优化设备状态显示逻辑，调整UI布局，更新相机和机械臂状态的样式设置，增强日志记录功能。
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2afa5b1983
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5a59efcabc
@ -302,15 +302,10 @@ int GrabBagPresenter::InitAlgorithmParams()
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m_algoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
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m_algoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
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// 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）
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double initCalib[9] = {
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1.0, 0.0, 0.0,
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0.0, 1.0, 0.0,
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0.0, 0.0, 1.0
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};
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// 设置平面校准参数（使用从XML配置文件读取的数据）
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for (int i = 0; i < 9; i++) {
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m_planeCalibParam.planeCalib[i] = initCalib[i];
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m_planeCalibParam.invRMatrix[i] = initCalib[i];
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m_planeCalibParam.planeCalib[i] = xmlParams.planeCalibParam.planeCalib[i];
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m_planeCalibParam.invRMatrix[i] = xmlParams.planeCalibParam.invRMatrix[i];
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}
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m_planeCalibParam.planeHeight = xmlParams.planeCalibParam.planeHeight;
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@ -318,6 +313,14 @@ int GrabBagPresenter::InitAlgorithmParams()
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LOG_INFO(" Bag: L=%.1f, W=%.1f, H=%.1f\n", m_algoParam.bagParam.bagL, m_algoParam.bagParam.bagW, m_algoParam.bagParam.bagH);
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LOG_INFO(" Filter: continuityTh=%.1f, outlierTh=%d\n", m_algoParam.filterParam.continuityTh, m_algoParam.filterParam.outlierTh);
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LOG_INFO(" Plane calibration: height=%.1f\n", m_planeCalibParam.planeHeight);
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LOG_INFO(" Plane calibration matrix:\n");
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.planeCalib[0], m_planeCalibParam.planeCalib[1], m_planeCalibParam.planeCalib[2]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.planeCalib[3], m_planeCalibParam.planeCalib[4], m_planeCalibParam.planeCalib[5]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.planeCalib[6], m_planeCalibParam.planeCalib[7], m_planeCalibParam.planeCalib[8]);
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LOG_INFO(" Inverse rotation matrix:\n");
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.invRMatrix[0], m_planeCalibParam.invRMatrix[1], m_planeCalibParam.invRMatrix[2]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.invRMatrix[3], m_planeCalibParam.invRMatrix[4], m_planeCalibParam.invRMatrix[5]);
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LOG_INFO(" [%.3f, %.3f, %.3f]\n", m_planeCalibParam.invRMatrix[6], m_planeCalibParam.invRMatrix[7], m_planeCalibParam.invRMatrix[8]);
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return SUCCESS;
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}
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@ -3,8 +3,8 @@
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#define GRABBAG_VERSION_STRING "1.0.0"
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#define GRABBAG_BUILD_STRING "4"
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#define GRABBAG_FULL_VERSION_STRING "V1.0.0_4"
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#define GRABBAG_BUILD_STRING "6"
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#define GRABBAG_FULL_VERSION_STRING "V1.0.0_6"
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// 获取版本信息的便捷函数
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inline const char* GetGrabBagVersion() {
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@ -30,7 +30,6 @@ devstatus::~devstatus()
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// 设置devstatus的样式
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void devstatus::setItemStyle()
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{
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// 参考ResultItem的样式设置，添加边框作为格子间分隔线
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this->setStyleSheet(
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"devstatus { "
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" border: 2px solid #191A1C; " // 添加边框作为格子间分隔线
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@ -45,9 +44,8 @@ void devstatus::setCameraStatusImage(QWidget* widget, bool isOnline) {
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QString imagePath = isOnline ? ":/resource/camera_online.png" : ":/resource/camera_offline.png";
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widget->setStyleSheet(QString("image: url(%1);")
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.arg(imagePath));
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widget->setFixedSize(32, 32); // 调整大小以适应图片
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widget->setStyleSheet(QString("image: url(%1);").arg(imagePath));
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// widget->setFixedSize(32, 32); // 调整大小以适应图片
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}
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// 设置机械臂状态图片的私有成员函数
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@ -56,9 +54,8 @@ void devstatus::setRobotStatusImage(QWidget* widget, bool isOnline) {
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QString imagePath = isOnline ? ":/resource/robot_online.png" : ":/resource/robot_offline.png";
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widget->setStyleSheet(QString("image: url(%1); ")
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.arg(imagePath));
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widget->setFixedSize(32, 32); // 调整大小以适应图片
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widget->setStyleSheet(QString("image: url(%1); ").arg(imagePath));
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// widget->setFixedSize(32, 32); // 调整大小以适应图片
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}
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// 更新相机1状态
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@ -105,6 +102,12 @@ void devstatus::setCameraCount(int cameraCount)
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LOG_DEBUG("setCameraCount: %d \n", cameraCount);
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// 隐藏整个相机2的frame，而不是单独隐藏图片和文字
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if (ui->frame_camera_2) {
