diff --git a/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp b/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
index 915f097..b53a229 100644
--- a/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
+++ b/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp
@@ -302,15 +302,10 @@ int GrabBagPresenter::InitAlgorithmParams()
m_algoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
m_algoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
- // 初始化平面校准参数（单位矩阵，表示不进行额外的平面校准）
- double initCalib[9] = {
- 1.0, 0.0, 0.0,
- 0.0, 1.0, 0.0,
- 0.0, 0.0, 1.0
- };
+ // 设置平面校准参数（使用从XML配置文件读取的数据）
for (int i = 0; i < 9; i++) {
- m_planeCalibParam.planeCalib[i] = initCalib[i];
- m_planeCalibParam.invRMatrix[i] = initCalib[i];
+ m_planeCalibParam.planeCalib[i] = xmlParams.planeCalibParam.planeCalib[i];
+ m_planeCalibParam.invRMatrix[i] = xmlParams.planeCalibParam.invRMatrix[i];
}
m_planeCalibParam.planeHeight = xmlParams.planeCalibParam.planeHeight;
@@ -318,6 +313,14 @@ int GrabBagPresenter::InitAlgorithmParams()
LOG_INFO(" Bag: L=%.1f, W=%.1f, H=%.1f\n", m_algoParam.bagParam.bagL, m_algoParam.bagParam.bagW, m_algoParam.bagParam.bagH);
LOG_INFO(" Filter: continuityTh=%.1f, outlierTh=%d\n", m_algoParam.filterParam.continuityTh, m_algoParam.filterParam.outlierTh);
LOG_INFO(" Plane calibration: height=%.1f\n", m_planeCalibParam.planeHeight);
+ LOG_INFO(" Plane calibration matrix:\n");
+ LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.planeCalib[0], m_planeCalibParam.planeCalib[1], m_planeCalibParam.planeCalib[2]);
+ LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.planeCalib[3], m_planeCalibParam.planeCalib[4], m_planeCalibParam.planeCalib[5]);
+ LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.planeCalib[6], m_planeCalibParam.planeCalib[7], m_planeCalibParam.planeCalib[8]);
+ LOG_INFO(" Inverse rotation matrix:\n");
+ LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.invRMatrix[0], m_planeCalibParam.invRMatrix[1], m_planeCalibParam.invRMatrix[2]);
+ LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.invRMatrix[3], m_planeCalibParam.invRMatrix[4], m_planeCalibParam.invRMatrix[5]);
+ LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.invRMatrix[6], m_planeCalibParam.invRMatrix[7], m_planeCalibParam.invRMatrix[8]);
return SUCCESS;
}
diff --git a/GrabBagApp/Version.h b/GrabBagApp/Version.h
index a3f5b58..4459fa2 100644
--- a/GrabBagApp/Version.h
+++ b/GrabBagApp/Version.h
@@ -3,8 +3,8 @@
#define GRABBAG_VERSION_STRING "1.0.0"
-#define GRABBAG_BUILD_STRING "4"
-#define GRABBAG_FULL_VERSION_STRING "V1.0.0_4"
+#define GRABBAG_BUILD_STRING "6"
+#define GRABBAG_FULL_VERSION_STRING "V1.0.0_6"
// 获取版本信息的便捷函数
inline const char* GetGrabBagVersion() {
diff --git a/GrabBagApp/devstatus.cpp b/GrabBagApp/devstatus.cpp
index a48c1d0..4c7a53d 100644
--- a/GrabBagApp/devstatus.cpp
+++ b/GrabBagApp/devstatus.cpp
@@ -30,7 +30,6 @@ devstatus::~devstatus()
// 设置devstatus的样式
void devstatus::setItemStyle()
{
- // 参考ResultItem的样式设置，添加边框作为格子间分隔线
this->setStyleSheet(
