From b355ac976305ef9a71d84897e3b0596ce2b96db7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=B0=E4=BB=94?= Date: Mon, 23 Jun 2025 00:05:19 +0800 Subject: [PATCH] =?UTF-8?q?=E5=A2=9E=E5=8A=A0=E6=89=8B=E7=9C=BC=E8=BD=AC?= =?UTF-8?q?=E6=8D=A2=EF=BC=9B=E6=B7=BB=E5=8A=A0=E8=BE=93=E5=85=A5=E6=B3=95?= =?UTF-8?q?=E6=8F=90=E7=A4=BA=E4=BB=A5=E9=99=90=E5=88=B6=E8=BE=93=E5=85=A5?= =?UTF-8?q?=E4=B8=BA=E6=95=B0=E5=AD=97=EF=BC=8C=E9=87=8D=E6=9E=84=E9=85=8D?= =?UTF-8?q?=E7=BD=AE=E5=8F=82=E6=95=B0=E7=9A=84=E5=8A=A0=E8=BD=BD=E5=92=8C?= =?UTF-8?q?=E4=BF=9D=E5=AD=98=E9=80=BB=E8=BE=91=EF=BC=8C=E5=A2=9E=E5=BC=BA?= =?UTF-8?q?=E6=97=A5=E5=BF=97=E8=AE=B0=E5=BD=95=E5=8A=9F=E8=83=BD=EF=BC=8C?= =?UTF-8?q?=E6=9B=B4=E6=96=B0=E7=89=88=E6=9C=AC=E4=BF=A1=E6=81=AF=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Doc/~$袋拆垛项目相机端通信协议.docx | Bin 162 -> 0 bytes GrabBagApp/GrabBagApp.pro | 2 + GrabBagApp/Presenter/Inc/GrabBagPresenter.h | 4 +- GrabBagApp/Presenter/Inc/PathManager.h | 57 ++++++ GrabBagApp/Presenter/Src/GrabBagPresenter.cpp | 163 ++++++++++-------- GrabBagApp/Presenter/Src/PathManager.cpp | 65 +++++++ GrabBagApp/Version.h | 4 +- GrabBagApp/dialogcamera.ui | 18 ++ GrabBagApp/dialogcameralevel.ui | 9 + GrabBagApp/dialogconfig.cpp | 56 +++--- GrabBagApp/dialogconfig.ui | 60 +++++-- GrabBagApp/main.cpp | 6 +- GrabBagApp/mainwindow.cpp | 7 +- GrabBagApp/resultitem.ui | 55 +++++- GrabBagPrj/pkg_app.sh | 1 - VrConfig/Inc/IVrConfig.h | 11 ++ VrConfig/Src/VrConfig.cpp | 19 ++ VrConfig/config/config.xml | 3 + VrEyeDevice/Inc/VrConvert.h | 22 +++ VrEyeDevice/Src/VrConvert.cpp | 120 +++++++++++++ VrEyeDevice/VrEyeDevice.pro | 14 +- VrUtils/VrUtils.pro | 3 + 22 files changed, 580 insertions(+), 119 deletions(-) delete mode 100644 Doc/~$袋拆垛项目相机端通信协议.docx create mode 100644 GrabBagApp/Presenter/Inc/PathManager.h create mode 100644 GrabBagApp/Presenter/Src/PathManager.cpp create mode 100644 VrEyeDevice/Inc/VrConvert.h create mode 100644 VrEyeDevice/Src/VrConvert.cpp diff --git a/Doc/~$袋拆垛项目相机端通信协议.docx b/Doc/~$袋拆垛项目相机端通信协议.docx deleted file mode 100644 index 5e4e7dab1b9cf0f80b7ab37171d3c8e6297bddd4..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 162 dcmZQ6Elw?BAQiAMlrj`Eq%x4MlT@1+7y!>@1BU #include #include @@ -86,7 +87,7 @@ private: void _ClearDetectionDataCache(); // 发送检测结果给机械臂 - void _SendDetectionResultToRobot(const std::vector& objOps, int cameraIndex); + void _SendDetectionResultToRobot(const DetectionResult& detectionResult, int cameraIndex); private: IVrConfig* m_vrConfig = nullptr; @@ -112,6 +113,7 @@ private: // 算法参数成员变量 SG_bagPositionParam m_algoParam; // 算法参数 SSG_planeCalibPara m_planeCalibParam; // 平面校准参数 + double m_clibMatrix[16]; // 手眼标定矩阵 // 调试数据加载器 LaserDataLoader m_dataLoader; diff --git a/GrabBagApp/Presenter/Inc/PathManager.h b/GrabBagApp/Presenter/Inc/PathManager.h new file mode 100644 index 0000000..d2abe9f --- /dev/null +++ b/GrabBagApp/Presenter/Inc/PathManager.h @@ -0,0 +1,57 @@ +#ifndef PATHMANAGER_H +#define PATHMANAGER_H + +#include + +/** + * @brief 路径管理器类，统一管理应用程序的配置文件路径 + * + * 该类负责根据不同操作系统提供合适的配置文件存储路径： + * - Windows: 程序目录 + * - Linux: 用户配置目录 (~/.config/GrabBag/) + */ +class PathManager +{ +public: + /** + * @brief 获取配置文件(config.xml)的完整路径 + * @return 配置文件的完整路径 + */ + static QString GetConfigFilePath(); + + /** + * @brief 获取手眼标定文件(clib.ini)的完整路径 + * @return 手眼标定文件的完整路径 + */ + static QString GetCalibrationFilePath(); + + +private: + + /** + * @brief 确保配置目录存在，如果不存在则创建 + * @return 成功创建或目录已存在返回true，失败返回false + */ + static bool EnsureConfigDirectoryExists(); + + /** + * @brief 获取应用程序配置目录路径 + * @return 配置目录的完整路径 + */ + static QString GetAppConfigDirectory(); + + + /** + * @brief 获取程序目录路径 + * @return 程序目录的完整路径 + */ + static QString GetProgramDirectory(); + + /** + * @brief 获取用户配置目录路径（仅Linux系统） + * @return 用户配置目录的完整路径 + */ + static QString GetUserConfigDirectory(); +}; + +#endif // PATHMANAGER_H \ No newline at end of file diff --git a/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp b/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp index 340849a..098e5ad 100644 --- a/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp +++ b/GrabBagApp/Presenter/Src/GrabBagPresenter.cpp @@ -5,6 +5,8 @@ #include #include #include +#include +#include #include #include #include @@ -12,6 +14,7 @@ #include "VrTimeUtils.h" #include "SG_bagPositioning_Export.h" +#include "VrConvert.h" GrabBagPresenter::GrabBagPresenter() : m_vrConfig(nullptr) @@ -67,11 +70,8 @@ int