feat:更新算法，增加outputMode参数

App/App.pro

@@ -1,23 +1,23 @@
 TEMPLATE = subdirs
 
 # 拆包项目
-# SUBDIRS += ./GrabBag/GrabBag.pro
+SUBDIRS += ./GrabBag/GrabBag.pro
 
 # 撕裂项目
-# SUBDIRS += ./BeltTearing/BeltTearing.pro
+SUBDIRS += ./BeltTearing/BeltTearing.pro
 
 #焊接
-# SUBDIRS += ./LapWeld/LapWeld.pro
+SUBDIRS += ./LapWeld/LapWeld.pro
 
 #工件定位
-# SUBDIRS += ./Workpiece/Workpiece.pro
+SUBDIRS += ./Workpiece/Workpiece.pro
 
 # 颗粒尺寸检测
-# SUBDIRS += ./ParticleSize/ParticleSize.pro
+SUBDIRS += ./ParticleSize/ParticleSize.pro
 
-# 双目标记检测
+# 双目Mark检测
 SUBDIRS += ./BinocularMark/BinocularMark.pro
 
 # 工件项目（WorkpiecePosition和WorkpieceSplice）
-# SUBDIRS += ./WorkpieceProject/WorkpieceProject.pro
+SUBDIRS += ./WorkpieceProject/WorkpieceProject.pro
 

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

@@ -3,6 +3,7 @@
 
 DetectPresenter::DetectPresenter(/* args */)
 {
+    LOG_INFO("algo version : %s\n", sg_bagPositioningVersion());
 }
 
 DetectPresenter::~DetectPresenter()

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

@@ -1379,6 +1379,9 @@ int GrabBagPresenter::_DetectTask()
     // 支持旋转
     detectionAlgoParam.supportRotate = xmlParams.supportRotate;
 
+    // 输出模式
+    detectionAlgoParam.outputMode = xmlParams.outputMode;
+
     // 使用 m_currentExecutionParams 中的包裹参数
     detectionAlgoParam.bagParam.bagL = m_currentExecutionParams.bagParam.bagL;
     detectionAlgoParam.bagParam.bagW = m_currentExecutionParams.bagParam.bagW;
@@ -1398,6 +1401,8 @@ int GrabBagPresenter::_DetectTask()
     CVrTimeUtils oTimeUtils;
     DetectionResult detectionResult;
     LOG_INFO("[Algo Thread] About to call DetectBag with %zu lines\n", m_detectionDataCache.size());
+    LOG_INFO("[Algo Thread] Algorithm params: supportRotate=%d, outputMode=%d (0-从大到小, 1-从小到大)\n",
+             detectionAlgoParam.supportRotate, detectionAlgoParam.outputMode);
 
     // 检查DetectPresenter是否有效
     if (!m_pDetectPresenter) {

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

@@ -147,6 +147,9 @@ int ParameterManager::LoadGlobalParams(const ConfigResult* pConfigResult,
     // 设置支持旋转参数
     m_globalAlgoParam.supportRotate = xmlParams.supportRotate;
 
+    // 设置输出模式参数
+    m_globalAlgoParam.outputMode = xmlParams.outputMode;
+
     // 3. 设置颜色参数
     m_hsvCmpParam.hueTh             = xmlParams.hsvCmpParam.hueTh;
     m_hsvCmpParam.saturateTh        = xmlParams.hsvCmpParam.saturateTh;
@@ -169,6 +172,8 @@ int ParameterManager::LoadGlobalParams(const ConfigResult* pConfigResult,
     LOG_INFO("[ParameterManager] Global parameters loaded successfully\n");
     LOG_INFO("[ParameterManager]   Bag: L=%.1f, W=%.1f, H=%.1f\n",
              m_globalAlgoParam.bagParam.bagL, m_globalAlgoParam.bagParam.bagW, m_globalAlgoParam.bagParam.bagH);
+    LOG_INFO("[ParameterManager]   supportRotate=%d, outputMode=%d (0-从大到小, 1-从小到大)\n",
+             m_globalAlgoParam.supportRotate, m_globalAlgoParam.outputMode);
 
     return 0;
 }

App/GrabBag/GrabBagApp/Version.h

@@ -2,9 +2,9 @@
 #define VERSION_H
 
 
-#define GRABBAG_VERSION_STRING "1.3.2"
-#define GRABBAG_BUILD_STRING "2"
-#define GRABBAG_FULL_VERSION_STRING "V1.3.2_2"
+#define GRABBAG_VERSION_STRING "1.3.3"
+#define GRABBAG_BUILD_STRING "0"
+#define GRABBAG_FULL_VERSION_STRING "V1.3.3_0"
 
