feat(CloudView): 添加机械臂视角选项
feat(CloudUtils): 为点云图像生成添加旋转功能
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@ -27,6 +27,7 @@ Release/
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build/
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build-*/
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*-build-*/
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**/TestData
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# IDE 配置文件
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.vscode/
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@ -94,12 +94,16 @@ public:
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// 点云灰度图生成 - 灰色着色 + 自适应点大小填充扫描线间隙（通用接口）
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static QImage GenerateHeatmapImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines);
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double rotateX_deg = 0.0,
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double rotateY_deg = 0.0);
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// 孔洞检测图像生成 - 热力图底图 + 孔洞标记
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static QImage GenerateHoleDetectionImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const std::vector<HoleMarkerInfo>& holes);
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const std::vector<HoleMarkerInfo>& holes,
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double rotateX_deg = 0.0,
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double rotateY_deg = 0.0);
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private:
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// 定义线特征颜色和大小获取函数
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@ -1333,21 +1333,57 @@ int PointCloudImageUtils::GenerateDepthImage(
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}
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QImage PointCloudImageUtils::GenerateHeatmapImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines)
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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double rotateX_deg,
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double rotateY_deg)
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{
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if (scanLines.empty()) {
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return QImage();
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}
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// 预计算旋转参数
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double cosX = cos(rotateX_deg * PI / 180.0);
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double sinX = sin(rotateX_deg * PI / 180.0);
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double cosY = cos(rotateY_deg * PI / 180.0);
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double sinY = sin(rotateY_deg * PI / 180.0);
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bool needRotate = (fabs(rotateX_deg) > 1e-6 || fabs(rotateY_deg) > 1e-6);
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// 旋转点的 lambda：先绕X旋转，再绕Y旋转
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auto rotatePoint = [&](double x, double y, double z, double& rx, double& ry, double& rz) {
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// 绕X旋转
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double y1 = y * cosX - z * sinX;
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double z1 = y * sinX + z * cosX;
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// 绕Y旋转
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rx = x * cosY + z1 * sinY;
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ry = y1;
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rz = -x * sinY + z1 * cosY;
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};
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// 固定图像尺寸
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int imgRows = 992;
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int imgCols = 1056;
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int x_skip = 50;
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int y_skip = 50;
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// 计算 XY 范围（复用已有方法）
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// 计算 XY 范围（考虑旋转后的坐标）
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double xMin, xMax, yMin, yMax;
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if (!needRotate) {
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CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
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} else {
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xMin = yMin = std::numeric_limits<double>::max();
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xMax = yMax = -std::numeric_limits<double>::max();
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for (const auto& scanLine : scanLines) {
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for (const auto& point : scanLine) {
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if (point.pt3D.z < 1e-4) continue;
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double rx, ry, rz;
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rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
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if (rx < xMin) xMin = rx;
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if (rx > xMax) xMax = rx;
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if (ry < yMin) yMin = ry;
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if (ry > yMax) yMax = ry;
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}
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}
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}
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if (xMax <= xMin || yMax <= yMin) {
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return QImage();
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@ -1385,8 +1421,19 @@ QImage PointCloudImageUtils::GenerateHeatmapImage(
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for (const auto& point : scanLine) {
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if (point.pt3D.z < 1e-4) continue;
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int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip);
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int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip);
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double projX, projY;
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if (needRotate) {
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double rx, ry, rz;
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rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
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projX = rx;
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projY = ry;
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} else {
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projX = point.pt3D.x;
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projY = point.pt3D.y;
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}
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int px = (int)((projX - xMin) / x_scale + x_skip);
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int py = (int)((projY - yMin) / y_scale + y_skip);
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if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
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painter.fillRect(px, py, pointSize, pointSize, grayColor);