GrabBagPresenter::Init() m_vrConfig->SetConfigChangeNotify(this); } - // 获取可执行文件路径 - QString exePath = QCoreApplication::applicationFilePath(); - - // 获取可执行文件所在目录 - QString configPath = QFileInfo(exePath).absoluteDir().path() + "/config.xml"; + // 获取配置文件路径 + QString configPath = PathManager::GetConfigFilePath(); // 读取IP列表 ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString()); @@ -227,15 +227,49 @@ int GrabBagPresenter::InitRobotProtocol() int GrabBagPresenter::InitAlgorithmParams() { LOG_DEBUG("Start initializing algorithm parameters\n"); - - // 获取可执行文件路径 QString exePath = QCoreApplication::applicationFilePath(); - QString configPath = QFileInfo(exePath).absoluteDir().path() + "/config.xml"; + + // 初始化手眼标定矩阵为单位矩阵（4x4变换矩阵） + double initClibMatrix[16] = { + 1.0, 0.0, 0.0, 0.0, // 第一行 + 0.0, 1.0, 0.0, 0.0, // 第二行 + 0.0, 0.0, 1.0, 0.0, // 第三行 + 0.0, 0.0, 0.0, 1.0 // 第四行 + }; + for (int i = 0; i < 16; i++) { + m_clibMatrix[i] = initClibMatrix[i]; + } + + // 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()); + if(QFile::exists(clibPath)) + { + CVrConvert::LoadClibMatrix(clibPath.toStdString().c_str(), "clib", m_clibMatrix); + } + + // 获取配置文件路径 + QString configPath = PathManager::GetConfigFilePath(); + + LOG_INFO("Loading configuration from: %s\n", configPath.toStdString().c_str()); + + // 检查配置文件是否存在 + QFileInfo configFileInfo(configPath); + if (!configFileInfo.exists()) { + LOG_ERROR("Configuration file does not exist: %s\n", configPath.toStdString().c_str()); + return ERR_CODE(FILE_ERR_NOEXIST); + } // 读取配置文件 ConfigResult configResult = m_vrConfig->LoadConfig(configPath.toStdString()); const VrAlgorithmParams& xmlParams = configResult.algorithmParams; + LOG_INFO("Loaded XML params - Bag: L=%.1f, W=%.1f, H=%.1f\n", + xmlParams.bagParam.bagL, xmlParams.bagParam.bagW, xmlParams.bagParam.bagH); + LOG_INFO("Loaded XML params - Pile: L=%.1f, W=%.1f, H=%.1f\n", + xmlParams.pileParam.pileL, xmlParams.pileParam.pileW, xmlParams.pileParam.pileH); + // 初始化算法参数结构 memset(&m_algoParam, 0, sizeof(SG_bagPositionParam)); @@ -248,24 +282,12 @@ int GrabBagPresenter::InitAlgorithmParams() m_algoParam.filterParam.continuityTh = xmlParams.filterParam.continuityTh; m_algoParam.filterParam.outlierTh = xmlParams.filterParam.outlierTh; -#if BAG_ALGO_USE_CORNER_FEATURE // 设置角点特征参数 - m_algoParam.cornerParam.cornerTh = xmlParams.cornerParam.cornerTh; - m_algoParam.cornerParam.scale = xmlParams.cornerParam.scale; - m_algoParam.cornerParam.minEndingGap = xmlParams.cornerParam.minEndingGap; - m_algoParam.cornerParam.jumpCornerTh_1 = xmlParams.cornerParam.jumpCornerTh_1; - m_algoParam.cornerParam.jumpCornerTh_2 = xmlParams.cornerParam.jumpCornerTh_2; -#else - // 设置斜率参数 - m_algoParam.slopeParam.LSlopeZWin = xmlParams.slopeParam.LSlopeZWin; - m_algoParam.slopeParam.validSlopeH = xmlParams.slopeParam.validSlopeH; - m_algoParam.slopeParam.minLJumpH = xmlParams.slopeParam.minLJumpH; - m_algoParam.slopeParam.minEndingGap = xmlParams.slopeParam.minEndingGap; - - // 设置山谷参数 - m_algoParam.valleyPara.valleyMinH = xmlParams.valleyParam.valleyMinH; - m_algoParam.valleyPara.valleyMaxW = xmlParams.valleyParam.valleyMaxW; -#endif + m_algoParam.cornerParam.cornerTh = xmlParams.cornerParam.cornerTh; + m_algoParam.cornerParam.scale = xmlParams.cornerParam.scale; + m_algoParam.cornerParam.minEndingGap = xmlParams.cornerParam.minEndingGap; + m_algoParam.cornerParam.jumpCornerTh_1 = xmlParams.cornerParam.jumpCornerTh_1; + m_algoParam.cornerParam.jumpCornerTh_2 = xmlParams.cornerParam.jumpCornerTh_2; // 设置增长参数 m_algoParam.growParam.maxLineSkipNum = xmlParams.growParam.maxLineSkipNum; @@ -288,7 +310,7 @@ int GrabBagPresenter::InitAlgorithmParams() m_planeCalibParam.planeHeight = xmlParams.planeCalibParam.planeHeight; LOG_INFO("Algorithm parameters initialized successfully:\n"); - LOG_INFO(" Bag: L=%d, W=%d, H=%d\n", m_algoParam.bagParam.bagL, m_algoParam.bagParam.bagW, m_algoParam.bagParam.bagH); + 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); @@ -545,7 +567,6 @@ bool GrabBagPresenter::IsCameraConnected(int index) } - // 静态回调函数实现 void GrabBagPresenter::_StaticCameraNotify(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam) { @@ -681,7 +702,7 @@ void GrabBagPresenter::_AlgoDetectThread() int GrabBagPresenter::_DetectTask() { - LOG_INFO("----- Start real detection task using algorithm\n"); + LOG_INFO("[Algo Thread] Start real detection task using algorithm\n"); // 1. 