"devstatus { "
" border: 2px solid #191A1C; " // 添加边框作为格子间分隔线
@@ -45,9 +44,8 @@ void devstatus::setCameraStatusImage(QWidget* widget, bool isOnline) {
QString imagePath = isOnline ? ":/resource/camera_online.png" : ":/resource/camera_offline.png";
- widget->setStyleSheet(QString("image: url(%1);")
- .arg(imagePath));
- widget->setFixedSize(32, 32); // 调整大小以适应图片
+ widget->setStyleSheet(QString("image: url(%1);").arg(imagePath));
+ // widget->setFixedSize(32, 32); // 调整大小以适应图片
}
// 设置机械臂状态图片的私有成员函数
@@ -56,9 +54,8 @@ void devstatus::setRobotStatusImage(QWidget* widget, bool isOnline) {
QString imagePath = isOnline ? ":/resource/robot_online.png" : ":/resource/robot_offline.png";
- widget->setStyleSheet(QString("image: url(%1); ")
- .arg(imagePath));
- widget->setFixedSize(32, 32); // 调整大小以适应图片
+ widget->setStyleSheet(QString("image: url(%1); ").arg(imagePath));
+ // widget->setFixedSize(32, 32); // 调整大小以适应图片
}
// 更新相机1状态
@@ -105,6 +102,12 @@ void devstatus::setCameraCount(int cameraCount)
LOG_DEBUG("setCameraCount: %d \n", cameraCount);
- ui->dev_camer_2_img->setVisible(showCamera2);
- ui->dev_camera_2_txt->setVisible(showCamera2);
+ // 隐藏整个相机2的frame，而不是单独隐藏图片和文字
+ if (ui->frame_camera_2) {
+ ui->frame_camera_2->setVisible(showCamera2);
+ } else {
+ // 如果frame_camera_2不存在，则单独隐藏图片和文字控件
+ ui->dev_camer_2_img->setVisible(showCamera2);
+ ui->dev_camera_2_txt->setVisible(showCamera2);
+ }
}
diff --git a/GrabBagApp/devstatus.ui b/GrabBagApp/devstatus.ui
index 4ae6dae..f84b898 100644
--- a/GrabBagApp/devstatus.ui
+++ b/GrabBagApp/devstatus.ui
@@ -6,8 +6,8 @@
0
0
- 272
- 200
+ 556
+ 80
@@ -19,90 +19,153 @@
- 50
- 20
- 151
- 161
+ 0
+ 0
+ 551
+ 81
-
+
-
-
-
-
-
-
- image: url(:/resource/camera_offline.png);
-
-
-
- -
-
-
-
- 12
-
-
-
- color: rgb(0, 255, 0);
-
-
- 相机在线
-
-
-
-
+
+
+ background-color: rgb(37, 38, 42);
+
+
+ QFrame::Shape::StyledPanel
+
+
+ QFrame::Shadow::Raised
+
+
+
+
+ 85
+ 26
+ 80
+ 26
+
+
+
+
+ 12
+
+
+
+ color: rgb(0, 255, 0);
+
+
+ 相机在线
+
+
+
+
+
+ 25
+ 16
+ 48
+ 48
+
+
+
+ image: url(:/resource/camera_offline.png);
+
+
+
-
-
-
-
-
-
- image: url(:/resource/camera_offline.png);
-
-
-
- -
-
-
-
- 12
-
-
-
- color: rgb(0, 255, 0);
-
-
- 相机在线
-
-
-
-
+
+
+ background-color: rgb(37, 38, 42);
+
+
+ QFrame::Shape::StyledPanel
+
+
+ QFrame::Shadow::Raised
+
+
+
+
+ 85
+ 26
+ 80
+ 26
+
+
+
+
+ 12
+
+
+
+ color: rgb(0, 255, 0);
+
+
+ 相机在线
+
+
+
+
+
+ 25
+ 16
+ 48
+ 48
+
+
+
+ image: url(:/resource/camera_offline.png);
+
+
+
-
-
-
-
-
-
- image: url(:/resource/robot_offline.png);
-
-
-
- -
-
-
-
- 12
-
-
-
- color: rgb(0, 255, 0);
-
-
- 机械臂在线
-
-
-
-
+
+
+ background-color: rgb(37, 38, 42);
+
+
+ QFrame::Shape::StyledPanel
+
+
+ QFrame::Shadow::Raised
+
+
+
+
+ 85
+ 26
+ 80
+ 26
+
+
+
+
+ 12
+
+
+
+ color: rgb(0, 255, 0);
+
+
+ 机械臂在线
+
+
+
+
+
+ 25
+ 16
+ 48
+ 48
+
+
+
+ image: url(:/resource/robot_offline.png);
+
+
+
diff --git a/GrabBagApp/mainwindow.cpp b/GrabBagApp/mainwindow.cpp
index 7e07027..4be0163 100644
--- a/GrabBagApp/mainwindow.cpp
+++ b/GrabBagApp/mainwindow.cpp