 // 获取版本信息的便捷函数
 inline const char* GetGrabBagVersion() {

App/GrabBag/GrabBagApp/Version.md

@@ -1,3 +1,8 @@
+#1.3.3
+## build_0 2025-12-10
+1. 更新算法，增加outputMode参数
+
+
 #1.3.2 
 ## build_2 2025-11-23
 1. config 修改默认数据

App/GrabBag/GrabBagConfig/Inc/IVrConfig.h

@@ -284,6 +284,7 @@ struct VrAlgorithmParams
     VrRgbColorPattern       rgbColorPattern;
     VrColorTemplateParam    colorTemplateParam;
     int                     supportRotate = 1;
+    int                     outputMode = 0;  // 输出模式：0 - 从大到小， 1 - 从小到大
 };
 
 /**

App/GrabBag/GrabBagConfig/Src/VrConfig.cpp

@@ -187,6 +187,19 @@ ConfigResult CVrConfig::LoadConfig(const std::string& filePath)
             result.algorithmParams.supportRotate = 0;
         }
 
+        // 解析输出模式参数
+        XMLElement* outputModeElement = algoParamsElement->FirstChildElement("OutputMode");
+        if (outputModeElement)
+        {
+            if (outputModeElement->Attribute("mode"))
+                result.algorithmParams.outputMode = outputModeElement->IntAttribute("mode");
+        }
+        else
+        {
+            // 默认值为0，表示从大到小
+            result.algorithmParams.outputMode = 0;
+        }
+
         // 解析HSV颜色比较参数
         XMLElement* hsvCmpParamElement = algoParamsElement->FirstChildElement("HsvCmpParam");
         if (hsvCmpParamElement)
@@ -556,6 +569,11 @@ bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResu
     supportRotateElement->SetAttribute("enabled", configResult.algorithmParams.supportRotate);
     algoParamsElement->InsertEndChild(supportRotateElement);
 
+    // 添加输出模式参数
+    XMLElement* outputModeElement = doc.NewElement("OutputMode");
+    outputModeElement->SetAttribute("mode", configResult.algorithmParams.outputMode);
+    algoParamsElement->InsertEndChild(outputModeElement);
+
     // 添加多相机平面校准参数
     XMLElement* planeCalibParamsElement = doc.NewElement("PlaneCalibParams");
     

App/GrabBag/GrabBagConfig/config/config.xml

@@ -214,6 +214,9 @@
         <!-- 支持旋转参数 -->
         <SupportRotate enabled="0" />
 
+        <!-- 输出模式参数：0-从大到小排序，1-从小到大排序 -->
+        <OutputMode mode="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_algo_Export.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+#  define Q_DECL_EXPORT __declspec(dllexport)
+#  define Q_DECL_IMPORT __declspec(dllimport)
+#else
+#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
+#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
+#endif
+
+#if defined(SG_API_LIBRARY)
+#  define SG_APISHARED_EXPORT Q_DECL_EXPORT
+#else
+#  define SG_APISHARED_EXPORT Q_DECL_IMPORT
+#endif
+
+#include "SG_baseDataType.h"
+
+
+#ifndef M_PI
+#define M_PI       3.14159265358979323846   // pi
+#endif // !M_PI

SDK/bagPosition/Inc/SG_bagPositioning_Export.h

@@ -1,24 +1,10 @@
 #pragma once
 
-#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
-#  define Q_DECL_EXPORT __declspec(dllexport)
-#  define Q_DECL_IMPORT __declspec(dllimport)
-#else
-#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
-#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
-#endif
-
-#if defined(SG_API_LIBRARY)
-#  define SG_BAGSHARED_EXPORT Q_DECL_EXPORT
-#else
-#  define SG_BAGSHARED_EXPORT Q_DECL_IMPORT
-#endif
-
 #define OUTPUT_DEBUG	0
 #define BAG_ALGO_USE_CORNER_FEATURE	1
 #define RGN_HIST_SIZE	16 //目标颜色统计的数目
 