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ui->frame_camera_2->setVisible(showCamera2);
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} else {
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// 如果frame_camera_2不存在，则单独隐藏图片和文字控件
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ui->dev_camer_2_img->setVisible(showCamera2);
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ui->dev_camera_2_txt->setVisible(showCamera2);
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}
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}
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@ -6,8 +6,8 @@
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<rect>
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<x>0</x>
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<y>0</y>
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<width>272</width>
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<height>200</height>
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<width>556</width>
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<height>80</height>
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</rect>
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</property>
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<property name="windowTitle">
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@ -19,24 +19,33 @@
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<widget class="QWidget" name="layoutWidget">
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<property name="geometry">
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<rect>
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<x>50</x>
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<y>20</y>
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<width>151</width>
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<height>161</height>
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<x>0</x>
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<y>0</y>
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<width>551</width>
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<height>81</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout">
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<item>
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<widget class="QWidget" name="dev_camer_1_img" native="true">
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<widget class="QFrame" name="frame_camera_1">
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<property name="styleSheet">
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<string notr="true">image: url(:/resource/camera_offline.png);</string>
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<string notr="true">background-color: rgb(37, 38, 42);</string>
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</property>
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<property name="frameShape">
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<enum>QFrame::Shape::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Shadow::Raised</enum>
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</property>
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</widget>
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</item>
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<item>
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<widget class="QLabel" name="dev_camera_1_txt">
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<property name="geometry">
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<rect>
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<x>85</x>
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<y>26</y>
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<width>80</width>
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<height>26</height>
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</rect>
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</property>
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<property name="font">
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<font>
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<pointsize>12</pointsize>
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@ -49,20 +58,41 @@
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<string>相机在线</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_2">
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<item>
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<widget class="QWidget" name="dev_camer_2_img" native="true">
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<widget class="QWidget" name="dev_camer_1_img" native="true">
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<property name="geometry">
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<rect>
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<x>25</x>
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<y>16</y>
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<width>48</width>
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<height>48</height>
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</rect>
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</property>
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<property name="styleSheet">
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<string notr="true">image: url(:/resource/camera_offline.png);</string>
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</property>
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</widget>
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</widget>
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</item>
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<item>
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<widget class="QFrame" name="frame_camera_2">
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<property name="styleSheet">
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<string notr="true">background-color: rgb(37, 38, 42);</string>
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</property>
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<property name="frameShape">
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<enum>QFrame::Shape::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Shadow::Raised</enum>
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</property>
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<widget class="QLabel" name="dev_camera_2_txt">
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<property name="geometry">
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<rect>
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<x>85</x>
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<y>26</y>
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<width>80</width>
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<height>26</height>
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</rect>
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</property>
