
detectionHandEyeMatrix = m_currentExecutionParams.handEyeCalibMatrix;
|
||||
|
||||
// 3. 准备检测
|
||||
unsigned int lineNum = 0;
|
||||
@ -1903,9 +1921,7 @@ void GrabBagPresenter::_LoadCurrentWorkPositionAndPackageType()
|
||||
WorkPositionConfig* defaultWorkPosition = nullptr;
|
||||
if (!m_configResult.workPositions.empty()) {
|
||||
defaultWorkPosition = &m_configResult.workPositions[0];
|
||||
m_currentWorkPositionId = defaultWorkPosition->id;
|
||||
LOG_INFO("Using first work position: %s (name: %s)\n",
|
||||
m_currentWorkPositionId.c_str(), defaultWorkPosition->name.c_str());
|
||||
LOG_INFO("Using first work position: %s\n", defaultWorkPosition->name.c_str());
|
||||
} else {
|
||||
LOG_ERROR("No work positions configured!\n");
|
||||
return;
|
||||
@ -1914,40 +1930,34 @@ void GrabBagPresenter::_LoadCurrentWorkPositionAndPackageType()
|
||||
// 2. 从工作点中获取默认相机
|
||||
CameraConfig* defaultCamera = defaultWorkPosition->GetDefaultCamera();
|
||||
if (defaultCamera) {
|
||||
m_currentCameraId = defaultCamera->id;
|
||||
LOG_INFO("Using default camera: %s (name: %s, index: %d)\n",
|
||||
m_currentCameraId.c_str(), defaultCamera->cameraName.c_str(),
|
||||
defaultCamera->cameraIndex);
|
||||
LOG_INFO("Using default camera: %s (index: %d)\n",
|
||||
defaultCamera->cameraName.c_str(), defaultCamera->cameraIndex);
|
||||
} else if (!defaultWorkPosition->cameras.empty()) {
|
||||
// 如果没有默认配置，使用第一个相机
|
||||
m_currentCameraId = defaultWorkPosition->cameras[0].id;
|
||||
defaultCamera = &defaultWorkPosition->cameras[0];
|
||||
LOG_WARNING("No default camera configured for work position %s, using first camera: %s\n",
|
||||
m_currentWorkPositionId.c_str(), m_currentCameraId.c_str());
|
||||
defaultWorkPosition->name.c_str(), defaultCamera->cameraName.c_str());
|
||||
} else {
|
||||
LOG_ERROR("No cameras configured for work position %s!\n", m_currentWorkPositionId.c_str());
|
||||
LOG_ERROR("No cameras configured for work position %s!\n", defaultWorkPosition->name.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
// 3. 从相机中获取默认包裹
|
||||
PackageTypeConfig* defaultPackage = defaultCamera->GetDefaultPackage();
|
||||
if (defaultPackage) {
|
||||
m_currentPackageTypeId = defaultPackage->id;
|
||||
LOG_INFO("Using default package: %s (name: %s)\n",
|
||||
m_currentPackageTypeId.c_str(), defaultPackage->name.c_str());
|
||||
LOG_INFO("Using default package: %s\n", defaultPackage->name.c_str());
|
||||
} else if (!defaultCamera->packages.empty()) {
|
||||
// 如果没有默认配置，使用第一个包裹
|
||||
m_currentPackageTypeId = defaultCamera->packages[0].id;
|
||||
defaultPackage = &defaultCamera->packages[0];
|
||||
LOG_WARNING("No default package configured for camera %s, using first package: %s\n",
|
||||
m_currentCameraId.c_str(), m_currentPackageTypeId.c_str());
|
||||
defaultCamera->cameraName.c_str(), defaultPackage->name.c_str());
|
||||
} else {
|
||||
LOG_ERROR("No packages configured for camera %s!\n", m_currentCameraId.c_str());
|
||||
LOG_ERROR("No packages configured for camera %s!\n", defaultCamera->cameraName.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
// 4. 更新当前执行参数
|
||||
_UpdateCurrentExecutionParams();
|
||||
// 4. 更新当前执行参数（使用找到的默认配置）
|
||||
_UpdateCurrentExecutionParams(defaultWorkPosition, defaultCamera, defaultPackage, defaultCamera->cameraIndex);
|
||||
}
|
||||
|
||||
int GrabBagPresenter::_ApplyCameraParameters()
