更新算法(增加了参数)，微调页面和logo

App/HoleDetection/HoleDetectionApp/Presenter/Src/HoleDetectionPresenter.cpp

@@ -205,13 +205,14 @@ int HoleDetectionPresenter::InitAlgoParams()
 
     const VrAlgorithmParams& xmlParams = configResult.algorithmParams;
 
-    LOG_INFO("Loaded XML params - Ransac: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f\n",
+    LOG_INFO("Loaded XML params - Ransac: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f, maxNormalAngleDeg=%.1f\n",
              xmlParams.ransacParam.distanceThreshold,
              xmlParams.ransacParam.maxIterations,
              xmlParams.ransacParam.minPlanePoints,
              xmlParams.ransacParam.maxPlanes,
              xmlParams.ransacParam.growthZThreshold,
-             xmlParams.ransacParam.minPlaneRatio);
+             xmlParams.ransacParam.minPlaneRatio,
+             xmlParams.ransacParam.maxNormalAngleDeg);
 
     LOG_INFO("Loaded XML params - Detection: angleThresholdPos=%.1f, angleThresholdNeg=%.1f, angleSearchDistance=%.2f, minPitDepth=%.2f\n",
              xmlParams.detectionParam.angleThresholdPos,

App/HoleDetection/HoleDetectionApp/Version.h

@@ -5,7 +5,7 @@
 #define HOLEDETECTION_APP_NAME "孔洞检测"
 
 // 版本字符串
-#define HOLEDETECTION_VERSION_STRING "1.1.2"
+#define HOLEDETECTION_VERSION_STRING "1.1.5"
 #define HOLEDETECTION_BUILD_STRING "1"
 #define HOLEDETECTION_FULL_VERSION_STRING "V" HOLEDETECTION_VERSION_STRING "_" HOLEDETECTION_BUILD_STRING
 

App/HoleDetection/HoleDetectionApp/Version.md

@@ -1,28 +1,40 @@
-# 1.1.2 2026-04-02
-## build_1
+## 1.1.5 2026-04-05
+* build_1
+1. 更新算法 1.0.2
+
+## 1.1.4 2026-04-05
+* build_1
+1. 修复 释放点云内存的问题
+
+## 1.1.3 2026-04-05
+* build_1
+1. 更新算法 1.0.1
+
+## 1.1.2 2026-04-02
+* build_1
 1. 更新算法
 2. 完善算法参数页面参数配置
 
-# 1.1.1 2026-04-02
-## build_1
+## 1.1.1 2026-04-02
+* build_1
 1. 更新算法
 
-# 1.1.0 2026-03-25
-## build_1
+## 1.1.0 2026-03-25
+* build_1
 1. 算法优化
 2. 配置结构修改
 3. 手眼标定，网络配置公用
 
-# 1.0.0 2026-03-11
-## build_4
+## 1.0.0 2026-03-11
+* build_4
 1. 修复矩阵配置
 
-## build_3
+* build_3
 1. 更新算法库
 
-## build_2
+* build_2
 1. 修复单相机检测结果不全的问题
 
-## build_1
+* build_1
 1. 初始版本
 

App/HoleDetection/HoleDetectionApp/dialogalgoarg.cpp

@@ -300,6 +300,7 @@ void DialogAlgoarg::LoadRansacParamToUI(const VrRansacPlaneSegmentationParam& pa
     ui->lineEdit_maxPlanes->setText(QString::number(param.maxPlanes));
     ui->lineEdit_growthZThreshold->setText(QString::number(param.growthZThreshold));
     ui->lineEdit_minPlaneRatio->setText(QString::number(param.minPlaneRatio));
+    ui->lineEdit_maxNormalAngleDeg->setText(QString::number(param.maxNormalAngleDeg));
 }
 
 void DialogAlgoarg::LoadDetectionParamToUI(const VrHoleDetectionParam& param)
@@ -377,6 +378,9 @@ bool DialogAlgoarg::SaveRansacParamFromUI(VrRansacPlaneSegmentationParam& param)
     param.minPlaneRatio = ui->lineEdit_minPlaneRatio->text().toDouble(&ok);
     if (!ok) return false;
 
