更新螺杆检测库

App/ScrewPosition/ScrewPositionApp/Presenter/Src/DetectPresenter.cpp

@@ -587,7 +587,7 @@ int DetectPresenter::DetectScrew(
 
     detectionResult.success = true;
     detectionResult.errorCode = 0;
-    detectionResult.message = QStringLiteral("\u68c0\u6d4b\u6210\u529f");
+    detectionResult.message = QStringLiteral("螺杆检测成功");
     const CTHomogeneousMatrix handEyeMatrix = BuildHandEyeMatrix(clibMatrix);
     const CTEulerOrder order = static_cast<CTEulerOrder>(extrinsic.eulerOrder);
 
@@ -615,7 +615,7 @@ int DetectPresenter::DetectScrew(
         const CTVec3D robotAxialDir = NormalizeVector(eyeInHandTransform.transformVector(eyeAxialDir));
 
         // 接近点：Eye 系沿螺杆轴偏移 offset，再经 T 变换到 Robot 系；姿态与目标点共用。
-        const double offset = extrinsic.approachOffset;
+        const double offset = -extrinsic.approachOffset;
         const CTVec3D eyeApproach(eyeCenter.x + eyeAxialDir.x * offset,
                                   eyeCenter.y + eyeAxialDir.y * offset,
                                   eyeCenter.z + eyeAxialDir.z * offset);

App/ScrewPosition/ScrewPositionApp/Version.h

@@ -3,7 +3,7 @@
 
 
 #define SCREWPOSITION_APP_NAME "螺杆定位"
-#define SCREWPOSITION_VERSION_STRING "1.1.7"
+#define SCREWPOSITION_VERSION_STRING "1.1.8"
 #define SCREWPOSITION_BUILD_STRING "1"
 #define SCREWPOSITION_FULL_VERSION_STRING "V" SCREWPOSITION_VERSION_STRING "_" SCREWPOSITION_BUILD_STRING
 

App/ScrewPosition/ScrewPositionApp/Version.md

@@ -1,3 +1,7 @@
+# 1.1.8 2026-05-10
+## build_1
+1. 更新算法：螺杆检测
+
 # 1.1.7 2026-05-08
 ## build_1
 1. 更新算法：工具盘姿态优化

Device/Device.pro

@@ -12,3 +12,4 @@ SUBDIRS += \
     GalaxyDevice/GalaxyDevice.pro \
     HikDevice/HikDevice.pro \
     GlLineLaserDevice/GlLineLaserDevice.pro
+#    RsLidarDevice/RsLidarDevice.pro

GrabBagPrj/AppList.md

@@ -15,7 +15,7 @@
 | 9 | 颗粒尺寸检测 | ParticleSize | 1.0.0.0 |
 | 10 | 双目标记检测 | BinocularMarkServer | 1.0.0.4 |
 | 11 | 铁路隧道槽道测量 | TunnelChannel | 1.0.0.3 |
-| 12 | 螺杆定位 | ScrewPosition | 1.1.7.1 |
+| 12 | 螺杆定位 | ScrewPosition | 1.1.8.1 |
 | 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
 | 14 | 工件孔定位 | WorkpieceHole | 1.1.5.1 |
 | 16 | 坑孔定位 | HolePitPosition | 无 |

GrabBagPrj/GrabBagPrj.pro

@@ -29,4 +29,4 @@ App.depends = Utils VrNets Module Device AppUtils
 Tools.depends = Module Utils Robot
 
 # Test 测试
-# SUBDIRS += ../Test/Test.pro
+SUBDIRS += ../Test/Test.pro

Test/Test.pro

@@ -3,4 +3,4 @@ TEMPLATE = subdirs
 # 撕裂项目
 # SUBDIRS += tcpclient/tcpclient_test.pro
 # SUBDIRS += tcpserver/tcpserver_test.pro
-SUBDIRS += TeskAlgo/TeskAlgo.pro
+# SUBDIRS += RsLidarTest/RsLidarTest.pro