|
||||
@ -2033,7 +2043,7 @@ int GrabBagPresenter::_ApplyCameraParameters()
|
||||
|
||||
void GrabBagPresenter::_UpdateCurrentExecutionParams()
|
||||
{
|
||||
LOG_INFO("Updating current execution parameters\n");
|
||||
LOG_INFO("Updating current execution parameters using m_currentCameraIndex: %d\n", m_currentCameraIndex);
|
||||
|
||||
// 1. 设置相机序号（使用当前默认相机）
|
||||
m_currentExecutionParams.cameraIndex = m_currentCameraIndex;
|
||||
@ -2045,7 +2055,6 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
|
||||
m_currentExecutionParams.planeCalibParam.invRMatrix[i] = identityMatrix9[i];
|
||||
}
|
||||
m_currentExecutionParams.planeCalibParam.planeHeight = -1.0;
|
||||
LOG_INFO("Initialized plane calibration parameters to identity matrix\n");
|
||||
|
||||
// 3. 初始化手眼标定矩阵为单位矩阵（默认值）
|
||||
double identityMatrix16[16] = {
|
||||
@ -2057,52 +2066,33 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
|
||||
for (int i = 0; i < 16; i++) {
|
||||
m_currentExecutionParams.handEyeCalibMatrix.clibMatrix[i] = identityMatrix16[i];
|
||||
}
|
||||
LOG_INFO("Initialized hand-eye calibration matrix to identity matrix\n");
|
||||
|
||||
// 4. 按照三级结构导航：工作点->相机->包裹
|
||||
|
||||
// 4.1 获取当前工作点配置
|
||||
// 4. 通过 m_currentCameraIndex 查找配置
|
||||
const WorkPositionConfig* currentWorkPosition = nullptr;
|
||||
for (const auto& wp : m_configResult.workPositions) {
|
||||
if (wp.id == m_currentWorkPositionId) {
|
||||
currentWorkPosition = ℘
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!currentWorkPosition) {
|
||||
LOG_WARNING("No current work position found (ID: %s), using default parameters\n",
|
||||
m_currentWorkPositionId.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
// 4.2 获取当前相机配置
|
||||
const CameraConfig* currentCamera = nullptr;
|
||||
for (const auto& cam : currentWorkPosition->cameras) {
|
||||
if (cam.id == m_currentCameraId) {
|
||||
currentCamera = &cam;
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
if (!currentCamera) {
|
||||
LOG_WARNING("No current camera found (ID: %s) in work position %s, using default parameters\n",
|
||||
m_currentCameraId.c_str(), m_currentWorkPositionId.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
// 4.3 获取当前包裹配置
|
||||
const PackageTypeConfig* currentPackage = nullptr;
|
||||
for (const auto& pkg : currentCamera->packages) {
|
||||
if (pkg.id == m_currentPackageTypeId) {
|
||||
currentPackage = &pkg;
|
||||
break;
|
||||
|
||||
// 遍历所有工作点、相机，找到匹配 cameraIndex 的相机配置
|
||||
for (const auto& wp : m_configResult.workPositions) {
|
||||
for (const auto& cam : wp.cameras) {
|
||||
if (cam.cameraIndex == m_currentCameraIndex) {
|
||||
currentWorkPosition = ℘
|
||||
currentCamera = &cam;
|
||||
// 获取该相机的默认包裹或第一个包裹
|
||||
if (!cam.packages.empty()) {
|
||||
currentPackage = cam.GetDefaultPackage();
|
||||
if (!currentPackage) {
|
||||
currentPackage = &cam.packages[0];
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
if (currentCamera) break;
|
||||
}
|
||||
|
||||
if (!currentPackage) {
|
||||
LOG_WARNING("No current package found (ID: %s) in camera %s, using default parameters\n",
|
||||
m_currentPackageTypeId.c_str(), m_currentCameraId.c_str());
|
||||
if (!currentWorkPosition || !currentCamera || !currentPackage) {
|
||||
LOG_WARNING("Failed to find configuration for camera index %d, using default parameters\n", m_currentCameraIndex);
|
||||