+    param.maxNormalAngleDeg = ui->lineEdit_maxNormalAngleDeg->text().toDouble(&ok);
+    if (!ok) return false;
+
     return true;
 }
 

App/HoleDetection/HoleDetectionApp/dialogalgoarg.ui

@@ -168,6 +168,16 @@ QScrollArea { border: none; }</string>
               <item row="5" column="1">
                <widget class="QLineEdit" name="lineEdit_minPlaneRatio"/>
               </item>
+              <item row="6" column="0">
+               <widget class="QLabel" name="label_maxNormalAngleDeg">
+                <property name="text">
+                 <string>法向量最大夹角 (度):</string>
+                </property>
+               </widget>
+              </item>
+              <item row="6" column="1">
+               <widget class="QLineEdit" name="lineEdit_maxNormalAngleDeg"/>
+              </item>
              </layout>
             </widget>
            </item>

App/HoleDetection/HoleDetectionApp/mainwindow.ui

@@ -97,7 +97,7 @@ background-color: rgba(255, 255, 255, 0);</string>
    <widget class="QPushButton" name="btn_test">
     <property name="geometry">
      <rect>
-      <x>973</x>
+      <x>1110</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -120,7 +120,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_algo_config">
     <property name="geometry">
      <rect>
-      <x>728</x>
+      <x>845</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -143,7 +143,7 @@ border: none;</string>
    <widget class="QPushButton" name="btn_camera">
     <property name="geometry">
      <rect>
-      <x>483</x>
+      <x>580</x>
       <y>21</y>
       <width>220</width>
       <height>80</height>
@@ -330,7 +330,7 @@ background-color: rgba(255, 255, 255, 0);</string>
      <x>0</x>
      <y>0</y>
      <width>1920</width>
-     <height>21</height>
+     <height>20</height>
     </rect>
    </property>
    <property name="styleSheet">

App/HoleDetection/HoleDetectionConfig/Inc/IVrConfig.h

@@ -23,6 +23,7 @@ struct VrRansacPlaneSegmentationParam
     int maxPlanes = 5;                // 最大提取平面数量
     double growthZThreshold = 1.0;    // 区域生长时相邻点 Z 差阈值（mm）
     double minPlaneRatio = 0.1;       // 平面最小点数占比
+    double maxNormalAngleDeg = 30.0;  // 平面法向量与Z轴最大夹角（度），<=0 表示不过滤
 };
 
 /**

App/HoleDetection/HoleDetectionConfig/Src/AlgoParamConverter.cpp

@@ -13,6 +13,7 @@ RansacPlaneSegmentationParams ToAlgoParam(const VrRansacPlaneSegmentationParam&
     algo.maxPlanes = param.maxPlanes;
     algo.growthZThreshold = static_cast<float>(param.growthZThreshold);
     algo.minPlaneRatio = static_cast<float>(param.minPlaneRatio);
+    algo.maxNormalAngleDeg = static_cast<float>(param.maxNormalAngleDeg);
     return algo;
 }
 
@@ -65,14 +66,15 @@ void LogAlgoParams(const std::string& logTag,
         clibMatrix[8], clibMatrix[9], clibMatrix[10], clibMatrix[11],
         clibMatrix[12], clibMatrix[13], clibMatrix[14], clibMatrix[15]);
 
