From 5a59efcabc395b2a18536239cc2ffa760a00fb47 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=B0=E4=BB=94?= Date: Thu, 26 Jun 2025 00:40:36 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96=E8=AE=BE=E5=A4=87=E7=8A=B6?= =?UTF-8?q?=E6=80=81=E6=98=BE=E7=A4=BA=E9=80=BB=E8=BE=91=EF=BC=8C=E8=B0=83?= =?UTF-8?q?=E6=95=B4UI=E5=B8=83=E5=B1=80=EF=BC=8C=E6=9B=B4=E6=96=B0?= =?UTF-8?q?=E7=9B=B8=E6=9C=BA=E5=92=8C=E6=9C=BA=E6=A2=B0=E8=87=82=E7=8A=B6?= =?UTF-8?q?=E6=80=81=E7=9A=84=E6=A0=B7=E5=BC=8F=E8=AE=BE=E7=BD=AE=EF=BC=8C?= =?UTF-8?q?=E5=A2=9E=E5=BC=BA=E6=97=A5=E5=BF=97=E8=AE=B0=E5=BD=95=E5=8A=9F?= =?UTF-8?q?=E8=83=BD=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- GrabBagApp/Presenter/Src/GrabBagPresenter.cpp | 19 +- GrabBagApp/Version.h | 4 +- GrabBagApp/devstatus.cpp | 21 +- GrabBagApp/devstatus.ui | 221 +++++++++++------- GrabBagApp/mainwindow.cpp | 41 ++-- GrabBagApp/mainwindow.ui | 70 ++++-- GrabBagApp/resultitem.cpp | 6 +- GrabBagApp/resultitem.ui | 14 +- VrConfig/Inc/IVrConfig.h | 4 +- VrConfig/Src/VrConfig.cpp | 63 +++++ VrConfig/config/config.xml | 8 +- VrEyeDevice/Src/VrEyeDevice.cpp | 15 +- VrUtils/Inc/VrLog.h | 14 +- 13 files changed, 336 insertions(+), 164 deletions(-) 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 diff --git a/GrabBagApp/resultitem.cpp b/GrabBagApp/resultitem.cpp index 8299041..c06e9a8 100644 --- a/GrabBagApp/resultitem.cpp +++ b/GrabBagApp/resultitem.cpp @@ -40,11 +40,11 @@ void ResultItem::setResultData(int targetIndex, const GrabBagPosition& position) void ResultItem::setItemStyle() { - // 只设置黄色边框作为格子间分隔线，不修改背景和QLineEdit样式 + // 只设置右侧和下侧边框作为格子间分隔线，不修改背景和QLineEdit样式 this->setStyleSheet( "ResultItem { " - " border: 2px solid #191A1C; " // 只添加黄色边框作为格子间分隔线 - " border-radius: 0px; " // 去掉圆角，让分隔线更清晰 + " border: 6px solid #191A1C; " // 右侧边框 + " border-radius: 0px; " // 去掉圆角，让分隔线更清晰 "} " ); } diff --git a/GrabBagApp/resultitem.ui b/GrabBagApp/resultitem.ui index 15627c0..508fda8 100644 --- a/GrabBagApp/resultitem.ui +++ b/GrabBagApp/resultitem.ui @@ -135,6 +135,9 @@ border: 1px solid #3B3D47; padding: 5px; font-size: 12px; + + true + @@ -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