调整了工具盘的姿态

CMakeLists.txt

@@ -2,11 +2,16 @@
 cmake_minimum_required(VERSION 3.5)
 project(ZAlgo)
 
+# OpenCV版本选择：320 或 480
+# 使用方法：cmake -DOPENCV_VERSION=320 .. 或 cmake -DOPENCV_VERSION=480 ..
+set(OPENCV_VERSION "320" CACHE STRING "OpenCV版本选择: 320 或 480")
+set_property(CACHE OPENCV_VERSION PROPERTY STRINGS "320" "480")
+
 set(DCMAKE_BUILD_SYSNAME Arm)
 set(CMAKE_BUILD_ARCH aarch64)
 
 set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
-set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")	
+set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
 
 ADD_DEFINITIONS("-fPIC -O3")
 ADD_DEFINITIONS("-fexceptions")
@@ -16,45 +21,68 @@ SET(CMAKE_CXX_FLAGS "-fvisibility=hidden -fpermissive -std=c++14 -fno-use-cxa-at
 
 #out path configure_file
 #设置库路径
-SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/arm/libs)
-SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/arm/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/aarch64)
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build/aarch64/bin)
 
 INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/VzNLSDK/Inc)
-# INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/OpenCV320/include)
-INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/opencv/build/include)
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/eigen3)
+
+# 根据OPENCV_VERSION选择不同的OpenCV路径
+if(OPENCV_VERSION STREQUAL "320")
+    message(STATUS "使用 OpenCV 3.2.0")
+    INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/OpenCV320/include)
+    add_definitions(-DOPENCV_VERSION_320)
+elseif(OPENCV_VERSION STREQUAL "480")
+    message(STATUS "使用 OpenCV 4.8.0")
+    INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/opencv480/include)
+    add_definitions(-DOPENCV_VERSION_480)
+else()
+    message(FATAL_ERROR "不支持的OpenCV版本: ${OPENCV_VERSION}，请使用 320 或 480")
+endif()
 
 INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/sourceCode/inc)
 INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/sourceCode)
 
 ADD_DEFINITIONS(-DSG_API_LIBRARY)
 
-ADD_LIBRARY(baseAlgorithm SHARED 	sourceCode/SG_baseFunc.cpp
-					sourceCode/SG_clustering.cpp
-					sourceCode/SG_featureGrow.cpp
-					sourceCode/SG_lineFeature.cpp
-					sourceCode/SG_regionGrow.cpp
-					sourceCode/WD_noiseFilter.cpp
-					sourceCode/WD_watershed.cpp
-					)
+if(OPENCV_VERSION STREQUAL "320")
+	ADD_LIBRARY(baseAlgorithm SHARED 	sourceCode/dataFitting.cpp
+						sourceCode/SG_baseFunc.cpp
+						sourceCode/SG_clustering.cpp
+						sourceCode/SG_featureGrow.cpp
+						sourceCode/SG_lineFeature.cpp
+						sourceCode/SG_regionGrow.cpp
+						sourceCode/WD_noiseFilter.cpp
+						sourceCode/WD_watershed.cpp
+						)
 
-ADD_LIBRARY(bagPositioning SHARED sourceCode/SG_bagPositioning.cpp)
+	ADD_LIBRARY(bagPositioning SHARED sourceCode/SG_bagPositioning.cpp)
 
-ADD_LIBRARY(lapWeldDetection SHARED sourceCode/SX_lapWeldDetection.cpp)
+	ADD_LIBRARY(lapWeldDetection SHARED sourceCode/SX_lapWeldDetection.cpp)
 
-ADD_LIBRARY(beltTearingDetection SHARED sourceCode/beltTearingDetection.cpp)
+	ADD_LIBRARY(beltTearingDetection SHARED sourceCode/beltTearingDetection.cpp)
 
-ADD_LIBRARY(workpieceCornerExtraction SHARED sourceCode/BQ_workpieceCornerExtraction.cpp)
+	# ADD_LIBRARY(workpieceCornerExtraction SHARED sourceCode/BQ_workpieceCornerExtraction.cpp)
 
-ADD_LIBRARY(particleSizeMeasurement SHARED sourceCode/WD_particleSizeMeasure.cpp)
+	ADD_LIBRARY(particleSizeMeasurement SHARED sourceCode/WD_particleSizeMeasure.cpp)
 
-ADD_LIBRARY(binocularMarkCam SHARED sourceCode/binocularMarkCam.cpp
-									sourceCode/aruco/aruco.cpp
-									sourceCode/aruco/aruco_calib.cpp
-									)
+	ADD_LIBRARY(wheelArchHeigthMeasure SHARED sourceCode/wheelArchHeigthMeasure.cpp)
 
-#add executable file
-# ADD_EXECUTABLE(bagPositioning_test bagPositioning_test/bagPositioning_test.cpp)
+	ADD_LIBRARY(channelSpaceMeasure SHARED sourceCode/channelSpaceMeasure.cpp)
+	
+	ADD_LIBRARY(rodAndBarDetection SHARED sourceCode/rodAndBarDetection.cpp)
+	
+	ADD_LIBRARY(bagThreadPositioning SHARED sourceCode/bagThreadPositioning.cpp)
+	
+	ADD_LIBRARY(workpieceHolePositioning SHARED sourceCode/workpieceHolePositioning.cpp)
+	
+	# ADD_LIBRARY(motorStatorPosition SHARED sourceCode/motorStatorPosition.cpp)
 
-# TARGET_LINK_LIBRARIES(bagPositioning_test
-					# bagPositioning
-					# )
+elseif(OPENCV_VERSION STREQUAL "480")
+	ADD_LIBRARY(binocularMarkCam SHARED sourceCode/binocularMarkCam.cpp
+										sourceCode/aruco/aruco.cpp
+										sourceCode/aruco/aruco_calib.cpp
+										)
+else()
+    message(FATAL_ERROR "不支持的OpenCV版本: ${OPENCV_VERSION}，请使用 320 或 480")
+endif()

sourceCode/rodAndBarDetection.cpp

@@ -832,9 +832,9 @@ SSX_pointPoseInfo sx_getLocationPlatePose(
 	}
 	double center_z = (ptTop.z + ptBtm.z + ptLeft.z + ptRight.z) / 4;
 	resultPose.center = { center_x, center_y, center_z };
-	resultPose.normalDir = { 0, 0, -1.0 };
-	resultPose.yDir = { 0, -1.0, 0 };
-	resultPose.xDir = { 1.0, 0, 0 };
+	resultPose.xDir		= { 1.0, 0.0, 0 };
+	resultPose.yDir		= { 0.0, 1.0, 0 };
+	resultPose.normalDir = { 0.0, 0.0, 1.0 };
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 	for (int i = 0; i < lineNum; i++)
 	{