-    LOG_INFO("%s RansacParams: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f\n",
+    LOG_INFO("%s RansacParams: distanceThreshold=%.2f, maxIterations=%d, minPlanePoints=%d, maxPlanes=%d, growthZThreshold=%.2f, minPlaneRatio=%.2f, maxNormalAngleDeg=%.1f\n",
         logTag.c_str(),
         ransacParams.distanceThreshold,
         ransacParams.maxIterations,
         ransacParams.minPlanePoints,
         ransacParams.maxPlanes,
         ransacParams.growthZThreshold,
-        ransacParams.minPlaneRatio);
+        ransacParams.minPlaneRatio,
+        ransacParams.maxNormalAngleDeg);
 
     LOG_INFO("%s DetectionParams: angleThresholdPos=%.1f, angleThresholdNeg=%.1f, angleSearchDistance=%.2f, minPitDepth=%.2f\n",
         logTag.c_str(),

App/HoleDetection/HoleDetectionConfig/Src/VrConfig.cpp

@@ -76,6 +76,8 @@ int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResul
                 configResult.algorithmParams.ransacParam.growthZThreshold = ransacParamElement->DoubleAttribute("growthZThreshold");
             if (ransacParamElement->Attribute("minPlaneRatio"))
                 configResult.algorithmParams.ransacParam.minPlaneRatio = ransacParamElement->DoubleAttribute("minPlaneRatio");
+            if (ransacParamElement->Attribute("maxNormalAngleDeg"))
+                configResult.algorithmParams.ransacParam.maxNormalAngleDeg = ransacParamElement->DoubleAttribute("maxNormalAngleDeg");
         }
 
         XMLElement* detectionParamElement = algoParamsElement->FirstChildElement("DetectionParam");
@@ -209,6 +211,7 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     ransacParamElement->SetAttribute("maxPlanes", configResult.algorithmParams.ransacParam.maxPlanes);
     ransacParamElement->SetAttribute("growthZThreshold", configResult.algorithmParams.ransacParam.growthZThreshold);
     ransacParamElement->SetAttribute("minPlaneRatio", configResult.algorithmParams.ransacParam.minPlaneRatio);
+    ransacParamElement->SetAttribute("maxNormalAngleDeg", configResult.algorithmParams.ransacParam.maxNormalAngleDeg);
     algoParamsElement->InsertEndChild(ransacParamElement);
 
     // 检测参数 DetectionParam 需要覆盖算法库当前全部检测字段。

AppAlgo/holeDetection/include/HoleDetectionParams.h

@@ -14,6 +14,7 @@ struct RansacPlaneSegmentationParams {
     int maxPlanes;              // 最大提取平面数量, 建议 3-10
     float growthZThreshold;     // 区域生长时相邻点Z差阈值 (mm), 建议 0.5-2.0
     float minPlaneRatio;        // 平面最小点数占比 (相对最大平面), 建议 0.05-0.2
+    float maxNormalAngleDeg;    // 平面法向量与Z轴最大夹角 (度), 超过则直接丢弃; <=0 表示不过滤
 
     RansacPlaneSegmentationParams()
         : distanceThreshold(0.5f)
@@ -22,6 +23,7 @@ struct RansacPlaneSegmentationParams {
         , maxPlanes(5)
         , growthZThreshold(1.0f)
         , minPlaneRatio(0.1f)
+        , maxNormalAngleDeg(30.0f)
     {
     }
 };

AppUtils/AppCommon/Src/BasePresenter.cpp

@@ -39,6 +39,9 @@ BasePresenter::~BasePresenter()
     // 停止检测线程
     StopAlgoDetectThread();
 
+    // 释放检测数据缓存中的动态内存
+    ClearDetectionDataCache();
+
     // 停止重连定时器
     StopCameraReconnectTimer();
 
@@ -576,7 +579,8 @@ void BasePresenter::StopAlgoDetectThread()
 void BasePresenter::ClearDetectionDataCache()
 {
     std::lock_guard<std::mutex> lock(m_detectionDataMutex);
-    m_detectionDataCache.clear();
+    // 释放加载的数据
+    m_dataLoader.FreeLaserScanData(m_detectionDataCache);
     LOG_DEBUG("[BasePresenter] 检测数据缓存已清空\n");
 }
 