@@ -18,6 +18,7 @@
#include
#include
#include
+#include
#include "Version.h"
#include "VrSimpleLog.h"
@@ -59,6 +60,9 @@ MainWindow::MainWindow(QWidget *parent)
// 启动后自动最大化显示
this->showMaximized();
+ // 初始化时隐藏label_work
+ ui->label_work->setVisible(false);
+
// 初始化GraphicsScene
QGraphicsScene* scene = new QGraphicsScene(this);
ui->detect_image->setScene(scene);
@@ -130,13 +134,10 @@ void MainWindow::Init()
m_deviceStatusWidget = new devstatus(); //因为初始化回调的数据要存储，所以要在init前创建好
- // 初始化完成后，在detect_result_list中增加设备状态widget
- QListWidgetItem* deviceStatusItem = new QListWidgetItem();
- deviceStatusItem->setBackground(QBrush(Qt::transparent));
- deviceStatusItem->setSizeHint(QSize(272, 200));
-
- ui->detect_result_list->addItem(deviceStatusItem);
- ui->detect_result_list->setItemWidget(deviceStatusItem, m_deviceStatusWidget);
+ // 将设备状态widget添加到frame_dev中
+ QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
+ frameDevLayout->setContentsMargins(0, 0, 0, 0);
+ frameDevLayout->addWidget(m_deviceStatusWidget);
// 设置列表视图模式
ui->detect_result_list->setViewMode(QListView::IconMode);
@@ -181,31 +182,25 @@ void MainWindow::displayImage(const QImage& image)
// 添加扩展版本的检测结果函数
void MainWindow::addDetectionResult(const DetectionResult& result)
{
- // 清空之前的数据（除了第一个设备状态item）
- while (ui->detect_result_list->count() > 1) {
- QListWidgetItem* item = ui->detect_result_list->takeItem(1);
- delete item;
- }
-
- // 更新现有设备状态显示（第一个item就是设备状态）
- if (m_deviceStatusWidget) {
- // m_deviceStatusWidget会自动从其内部状态获取设备状态信息
- // 不需要手动更新，因为状态变化时会直接更新到widget中
- }
+ // 清空之前的所有检测结果数据
+ ui->detect_result_list->clear();
// 设置为图标模式，实现网格布局（多列显示）
ui->detect_result_list->setViewMode(QListView::IconMode);
ui->detect_result_list->setResizeMode(QListView::Adjust);
- // 设置滚动条策略：始终显示垂直滚动条，隐藏水平滚动条
+ // 设置滚动条策略：强制隐藏所有滚动条
ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
// 计算gridWidth：考虑12px间距，确保两列布局
int totalWidth = ui->detect_result_list->width();
- int itemSpacing = 12;
- int gridWidth = (totalWidth - itemSpacing - 17) / 2; //20是滚动条的宽度
- int gridHeight = 200;
+ int totalHeight = ui->detect_result_list->height();
+ int itemSpacing = 0;
+ int gridWidth = (totalWidth - 20) / 2; //20是滚动条的宽度
+ int gridHeight = totalHeight / 3 - 1;
+
+ LOG_DEBUG("totalWidth: %d, totalHeight: %d, gridWidth: %d, gridHeight: %d", totalWidth, totalHeight, gridWidth, gridHeight);
ui->detect_result_list->setGridSize(QSize(gridWidth, gridHeight)); // 设置每个格子的大小
ui->detect_result_list->setSpacing(itemSpacing); // 设置item间距为12px
@@ -491,14 +486,12 @@ void MainWindow::on_btn_hide_clicked()
this->showMinimized();
}
-
void MainWindow::on_btn_close_clicked()
{
// 关闭应用程序
this->close();
}
-
void MainWindow::on_btn_test_clicked()
{
// 打开文件选择对话框
diff --git a/GrabBagApp/mainwindow.ui b/GrabBagApp/mainwindow.ui
index 31b4628..45c4938 100644
--- a/GrabBagApp/mainwindow.ui
+++ b/GrabBagApp/mainwindow.ui
@@ -37,9 +37,9 @@
1344
- 726
+ 868
556
- 304
+ 162
@@ -81,13 +81,13 @@ background-color: rgba(255, 255, 255, 0);
1344
- 140
+ 232
556
- 571
+ 624