return;
|
||||
}
|
||||
|
||||
@ -2127,6 +2117,11 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
|
||||
m_currentExecutionParams.cameraParam.swingStopAngle = 180.0;
|
||||
}
|
||||
|
||||
// 5.1 设置包裹参数（从包裹配置中获取）
|
||||
m_currentExecutionParams.bagParam = currentPackage->bagParam;
|
||||
LOG_INFO("Using bag parameters: L=%.1f, W=%.1f, H=%.1f\n",
|
||||
currentPackage->bagParam.bagL, currentPackage->bagParam.bagW, currentPackage->bagParam.bagH);
|
||||
|
||||
// 6. 设置调平参数（从相机配置中获取）
|
||||
if (currentCamera->planeCalibParam.isCalibrated &&
|
||||
currentCamera->planeCalibParam.cameraIndex == m_currentCameraIndex) {
|
||||
@ -2157,6 +2152,108 @@ void GrabBagPresenter::_UpdateCurrentExecutionParams()
|
||||
}
|
||||
|
||||
LOG_INFO("Current execution parameters updated successfully\n");
|
||||
LOG_INFO(" Work Position: %s\n", currentWorkPosition->name.c_str());
|
||||
LOG_INFO(" Camera: %s (Index: %d)\n", currentCamera->cameraName.c_str(), m_currentCameraIndex);
|
||||
LOG_INFO(" Package: %s\n", currentPackage->name.c_str());
|
||||
|
||||
// 更新 ParameterManager 的当前执行参数
|
||||
m_pParameterManager->SetCurrentExecutionParams(
|
||||
m_currentExecutionParams.planeCalibParam,
|
||||
m_currentExecutionParams.handEyeCalibMatrix
|
||||
);
|
||||
}
|
||||
|
||||
// 重载版本：直接使用配置指针更新执行参数
|
||||
void GrabBagPresenter::_UpdateCurrentExecutionParams(const WorkPositionConfig* workPosition, const CameraConfig* camera, const PackageTypeConfig* package, int cameraIndex)
|
||||
{
|
||||
LOG_INFO("Updating current execution parameters with provided configuration\n");
|
||||
|
||||
if (!workPosition || !camera || !package) {
|
||||
LOG_ERROR("Invalid configuration pointers provided\n");
|
||||
return;
|
||||
}
|
||||
|
||||
// 1. 设置相机序号
|
||||
m_currentExecutionParams.cameraIndex = cameraIndex;
|
||||
|
||||
// 2. 初始化调平参数为单位矩阵（默认值）
|
||||
double identityMatrix9[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0};
|
||||
for (int i = 0; i < 9; i++) {
|
||||
m_currentExecutionParams.planeCalibParam.planeCalib[i] = identityMatrix9[i];
|
||||
m_currentExecutionParams.planeCalibParam.invRMatrix[i] = identityMatrix9[i];
|
||||
}
|
||||
m_currentExecutionParams.planeCalibParam.planeHeight = -1.0;
|
||||
|
||||
// 3. 初始化手眼标定矩阵为单位矩阵（默认值）
|
||||
double identityMatrix16[16] = {
|
||||
1.0, 0.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0, 0.0,
|
||||
0.0, 0.0, 1.0, 0.0,
|
||||
0.0, 0.0, 0.0, 1.0
|
||||
};
|
||||
for (int i = 0; i < 16; i++) {
|
||||
m_currentExecutionParams.handEyeCalibMatrix.clibMatrix[i] = identityMatrix16[i];
|
||||
}
|
||||
|
||||
// 4. 设置相机参数（从包裹配置中获取）
|
||||
const VrCameraParams* cameraParam = package->GetCameraParam(cameraIndex);
|
||||
|
||||
if (cameraParam) {
|
||||
m_currentExecutionParams.cameraParam = *cameraParam;
|
||||
LOG_INFO("Using camera parameters from package %s for camera %d: exposure=%.2f, gain=%.2f, frameRate=%.2f\n",
|
||||
package->name.c_str(), cameraIndex,
|
||||
cameraParam->exposure, cameraParam->gain, cameraParam->frameRate);
|
||||
} else {
|
||||
LOG_WARNING("No camera parameters found for camera %d in package %s, using defaults\n",
|
||||
cameraIndex, package->name.c_str());
|
||||
// 使用默认参数
|
||||
m_currentExecutionParams.cameraParam.cameraIndex = cameraIndex;
|
||||
m_currentExecutionParams.cameraParam.exposure = 100.0;
|
||||
m_currentExecutionParams.cameraParam.gain = 1.0;
