重构手眼标定矩阵加载逻辑

GrabBagApp/Presenter/Src/GrabBagPresenter.cpp

@@ -296,16 +296,27 @@ int GrabBagPresenter::InitAlgorithmParams()
     // 获取手眼标定文件路径并确保文件存在
     QString clibPath = PathManager::GetCalibrationFilePath();
     
-    LOG_INFO("Loading hand-eye calibration matrix from: %s\n", clibPath.toStdString().c_str());
+    LOG_INFO("Loading hand-eye matrix : %s\n", clibPath.toStdString().c_str());
     if(QFile::exists(clibPath))
     {
-        CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), "clib", m_clibMatrix);
+        CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), "CalibMatrixInfo_0", "dCalibMatrix", m_clibMatrix);
+    }
+
+    // 输出手眼标定矩阵 m_clibMatrix 的内容
+    QString clibMatrixStr;
+    LOG_INFO("clibMatrixStr: \n");
+    for (int i = 0; i < 4; ++i) {
+        clibMatrixStr.clear();
+        for (int j = 0; j < 4; ++j) {
+            clibMatrixStr += QString::asprintf("%8.4f ", m_clibMatrix[i * 4 + j]);
+        }
+        LOG_INFO("  %s\n", clibMatrixStr.toStdString().c_str());
     }
     
     // 获取配置文件路径
     QString configPath = PathManager::GetConfigFilePath();
     
-    LOG_INFO("Loading configuration from: %s\n", configPath.toStdString().c_str());
+    LOG_INFO("Loading config: %s\n", configPath.toStdString().c_str());
     
     // 读取配置文件
     ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString());

GrabBagApp/Utils/Src/PathManager.cpp

@@ -17,7 +17,7 @@ QString PathManager::GetCalibrationFilePath()
 {
     // 确保目标目录存在
     EnsureConfigDirectoryExists();
-    return GetAppConfigDirectory() + "/clib.ini";
+    return GetAppConfigDirectory() + "/EyeHandCalibMatrixInfo.ini";
 }
 
 QString PathManager::GetAppConfigDirectory()
@@ -38,7 +38,6 @@ bool PathManager::EnsureConfigDirectoryExists()
     QString configDir = GetAppConfigDirectory();
     
     if (QDir().exists(configDir)) {
-        LOG_DEBUG("Configuration directory already exists: %s\n", configDir.toStdString().c_str());
         return true;
     }
     

GrabBagApp/Version.h

@@ -3,8 +3,8 @@
 
 
 #define GRABBAG_VERSION_STRING "1.0.1"
-#define GRABBAG_BUILD_STRING "3"
-#define GRABBAG_FULL_VERSION_STRING "V1.0.1_3"
+#define GRABBAG_BUILD_STRING "4"
+#define GRABBAG_FULL_VERSION_STRING "V1.0.1_4"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {

VrConfig/config/EyeHandCalibMatrixInfo.ini

@@ -0,0 +1,26 @@
+[CommInfo]
+nMaxMatrixNum=8
+nExistMatrixNum=1
+
+[CalibMatrixInfo_0]
+nCalibPosIdx=0
+eCalibType=0
+eCalibMode=0
+sCalibPosName=0
+sCalibTime=2025-06-26-12-11-47
+dCalibMatrix_0=-0.6465967149138568
+dCalibMatrix_1=0.761458743338502
+dCalibMatrix_2=0.04575227268627502
+dCalibMatrix_3=759.0215603044383
+dCalibMatrix_4=0.7621532947207551
+dCalibMatrix_5=0.6473879189067671
+dCalibMatrix_6=-0.0033522827841527825
+dCalibMatrix_7=-403.08726353855
+dCalibMatrix_8=-0.03217209363575841
+dCalibMatrix_9=0.03270267033311197
+dCalibMatrix_10=-0.9989471916693979
+dCalibMatrix_11=801.5996530934686
+dCalibMatrix_12=0
+dCalibMatrix_13=0
+dCalibMatrix_14=0
+dCalibMatrix_15=1

VrEyeDevice/Inc/VrConvert.h

@@ -8,10 +8,10 @@ std::ostream& operator<<(std::ostream& os, const SVzNL3DPoint& sPoint);
 namespace CVrConvert
 {
     // 加载矩阵
-    bool LoadClibMatrix(const char* sFileName, const char* sIdent, double dMatrix[16]);
+    bool LoadClibMatrix(const char* sFileName, const char* sIdent, const char* sKey, double dMatrix[16]);
 
     // 存储矩阵
-    bool SaveClibMatrix(const char* sFileName, const char* sIdent, double dMatrix[16]);
+    bool SaveClibMatrix(const char* sFileName, const char* sIdent, const char* sKey,  double dMatrix[16]);
 
     // 手眼标定
     bool CalibEyeToRobot(SVzNL3DPoint* pEye3DPoint, SVzNL3DPoint* pRobot3DPoint, const int nNum);

VrEyeDevice/Src/VrConvert.cpp

@@ -14,46 +14,47 @@ std::ostream& operator<<(std::ostream& os, const SVzNL3DPoint& sPoint)
     return os;
 }
 
-bool CVrConvert::LoadClibMatrix(const char* sFileName,  const char* sIdent, double dMatrix[16])
+bool CVrConvert::LoadClibMatrix(const char* sFileName,  const char* sIdent, const char* sKey,  double dMatrix[16])
 {
     // 读取配置文件
     CSimpleIniA ini;
 
     // 加载文件并解析
     SI_Error rc = ini.LoadFile(sFileName);
+    LOG_INFO("LoadClibMatrix: %s\n", sFileName);
 
     if(SI_OK != rc) return false;
 
     for(int i = 0 ; i < 16; i++)
     {
-        char sKey[64] = {0};
+        char sTmpKey[64] = {0};
 #ifdef _WIN32
-        sprintf_s(sKey, "%s_%d", sIdent, i);
+        sprintf_s(sTmpKey, "%s_%d", sKey, i);
 #else
-        sprintf(sKey, "%s_%d", sIdent, i);
+        sprintf(sTmpKey, "%s_%d", sKey, i); 
 #endif
-        dMatrix[i] = ini.GetDoubleValue(sIdent, sKey, i % 5 == 0 ? 1 : 0);
+        dMatrix[i] = ini.GetDoubleValue(sIdent, sTmpKey, i % 5 == 0 ? 1 : 0);
     }
 
     return true;
 }
 
 // 存储矩阵
-bool CVrConvert::SaveClibMatrix(const char* sFileName, const char* sIdent, double dMatrix[16])
+bool CVrConvert::SaveClibMatrix(const char* sFileName, const char* sIdent, const char* sKey,  double dMatrix[16])
 {
     CSimpleIniA ini;
-    SI_Error rc = ini.LoadFile(sFileName);
+    SI_Error rc = ini.LoadFile(sFileName);  
     if (rc != SI_OK) return false;
 
     for(int i = 0 ; i < 16; i++)
     {
-        char sKey[64] = {0};
+        char sTmpKey[64] = {0};
 #ifdef _WIN32
-        sprintf_s(sKey, "%s_%d", sIdent, i);
+        sprintf_s(sTmpKey, "%s_%s_%d", sIdent, sKey, i);
 #else
-        sprintf(sKey, "%s_%d", sIdent, i);
+        sprintf(sTmpKey, "%s_%s_%d", sIdent, sKey, i);
 #endif
-        ini.SetDoubleValue(sIdent, sKey, dMatrix[i]);
+        ini.SetDoubleValue(sIdent, sTmpKey, dMatrix[i]);
     }
     ini.SaveFile(sFileName);
     return true;