- background-color: rgb(37, 38, 42);
+ background-color:rgb(37, 38, 42)
0
@@ -195,9 +195,9 @@ background-color: rgba(255, 255, 255, 0);
- 1630
+ 1450
20
- 171
+ 311
81
@@ -219,14 +219,15 @@ background-color: rgba(255, 255, 255, 0);
- 1870
- 40
- 41
- 41
+ 1841
+ 32
+ 56
+ 56
- image: url(:/resource/close.png);
+ background-image: url(:/resource/close.png);
+background-color: rgba(255, 255, 255, 0);
@@ -235,14 +236,15 @@ background-color: rgba(255, 255, 255, 0);
- 1800
- 40
- 41
- 41
+ 1762
+ 32
+ 56
+ 56
- image: url(:/resource/hide.png);
+ background-image: url(:/resource/hide.png);
+background-color: rgba(255, 255, 255, 0);
@@ -251,8 +253,8 @@ background-color: rgba(255, 255, 255, 0);
- 1460
- 20
+ 1525
+ 21
80
80
@@ -263,7 +265,8 @@ background-color: rgba(255, 255, 255, 0);
- background-image: url(:/resource/start.png);
+ background-image: url(:/resource/start.png);
+background-color: rgba(255, 255, 255, 0);
@@ -272,8 +275,8 @@ background-color: rgba(255, 255, 255, 0);
- 1562
- 20
+ 1645
+ 21
80
80
@@ -284,13 +287,33 @@ background-color: rgba(255, 255, 255, 0);
- background-image: url(:/resource/stop.png);
+ background-image: url(:/resource/stop.png);
+background-color: rgba(255, 255, 255, 0);
+
+
+
+ 1344
+ 140
+ 556
+ 80
+
+
+
+ background-color: rgba(37, 38, 42, 0);
+
+
+ QFrame::Shape::StyledPanel
+
+
+ QFrame::Shadow::Raised
+
+
groupBox
detect_image
detect_log
@@ -300,6 +323,7 @@ background-color: rgba(255, 255, 255, 0);
btn_algo_config
btn_camera_levelling
btn_camera
+ frame_dev
-
@@ -151,6 +154,9 @@ border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;
+
+ true
+
-
@@ -167,6 +173,9 @@ border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;
+
+ true
+
-
@@ -183,6 +192,9 @@ border: 1px solid #3B3D47;
padding: 5px;
font-size: 12px;
+
+ true
+
@@ -193,7 +205,7 @@ font-size: 12px;
52
- 10
+ 8
191
30
diff --git a/VrConfig/Inc/IVrConfig.h b/VrConfig/Inc/IVrConfig.h
index 9b194f0..870a7fc 100644
--- a/VrConfig/Inc/IVrConfig.h
+++ b/VrConfig/Inc/IVrConfig.h
@@ -90,9 +90,9 @@ struct VrTreeGrowParam
*/
struct VrPlaneCalibParam
{
- double planeCalib[9]; // 旋转矩阵，将数据调平
+ double planeCalib[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; // 旋转矩阵，将数据调平（默认单位矩阵）
double planeHeight = -1.0; // 参考平面的高度，用于去除地面数据
- double invRMatrix[9]; // 逆旋转矩阵，回到原坐标系
+ double invRMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; // 逆旋转矩阵，回到原坐标系（默认单位矩阵）
};
/**
diff --git a/VrConfig/Src/VrConfig.cpp b/VrConfig/Src/VrConfig.cpp
index 21548a6..29cebca 100644
--- a/VrConfig/Src/VrConfig.cpp
+++ b/VrConfig/Src/VrConfig.cpp
@@ -176,6 +176,46 @@ ConfigResult CVrConfig::LoadConfig(const std::string& filePath)
{
if (planeCalibParamElement->Attribute("planeHeight"))
result.algorithmParams.planeCalibParam.planeHeight = planeCalibParamElement->DoubleAttribute("planeHeight");
+
+ // 读取旋转矩阵planeCalib[9] (3x3矩阵)
+ if (planeCalibParamElement->Attribute("planeCalib_00"))
+ result.algorithmParams.planeCalibParam.planeCalib[0] = planeCalibParamElement->DoubleAttribute("planeCalib_00");