|
||||
m_currentExecutionParams.cameraParam.frameRate = 30.0;
|
||||
m_currentExecutionParams.cameraParam.swingSpeed = 10.0;
|
||||
m_currentExecutionParams.cameraParam.swingStartAngle = 0.0;
|
||||
m_currentExecutionParams.cameraParam.swingStopAngle = 180.0;
|
||||
}
|
||||
|
||||
// 4.1 设置包裹参数（从包裹配置中获取）
|
||||
m_currentExecutionParams.bagParam = package->bagParam;
|
||||
LOG_INFO("Using bag parameters: L=%.1f, W=%.1f, H=%.1f\n",
|
||||
package->bagParam.bagL, package->bagParam.bagW, package->bagParam.bagH);
|
||||
|
||||
// 5. 设置调平参数（从相机配置中获取）
|
||||
if (camera->planeCalibParam.isCalibrated &&
|
||||
camera->planeCalibParam.cameraIndex == cameraIndex) {
|
||||
// 使用实际标定矩阵
|
||||
for (int i = 0; i < 9; i++) {
|
||||
m_currentExecutionParams.planeCalibParam.planeCalib[i] = camera->planeCalibParam.planeCalib[i];
|
||||
m_currentExecutionParams.planeCalibParam.invRMatrix[i] = camera->planeCalibParam.invRMatrix[i];
|
||||
}
|
||||
m_currentExecutionParams.planeCalibParam.planeHeight = camera->planeCalibParam.planeHeight;
|
||||
LOG_INFO("Using calibrated plane parameters from camera %s (height=%.3f)\n",
|
||||
camera->cameraName.c_str(), camera->planeCalibParam.planeHeight);
|
||||
} else {
|
||||
LOG_INFO("Camera %s is not calibrated, using identity matrix for plane calibration\n",
|
||||
camera->cameraName.c_str());
|
||||
}
|
||||
|
||||
// 6. 设置手眼标定参数（从相机配置中获取）
|
||||
if (camera->handEyeCalibParam.isCalibrated &&
|
||||
camera->handEyeCalibParam.cameraIndex == cameraIndex) {
|
||||
// 使用实际标定矩阵
|
||||
for (int i = 0; i < 16; i++) {
|
||||
m_currentExecutionParams.handEyeCalibMatrix.clibMatrix[i] = camera->handEyeCalibParam.transformMatrix[i];
|
||||
}
|
||||
LOG_INFO("Using calibrated hand-eye matrix from camera %s\n", camera->cameraName.c_str());
|
||||
} else {
|
||||
LOG_INFO("Camera %s hand-eye is not calibrated, using identity matrix\n",
|
||||
camera->cameraName.c_str());
|
||||
}
|
||||
|
||||
LOG_INFO("Current execution parameters updated successfully\n");
|
||||
LOG_INFO(" Work Position: %s\n", workPosition->name.c_str());
|
||||
LOG_INFO(" Camera: %s (Index: %d)\n", camera->cameraName.c_str(), cameraIndex);
|
||||
LOG_INFO(" Package: %s\n", package->name.c_str());
|
||||
|
||||
// 更新 ParameterManager 的当前执行参数
|
||||
m_pParameterManager->SetCurrentExecutionParams(
|
||||
|
||||
@ -524,8 +524,7 @@ bool ParameterManager::GetWorkPositionParams(int workPositionIndex, int cameraIn
|
||||
}
|
||||
}
|
||||
|
||||
LOG_INFO("[ParameterManager] Found work position: %s (ID: %s)\n",
|
||||
workPosition->name.c_str(), workPosition->id.c_str());
|
||||
LOG_INFO("[ParameterManager] Found work position: %s (ID: %s)\n", workPosition->name.c_str(), workPosition->id.c_str());
|
||||
|
||||
// 第2步：从工作点找到相机配置
|
||||
if (cameraIndex >= 0) {
|
||||
|
||||
@ -3,8 +3,8 @@
|
||||
|
||||
|
||||
#define GRABBAG_VERSION_STRING "1.3.2"
|
||||
#define GRABBAG_BUILD_STRING "0"
|
||||
#define GRABBAG_FULL_VERSION_STRING "V1.3.2_0"
|
||||
#define GRABBAG_BUILD_STRING "2"
|
||||
#define GRABBAG_FULL_VERSION_STRING "V1.3.2_2"
|
||||
|
||||
// 获取版本信息的便捷函数
|
||||
inline const char* GetGrabBagVersion() {
|
||||
|
||||
@ -1,5 +1,12 @@
|
||||
#1.3.2 2025-10-28
|
||||
## build_0
|
||||
#1.3.2
|
||||
## build_2 2025-11-23
|
||||
1. config 修改默认数据
|
||||
|
||||
## build_1 2025-11-23
|
||||
1. 修改协议触发错误
|
||||
2. 包裹ID修改为唯一标识
|
||||
|
||||
