拆包算法更新：增加是否旋转参数

App/GrabBag/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp

@@ -655,6 +655,9 @@ int GrabBagPresenter::InitAlgorithmParams()
     m_algoParam.growParam.minLTypeTreeLen = xmlParams.growParam.minLTypeTreeLen;
     m_algoParam.growParam.minVTypeTreeLen = xmlParams.growParam.minVTypeTreeLen;
     
+    // 设置支持旋转参数
+    m_algoParam.supportRotate = xmlParams.supportRotate;
+    
     // 设置颜色参数
     m_hsvCmpParam.hueTh             = xmlParams.hsvCmpParam.hueTh   ;
     m_hsvCmpParam.saturateTh        = xmlParams.hsvCmpParam.saturateTh;
@@ -686,6 +689,8 @@ int GrabBagPresenter::InitAlgorithmParams()
         m_algoParam.growParam.yDeviation_max, m_algoParam.growParam.zDeviation_max,
         m_algoParam.growParam.maxLineSkipNum, m_algoParam.growParam.maxSkipDistance);
         
+    LOG_INFO("  SupportRotate: %d\n", m_algoParam.supportRotate);
+
     // 循环打印所有相机的调平参数
     LOG_INFO("Loading plane calibration parameters for all cameras:\n");
     for (const auto& cameraParam : m_cameraCalibParams) {

App/GrabBag/GrabBagApp/Version.h

@@ -2,9 +2,9 @@
 #define VERSION_H
 
 
-#define GRABBAG_VERSION_STRING "1.2.0"
-#define GRABBAG_BUILD_STRING "1"
-#define GRABBAG_FULL_VERSION_STRING "V1.2.0_1"
+#define GRABBAG_VERSION_STRING "1.2.1"
+#define GRABBAG_BUILD_STRING "0"
+#define GRABBAG_FULL_VERSION_STRING "V1.2.1_0"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {

App/GrabBag/GrabBagApp/Version.md

@@ -1,3 +1,7 @@
+# 1.2.1 2025-10-8
+## build_0
+1. 更新算法。增加支持旋转参数。
+
 # 1.2.0 2025-9-15
 ## build_1
 1. 增加相机持续连接功能

App/GrabBag/GrabBagConfig/Inc/IVrConfig.h

@@ -276,6 +276,7 @@ struct VrAlgorithmParams
     VrHsvCmpParam           hsvCmpParam;        // HSV颜色比较参数
     VrRgbColorPattern       rgbColorPattern;    // RGB颜色模式
     VrColorTemplateParam    colorTemplateParam; // 颜色模板参数
+    int                     supportRotate;      // 是否支持旋转功能
 };
 
 /**

App/GrabBag/GrabBagConfig/Src/VrConfig.cpp

@@ -172,6 +172,19 @@ ConfigResult CVrConfig::LoadConfig(const std::string& filePath)
                 result.algorithmParams.growParam.minVTypeTreeLen = growParamElement->DoubleAttribute("minVTypeTreeLen");
         }
         
+        // 解析支持旋转参数
+        XMLElement* supportRotateElement = algoParamsElement->FirstChildElement("SupportRotate");
+        if (supportRotateElement)
+        {
+            if (supportRotateElement->Attribute("enabled"))
+                result.algorithmParams.supportRotate = supportRotateElement->IntAttribute("enabled");
+        }
+        else
+        {
+            // 默认值为0，表示不支持旋转
+            result.algorithmParams.supportRotate = 0;
+        }
+        
         // 解析HSV颜色比较参数
         XMLElement* hsvCmpParamElement = algoParamsElement->FirstChildElement("HsvCmpParam");
         if (hsvCmpParamElement)
@@ -506,6 +519,11 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     growParamElement->SetAttribute("minVTypeTreeLen", configResult.algorithmParams.growParam.minVTypeTreeLen);
     algoParamsElement->InsertEndChild(growParamElement);
     
+    // 添加支持旋转参数
+    XMLElement* supportRotateElement = doc.NewElement("SupportRotate");
+    supportRotateElement->SetAttribute("enabled", configResult.algorithmParams.supportRotate);
+    algoParamsElement->InsertEndChild(supportRotateElement);
+    
     // 添加多相机平面校准参数
     XMLElement* planeCalibParamsElement = doc.NewElement("PlaneCalibParams");
     

App/GrabBag/GrabBagConfig/config/config.xml

@@ -32,6 +32,9 @@
         <GrowParam maxLineSkipNum="5" yDeviation_max="20.0" maxSkipDistance="20.0" 
                    zDeviation_max="80.0" minLTypeTreeLen="50.0" minVTypeTreeLen="50.0" />
         
+        <!-- 支持旋转参数 -->
+        <SupportRotate enabled="0" />
+        
         <!-- HSV颜色比较参数 -->
         <HsvCmpParam hueTh="15.0" saturateTh="120.0" FBVldPtRatioTh="0.075" 
                      frontVldPtGreater="true" front_upVldPtGreater="false" back_upVldPtGreater="true" />

SDK/bagPosition/Inc/SG_bagPositioning_Export.h

@@ -34,6 +34,7 @@ typedef struct
 	SSG_treeGrowParam growParam;
 	//SSG_objSortParam sortParam;
 	//SSG_polarScanParam polarScanParam;
+	int supportRotate;
 }SG_bagPositionParam;
 
 typedef struct

SDK/bagPosition/Inc/SG_baseDataType.h

@@ -219,6 +219,7 @@ typedef struct
 	double tree_value;
 	SSG_ROIRectD roi;
 	std::vector< SSG_basicFeature1D> treeNodes;
+	int angleChkScalePos; //仅用于加速angleCheck的速度
 }SSG_featureTree;
 
 typedef struct

SDK/bagPosition/Inc/SG_errCode.h

@@ -6,3 +6,7 @@
 #define SG_ERR_NOT_GRID_FORMAT		-1003
 #define SG_ERR_LABEL_INFO_ERROR		-1004
 #define SG_ERR_INVLD_SORTING_MODE	-1005
+
+//BQ_workpiece
+#define SX_ERR_INVLD_VTREE_NUM		-2001
+#define SX_ERR_INVLD_HTREE_NUM		-2002