+ if (planeCalibParamElement->Attribute("planeCalib_01"))
+ result.algorithmParams.planeCalibParam.planeCalib[1] = planeCalibParamElement->DoubleAttribute("planeCalib_01");
+ if (planeCalibParamElement->Attribute("planeCalib_02"))
+ result.algorithmParams.planeCalibParam.planeCalib[2] = planeCalibParamElement->DoubleAttribute("planeCalib_02");
+ if (planeCalibParamElement->Attribute("planeCalib_10"))
+ result.algorithmParams.planeCalibParam.planeCalib[3] = planeCalibParamElement->DoubleAttribute("planeCalib_10");
+ if (planeCalibParamElement->Attribute("planeCalib_11"))
+ result.algorithmParams.planeCalibParam.planeCalib[4] = planeCalibParamElement->DoubleAttribute("planeCalib_11");
+ if (planeCalibParamElement->Attribute("planeCalib_12"))
+ result.algorithmParams.planeCalibParam.planeCalib[5] = planeCalibParamElement->DoubleAttribute("planeCalib_12");
+ if (planeCalibParamElement->Attribute("planeCalib_20"))
+ result.algorithmParams.planeCalibParam.planeCalib[6] = planeCalibParamElement->DoubleAttribute("planeCalib_20");
+ if (planeCalibParamElement->Attribute("planeCalib_21"))
+ result.algorithmParams.planeCalibParam.planeCalib[7] = planeCalibParamElement->DoubleAttribute("planeCalib_21");
+ if (planeCalibParamElement->Attribute("planeCalib_22"))
+ result.algorithmParams.planeCalibParam.planeCalib[8] = planeCalibParamElement->DoubleAttribute("planeCalib_22");
+
+ // 读取逆旋转矩阵invRMatrix[9] (3x3矩阵)
+ if (planeCalibParamElement->Attribute("invRMatrix_00"))
+ result.algorithmParams.planeCalibParam.invRMatrix[0] = planeCalibParamElement->DoubleAttribute("invRMatrix_00");
+ if (planeCalibParamElement->Attribute("invRMatrix_01"))
+ result.algorithmParams.planeCalibParam.invRMatrix[1] = planeCalibParamElement->DoubleAttribute("invRMatrix_01");
+ if (planeCalibParamElement->Attribute("invRMatrix_02"))
+ result.algorithmParams.planeCalibParam.invRMatrix[2] = planeCalibParamElement->DoubleAttribute("invRMatrix_02");
+ if (planeCalibParamElement->Attribute("invRMatrix_10"))
+ result.algorithmParams.planeCalibParam.invRMatrix[3] = planeCalibParamElement->DoubleAttribute("invRMatrix_10");
+ if (planeCalibParamElement->Attribute("invRMatrix_11"))
+ result.algorithmParams.planeCalibParam.invRMatrix[4] = planeCalibParamElement->DoubleAttribute("invRMatrix_11");
+ if (planeCalibParamElement->Attribute("invRMatrix_12"))
+ result.algorithmParams.planeCalibParam.invRMatrix[5] = planeCalibParamElement->DoubleAttribute("invRMatrix_12");
+ if (planeCalibParamElement->Attribute("invRMatrix_20"))
+ result.algorithmParams.planeCalibParam.invRMatrix[6] = planeCalibParamElement->DoubleAttribute("invRMatrix_20");
+ if (planeCalibParamElement->Attribute("invRMatrix_21"))
+ result.algorithmParams.planeCalibParam.invRMatrix[7] = planeCalibParamElement->DoubleAttribute("invRMatrix_21");
+ if (planeCalibParamElement->Attribute("invRMatrix_22"))
+ result.algorithmParams.planeCalibParam.invRMatrix[8] = planeCalibParamElement->DoubleAttribute("invRMatrix_22");
}
}
@@ -296,6 +336,29 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