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<property name="font">
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<font>
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<pointsize>12</pointsize>
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@ -75,20 +105,41 @@
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<string>相机在线</string>
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</property>
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</widget>
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</item>
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</layout>
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</item>
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<item>
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<layout class="QHBoxLayout" name="horizontalLayout_3">
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<item>
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<widget class="QWidget" name="dev_robot_img" native="true">
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<property name="styleSheet">
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<string notr="true">image: url(:/resource/robot_offline.png);</string>
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<widget class="QWidget" name="dev_camer_2_img" native="true">
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<property name="geometry">
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<rect>
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<x>25</x>
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<y>16</y>
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<width>48</width>
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<height>48</height>
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</rect>
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</property>
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<property name="styleSheet">
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<string notr="true">image: url(:/resource/camera_offline.png);</string>
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</property>
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</widget>
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</widget>
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</item>
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<item>
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<widget class="QFrame" name="frame_robot">
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<property name="styleSheet">
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<string notr="true">background-color: rgb(37, 38, 42);</string>
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</property>
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<property name="frameShape">
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<enum>QFrame::Shape::StyledPanel</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Shadow::Raised</enum>
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</property>
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<widget class="QLabel" name="dev_robot_txt">
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<property name="geometry">
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<rect>
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<x>85</x>
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<y>26</y>
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<width>80</width>
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<height>26</height>
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</rect>
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</property>
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<property name="font">
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<font>
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<pointsize>12</pointsize>
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@ -101,8 +152,20 @@
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<string>机械臂在线</string>
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</property>
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</widget>
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</item>
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</layout>
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<widget class="QWidget" name="dev_robot_img" native="true">
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<property name="geometry">
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<rect>
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<x>25</x>
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<y>16</y>
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<width>48</width>
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<height>48</height>
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</rect>
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</property>
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<property name="styleSheet">
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<string notr="true">image: url(:/resource/robot_offline.png);</string>
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</property>
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</widget>
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</widget>
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</item>
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</layout>
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</widget>
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@ -18,6 +18,7 @@
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#include <QIcon>
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#include <QMetaType>
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#include <QLabel>
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#include <QVBoxLayout>
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#include "Version.h"
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#include "VrSimpleLog.h"
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@ -59,6 +60,9 @@ MainWindow::MainWindow(QWidget *parent)
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// 启动后自动最大化显示
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this->showMaximized();
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// 初始化时隐藏label_work
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ui->label_work->setVisible(false);
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// 初始化GraphicsScene
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QGraphicsScene* scene = new QGraphicsScene(this);
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ui->detect_image->setScene(scene);
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@ -130,13 +134,10 @@ void MainWindow::Init()
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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
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// 初始化完成后，在detect_result_list中增加设备状态widget