GrabBagPrj/AppList.md

@@ -0,0 +1,22 @@
+# 应用列表及说明
+
+## 软件对应关系表
+
+| 序号 | 项目名称 | App名称 | 版本 |
+|:---:|:--------|:---------|:------------|
+| 1 | 自动拆包 | GrabBag | 1.3.6.2 |
+| 2 | 皮带撕裂 | BeltTearingServer | 2.0.8.1 |
+| 3 | 孔洞检测 | HoleDetection | 1.1.3.1 |
+| 4 | 棒材定位 | RodAndBarPosition | 1.0.2.1 |
+| 5 | 车轮拱高测量 | WheelMeasure | 1.0.2.1 |
+| 6 | 定子定位 | StatorPosition | 1.0.0.1 |
+| 7 | 焊接 | LapWeld | 1.0.0.1 |
+| 8 | 工件定位 | Workpiece | 1.0.3.0 |
+| 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 | 1.0.0.1 |
+| 13 | 包裹拆线位置定位 | BagThreadPosition | 1.0.0.4 |
+| 14 | 工件孔定位 | WorkpieceHole | 1.0.3.0 |
+| 16 | 坑孔定位 | HolePitPosition | 无 |
+

GrabBagPrj/update_releaseVersion.sh

@@ -0,0 +1,195 @@
+#!/bin/bash
+
+# 更新应用列表及说明.md中的版本信息
+# 用法: ./updateVersion.sh <项目名称>
+# 示例: ./updateVersion.sh GrabBag
+
+# 定义项目与Version.h文件的映射关系
+declare -A PROJECT_VERSION_FILES=(
+    ["GrabBag"]="App/GrabBag/GrabBagApp/Version.h"
+    ["BeltTearing"]="App/BeltTearing/BeltTearingApp/Version.h"
+    ["LapWeld"]="App/LapWeld/LapWeldApp/Version.h"
+    ["Workpiece"]="App/Workpiece/WorkpieceApp/Version.h"
+    ["ParticleSize"]="App/ParticleSize/ParticleSizeApp/Version.h"
+    ["BinocularMark"]="App/BinocularMark/BinocularMarkApp/Version.h"
+    ["WorkpieceProject"]="App/WorkpieceProject/WorkpiecePositionApp/Version.h"
+    ["TunnelChannel"]="App/TunnelChannel/TunnelChannelApp/Version.h"
+    ["WheelMeasure"]="App/WheelMeasure/WheelMeasureApp/Version.h"
+    ["ScrewPosition"]="App/ScrewPosition/ScrewPositionApp/Version.h"
+    ["BagThreadPosition"]="App/BagThreadPosition/BagThreadPositionApp/Version.h"
+    ["WorkpieceHole"]="App/WorkpieceHole/WorkpieceHoleApp/Version.h"
+    ["StatorPosition"]="App/StatorPosition/StatorPositionApp/Version.h"
+    ["HoleDetection"]="App/HoleDetection/HoleDetectionApp/Version.h"
+    ["HolePitPosition"]="App/HolePitPosition/HolePitPositionApp/Version.h"
+    ["RodAndBarPosition"]="App/RodAndBarPosition/RodAndBarPositionApp/Version.h"
+)
+
+# 定义项目与版本宏的映射关系
+declare -A PROJECT_VERSION_MACROS=(
+    ["GrabBag"]="GRABBAG"
+    ["BeltTearing"]="BELT_TEARING_APP"
+    ["LapWeld"]="LAPWELD"
+    ["Workpiece"]="WORKPIECE"
+    ["ParticleSize"]="PARTICLESIZE"
+    ["BinocularMark"]="BINOCULARMARK"
+    ["WorkpieceProject"]="WORKPIECE_POSITION"
+    ["TunnelChannel"]="TUNNELCHANNEL"
+    ["WheelMeasure"]="WHEELMEASURE"