// 添加平面校准参数
XMLElement* planeCalibParamElement = doc.NewElement("PlaneCalibParam");
planeCalibParamElement->SetAttribute("planeHeight", configResult.algorithmParams.planeCalibParam.planeHeight);
+
+ // 保存旋转矩阵planeCalib[9] (3x3矩阵)
+ planeCalibParamElement->SetAttribute("planeCalib_00", configResult.algorithmParams.planeCalibParam.planeCalib[0]);
+ planeCalibParamElement->SetAttribute("planeCalib_01", configResult.algorithmParams.planeCalibParam.planeCalib[1]);
+ planeCalibParamElement->SetAttribute("planeCalib_02", configResult.algorithmParams.planeCalibParam.planeCalib[2]);
+ planeCalibParamElement->SetAttribute("planeCalib_10", configResult.algorithmParams.planeCalibParam.planeCalib[3]);
+ planeCalibParamElement->SetAttribute("planeCalib_11", configResult.algorithmParams.planeCalibParam.planeCalib[4]);
+ planeCalibParamElement->SetAttribute("planeCalib_12", configResult.algorithmParams.planeCalibParam.planeCalib[5]);
+ planeCalibParamElement->SetAttribute("planeCalib_20", configResult.algorithmParams.planeCalibParam.planeCalib[6]);
+ planeCalibParamElement->SetAttribute("planeCalib_21", configResult.algorithmParams.planeCalibParam.planeCalib[7]);
+ planeCalibParamElement->SetAttribute("planeCalib_22", configResult.algorithmParams.planeCalibParam.planeCalib[8]);
+
+ // 保存逆旋转矩阵invRMatrix[9] (3x3矩阵)
+ planeCalibParamElement->SetAttribute("invRMatrix_00", configResult.algorithmParams.planeCalibParam.invRMatrix[0]);
+ planeCalibParamElement->SetAttribute("invRMatrix_01", configResult.algorithmParams.planeCalibParam.invRMatrix[1]);
+ planeCalibParamElement->SetAttribute("invRMatrix_02", configResult.algorithmParams.planeCalibParam.invRMatrix[2]);
+ planeCalibParamElement->SetAttribute("invRMatrix_10", configResult.algorithmParams.planeCalibParam.invRMatrix[3]);
+ planeCalibParamElement->SetAttribute("invRMatrix_11", configResult.algorithmParams.planeCalibParam.invRMatrix[4]);
+ planeCalibParamElement->SetAttribute("invRMatrix_12", configResult.algorithmParams.planeCalibParam.invRMatrix[5]);
+ planeCalibParamElement->SetAttribute("invRMatrix_20", configResult.algorithmParams.planeCalibParam.invRMatrix[6]);
+ planeCalibParamElement->SetAttribute("invRMatrix_21", configResult.algorithmParams.planeCalibParam.invRMatrix[7]);
+ planeCalibParamElement->SetAttribute("invRMatrix_22", configResult.algorithmParams.planeCalibParam.invRMatrix[8]);
+
algoParamsElement->InsertEndChild(planeCalibParamElement);
// 添加调试参数（在AlgorithmParams外面）
diff --git a/VrConfig/config/config.xml b/VrConfig/config/config.xml
index 4b39949..5a66c2b 100644
--- a/VrConfig/config/config.xml
+++ b/VrConfig/config/config.xml
@@ -33,7 +33,13 @@
zDeviation_max="80.0" minLTypeTreeLen="50.0" minVTypeTreeLen="50.0" />
-
+
diff --git a/VrEyeDevice/Src/VrEyeDevice.cpp b/VrEyeDevice/Src/VrEyeDevice.cpp
index b861a77..032713f 100644
--- a/VrEyeDevice/Src/VrEyeDevice.cpp
+++ b/VrEyeDevice/Src/VrEyeDevice.cpp
@@ -86,6 +86,10 @@ int CVrEyeDevice::OpenDevice(const char* sIP, VzNL_OnNotifyStatusCBEx fNotify, v