获取缓存的点云数据 if (m_detectionDataCache.empty()) { @@ -698,8 +719,8 @@ int GrabBagPresenter::_DetectTask() } // 3. 使用成员变量算法参数（已在初始化时从XML读取） - LOG_INFO("Using algorithm parameters from XML configuration\n"); - LOG_INFO(" Bag: L=%d, W=%d, H=%d\n", m_algoParam.bagParam.bagL, m_algoParam.bagParam.bagW, m_algoParam.bagParam.bagH); + LOG_INFO("[Algo Thread] Using algorithm parameters from XML configuration\n"); + 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); CVrTimeUtils oTimeUtils; @@ -707,14 +728,12 @@ int GrabBagPresenter::_DetectTask() for (size_t i = 0; i < m_detectionDataCache.size(); i++) { sg_lineDataR(&m_detectionDataCache[i], m_planeCalibParam.planeCalib, m_planeCalibParam.planeHeight); } - LOG_DEBUG("sg_lineDataR time: %.2f ms\n", oTimeUtils.GetElapsedTimeInMilliSec()); - + // 5. 调用算法检测接口（使用成员变量参数） - oTimeUtils.Update(); std::vector objOps; sg_getBagPosition(static_cast(m_detectionDataCache.data()), m_detectionDataCache.size(), m_algoParam, m_planeCalibParam, objOps); - LOG_INFO("sg_getBagPosition detected %zu objects time : %.2f ms\n", objOps.size(), oTimeUtils.GetElapsedTimeInMilliSec()); + LOG_INFO("[Algo Thread] sg_getBagPosition detected %zu objects time : %.2f ms\n", objOps.size(), oTimeUtils.GetElapsedTimeInMilliSec()); // 6. 转换检测结果为UI显示格式 DetectionResult detectionResult; @@ -722,7 +741,7 @@ int GrabBagPresenter::_DetectTask() detectionResult.image = _GeneratePointCloudImage(static_cast(m_detectionDataCache.data()), m_detectionDataCache.size(), objOps); - // 转换检测结果 + // 转换检测结果为UI显示格式（使用机械臂坐标系数据） for (size_t i = 0; i < objOps.size(); i++) { const SSG_peakRgnInfo& obj = objOps[i]; @@ -733,18 +752,29 @@ int GrabBagPresenter::_DetectTask() detectionResult.positionLayout.push_back(layer); } - // 创建位置数据 + // 进行坐标转换：从算法坐标系转换到机械臂坐标系 + SVzNL3DPoint targetObj; + targetObj.x = obj.centerPos.x; + targetObj.y = obj.centerPos.y; + targetObj.z = obj.centerPos.z; + + SVzNL3DPoint robotObj; + CVrConvert::EyeToRobot(targetObj, robotObj, m_clibMatrix); + + // 创建位置数据（使用转换后的机械臂坐标） GrabBagPosition pos; - pos.x = obj.centerPos.x; - pos.y = obj.centerPos.y; - pos.z = obj.centerPos.z; - pos.roll = obj.centerPos.x_roll; - pos.pitch = obj.centerPos.y_pitch; - pos.yaw = obj.centerPos.z_yaw; + pos.x = robotObj.x; // 机械臂坐标X + pos.y = robotObj.y; // 机械臂坐标Y + pos.z = robotObj.z; // 机械臂坐标Z + pos.roll = obj.centerPos.x_roll; // 保持原有姿态角 + pos.pitch = obj.centerPos.y_pitch; // 保持原有姿态角 + pos.yaw = obj.centerPos.z_yaw; // 保持原有偏航角 detectionResult.positionLayout[0].position.push_back(pos); - LOG_INFO("Object %zu: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n", + LOG_INFO("[Algo Thread] Object %zu Eye Coords: X=%.2f, Y=%.2f, Z=%.2f\n", + i, obj.centerPos.x, obj.centerPos.y, obj.centerPos.z); + LOG_INFO("[Algo Thread] Object %zu Robot Coords: X=%.2f, Y=%.2f, Z=%.2f, Roll=%.2f, Pitch=%.2f, Yaw=%.2f\n", i, pos.x, pos.y, pos.z, pos.roll, pos.pitch, pos.yaw); } @@ -756,8 +786,8 @@ int GrabBagPresenter::_DetectTask() QString statusMsg = QString("检测完成，发现%1个目标").arg(objOps.size()); m_pStatus->OnStatusUpdate(statusMsg.toStdString()); - // 更新机械臂协议状态（发送第一个检测到的目标位置） - _SendDetectionResultToRobot(objOps, m_currentCameraIndex); + // 更新机械臂协议状态（发送转换后的目标位置数据） + _SendDetectionResultToRobot(detectionResult, m_currentCameraIndex); // 9. 检测完成后，将工作状态更新为"完成" if (m_pStatus) { @@ -801,19 +831,19 @@ void GrabBagPresenter::_ClearDetectionDataCache() } // 发送检测结果给机械臂 -void GrabBagPresenter::_SendDetectionResultToRobot(const std::vector& objOps, int cameraIndex) +void GrabBagPresenter::_SendDetectionResultToRobot(const DetectionResult& detectionResult, int cameraIndex) { if (!m_pRobotProtocol) { - LOG_WARNING("Robot protocol not initialized, cannot send detection result\n"); + LOG_WARNING("[Robot Task] Robot protocol not initialized, cannot send detection result\n"); return; } // 准备多目标数据结构 RobotProtocol::MultiTargetData multiTargetData; - multiTargetData.count = static_cast(objOps.size()); - if (objOps.empty()) { - LOG_INFO("No objects detected, sending empty result to robot\n"); + // 检查是否有检测结果 + if (detectionResult.positionLayout.empty() || detectionResult.positionLayout[0].position.empty()) { + LOG_INFO("[Robot Task] No objects detected, sending empty result to robot\n"); // 发送空的多目标数据 multiTargetData.count = 0; multiTargetData.targets.clear(); @@ -822,27 +852,22 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const std::vectorOnStatusUpdate("没有检测到目标，发送空的多目标数据给机械臂"); } return; - } + } + // 获取检测到的目标位置（已经是机械臂坐标系） + const