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

@@ -51,8 +51,15 @@ int DetectPresenter::DetectHoles(
         return ERR_CODE(DEV_DATA_INVALID);
     }
 
-    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
+    // 保存debug数据
+    // 调试模式下先保存原始激光线数据，便于后续离线复现问题。
     std::string timeStamp = CVrDateUtils::GetNowTime();
+    if (debugParam.enableDebug && debugParam.savePointCloud) {
+        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
+
+        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
+        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
+    }
 
     int nRet = SUCCESS;
 

App/RodAndBarPosition/RodAndBarPositionApp/Presenter/Src/DetectPresenter.cpp

@@ -3,7 +3,11 @@
 #include "AlgoParamConverter.h"
 #include "IHandEyeCalib.h"
 #include <fstream>
+#define _USE_MATH_DEFINES
+#include <cmath>
 #include <memory>
+#include <QPainter>
+#include <QPen>
 #include <QColor>
 
 namespace
@@ -64,8 +68,17 @@ int DetectPresenter::DetectRod(
         cameraCalibParam = &cameraCalibParamValue;
     }
 
-    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
+    // 保存debug数据
     std::string timeStamp = CVrDateUtils::GetNowTime();
+    if(debugParam.enableDebug && debugParam.savePointCloud){
+        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
+
+        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
+        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
+
+        // 直接使用统一格式保存数据
+        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
+    }
 
     int nRet = SUCCESS;
 
@@ -123,32 +136,96 @@ int DetectPresenter::DetectRod(
     const HECCalibResult calibResult = HECCalibResult::fromHomogeneousArray(clibMatrix);
     const HECEulerOrder hecEulerOrder = ToHandEyeEulerOrder(eulerOrder);
 
-    // 使用 PointCloudCanvas 生成点云图像（灰色底图 + 棒材中心/方向线标记）
-    {
-        PointCloudCanvas canvas = PointCloudCanvas::Create(xyzData);
+    // 构建检测结果：生成点云图像
+    // 1. 获取所有棒材的中心点用于可视化
+    std::vector<std::vector<SVzNL3DPoint>> objOps;
+    std::vector<SVzNL3DPoint> rodCenters;
 
-        for (size_t i = 0; i < rodInfo.size(); i++) {
-            const auto& rod = rodInfo[i];
+    for (const auto& rod : rodInfo) {
+        SVzNL3DPoint pt;
+        pt.x = rod.center.x;
+        pt.y = rod.center.y;
+        pt.z = rod.center.z;
+        rodCenters.push_back(pt);
+    }
+    if (!rodCenters.empty()) {
+        objOps.push_back(rodCenters);
+    }
 
-            // 绘制棒材中心点（红色）
-            canvas.drawPoint(rod.center.x, rod.center.y, QColor(255, 0, 0), 6);
+    // 从点云数据生成投影图像（10cm边界），同时获取点云原始范围
+    double margin = 100.0;  // 10cm = 100mm
+    double xMin, xMax, yMin, yMax;
+    detectionResult.image = PointCloudImageUtils::GeneratePointCloudRetPointImage(xyzData, objOps, margin, &xMin, &xMax, &yMin, &yMax);
 
+    // 在图像上绘制棒材的轴向方向线
+    if (!detectionResult.image.isNull() && !rodInfo.empty()) {
+        QPainter painter(&detectionResult.image);
+        painter.setRenderHint(QPainter::Antialiasing);
+
+        // 扩展边界（与GeneratePointCloudRetPointImage相同）
+        xMin -= margin;
+        xMax += margin;
+        yMin -= margin;
+        yMax += margin;
+
+        // 使用与GeneratePointCloudRetPointImage相同的参数
+        int imgRows = detectionResult.image.height();
+        int imgCols = detectionResult.image.width();
+        int x_skip = 50;
+        int y_skip = 50;
+
+        // 计算投影比例（与PointCloudImageUtils相同的方式）
+        double y_rows = (double)(imgRows - y_skip * 2);
+        double x_cols = (double)(imgCols - x_skip * 2);
+        double x_scale = (xMax - xMin) / x_cols;
+        double y_scale = (yMax - yMin) / y_rows;
+
+        // 使用统一的比例尺
+        double scale = std::max(x_scale, y_scale);
+        x_scale = scale;
+        y_scale = scale;
+
+        // 计算点云在图像中居中的偏移量（与PointCloudImageUtils一致）
+        double cloudWidth = (xMax - xMin) / scale;
+        double cloudHeight = (yMax - yMin) / scale;
+        int x_offset = x_skip + (int)((x_cols - cloudWidth) / 2);
+        int y_offset = y_skip + (int)((y_rows - cloudHeight) / 2);
+
+        // 转换3D坐标到图像坐标的lambda函数（使用居中偏移）
+        auto toImageCoord = [&](const SVzNL3DPoint& pt) -> QPointF {
+            int px = (int)((pt.x - xMin) / x_scale + x_offset);
+            int py = (int)((pt.y - yMin) / y_scale + y_offset);
+            return QPointF(px, py);
+        };
+
+        // 绘制棒材的轴向方向线
+        for (const auto& rod : rodInfo) {
             // 绘制轴向方向线（红色）
             double len = 60;
-            double ax0 = rod.center.x - len * rod.axialDir.x;
-            double ay0 = rod.center.y - len * rod.axialDir.y;
-            double ax1 = rod.center.x + len * rod.axialDir.x;
-            double ay1 = rod.center.y + len * rod.axialDir.y;
-            canvas.drawLine(ax0, ay0, ax1, ay1, QColor(255, 0, 0), 2);
+            QPen axisPen(QColor(255, 0, 0), 2);
+            painter.setPen(axisPen);
+
+            SVzNL3DPoint pt0 = { rod.center.x - len * rod.axialDir.x,
+                                 rod.center.y - len * rod.axialDir.y,
+                                 rod.center.z - len * rod.axialDir.z };
+            SVzNL3DPoint pt1 = { rod.center.x + len * rod.axialDir.x,
+                                 rod.center.y + len * rod.axialDir.y,
+                                 rod.center.z + len * rod.axialDir.z };
+
+            QPointF imgPt0 = toImageCoord(pt0);
+            QPointF imgPt1 = toImageCoord(pt1);
+            painter.drawLine(imgPt0, imgPt1);
 