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QListWidgetItem* deviceStatusItem = new QListWidgetItem();
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deviceStatusItem->setBackground(QBrush(Qt::transparent));
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deviceStatusItem->setSizeHint(QSize(272, 200));
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ui->detect_result_list->addItem(deviceStatusItem);
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ui->detect_result_list->setItemWidget(deviceStatusItem, m_deviceStatusWidget);
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// 将设备状态widget添加到frame_dev中
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QVBoxLayout* frameDevLayout = new QVBoxLayout(ui->frame_dev);
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frameDevLayout->setContentsMargins(0, 0, 0, 0);
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frameDevLayout->addWidget(m_deviceStatusWidget);
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// 设置列表视图模式
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ui->detect_result_list->setViewMode(QListView::IconMode);
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@ -181,31 +182,25 @@ void MainWindow::displayImage(const QImage& image)
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// 添加扩展版本的检测结果函数
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void MainWindow::addDetectionResult(const DetectionResult& result)
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{
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// 清空之前的数据（除了第一个设备状态item）
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while (ui->detect_result_list->count() > 1) {
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QListWidgetItem* item = ui->detect_result_list->takeItem(1);
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delete item;
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}
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// 更新现有设备状态显示（第一个item就是设备状态）
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if (m_deviceStatusWidget) {
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// m_deviceStatusWidget会自动从其内部状态获取设备状态信息
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// 不需要手动更新，因为状态变化时会直接更新到widget中
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}
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// 清空之前的所有检测结果数据
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ui->detect_result_list->clear();
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// 设置为图标模式，实现网格布局（多列显示）
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ui->detect_result_list->setViewMode(QListView::IconMode);
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ui->detect_result_list->setResizeMode(QListView::Adjust);
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// 设置滚动条策略：始终显示垂直滚动条，隐藏水平滚动条
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// 设置滚动条策略：强制隐藏所有滚动条
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ui->detect_result_list->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOn);
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ui->detect_result_list->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
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// 计算gridWidth：考虑12px间距，确保两列布局
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int totalWidth = ui->detect_result_list->width();
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int itemSpacing = 12;
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int gridWidth = (totalWidth - itemSpacing - 17) / 2; //20是滚动条的宽度
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int gridHeight = 200;
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int totalHeight = ui->detect_result_list->height();
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int itemSpacing = 0;
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int gridWidth = (totalWidth - 20) / 2; //20是滚动条的宽度
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int gridHeight = totalHeight / 3 - 1;
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LOG_DEBUG("totalWidth: %d, totalHeight: %d, gridWidth: %d, gridHeight: %d", totalWidth, totalHeight, gridWidth, gridHeight);
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ui->detect_result_list->setGridSize(QSize(gridWidth, gridHeight)); // 设置每个格子的大小
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ui->detect_result_list->setSpacing(itemSpacing); // 设置item间距为12px
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@ -491,14 +486,12 @@ void MainWindow::on_btn_hide_clicked()
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this->showMinimized();
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}
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void MainWindow::on_btn_close_clicked()
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{
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// 关闭应用程序
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this->close();
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}
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void MainWindow::on_btn_test_clicked()
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{
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// 打开文件选择对话框
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@ -37,9 +37,9 @@
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<property name="geometry">
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<rect>
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<x>1344</x>
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<y>726</y>
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<y>868</y>
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<width>556</width>
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<height>304</height>
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<height>162</height>
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</rect>
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</property>
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<property name="font">
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@ -81,13 +81,13 @@ background-color: rgba(255, 255, 255, 0);</string>
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<property name="geometry">
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<rect>
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<x>1344</x>
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<y>140</y>
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<y>232</y>
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<width>556</width>
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<height>571</height>
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<height>624</height>
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</rect>
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</property>
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<property name="styleSheet">
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<string notr="true">background-color: rgb(37, 38, 42);</string>