VzNL_GetSwingMotorInfo(m_pHandle, &swingMotorDevInfo);
// VzNL_SetSwingStopAngle(m_pHandle, swingMotorDevInfo.fMotorMaxAngle / 2.f);
+ SVzNLVersionInfo sVersionInfo;
+ VzNL_GetVersion(m_pHandle, &sVersionInfo);
+ LOG_DEBUG("version : %s\n", sVersionInfo.szSDKVersion);
+
// 版本信息打印
unsigned int versionCode = VzNL_GetSwingVersionCode(m_pHandle);
LOG_DEBUG("swing versiong : %u\n", versionCode);
@@ -93,6 +97,12 @@ int CVrEyeDevice::OpenDevice(const char* sIP, VzNL_OnNotifyStatusCBEx fNotify, v
int nnnRet = VzNL_SetEthSendDataLength(m_pHandle, 1024);
LOG_DEBUG("SenddataLen ret : %d\n", nnnRet);
+
+#if 0
+ //启用RGBD
+ VzNL_EnableRGB(m_pHandle, VzTrue);
+ float exposeThres = VzNL_GetRGBAutoExposeThres(m_pHandle, &nnnRet);
+
//白平衡
VzBool bEnable = VzNL_IsEnableRGBAWB(m_pHandle, &nnnRet);
LOG_DEBUG("EnableRGBAWB : %d [%d]\n", bEnable, nnnRet);
@@ -104,11 +114,6 @@ int CVrEyeDevice::OpenDevice(const char* sIP, VzNL_OnNotifyStatusCBEx fNotify, v
nnnRet = VzNL_EnableRGBAutoExpose(m_pHandle, VzTrue);
LOG_DEBUG("EnableRGBAutoExpose [%d]\n", nnnRet);
}
-
-#if 0
- //启用RGBD
- VzNL_EnableRGB(m_pHandle, VzTrue);
- float exposeThres = VzNL_GetRGBAutoExposeThres(m_pHandle, &nnnRet);
LOG_DEBUG("RGBAutoExposeThres : %f [%d]\n", exposeThres, nnnRet);
#endif
//设置回调
diff --git a/VrUtils/Inc/VrLog.h b/VrUtils/Inc/VrLog.h
index cbad035..d496c60 100644
--- a/VrUtils/Inc/VrLog.h
+++ b/VrUtils/Inc/VrLog.h
@@ -27,13 +27,13 @@
#pragma comment(lib, "advapi32.lib")
#endif
-#define LOG_VERBOSE(...) VrLogUtils::EchoLog(KELOGLEVEL_Verbose, logfilename(__FILE__), __LINE__, "VrAPPV", ##__VA_ARGS__)
-#define LOG_DEBUG(...) VrLogUtils::EchoLog(KELOGLEVEL_Debug, logfilename(__FILE__), __LINE__, "VrAPPD", ##__VA_ARGS__)
-#define LOG_INFO(...) VrLogUtils::EchoLog(KELOGLEVEL_Info, logfilename(__FILE__), __LINE__, "VrAPPI", ##__VA_ARGS__)
-#define LOG_WARNING(...) VrLogUtils::EchoLog(KELOGLEVEL_Warning, logfilename(__FILE__), __LINE__, "VrAPPW", ##__VA_ARGS__)
-#define LOG_ERROR(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "VrAPPE", ##__VA_ARGS__)
-#define LOG_ERRO(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "VrAPPE", ##__VA_ARGS__)
-#define LOG_ERR(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "VrAPPE", ##__VA_ARGS__)
+#define LOG_VERBOSE(...) VrLogUtils::EchoLog(KELOGLEVEL_Verbose, logfilename(__FILE__), __LINE__, "APPV", ##__VA_ARGS__)
+#define LOG_DEBUG(...) VrLogUtils::EchoLog(KELOGLEVEL_Debug, logfilename(__FILE__), __LINE__, "APPD", ##__VA_ARGS__)
+#define LOG_INFO(...) VrLogUtils::EchoLog(KELOGLEVEL_Info, logfilename(__FILE__), __LINE__, "APPI", ##__VA_ARGS__)
+#define LOG_WARNING(...) VrLogUtils::EchoLog(KELOGLEVEL_Warning, logfilename(__FILE__), __LINE__, "APPW", ##__VA_ARGS__)
+#define LOG_ERROR(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "APPE", ##__VA_ARGS__)
+#define LOG_ERRO(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "APPE", ##__VA_ARGS__)
+#define LOG_ERR(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "APPE", ##__VA_ARGS__)
/// @brief
/// 日志等级