             // 绘制起点到终点线段（绿色）
-            canvas.drawLine(rod.startPt.x, rod.startPt.y, rod.endPt.x, rod.endPt.y, QColor(0, 255, 0), 2);
+            QPen segPen(QColor(0, 255, 0), 2);
+            painter.setPen(segPen);
 
-            // 中心点白色编号
-            canvas.drawText(rod.center.x, rod.center.y, QString("%1").arg(i + 1), Qt::white, 14);
+            SVzNL3DPoint startPt = { rod.startPt.x, rod.startPt.y, rod.startPt.z };
+            SVzNL3DPoint endPt   = { rod.endPt.x,   rod.endPt.y,   rod.endPt.z   };
+            QPointF imgStart = toImageCoord(startPt);
+            QPointF imgEnd   = toImageCoord(endPt);
+            painter.drawLine(imgStart, imgEnd);
         }
-
-        detectionResult.image = canvas.image();
     }
 
     // 转换检测结果为UI显示格式（使用机械臂坐标系数据）

App/RodAndBarPosition/RodAndBarPositionApp/Version.h

@@ -5,7 +5,7 @@
 // 应用名称
 #define RODANDBARPOSITION_APP_NAME "棒材定位"
 
-#define RODANDBARPOSITION_VERSION_STRING "1.1.0"
+#define RODANDBARPOSITION_VERSION_STRING "1.0.2"
 #define RODANDBARPOSITION_BUILD_STRING "1"
 #define RODANDBARPOSITION_FULL_VERSION_STRING "V" RODANDBARPOSITION_VERSION_STRING "_" RODANDBARPOSITION_BUILD_STRING
 

App/RodAndBarPosition/RodAndBarPositionApp/Version.md

@@ -1,7 +1,3 @@
-# 1.1.0 2026-04-13
-## build_1
-1. 更新内存泄露问题
-
 # 1.0.1 2026-03-27
 ## build_1
 1. 修复协议，增加读取下一个目标的

App/WheelMeasure/WheelMeasureApp/Version.h

@@ -3,7 +3,7 @@
 
 
 #define WHEELMEASURE_APP_NAME "轮眉高度测量"
-#define WHEELMEASURE_VERSION_STRING "1.1.2"
+#define WHEELMEASURE_VERSION_STRING "1.1.1"
 #define WHEELMEASURE_BUILD_STRING "1"
 #define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING
 

App/WheelMeasure/WheelMeasureApp/Version.md

@@ -1,7 +1,3 @@
-# 1.1.2
-## build_1 2026-04-09
-1. 更新算法1.3.4
-
 # 1.1.1
 ## build_1 2026-04-09
 1. 更新算法1.3.3

App/WorkpieceHole/WorkpieceHoleApp/Presenter/Src/DetectPresenter.cpp

@@ -45,8 +45,17 @@ int DetectPresenter::DetectWorkpieceHole(
         cameraCalibParam = &cameraCalibParamValue;
     }
 
-    // debug保存点云已由 BasePresenter::DetectTask() 统一处理，此处不再重复保存
+    // 保存debug数据
     std::string timeStamp = CVrDateUtils::GetNowTime();
+    if(debugParam.enableDebug && debugParam.savePointCloud){
+        LOG_INFO("[Algo Thread] Debug mode is enabled, saving point cloud data\n");
+
+        // 获取当前时间戳，格式为YYYYMMDDHHMMSS
+        std::string fileName = debugParam.debugOutputPath + "/Laserline_" + std::to_string(cameraIndex) + "_" + timeStamp + ".txt";
+
+        // 直接使用统一格式保存数据
+        dataLoader.SaveLaserScanData(fileName, laserLines, laserLines.size(), 0.0, 0, 0);
+    }
 
     int nRet = SUCCESS;