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<string notr="true">background-color:rgb(37, 38, 42)</string>
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</property>
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<property name="modelColumn">
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<number>0</number>
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@ -195,9 +195,9 @@ background-color: rgba(255, 255, 255, 0);</string>
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<widget class="QLabel" name="label_work">
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<property name="geometry">
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<rect>
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<x>1630</x>
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<x>1450</x>
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<y>20</y>
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<width>171</width>
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<width>311</width>
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<height>81</height>
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</rect>
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</property>
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@ -219,14 +219,15 @@ background-color: rgba(255, 255, 255, 0);</string>
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<widget class="QPushButton" name="btn_close">
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<property name="geometry">
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<rect>
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<x>1870</x>
|
||||
<y>40</y>
|
||||
<width>41</width>
|
||||
<height>41</height>
|
||||
<x>1841</x>
|
||||
<y>32</y>
|
||||
<width>56</width>
|
||||
<height>56</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">image: url(:/resource/close.png);</string>
|
||||
<string notr="true">background-image: url(:/resource/close.png);
|
||||
background-color: rgba(255, 255, 255, 0);</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
@ -235,14 +236,15 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<widget class="QPushButton" name="btn_hide">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1800</x>
|
||||
<y>40</y>
|
||||
<width>41</width>
|
||||
<height>41</height>
|
||||
<x>1762</x>
|
||||
<y>32</y>
|
||||
<width>56</width>
|
||||
<height>56</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">image: url(:/resource/hide.png);</string>
|
||||
<string notr="true">background-image: url(:/resource/hide.png);
|
||||
background-color: rgba(255, 255, 255, 0);</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
@ -251,8 +253,8 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<widget class="QPushButton" name="btn_start">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1460</x>
|
||||
<y>20</y>
|
||||
<x>1525</x>
|
||||
<y>21</y>
|
||||
<width>80</width>
|
||||
<height>80</height>
|
||||
</rect>
|
||||
@ -263,7 +265,8 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
</font>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-image: url(:/resource/start.png);</string>
|
||||
<string notr="true">background-image: url(:/resource/start.png);
|
||||
background-color: rgba(255, 255, 255, 0);</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
@ -272,8 +275,8 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<widget class="QPushButton" name="btn_stop">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1562</x>
|
||||
<y>20</y>
|
||||
<x>1645</x>
|
||||
<y>21</y>
|
||||
<width>80</width>
|
||||
<height>80</height>
|
||||
</rect>
|
||||
@ -284,13 +287,33 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
</font>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-image: url(:/resource/stop.png);</string>
|
||||
<string notr="true">background-image: url(:/resource/stop.png);
|
||||
background-color: rgba(255, 255, 255, 0);</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
<widget class="QFrame" name="frame_dev">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>1344</x>
|
||||
<y>140</y>
|
||||
<width>556</width>
|
||||
<height>80</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: rgba(37, 38, 42, 0);</string>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::Shape::StyledPanel</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Shadow::Raised</enum>
|
||||
</property>
|
||||
</widget>
|
||||
<zorder>groupBox</zorder>
|
||||
<zorder>detect_image</zorder>
|
||||
<zorder>detect_log</zorder>
|
||||
@ -300,6 +323,7 @@ background-color: rgba(255, 255, 255, 0);</string>
|
||||
<zorder>btn_algo_config</zorder>
|
||||
<zorder>btn_camera_levelling</zorder>
|
||||
<zorder>btn_camera</zorder>
|
||||
<zorder>frame_dev</zorder>
|
||||
</widget>
|
||||
<widget class="QMenuBar" name="menubar">
|
||||
<property name="geometry">
|
||||
|
||||
@ -40,10 +40,10 @@ 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: 6px solid #191A1C; " // 右侧边框
|
||||
" border-radius: 0px; " // 去掉圆角，让分隔线更清晰
|
||||
"} "
|
||||
);
|
||||
|
||||
@ -135,6 +135,9 @@ border: 1px solid #3B3D47;
|
||||
padding: 5px;
|
||||
font-size: 12px;</string>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
@ -151,6 +154,9 @@ border: 1px solid #3B3D47;
|
||||
padding: 5px;
|
||||
font-size: 12px;</string>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
@ -167,6 +173,9 @@ border: 1px solid #3B3D47;
|
||||
padding: 5px;
|
||||
font-size: 12px;</string>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
@ -183,6 +192,9 @@ border: 1px solid #3B3D47;
|
||||
padding: 5px;
|
||||
font-size: 12px;</string>
|
||||
</property>
|
||||
<property name="readOnly">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
@ -193,7 +205,7 @@ font-size: 12px;</string>
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>52</x>
|
||||
<y>10</y>
|
||||
<y>8</y>
|
||||
<width>191</width>
|
||||
<height>30</height>
|
||||
</rect>
|
||||
|
||||
@ -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）
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
@ -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）
|
||||
|
||||
@ -33,7 +33,13 @@
|
||||
zDeviation_max="80.0" minLTypeTreeLen="50.0" minVTypeTreeLen="50.0" />
|
||||
|
||||
<!-- 平面校准参数 -->
|
||||
<PlaneCalibParam planeHeight="-1.0" />
|
||||
<PlaneCalibParam planeHeight="-1.0"
|
||||
planeCalib_00="1.0" planeCalib_01="0.0" planeCalib_02="0.0"
|
||||
planeCalib_10="0.0" planeCalib_11="1.0" planeCalib_12="0.0"
|
||||
planeCalib_20="0.0" planeCalib_21="0.0" planeCalib_22="1.0"
|
||||
invRMatrix_00="1.0" invRMatrix_01="0.0" invRMatrix_02="0.0"
|
||||
invRMatrix_10="0.0" invRMatrix_11="1.0" invRMatrix_12="0.0"
|
||||
invRMatrix_20="0.0" invRMatrix_21="0.0" invRMatrix_22="1.0" />
|
||||
|
||||
<!-- 调试参数 -->
|
||||
</AlgorithmParams>
|
||||
|
||||
@ -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
|
||||
|
||||
@ -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
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user