-#include "SG_baseDataType.h"
+#include "SG_algo_Export.h"
 #include <vector>
 
 typedef struct
@@ -35,6 +21,7 @@ typedef struct
 	//SSG_objSortParam sortParam;
 	//SSG_polarScanParam polarScanParam;
 	int supportRotate;
+	int outputMode; //0 - 按序输出， 1 - 从大到小输出
 }SG_bagPositionParam;
 
 typedef struct
@@ -54,18 +41,21 @@ typedef struct
 	double baseHoleDist; //托盘两个孔洞的距离
 }SSG_stackBaseParam;
 
+//读版本号
+SG_APISHARED_EXPORT const char* sg_bagPositioningVersion(void);
+
 //数据调平
-SG_BAGSHARED_EXPORT void sg_lineDataR(
+SG_APISHARED_EXPORT void sg_lineDataR(
 	SVzNL3DLaserLine* a_line,
 	const double* camPoseR,
 	double groundH);
 
-SG_BAGSHARED_EXPORT void sg_lineDataR_RGBD(
+SG_APISHARED_EXPORT void sg_lineDataR_RGBD(
 	SVzNLXYZRGBDLaserLine* a_line,
 	const double* camPoseR,
 	double groundH);
 
-SG_BAGSHARED_EXPORT void sg_bagPositioning_lineProc(
+SG_APISHARED_EXPORT void sg_bagPositioning_lineProc(
 	SVzNL3DLaserLine* a_line, 
 	int lineIdx, 
 	int* errCode, 
@@ -74,7 +64,7 @@ SG_BAGSHARED_EXPORT void sg_bagPositioning_lineProc(
 	const SG_bagPositionParam algoParam);
 
 //获取编织袋中心抓取点姿态，从顶部抓取
-SG_BAGSHARED_EXPORT void sg_getBagPosition(
+SG_APISHARED_EXPORT void sg_getBagPosition(
 	SVzNL3DLaserLine* laser3DPoints, 
 	int lineNum, 
 	//std::vector<SSG_lineFeature>& all_vLineFeatures, 
@@ -83,7 +73,7 @@ SG_BAGSHARED_EXPORT void sg_getBagPosition(
 	const SSG_planeCalibPara poseCalibPara,
 	std::vector<SSG_peakRgnInfo>& objOps);
 
-SG_BAGSHARED_EXPORT void sg_getBagPositionAndOrientation(
+SG_APISHARED_EXPORT void sg_getBagPositionAndOrientation(
 	SVzNLXYZRGBDLaserLine* laser3DPoints,
 	int lineNum,
 	//std::vector<SSG_lineFeature>& all_vLineFeatures, 
@@ -100,13 +90,13 @@ SG_BAGSHARED_EXPORT void sg_getBagPositionAndOrientation(
 #endif
 	int* errCode);
 
-SG_BAGSHARED_EXPORT void sg_sideBagPosition(
+SG_APISHARED_EXPORT void sg_sideBagPosition(
 	SVzNL3DLaserLine* laser3DPoints,
 	int lineNum,
 	const SG_bagPositionParam algoParam,
 	std::vector<SSG_sideBagInfo>& objOps);
 
-SG_BAGSHARED_EXPORT void sg_getSideBagStackBasePosition(
+SG_APISHARED_EXPORT void sg_getSideBagStackBasePosition(
 	SVzNL3DLaserLine* laser3DPoints,
 	int lineNum,
 	const SSG_stackBaseParam stackBaseParam,
@@ -117,6 +107,6 @@ SG_BAGSHARED_EXPORT void sg_getSideBagStackBasePosition(
 //计算一个平面调平参数。
 //数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
 //旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
-SG_BAGSHARED_EXPORT SSG_planeCalibPara sg_getBagBaseCalibPara(
+SG_APISHARED_EXPORT SSG_planeCalibPara sg_getBagBaseCalibPara(
 	SVzNL3DLaserLine* laser3DPoints,
 	int lineNum);

SDK/bagPosition/Inc/SG_baseDataType.h

@@ -4,7 +4,7 @@
 #include <vector>
 #include <SG_errCode.h>
 
-#define PI 3.141592654
+#define PI 3.14159265358979323846
 
 // 定义欧拉角结构体（单位：度）
 typedef struct{
@@ -177,6 +177,15 @@ typedef struct
 	double valleyMaxW;
 }SSG_VFeatureParam;
 