## build_0 2025-10-28
|
||||
1. 摆动机构默认参数无效
|
||||
2. 修改帧率范围
|
||||
3. 相机IP配置：通过配置文件config.xml 配置相机IP，如果没有没有配置，搜索相机进行打开
|
||||
|
||||
@ -52,7 +52,8 @@ void devstatus::setCameraStatusImage(QWidget* widget, bool isOnline) {
|
||||
|
||||
QString imagePath = isOnline ? ":/common/resource/camera_online.png" : ":/common/resource/camera_offline.png";
|
||||
|
||||
widget->setStyleSheet(QString("image: url(%1);").arg(imagePath));
|
||||
// 使用 border-image 而不是 image，这是 QWidget 支持的正确属性
|
||||
widget->setStyleSheet(QString("QWidget { border-image: url(%1); }").arg(imagePath));
|
||||
// widget->setFixedSize(32, 32); // 调整大小以适应图片
|
||||
}
|
||||
|
||||
@ -62,7 +63,8 @@ void devstatus::setRobotStatusImage(QWidget* widget, bool isOnline) {
|
||||
|
||||
QString imagePath = isOnline ? ":/common/resource/robot_online.png" : ":/common/resource/robot_offline.png";
|
||||
|
||||
widget->setStyleSheet(QString("image: url(%1); ").arg(imagePath));
|
||||
// 使用 border-image 而不是 image，这是 QWidget 支持的正确属性
|
||||
widget->setStyleSheet(QString("QWidget { border-image: url(%1); }").arg(imagePath));
|
||||
// widget->setFixedSize(32, 32); // 调整大小以适应图片
|
||||
}
|
||||
|
||||
|
||||
@ -65,7 +65,7 @@
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">image: url(:/common/resource/robot_offline.png);</string>
|
||||
<string notr="true">QWidget { border-image: url(:/common/resource/robot_offline.png); }</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
@ -118,7 +118,7 @@
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">image: url(:/common/resource/camera_offline.png);</string>
|
||||
<string notr="true">QWidget { border-image: url(:/common/resource/camera_offline.png); }</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
@ -171,7 +171,7 @@
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">image: url(:/common/resource/camera_offline.png);</string>
|
||||
<string notr="true">QWidget { border-image: url(:/common/resource/camera_offline.png); }</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
|
||||
@ -194,8 +194,7 @@ void DialogCameraLevel::updateCameraList()
|
||||
void DialogCameraLevel::on_btn_apply_clicked()
|
||||
{
|
||||
ui->label_level_result->setAlignment(Qt::AlignLeft);
|
||||
|
||||
#ifndef LEVEL_DEBUG_MODE
|
||||
|
||||
// 检查是否有可用的相机
|
||||
if (m_cameraList.empty()) {
|
||||
QMessageBox::warning(this, "错误", "无可用相机设备！");
|
||||
@ -208,7 +207,6 @@ void DialogCameraLevel::on_btn_apply_clicked()
|
||||
QMessageBox::warning(this, "错误", "请选择有效的相机！");
|
||||
return;
|
||||
}
|
||||
#endif
|
||||
|
||||
// 清空之前的结果显示
|
||||
ui->label_level_result->setText("调平计算中，请稍候...");
|
||||
@ -221,7 +219,7 @@ void DialogCameraLevel::on_btn_apply_clicked()
|
||||
// 执行相机调平
|
||||
if (performCameraLeveling()) {
|
||||
// 调平成功，关闭对话框（这会触发析构函数中的回调恢复）
|
||||
accept();
|
||||
// accept();
|
||||
} else {
|
||||
// 显示失败信息到界面
|
||||
ui->label_level_result->setText("调平失败！\n\n请检查：\n1. 相机连接是否正常\n2. 地面扫描数据是否充足\n3. 扫描区域是否有足够的地面");
|
||||
@ -249,24 +247,7 @@ bool DialogCameraLevel::performCameraLeveling()
|
||||
|
||||
// 1. 设置调平状态回调
|
||||
setLevelingStatusCallback();
|
||||
|
||||
#ifdef LEVEL_DEBUG_MODE
|
||||
// Debug模式：使用文件对话框选择测试数据
|
||||
LOG_INFO("=== DEBUG MODE ENABLED ===\n");
|
||||
|
||||
// 选择debug数据文件
|
||||
QString debugDataFile = selectDebugDataFile();
|
||||
if (debugDataFile.isEmpty()) {
|
||||
LOG_INFO("Debug data file selection cancelled\n");