+    ["ScrewPosition"]="SCREWPOSITION"
+    ["BagThreadPosition"]="BAGTHREADPOSITION"
+    ["WorkpieceHole"]="WORKPIECEHOLE"
+    ["StatorPosition"]="STATORPOSITION"
+    ["HoleDetection"]="HOLEDETECTION"
+    ["HolePitPosition"]="HOLEPITPOSITION"
+    ["RodAndBarPosition"]="RODANDBARPOSITION"
+)
+
+# 定义项目与Publish包名称的映射关系
+declare -A PROJECT_PUBLISH_NAMES=(
+    ["GrabBag"]="GrabBag"
+    ["BeltTearing"]="BeltTearingServer"
+    ["LapWeld"]="LapWeld"
+    ["Workpiece"]="Workpiece"
+    ["ParticleSize"]="ParticleSize"
+    ["BinocularMark"]="BinocularMarkServer"
+    ["WorkpieceProject"]="WorkpieceProject"
+    ["TunnelChannel"]="TunnelChannel"
+    ["WheelMeasure"]="WheelMeasure"
+    ["ScrewPosition"]="ScrewPosition"
+    ["BagThreadPosition"]="BagThreadPosition"
+    ["WorkpieceHole"]="WorkpieceHole"
+    ["StatorPosition"]="StatorPosition"
+    ["HoleDetection"]="HoleDetection"
+    ["HolePitPosition"]="HolePitPosition"
+    ["RodAndBarPosition"]="RodAndBarPosition"
+)
+
+# 定义项目与中文名称的映射关系
+declare -A PROJECT_CHINESE_NAMES=(
+    ["GrabBag"]="自动拆包"
+    ["BeltTearing"]="皮带撕裂"
+    ["LapWeld"]="焊接"
+    ["Workpiece"]="工件定位"
+    ["ParticleSize"]="颗粒尺寸检测"
+    ["BinocularMark"]="双目标记检测"
+    ["WorkpieceProject"]="工件项目"
+    ["TunnelChannel"]="铁路隧道槽道测量"
+    ["WheelMeasure"]="车轮拱高测量"
+    ["ScrewPosition"]="螺杆定位"
+    ["BagThreadPosition"]="包裹拆线位置定位"
+    ["WorkpieceHole"]="工件孔定位"
+    ["StatorPosition"]="定子定位"
+    ["HoleDetection"]="孔洞检测"
+    ["HolePitPosition"]="坑孔定位"
+    ["RodAndBarPosition"]="棒材定位"
+)
+
+# 应用列表文件路径
+APP_LIST_FILE="应用列表及说明.md"
+
+# 获取脚本所在目录
+SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$SCRIPT_DIR"
+
+# 检查参数
+if [ $# -eq 0 ]; then
+    echo "用法: $0 <项目名称>"
+    echo "示例: $0 GrabBag"
+    echo ""
+    echo "可用项目名称:"
+    for project in "${!PROJECT_VERSION_FILES[@]}"; do
+        echo "  - $project (${PROJECT_CHINESE_NAMES[$project]})"
+    done
+    exit 1
+fi
+
+PROJECT_NAME=$1
+
+# 检查项目是否存在
+if [ -z "${PROJECT_VERSION_FILES[$PROJECT_NAME]}" ]; then
+    echo "错误: 未知的项目名称 '$PROJECT_NAME'"
+    echo "可用项目名称:"
+    for project in "${!PROJECT_VERSION_FILES[@]}"; do
+        echo "  - $project (${PROJECT_CHINESE_NAMES[$project]})"
+    done
+    exit 1
+fi
+
+# 获取Version.h文件路径
+VERSION_FILE="../${PROJECT_VERSION_FILES[$PROJECT_NAME]}"
+VERSION_MACRO="${PROJECT_VERSION_MACROS[$PROJECT_NAME]}"
+PUBLISH_NAME="${PROJECT_PUBLISH_NAMES[$PROJECT_NAME]}"