auto& positions = detectionResult.positionLayout[0].position; + multiTargetData.count = static_cast(positions.size()); - // 转换所有检测结果为机械臂坐标 - for (size_t i = 0; i < objOps.size(); i++) { - const SSG_peakRgnInfo& targetObj = objOps[i]; + // 直接使用已经转换好的机械臂坐标 + for (size_t i = 0; i < positions.size(); i++) { + const GrabBagPosition& pos = positions[i]; - LOG_INFO("Target %zu: X=%f, Y=%f, Z=%f, Yaw=%f\n", - i, targetObj.centerPos.x, targetObj.centerPos.y, targetObj.centerPos.z, - targetObj.centerPos.z_yaw); - - // 坐标转换：从算法坐标系转换到机械臂坐标系 + // 直接使用已转换的坐标数据 RobotProtocol::TargetPosition robotTarget; - - // 位置坐标转换 (单位转换：mm -> mm，坐标系转换等) - robotTarget.x = targetObj.centerPos.x; // X轴坐标 - robotTarget.y = targetObj.centerPos.y; // Y轴坐标 - robotTarget.z = targetObj.centerPos.z; // Z轴坐标 - - // 姿态角度转换 (弧度转角度，只保留Z轴旋转角) - robotTarget.rz = targetObj.centerPos.z_yaw; // Yaw角 (弧度转角度) + robotTarget.x = pos.x; // 已转换的X轴坐标 + robotTarget.y = pos.y; // 已转换的Y轴坐标 + robotTarget.z = pos.z; // 已转换的Z轴坐标 + robotTarget.rz = pos.yaw; // Yaw角 // 添加到多目标数据 multiTargetData.targets.push_back(robotTarget); @@ -850,7 +875,7 @@ void GrabBagPresenter::_SendDetectionResultToRobot(const std::vectorSetMultiTargetData(multiTargetData, cameraIndex); - LOG_INFO("SetMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex); + LOG_INFO("[Robot Task] SetMultiTargetData result: %d for camera ID: %d\n", result, cameraIndex); if (m_pStatus) { if (result != SUCCESS) { m_pStatus->OnStatusUpdate(QString("发送多目标坐标给机械臂失败，相机ID: %1").arg(cameraIndex).toStdString()); @@ -1002,3 +1027,5 @@ void GrabBagPresenter::OnConfigChanged(const ConfigResult& configResult) + + diff --git a/GrabBagApp/Presenter/Src/PathManager.cpp b/GrabBagApp/Presenter/Src/PathManager.cpp new file mode 100644 index 0000000..25ab257 --- /dev/null +++ b/GrabBagApp/Presenter/Src/PathManager.cpp @@ -0,0 +1,65 @@ +#include "PathManager.h" +#include +#include +#include +#include +#include +#include "VrLog.h" + +QString PathManager::GetConfigFilePath() +{ + // 确保目标目录存在 + EnsureConfigDirectoryExists(); + return GetAppConfigDirectory() + "/config.xml"; +} + +QString PathManager::GetCalibrationFilePath() +{ + // 确保目标目录存在 + EnsureConfigDirectoryExists(); + return GetAppConfigDirectory() + "/clib.ini"; +} + +QString PathManager::GetAppConfigDirectory() +{ +#ifdef _WIN32 + // Windows系统：使用程序目录 + return GetProgramDirectory(); +#else + // Linux系统：使用用户配置目录 + return GetUserConfigDirectory() + "/GrabBag"; +#endif +} + +bool PathManager::EnsureConfigDirectoryExists() +{ + QString configDir = GetAppConfigDirectory(); + + if (QDir().exists(configDir)) { + LOG_DEBUG("Configuration directory already exists: %s\n", configDir.toStdString().c_str()); + return true; + } + + LOG_INFO("Creating configuration directory: %s\n", configDir.toStdString().c_str()); + + bool success = QDir().mkpath(configDir); + if (success) { + LOG_INFO("Configuration directory created successfully\n"); + } else { + LOG_ERROR("Failed to create configuration directory: %s\n", configDir.toStdString().c_str()); + } + + return success; +} + + +QString PathManager::GetProgramDirectory() +{ + QString exePath = QCoreApplication::applicationFilePath(); + return QFileInfo(exePath).absoluteDir().path(); +} + +QString PathManager::GetUserConfigDirectory() +{ + return QStandardPaths::writableLocation(QStandardPaths::ConfigLocation); +} \ No newline at end of file diff --git a/GrabBagApp/Version.h b/GrabBagApp/Version.h index 8a1e44d..af22c1b 100644 --- a/GrabBagApp/Version.h +++ b/GrabBagApp/Version.h @@ -3,8 +3,8 @@ #define GRABBAG_VERSION_STRING "1.0.0" -#define GRABBAG_BUILD_STRING "1" -#define GRABBAG_FULL_VERSION_STRING "V1.0.0_1" +#define GRABBAG_BUILD_STRING "2" +#define GRABBAG_FULL_VERSION_STRING "V1.0.0_2" // 获取版本信息的便捷函数 inline const char* GetGrabBagVersion() { diff --git a/GrabBagApp/dialogcamera.ui b/GrabBagApp/dialogcamera.ui index 4e7274f..2cb2044 100644 --- a/GrabBagApp/dialogcamera.ui +++ b/GrabBagApp/dialogcamera.ui @@ -103,6 +103,9 @@ color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -135,6 +138,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -167,6 +173,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -237,6 +246,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -269,6 +281,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -301,6 +316,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + diff --git a/GrabBagApp/dialogcameralevel.ui b/GrabBagApp/dialogcameralevel.ui index 48d567c..91c36a3 