|
||||
return false;
|
||||
}
|
||||
|
||||
// 使用选择的debug数据进行模拟扫描
|
||||
if (!loadDebugDataAndSimulateScan(debugDataFile)) {
|
||||
LOG_ERROR("Failed to load debug data for camera leveling\n");
|
||||
return false;
|
||||
}
|
||||
#else
|
||||
|
||||
// 正常模式：使用真实相机
|
||||
if (selectedIndex < 0 || selectedIndex >= m_cameraList.size()) {
|
||||
LOG_ERROR("Invalid camera index: %d\n", selectedIndex);
|
||||
@ -305,7 +286,6 @@ bool DialogCameraLevel::performCameraLeveling()
|
||||
} else if (waitTime >= maxWaitTime) {
|
||||
LOG_WARNING("Timeout waiting for camera swing finish signal\n");
|
||||
}
|
||||
#endif
|
||||
|
||||
// 5. 检查是否收集到足够的数据
|
||||
// 6. 调用调平算法计算
|
||||
@ -329,12 +309,6 @@ bool DialogCameraLevel::performCameraLeveling()
|
||||
QString cameraName;
|
||||
QString workPosId;
|
||||
|
||||
#ifdef LEVEL_DEBUG_MODE
|
||||
// Debug模式下使用默认名称
|
||||
cameraIndex = 1;
|
||||
cameraName = QString("Camera_%1").arg(cameraIndex);
|
||||
workPosId = "default_wp"; // Debug模式下的默认工位ID
|
||||
#else
|
||||
// 正常模式下从列表获取名称
|
||||
if (m_currentCameraIndex >= 0 && m_currentCameraIndex < static_cast<int>(m_cameraList.size())) {
|
||||
cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
|
||||
@ -350,7 +324,6 @@ bool DialogCameraLevel::performCameraLeveling()
|
||||
LOG_ERROR("Invalid work position index: %d\n", m_currentWorkPosIndex);
|
||||
return false;
|
||||
}
|
||||
#endif
|
||||
|
||||
if (!saveLevelingResults(planeCalib, planeHeight, invRMatrix, cameraIndex, cameraName, workPosId)) {
|
||||
LOG_ERROR("Failed to save leveling results\n");
|
||||
@ -556,35 +529,7 @@ bool DialogCameraLevel::calculatePlaneCalibration(double planeCalib[9], double&
|
||||
|
||||
LOG_INFO("Plane calibration calculated: height=%.3f, rotX=%.2f°, rotY=%.2f°\n",
|
||||
planeHeight, rotAngleX, rotAngleY);
|
||||
|
||||
#ifdef LEVEL_DEBUG_MODE
|
||||
// 统计点云数据
|
||||
int totalPoints = 0;
|
||||
double avgHeight = 0.0;
|
||||
for (const auto& scanLine : m_scanDataCache) {
|
||||
for (int i = 0; i < scanLine.nPositionCnt; i++) {
|
||||
if (scanLine.p3DPosition[i].pt3D.z > -1000 && scanLine.p3DPosition[i].pt3D.z < 1000) {
|
||||
avgHeight += scanLine.p3DPosition[i].pt3D.z;
|
||||
totalPoints++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
LOG_INFO("=== DEBUG MODE CALIBRATION RESULTS ===\n");
|
||||
|
||||
LOG_INFO("Algorithm results:\n");
|
||||
LOG_INFO(" Calculated plane height: %.3f mm\n", calibResult.planeHeight);
|
||||
LOG_INFO("Calibration matrix:\n");
|
||||
for (int i = 0; i < 3; i++) {
|
||||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.planeCalib[i*3], calibResult.planeCalib[i*3+1], calibResult.planeCalib[i*3+2]);
|
||||
}
|
||||
LOG_INFO("Inverse rotation matrix:\n");
|
||||
for (int i = 0; i < 3; i++) {
|
||||
LOG_INFO(" [%.6f, %.6f, %.6f]\n", calibResult.invRMatrix[i*3], calibResult.invRMatrix[i*3+1], calibResult.invRMatrix[i*3+2]);
|
||||
}
|
||||
LOG_INFO("=======================================\n");
|
||||
#endif
|
||||
|
||||
return true;
|
||||
|
||||
} catch (const std::exception& e) {
|
||||
|
||||
@ -107,7 +107,19 @@ void DialogConfigTree::initTree()
|
||||
// 包裹节点
|
||||
for (auto& pkg : cam.packages) {
|
||||
QTreeWidgetItem* pkgItem = new QTreeWidgetItem(camItem);
|
||||
QString pkgName = QString::fromStdString(pkg.name);
|
||||
|
||||
// 从包裹ID中提取数字编号（格式：pkg_1 -> 1）
|
||||