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@ -1399,23 +1446,56 @@ QImage PointCloudImageUtils::GenerateHeatmapImage(
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QImage PointCloudImageUtils::GenerateHoleDetectionImage(
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const std::vector<std::vector<SVzNL3DPosition>>& scanLines,
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const std::vector<HoleMarkerInfo>& holes)
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const std::vector<HoleMarkerInfo>& holes,
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double rotateX_deg,
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double rotateY_deg)
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{
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// 先生成热力图底图
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QImage image = GenerateHeatmapImage(scanLines);
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// 先生成热力图底图（透传旋转参数）
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QImage image = GenerateHeatmapImage(scanLines, rotateX_deg, rotateY_deg);
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if (image.isNull() || holes.empty()) {
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return image;
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}
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// 预计算旋转参数（用于孔洞中心坐标变换）
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double cosX = cos(rotateX_deg * PI / 180.0);
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double sinX = sin(rotateX_deg * PI / 180.0);
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double cosY = cos(rotateY_deg * PI / 180.0);
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double sinY = sin(rotateY_deg * PI / 180.0);
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bool needRotate = (fabs(rotateX_deg) > 1e-6 || fabs(rotateY_deg) > 1e-6);
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auto rotatePoint = [&](double x, double y, double z, double& rx, double& ry, double& rz) {
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double y1 = y * cosX - z * sinX;
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double z1 = y * sinX + z * cosX;
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rx = x * cosY + z1 * sinY;
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ry = y1;
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rz = -x * sinY + z1 * cosY;
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};
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// 固定图像尺寸（与 GenerateHeatmapImage 一致）
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int imgRows = 992;
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int imgCols = 1056;
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int x_skip = 50;
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int y_skip = 50;
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// 重新计算投影参数（与底图一致）
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// 重新计算投影参数（与底图一致，需要旋转后的范围）
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double xMin, xMax, yMin, yMax;
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if (!needRotate) {
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CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax);
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} else {
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xMin = yMin = std::numeric_limits<double>::max();
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xMax = yMax = -std::numeric_limits<double>::max();
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for (const auto& scanLine : scanLines) {
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for (const auto& point : scanLine) {
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if (point.pt3D.z < 1e-4) continue;
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double rx, ry, rz;
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rotatePoint(point.pt3D.x, point.pt3D.y, point.pt3D.z, rx, ry, rz);
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if (rx < xMin) xMin = rx;
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if (rx > xMax) xMax = rx;
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if (ry < yMin) yMin = ry;
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if (ry > yMax) yMax = ry;
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}
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}
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}
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double y_rows = (double)(imgRows - y_skip * 2);
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double x_cols = (double)(imgCols - x_skip * 2);
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@ -1441,8 +1521,19 @@ QImage PointCloudImageUtils::GenerateHoleDetectionImage(
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continue;
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}
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int px = (int)((hole.center.x - xMin) / x_scale + x_skip);
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int py = (int)((hole.center.y - yMin) / y_scale + y_skip);
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double projX, projY;
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if (needRotate) {
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double rx, ry, rz;
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rotatePoint(hole.center.x, hole.center.y, hole.center.z, rx, ry, rz);
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projX = rx;
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projY = ry;
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} else {
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projX = hole.center.x;
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projY = hole.center.y;
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}
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int px = (int)((projX - xMin) / x_scale + x_skip);
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int py = (int)((projY - yMin) / y_scale + y_skip);
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if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) {
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// 将物理半径转换为像素半径
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@ -248,6 +248,7 @@ QWidget* CloudViewMainWindow::createViewToolbar()
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{":/common/resource/view_right.png", "右视", 180.0f, -90.0f, 0.0f},
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{":/common/resource/view_top.png", "俯视 (XZ面)", 90.0f, 0.0f, 0.0f},
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{":/common/resource/view_bottom.png", "仰视", -90.0f, 0.0f, 0.0f},
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{":/common/resource/view_robot.png", "机械臂", -90.0f, 90.0f, 0.0f},
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};
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int btnSize = 32;
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7
CloudView/Version.md
Normal file
7
CloudView/Version.md
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@ -0,0 +1,7 @@
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# 1.1.3
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- 修复崩溃
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- 修复选点序号不对
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- 视图修改为左侧
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# 1.1.2
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- 线回撤选中
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