100644 --- a/GrabBagApp/dialogcameralevel.ui +++ b/GrabBagApp/dialogcameralevel.ui @@ -124,6 +124,9 @@ color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -137,6 +140,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -150,6 +156,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + diff --git a/GrabBagApp/dialogconfig.cpp b/GrabBagApp/dialogconfig.cpp index 2ff6719..ac6fcfe 100644 --- a/GrabBagApp/dialogconfig.cpp +++ b/GrabBagApp/dialogconfig.cpp @@ -5,7 +5,10 @@ #include #include #include +#include +#include #include "VrLog.h" +#include "PathManager.h" DialogConfig::DialogConfig(IVrConfig* devConfig, QWidget *parent) : QDialog(parent), @@ -18,8 +21,7 @@ DialogConfig::DialogConfig(IVrConfig* devConfig, QWidget *parent) : setWindowFlags(Qt::FramelessWindowHint); // 获取配置文件路径 - QString exePath = QCoreApplication::applicationFilePath(); - m_configFilePath = QFileInfo(exePath).absoluteDir().path() + "/config.xml"; + m_configFilePath = PathManager::GetConfigFilePath(); // 从配置文件加载数据到界面 LoadConfigToUI(); @@ -44,20 +46,24 @@ void DialogConfig::LoadConfigToUI() // 将算法参数加载到界面控件 const VrAlgorithmParams& params = m_configData.algorithmParams; - // 垛型参数（假设这些对应UI中的垛长、垛宽、垛高） - ui->lineEdit->setText(QString::number(params.bagParam.bagL)); // 垛长 - ui->lineEdit_2->setText(QString::number(params.bagParam.bagW)); // 垛宽 - ui->lineEdit_3->setText(QString::number(params.bagParam.bagH)); // 垛高 + LOG_INFO("LoadConfigToUI: pileL:%.1f, pileW:%.1f, pileH:%.1f, bagL:%.1f, bagW:%.1f, bagH:%.1f\n", + params.pileParam.pileL, params.pileParam.pileW, params.pileParam.pileH, + params.bagParam.bagL, params.bagParam.bagW, params.bagParam.bagH); + + // 垛型参数 + ui->lineEdit_pile_length->setText(QString::number(params.pileParam.pileL)); // 垛长 + ui->lineEdit_pile_width->setText(QString::number(params.pileParam.pileW)); // 垛宽 + ui->lineEdit_pile_height->setText(QString::number(params.pileParam.pileH)); // 垛高 // 袋型参数 - ui->lineEdit_4->setText(QString::number(params.bagParam.bagL)); // 袋长 - ui->lineEdit_5->setText(QString::number(params.bagParam.bagW)); // 袋宽 - ui->lineEdit_6->setText(QString::number(params.bagParam.bagH)); // 袋高 + ui->lineEdit_bag_length->setText(QString::number(params.bagParam.bagL)); // 袋长 + ui->lineEdit_bag_width->setText(QString::number(params.bagParam.bagW)); // 袋宽 + ui->lineEdit_bag_height->setText(QString::number(params.bagParam.bagH)); // 袋高 // 过滤参数 - ui->lineEdit_7->setText(QString::number(params.filterParam.continuityTh)); // X过滤 - ui->lineEdit_8->setText(QString::number(params.filterParam.outlierTh)); // Y过滤 - ui->lineEdit_9->setText(QString::number(params.planeCalibParam.planeHeight)); // Z过滤 + ui->lineEdit_filter_x->setText(QString::number(params.filterParam.continuityTh)); // X过滤 + ui->lineEdit_filter_y->setText(QString::number(params.filterParam.outlierTh)); // Y过滤 + ui->lineEdit_filter_z->setText(QString::number(params.planeCalibParam.planeHeight)); // Z过滤 LOG_INFO("Configuration loaded to UI successfully\n"); @@ -86,18 +92,26 @@ bool DialogConfig::SaveConfigFromUI() VrAlgorithmParams& params = m_configData.algorithmParams; // 垛型参数 - params.bagParam.bagL = ui->lineEdit->text().toDouble(); // 垛长 - params.bagParam.bagW = ui->lineEdit_2->text().toDouble(); // 垛宽 - params.bagParam.bagH = ui->lineEdit_3->text().toDouble(); // 垛高 + params.pileParam.pileL = ui->lineEdit_pile_length->text().toDouble(); // 垛长 + params.pileParam.pileW = ui->lineEdit_pile_width->text().toDouble(); // 垛宽 + params.pileParam.pileH = ui->lineEdit_pile_height->text().toDouble(); // 垛高 - // 袋型参数（这里简化处理，实际可能需要分开） - // ui->lineEdit_4, ui->lineEdit_5, ui->lineEdit_6 可以作为袋的单独参数 + // 袋型参数 + params.bagParam.bagL = ui->lineEdit_bag_length->text().toDouble(); // 袋长 + params.bagParam.bagW = ui->lineEdit_bag_width->text().toDouble(); // 袋宽 + params.bagParam.bagH = ui->lineEdit_bag_height->text().toDouble(); // 袋高 // 过滤参数 - params.filterParam.continuityTh = ui->lineEdit_7->text().toDouble(); // X过滤 - params.filterParam.outlierTh = ui->lineEdit_8->text().toInt(); // Y过滤 - params.planeCalibParam.planeHeight = ui->lineEdit_9->text().toDouble(); // Z过滤 + params.filterParam.continuityTh = ui->lineEdit_filter_x->text().toDouble(); // X过滤 + params.filterParam.outlierTh = ui->lineEdit_filter_y->text().toInt(); // Y过滤 + params.planeCalibParam.planeHeight = ui->lineEdit_filter_z->text().toDouble(); // Z过滤 + + LOG_INFO("SaveConfigFromUI: pileL:%.1f, pileW:%.1f, pileH:%.1f, bagL:%.1f, bagW:%.1f, bagH:%.1f, continuityTh:%.1f, outlierTh:%d, planeHeight:%.1f\n", + params.pileParam.pileL, params.pileParam.pileW, params.pileParam.pileH, + params.bagParam.bagL, params.bagParam.bagW, params.bagParam.bagH, + params.filterParam.continuityTh, params.filterParam.outlierTh, params.planeCalibParam.planeHeight); + LOG_DEBUG("Starting to save configuration to file: %s\n", m_configFilePath.toStdString().c_str()); // 保存配置文件，SaveConfig会自动触发通知回调 bool success = m_vrConfig->SaveConfig(m_configFilePath.toStdString(), m_configData); @@ -143,3 +157,5 @@ void DialogConfig::on_btn_cancel_clicked() // 直接关闭窗口，不保存任何更改 reject(); } + + diff --git a/GrabBagApp/dialogconfig.ui b/GrabBagApp/dialogconfig.ui index 2aec316..537ffb0 100644 --- a/GrabBagApp/dialogconfig.ui +++ b/GrabBagApp/dialogconfig.ui @@ -93,7 +93,7 @@ - + 18 @@ -103,6 +103,9 @@ color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -125,7 +128,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -135,6 +138,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -157,7 +163,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -167,6 +173,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -218,7 +227,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -228,6 +237,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -250,7 +262,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -260,6 +272,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -282,7 +297,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -292,6 +307,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -343,7 +361,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -353,6 +371,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -375,7 +396,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -385,6 +406,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -407,7 +431,7 @@ background-color: rgb(47, 48, 52); - + 18 @@ -417,6 +441,9 @@ background-color: rgb(47, 48, 52); color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); + + Qt::InputMethodHint::ImhDigitsOnly + @@ -471,12 +498,15 @@ background-color: rgb(47, 48, 52); - lineEdit - lineEdit_3 - lineEdit_4 - lineEdit_6 - lineEdit_7 - lineEdit_9 + lineEdit_pile_length + lineEdit_pile_width + lineEdit_pile_height + lineEdit_bag_length + lineEdit_bag_width + lineEdit_bag_height + lineEdit_filter_x + lineEdit_filter_y + lineEdit_filter_z btn_apply btn_cancel diff --git a/GrabBagApp/main.cpp b/GrabBagApp/main.cpp index a1c874f..f188638 100644 --- a/GrabBagApp/main.cpp +++ b/GrabBagApp/main.cpp @@ -2,6 +2,10 @@ #include #include +#include +#include +#include +#include int main(int argc, char *argv[]) { @@ -13,4 +17,4 @@ int main(int argc, char *argv[]) MainWindow w; w.show(); return a.exec(); -} +} \ No newline at end of file diff --git a/GrabBagApp/mainwindow.cpp b/GrabBagApp/mainwindow.cpp index a4dbd46..c4dd5dc 100644 --- a/GrabBagApp/mainwindow.cpp +++ b/GrabBagApp/mainwindow.cpp @@ -52,9 +52,12 @@ MainWindow::MainWindow(QWidget *parent) QLabel* buildLabel = new QLabel(versionWithBuildTime); buildLabel->setStyleSheet("color: rgb(239, 241, 245); font-size: 20px; margin-right: 16px;"); statusBar()->addPermanentWidget(buildLabel); + + // 隐藏标题栏 + setWindowFlags(Qt::FramelessWindowHint); - // 启动后自动全屏显示 - this->showFullScreen(); + // 启动后自动最大化显示 + this->showMaximized(); // 初始化GraphicsScene QGraphicsScene* scene = new QGraphicsScene(this); diff --git a/GrabBagApp/resultitem.ui b/GrabBagApp/resultitem.ui index 1778092..15627c0 100644 --- a/GrabBagApp/resultitem.ui +++ b/GrabBagApp/resultitem.ui @@ -21,9 +21,9 @@ 50 - 50 - 181 - 131 + 40 + 191 + 151 @@ -31,6 +31,11 @@ + + + 12 + + Qt::LayoutDirection::RightToLeft @@ -48,6 +53,11 @@ background-color: rgb(37, 38, 42); + + + 12 + + Qt::LayoutDirection::RightToLeft @@ -65,6 +75,11 @@ background-color: rgb(37, 38, 42); + + + 12 + + Qt::LayoutDirection::RightToLeft @@ -82,6 +97,11 @@ background-color: rgb(37, 38, 42); + + + 12 + + Qt::LayoutDirection::RightToLeft @@ -103,6 +123,11 @@ background-color: rgb(37, 38, 42); + + + -1 + + background-color: rgb(59, 61, 71); color: rgb(239, 241, 245); @@ -114,6 +139,11 @@ font-size: 12px; + + + -1 + + background-color: rgb(59, 61, 71); color: rgb(239, 241, 245); @@ -125,6 +155,11 @@ font-size: 12px; + + + -1 + + background-color: rgb(59, 61, 71); color: rgb(239, 241, 245); @@ -136,6 +171,11 @@ font-size: 12px; + + + -1 + + background-color: rgb(59, 61, 71); color: rgb(239, 241, 245); @@ -153,11 +193,16 @@ font-size: 12px; 52 - 17 - 63 + 10 + 191 30 + + + 12 + + Qt::LayoutDirection::LeftToRight diff --git a/GrabBagPrj/pkg_app.sh b/GrabBagPrj/pkg_app.sh index cf6d4e1..f8aa360 100644 --- a/GrabBagPrj/pkg_app.sh +++ b/GrabBagPrj/pkg_app.sh @@ -213,7 +213,6 @@ echo "Icon=/usr/share/pixmaps/grabbag.png" >> ${DESKTOP_PATH} echo "Categories=Development;" >> ${DESKTOP_PATH} echo "GenericName=GrabBag App" >> ${DESKTOP_PATH} echo "Keywords=grabbag;app;" >> ${DESKTOP_PATH} -echo "SingleMainWindow=true" >> ${DESKTOP_PATH} echo "StartupNotify=true" >> ${DESKTOP_PATH} echo "设置文件权限..." diff --git a/VrConfig/Inc/IVrConfig.h b/VrConfig/Inc/IVrConfig.h index 6a1d066..e585b8d 100644 --- a/VrConfig/Inc/IVrConfig.h +++ b/VrConfig/Inc/IVrConfig.h @@ -21,6 +21,16 @@ struct VrBagParam double bagH = 160.0; // 高 }; +/** + * @brief 垛参数 + */ +struct VrPileParam +{ + double pileL = 1300.0; // 垛长 + double pileW = 900.0; // 垛宽 + double pileH = 800.0; // 垛高 +}; + /** * @brief 离群点滤波参数 */ @@ -91,6 +101,7 @@ struct VrPlaneCalibParam struct VrAlgorithmParams { VrBagParam bagParam; // 编织袋参数 + VrPileParam pileParam; // 垛参数 VrOutlierFilterParam filterParam; // 滤波参数 VrCornerParam cornerParam; // 角点特征参数 VrSlopeParam slopeParam; // 斜率参数 diff --git a/VrConfig/Src/VrConfig.cpp b/VrConfig/Src/VrConfig.cpp index c3a035a..ae14c01 100644 --- a/VrConfig/Src/VrConfig.cpp +++ b/VrConfig/Src/VrConfig.cpp @@ -90,6 +90,18 @@ ConfigResult CVrConfig::LoadConfig(const std::string& filePath) result.algorithmParams.bagParam.bagH = bagParamElement->DoubleAttribute("bagH"); } + // 解析垛参数 + XMLElement* pileParamElement = algoParamsElement->FirstChildElement("PileParam"); + if (pileParamElement) + { + if (pileParamElement->Attribute("pileL")) + result.algorithmParams.pileParam.pileL = pileParamElement->DoubleAttribute("pileL"); + if (pileParamElement->Attribute("pileW")) + result.algorithmParams.pileParam.pileW = pileParamElement->DoubleAttribute("pileW"); + if (pileParamElement->Attribute("pileH")) + result.algorithmParams.pileParam.pileH = pileParamElement->DoubleAttribute("pileH"); + } + // 解析滤波参数 XMLElement* filterParamElement = algoParamsElement->FirstChildElement("FilterParam"); if (filterParamElement) @@ -218,6 +230,13 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu bagParamElement->SetAttribute("bagH", configResult.algorithmParams.bagParam.bagH); algoParamsElement->InsertEndChild(bagParamElement); + // 添加垛参数 + XMLElement* pileParamElement = doc.NewElement("PileParam"); + pileParamElement->SetAttribute("pileL", configResult.algorithmParams.pileParam.pileL); + pileParamElement->SetAttribute("pileW", configResult.algorithmParams.pileParam.pileW); + pileParamElement->SetAttribute("pileH", configResult.algorithmParams.pileParam.pileH); + algoParamsElement->InsertEndChild(pileParamElement); + // 添加滤波参数 XMLElement* filterParamElement = doc.NewElement("FilterParam"); filterParamElement->SetAttribute("continuityTh", configResult.algorithmParams.filterParam.continuityTh); diff --git a/VrConfig/config/config.xml b/VrConfig/config/config.xml index dc161d9..358088f 100644 --- a/VrConfig/config/config.xml +++ b/VrConfig/config/config.xml @@ -12,6 +12,9 @@ + + + diff --git a/VrEyeDevice/Inc/VrConvert.h b/VrEyeDevice/Inc/VrConvert.h new file mode 100644 index 0000000..393f793 --- /dev/null +++ b/VrEyeDevice/Inc/VrConvert.h @@ -0,0 +1,22 @@ +#pragma once +#include +#include +#include "VZNL_Types.h" + +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]); + + // 存储矩阵 + bool SaveClibMatrix(const char* sFileName, const char* sIdent, double dMatrix[16]); + + // 手眼标定 + bool CalibEyeToRobot(SVzNL3DPoint* pEye3DPoint, SVzNL3DPoint* pRobot3DPoint, const int nNum); + + // 手眼坐标转换 + bool EyeToRobot(const SVzNL3DPoint sEyePoint, SVzNL3DPoint& sRobotPoint, const double clib[16]); + +}; diff --git a/VrEyeDevice/Src/VrConvert.cpp b/VrEyeDevice/Src/VrConvert.cpp new file mode 100644 index 0000000..02ea7f1 --- /dev/null +++ b/VrEyeDevice/Src/VrConvert.cpp @@ -0,0 +1,120 @@ +#include "VrConvert.h" + +#include +#include +#include +#include + +#include "VrSimpleLog.h" +#include "SimpleIni.h" + +std::ostream& operator<<(std::ostream& os, const SVzNL3DPoint& sPoint) +{ + os << "3DPoint {x: " << sPoint.x << ", y: " << sPoint.y << ", z: " << sPoint.z << "}"; + return os; +} + +bool CVrConvert::LoadClibMatrix(const char* sFileName, const char* sIdent, double dMatrix[16]) +{ + // 读取配置文件 + CSimpleIniA ini; + + // 加载文件并解析 + SI_Error rc = ini.LoadFile(sFileName); + + if(SI_OK != rc) return false; + + for(int i = 0 ; i < 16; i++) + { + char sKey[64] = {0}; +#ifdef _WIN32 + sprintf_s(sKey, "%s_%d", sIdent, i); +#else + sprintf(sKey, "%s_%d", sIdent, i); +#endif + dMatrix[i] = ini.GetDoubleValue(sIdent, sKey, i % 5 == 0 ? 