QString pkgIdStr = QString::fromStdString(pkg.id);
|
||||
QString pkgNumber = pkgIdStr;
|
||||
if (pkgIdStr.startsWith("pkg_")) {
|
||||
pkgNumber = pkgIdStr.mid(4); // 提取 "pkg_" 后面的数字
|
||||
}
|
||||
|
||||
// 显示格式：包裹名称 (ID编号)
|
||||
QString pkgName = QString("%1 (%2)")
|
||||
.arg(QString::fromStdString(pkg.name))
|
||||
.arg(pkgNumber);
|
||||
|
||||
if (pkg.id == defaultPkgId && cam.id == defaultCamId && wp.id == defaultWpId) {
|
||||
pkgName += " [默认]";
|
||||
}
|
||||
@ -673,12 +685,30 @@ void DialogConfigTree::addCamera(const QString& wpId, const QString& name, int c
|
||||
|
||||
void DialogConfigTree::addPackage(const QString& wpId, const QString& camId, const QString& name)
|
||||
{
|
||||
// 计算全局包裹ID（遍历所有工位、所有相机下的所有包裹）
|
||||
int maxPkgId = 0;
|
||||
for (const auto& wp : m_configResult->workPositions) {
|
||||
for (const auto& cam : wp.cameras) {
|
||||
for (const auto& pkg : cam.packages) {
|
||||
// 从包裹ID中提取数字部分（格式：pkg_1, pkg_2, ...）
|
||||
std::string pkgIdStr = pkg.id;
|
||||
if (pkgIdStr.find("pkg_") == 0) {
|
||||
int pkgNum = std::stoi(pkgIdStr.substr(4));
|
||||
if (pkgNum > maxPkgId) {
|
||||
maxPkgId = pkgNum;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
for (auto& wp : m_configResult->workPositions) {
|
||||
if (wp.id == wpId.toStdString()) {
|
||||
CameraConfig* cam = wp.GetCamera(camId.toStdString());
|
||||
if (cam) {
|
||||
PackageTypeConfig pkg;
|
||||
pkg.id = "pkg_" + std::to_string(cam->packages.size() + 1);
|
||||
// 使用全局唯一的包裹ID
|
||||
pkg.id = "pkg_" + std::to_string(maxPkgId + 1);
|
||||
pkg.name = name.toStdString();
|
||||
|
||||
// 使用ConfigResult中的默认值初始化包裹参数
|
||||
@ -928,11 +958,16 @@ void DialogConfigTree::onCameraLevelClicked()
|
||||
int x = parentGeometry.left() + (parentGeometry.width() - dlg.width()) / 2;
|
||||
int y = parentGeometry.top() + (parentGeometry.height() - dlg.height()) / 2;
|
||||
dlg.move(x, y);
|
||||
|
||||
#if 0
|
||||
if (dlg.exec() == QDialog::Accepted) {
|
||||
// 调平成功后，刷新相机配置显示
|
||||
showCameraConfig(m_currentWorkPos, m_currentCamera);
|
||||
}
|
||||
#else
|
||||
dlg.exec();
|
||||
showCameraConfig(m_currentWorkPos, m_currentCamera);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
void DialogConfigTree::displayHandEyeCalibInline()
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>896</width>
|
||||
<height>619</height>
|
||||
<height>642</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -216,8 +216,8 @@ color: rgb(221, 225, 233);</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>243</width>
|
||||
<height>436</height>
|
||||
<width>536</width>
|
||||
<height>569</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_cameraScroll">
|
||||
@ -251,12 +251,12 @@ color: rgb(221, 225, 233);</string>
|
||||
<pointsize>16</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
@ -278,12 +278,12 @@ color: rgb(221, 225, 233);</string>
|
||||
<pointsize>16</pointsize>
|
||||
</font>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
@ -619,7 +619,7 @@ color: rgb(221, 225, 233);</string>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>550</width>
|
||||
<height>520</height>
|
||||
<height>543</height>
|
||||
</rect>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_6">
|
||||
|
||||
@ -5,10 +5,35 @@
|
||||
#include <QIcon>
|
||||
#include <QMessageBox>
|
||||
#include <QObject>
|
||||
#include <QTextCodec>
|
||||
#ifdef _WIN32