+CHINESE_NAME="${PROJECT_CHINESE_NAMES[$PROJECT_NAME]}"
+
+echo "=========================================="
+echo "更新项目版本信息"
+echo "=========================================="
+echo "项目名称: $PROJECT_NAME ($CHINESE_NAME)"
+echo "发布名称: $PUBLISH_NAME"
+echo "Version.h: $VERSION_FILE"
+echo "=========================================="
+
+# 检查Version.h文件是否存在
+if [ ! -f "$VERSION_FILE" ]; then
+    echo "错误: Version.h 文件不存在: $VERSION_FILE"
+    exit 1
+fi
+
+# 读取版本信息
+# 尝试多种可能的宏定义格式
+VERSION_STRING=""
+BUILD_STRING=""
+
+# 尝试读取版本号
+VERSION_STRING=$(grep "#define ${VERSION_MACRO}_VERSION_STRING" "$VERSION_FILE" | sed 's/.*"\(.*\)".*/\1/' | head -1)
+if [ -z "$VERSION_STRING" ]; then
+    # 尝试另一种格式
+    VERSION_STRING=$(grep "#define ${VERSION_MACRO}_APP_VERSION_STRING" "$VERSION_FILE" | sed 's/.*"\(.*\)".*/\1/' | head -1)
+fi
+
+# 尝试读取构建号
+BUILD_STRING=$(grep "#define ${VERSION_MACRO}_BUILD_STRING" "$VERSION_FILE" | sed 's/.*"\(.*\)".*/\1/' | head -1)
+if [ -z "$BUILD_STRING" ]; then
+    # 尝试另一种格式
+    BUILD_STRING=$(grep "#define ${VERSION_MACRO}_APP_VERSION_BUILD" "$VERSION_FILE" | sed 's/.*"\(.*\)".*/\1/' | head -1)
+fi
+
+# 如果仍然无法读取，使用默认值
+if [ -z "$VERSION_STRING" ]; then
+    VERSION_STRING="1.0.0"
+    echo "警告: 无法读取版本号，使用默认值: $VERSION_STRING"
+else
+    echo "版本号: $VERSION_STRING"
+fi
+
+if [ -z "$BUILD_STRING" ]; then
+    BUILD_STRING="1"
+    echo "警告: 无法读取构建号，使用默认值: $BUILD_STRING"
+else
+    echo "构建号: $BUILD_STRING"
+fi
+
+# 组合完整版本号
+FULL_VERSION="${VERSION_STRING}.${BUILD_STRING}"
+echo "完整版本: $FULL_VERSION"
+echo "=========================================="
+
+# 检查应用列表文件是否存在
+if [ ! -f "$APP_LIST_FILE" ]; then
+    echo "错误: 应用列表文件不存在: $APP_LIST_FILE"
+    exit 1
+fi
+
+# 更新应用列表文件中的版本信息
+# 查找对应行并更新版本号
+if grep -q "| ${CHINESE_NAME} | ${PUBLISH_NAME} |" "$APP_LIST_FILE"; then
+    # 使用sed更新版本号
+    sed -i "s/| ${CHINESE_NAME} | ${PUBLISH_NAME} | .* |/| ${CHINESE_NAME} | ${PUBLISH_NAME} | ${FULL_VERSION} |/" "$APP_LIST_FILE"
+    echo "已更新 $CHINESE_NAME 的版本信息为 $FULL_VERSION"
+else
+    echo "警告: 在应用列表中未找到项目 '$CHINESE_NAME' ($PUBLISH_NAME)"
+fi
+
+echo "=========================================="
+echo "版本信息更新完成！"
+echo "=========================================="

Utils

@@ -1 +1 @@
-Subproject commit 5e978eaea4f7891cc2f4a9ac871598cbb3178f50
+Subproject commit c98aa7b5d6729922879e95f6c1403ae7405136ba