1 : 0); + } + + return true; +} + +// 存储矩阵 +bool CVrConvert::SaveClibMatrix(const char* sFileName, const char* sIdent, double dMatrix[16]) +{ + CSimpleIniA ini; + SI_Error rc = ini.LoadFile(sFileName); + if (rc != SI_OK) return false; + + for(int i = 0 ; i < 16; i++) + { + char sKey[64] = {0}; +#ifdef _WIN32 + sprintf_s(sKey, "%s_%d", sIdent, i); +#else + sprintf(sKey, "%s_%d", sIdent, i); +#endif + ini.SetDoubleValue(sIdent, sKey, dMatrix[i]); + } + ini.SaveFile(sFileName); + return true; +} + +// 手眼标定 +bool CVrConvert::CalibEyeToRobot(SVzNL3DPoint* pEye3DPoint, SVzNL3DPoint* pRobot3DPoint, const int nNum) +{ + if(nNum <= 0) return false; + +#if 0 + Eigen::Matrix4d calibration_matrix = Eigen::Matrix4d::Identity(); + for(int i = 0; i < nNum; i++) + { + Eigen::Matrix eye, robot; + eye << pEye3DPoint[i].x << pEye3DPoint[i].y << pEye3DPoint[i].z << 1; + robot << pRobot3DPoint[i].x << pRobot3DPoint[i].y << pRobot3DPoint[i].z << 1; + + calibration_matrix += (eye.inverse() * robot); + } + // 求取平均值作为最终的手眼标定矩阵 + calibration_matrix /= nNum; + + std::cout << "Hand-eye calibration matrix:\n" << calibration_matrix << std::endl; +#endif + return true; +} + +bool CVrConvert::EyeToRobot(const SVzNL3DPoint sEyePoint, SVzNL3DPoint& sRobotPoint, const double clib[16]) +{ + bool bRet = true; + + // Define the original arm coordinates (1x6) + Eigen::Matrix eyecoordinates; + eyecoordinates << sEyePoint.x, sEyePoint.y, sEyePoint.z, 1; +#if 0 + Eigen::Matrix eyeposture; + eyeposture << sEyePoint.roll, sEyePoint.pitch, sEyePoint.yaw; +#endif + // Define the transformation matrix (4x4) + Eigen::Matrix4d transformation_matrix; + // Fill in the values of the transformation matrix (example values) + transformation_matrix << clib[0], clib[1], clib[2], clib[3], + clib[4], clib[5], clib[6], clib[7], + clib[8], clib[9], clib[10], clib[11], + clib[12], clib[13], clib[14], clib[15]; + + Eigen::Matrix robotcoordinates; + robotcoordinates = transformation_matrix * eyecoordinates; + + sRobotPoint.x = robotcoordinates(0, 0); + sRobotPoint.y = robotcoordinates(1, 0); + sRobotPoint.z = robotcoordinates(2, 0); + +#if 0 + Eigen::Matrix3d oriMatrix = transformation_matrix.block<3, 3>(0, 0); + Eigen::Matrix robotposture; + robotposture = oriMatrix * eyeposture; + sRobotPoint.roll = robotposture(0, 0); + sRobotPoint.pitch = robotposture(1, 0); + sRobotPoint.yaw = robotposture(2, 0); +#endif + return bRet; +} diff --git a/VrEyeDevice/VrEyeDevice.pro b/VrEyeDevice/VrEyeDevice.pro index bb95a2b..0c23d82 100644 --- a/VrEyeDevice/VrEyeDevice.pro +++ b/VrEyeDevice/VrEyeDevice.pro @@ -13,24 +13,28 @@ CONFIG += c++17 INCLUDEPATH += ./Inc INCLUDEPATH += ./_Inc INCLUDEPATH += ../VrCommon/Inc -INCLUDEPATH += ../VrUtils/Inc SOURCES += \ + Src/VrConvert.cpp \ Src/VrEyeDevice.cpp \ Src/VrEyeCommon.cpp HEADERS += \ Inc/IVrEyeDevice.h \ + Inc/VrConvert.h \ Inc/VrEyeDevice_global.h \ VrEyeDevice_global.h \ _Inc/VrEyeCommon.h \ _Inc/VrEyeDevice.h -#linux下的为unix ，windows下用的win32 -INCLUDEPATH += ../SDK/VzNLSDK/_Inc -INCLUDEPATH += ../SDK/VzNLSDK/Inc + +INCLUDEPATH += $$PWD/../SDK/eigen-3.3.9 + +#linux下的为unix ，windows下用的win32 +INCLUDEPATH += $$PWD/../SDK/VzNLSDK/_Inc +INCLUDEPATH += $$PWD/../SDK/VzNLSDK/Inc win32:CONFIG(release, debug|release): { LIBS += -L$$PWD/../SDK/VzNLSDK/Windows/x64/Release LIBS += -lVzKernel -lVzNLDetect -lVzNLGraphics @@ -49,6 +53,8 @@ else:unix:!macx: { LIBS += -ldl -lpthread -lrt } +INCLUDEPATH += $$PWD/../VrUtils/Inc +INCLUDEPATH += $$PWD/../VrUtils/ini win32:CONFIG(debug, debug|release) { LIBS += -L../VrUtils/debug -lVrUtils }else:win32:CONFIG(release, debug|release){ diff --git a/VrUtils/VrUtils.pro b/VrUtils/VrUtils.pro index b5b8d40..21e35db 100644 --- a/VrUtils/VrUtils.pro +++ b/VrUtils/VrUtils.pro @@ -28,6 +28,8 @@ HEADERS += \ Inc/VrNetUtils.h \ Inc/VrSimpleLog.h \ Inc/VrTimeUtils.h \ + ini/ConvertUTF.h \ + ini/SimpleIni.h \ log4cpp/include/log4cpp/AbortAppender.hh \ log4cpp/include/log4cpp/Appender.hh \ log4cpp/include/log4cpp/AppenderSkeleton.hh \ @@ -94,6 +96,7 @@ SOURCES += \ Src/VrLog.cpp \ Src/VrNetUtils.cpp \ Src/VrTimeUtils.cpp \ + ini/ConvertUTF.c \ log4cpp/src/AbortAppender.cpp \ log4cpp/src/Appender.cpp \ log4cpp/src/AppenderSkeleton.cpp \