|
||||
#include <windows.h>
|
||||
#include <cstdio>
|
||||
#endif
|
||||
|
||||
#ifdef _WIN32
|
||||
// Windows平台特定设置，解决中文乱码问题
|
||||
void setupWindowsConsoleEncoding() {
|
||||
// 设置控制台代码页为UTF-8
|
||||
SetConsoleOutputCP(CP_UTF8);
|
||||
SetConsoleCP(CP_UTF8);
|
||||
}
|
||||
#endif
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication a(argc, argv);
|
||||
|
||||
#ifdef _WIN32
|
||||
// Windows平台特定设置，解决中文乱码问题
|
||||
setupWindowsConsoleEncoding();
|
||||
#endif
|
||||
|
||||
#if (QT_VERSION < QT_VERSION_CHECK(5, 0, 0))
|
||||
// Qt4及更早版本需要显式设置编码
|
||||
QTextCodec *codec = QTextCodec::codecForName("UTF-8");
|
||||
QTextCodec::setCodecForLocale(codec);
|
||||
#endif
|
||||
|
||||
// 设置应用程序图标
|
||||
a.setWindowIcon(QIcon(":/common/resource/logo.png"));
|
||||
@ -30,4 +55,4 @@ int main(int argc, char *argv[])
|
||||
w.show();
|
||||
|
||||
return a.exec();
|
||||
}
|
||||
}
|
||||
|
||||
@ -96,7 +96,7 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<widget class="QPushButton" name="btn_test">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1175</x>
|
||||
<x>1110</x>
|
||||
<y>21</y>
|
||||
<width>220</width>
|
||||
<height>80</height>
|
||||
@ -119,7 +119,7 @@ border: none;</string>
|
||||
<widget class="QPushButton" name="btn_algo_config">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>930</x>
|
||||
<x>865</x>
|
||||
<y>21</y>
|
||||
<width>220</width>
|
||||
<height>80</height>
|
||||
@ -142,7 +142,7 @@ border: none;</string>
|
||||
<widget class="QPushButton" name="btn_camera_levelling">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1175</x>
|
||||
<x>1110</x>
|
||||
<y>21</y>
|
||||
<width>220</width>
|
||||
<height>80</height>
|
||||
@ -165,7 +165,7 @@ border: none;</string>
|
||||
<widget class="QPushButton" name="btn_camera">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>685</x>
|
||||
<x>620</x>
|
||||
<y>21</y>
|
||||
<width>220</width>
|
||||
<height>80</height>
|
||||
@ -237,7 +237,7 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<widget class="QPushButton" name="btn_start">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1525</x>
|
||||
<x>1470</x>
|
||||
<y>21</y>
|
||||
<width>80</width>
|
||||
<height>80</height>
|
||||
@ -259,7 +259,7 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<widget class="QPushButton" name="btn_stop">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1645</x>
|
||||
<x>1590</x>
|
||||
<y>21</y>
|
||||
<width>80</width>
|
||||
<height>80</height>
|
||||
@ -353,7 +353,7 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1920</width>
|
||||
<height>19</height>
|
||||
<height>21</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
|
||||
@ -91,9 +91,9 @@ struct VrOutlierFilterParam
|
||||
struct VrCornerParam
|
||||
{
|
||||
double minEndingGap = 20.0;
|
||||
double minEndingGap_z = 20.0;
|
||||
double scale = 15.0;
|
||||
double cornerTh = 30.0;
|
||||
double minEndingGap_z = 40.0;
|
||||
double scale = 50.0;
|
||||
double cornerTh = 45.0;
|
||||
double jumpCornerTh_1 = 60.0;
|
||||
double jumpCornerTh_2 = 15.0;
|
||||
};
|
||||
@ -283,7 +283,7 @@ struct VrAlgorithmParams
|
||||
VrHsvCmpParam hsvCmpParam;
|
||||
VrRgbColorPattern rgbColorPattern;
|
||||
VrColorTemplateParam colorTemplateParam;
|
||||
int supportRotate = 0;
|
||||
int supportRotate = 1;
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user