+typedef struct
+{
+	int lineIdx;
+	int startPtIdx;
+	int endPtIdx;
+	SVzNL3DPoint startPt;
+	SVzNL3DPoint endPt;
+}SWD_segFeature;
+
 typedef struct
 {
 	double sameGapTh;
@@ -199,6 +208,22 @@ typedef struct
 	double bagH; //高
 }SSG_bagParam;
 
+typedef struct
+{
+	double length; //长
+	double width; //宽
+	double height; //高
+}SWD_sizeParam;
+
+typedef struct
+{
+	SVzNLRangeD xRange;	//< X范围
+	SVzNLRangeD yRange; //< Y范围
+	SVzNLRangeD zRange; //< Z范围
+	double scale_x;
+	double scale_y;
+} SWD_pointCloudPara;
+
 typedef struct
 {
 	ESG_poseSortingMode sortMode;
@@ -235,6 +260,15 @@ typedef struct
 	std::vector< SSG_featureSemiCircle> treeNodes;
 }SSG_semiCircleFeatureTree;
 
+typedef struct
+{
+	int treeState;
+	int sLineIdx;
+	int eLineIdx;
+	double tree_value;
+	std::vector< SWD_segFeature> treeNodes;
+}SWD_segFeatureTree;
+
 typedef struct
 {
 	int vTreeFlag;
@@ -267,6 +301,15 @@ typedef struct
 	int value;
 }SSG_RUN;
 
+typedef struct
+{
+	int start;
+	int len;
+	int value;
+	bool start_zRising;  //起点z上跳标志
+	bool end_zRising;//终点z上跳标志
+}SSG_RUN_EX;
+
 typedef struct
 {
 	double mean;
@@ -322,10 +365,16 @@ typedef struct
 typedef struct
 {
 	SVzNL3DPoint opCenter;  //定子中心位置
-	int neighbourNum;  //相邻目标数量
-	double opAngle; //定子外部相隔120度操作点的操作角度。以Y形为基准角度（0度)
-	double obstacleDist; //距离周边障碍的距离
-}SSG_motorStatorPosition;
+	double objR;
+}SWD_motorStatorPosition;
+
+typedef struct
+{
+	int objID;
+	double grasperAngle;
+	double rotateAngle;  //抓手在0度位置时为丫字形，间隔120度。
+	double graspR;
+}SWD_statorOuterGrasper;
 
 typedef struct
 {
@@ -414,3 +463,18 @@ typedef struct
 	double forward_z;
 	double backward_z;
 }SSG_pntDirAngle;
+
+// 图像数据结构
+typedef struct {
+	int width;
+	int height;
+	std::vector<std::vector<int>> gray;  // 灰度图
+	std::vector<std::vector<int>> markers;  // 标记图（-1表示分水岭，0表示未标记，>0表示区域）
+}SWD_waterShedImage;
+
+//查科二维码Mark
+typedef struct
+{
+	int markID;
+	SVzNL3DPoint mark3D;
+}SWD_charuco3DMark;

SDK/bagPosition/Inc/SG_errCode.h

@@ -6,7 +6,17 @@
 #define SG_ERR_NOT_GRID_FORMAT		-1003
 #define SG_ERR_LABEL_INFO_ERROR		-1004
 #define SG_ERR_INVLD_SORTING_MODE	-1005
+#define SG_ERR_INVLD_Q_SCALE		-1006
 
 //BQ_workpiece
 #define SX_ERR_INVLD_VTREE_NUM		-2001
 #define SX_ERR_INVLD_HTREE_NUM		-2002
+#define SX_ERR_INVLD_EDGE_LINK_NUM	-2003
+#define SX_ERR_INVLD_CLOSES_PT		-2004
+#define SX_ERR_ZERO_CONTOUR_PT		-2005
+#define SX_ERR_INVLID_RPEAK_NUM		-2006
+#define SX_ERR_INVLID_RPEAK_PAIR	-2007
+
+//¶¨×Óץȡ
+#define SX_ERR_INVLID_CUTTING_Z		-2101
+#define SX_ERR_ZERO_OBJ				-2102