初步校准测试

HanddleAI/HandleAiUi-new/algo/ALGO_Correction.h

@@ -4,6 +4,7 @@
 #include <simpleTools/eulerCoordinateAlgo.h>
 struct CorrectionPoints
 {
+	double OriginZ, OriginX, OriginY;
 	std::vector<double> Origin;//X Y Z
 	std::vector<double> Result_X;//X Y Z
 	std::vector<double> Result_Y;//X Y Z
@@ -300,10 +301,41 @@ double doubleLmit(double input, int num)
 	out << std::fixed << std::setprecision(num) << input;
 	return std::stod(out.str());
 }
+bool simpleCorrection(correctionStruct* correctionData, CorrectionPoints& result)
+{
+	//Z
+	{
+		double sum = 0;
+		for (auto zData : correctionData->in_Z_X0Y)
+			sum += zData;
+		for (auto zData : correctionData->in_Z_X0Y_Value)
+			sum += zData;
+		result.OriginZ = sum / 3;
+	}
+	//X
+	{
+		double sum = 0;
+		for (auto xData : correctionData->in_X_Y0Z)
+			sum += xData;
+		for (auto xData : correctionData->in_X_Y0Z_Value)
+			sum += xData;
+		result.OriginX = sum / 3;
+	}
+	//Y
+	{
+		double sum = 0;
+		for (auto yData : correctionData->in_Y_X0Z)
+			sum += yData;
+		for (auto yData : correctionData->in_Y_X0Z_Value)
+			sum += yData;
+		result.OriginY = sum / 3;
+	}
+	return true;
+}
 void ALGO_Correction(std::shared_ptr <detData> data)
 {
 	CorrectionPoints resultPoints;
-	if (HalconCorrection(&data->laserData, resultPoints) == false)
+	if (simpleCorrection(&data->laserData, resultPoints) == false)
 	{
 		data->writeBack("short", 274, "1");
 		return;
@@ -315,38 +347,38 @@ void ALGO_Correction(std::shared_ptr <detData> data)
 	qDebug() << "productIndex:"<< data->productType <<"ox:" << resultPoints.Origin[0] << "oy : " << resultPoints.Origin[1] << "oz : " << resultPoints.Origin[2];
 	qDebug() << "Rx:" << point.x << "Ry:" << point.y << "Rz:" << point.z;
 
-	double baseOffsetX = data->_productDataStruct.basePos[0] - resultPoints.Origin[0];
-	double baseOffsetY = data->_productDataStruct.basePos[1] - resultPoints.Origin[1];
-	double baseOffsetZ = data->_productDataStruct.basePos[2] - resultPoints.Origin[2];
+	double baseOffsetX = data->_productDataStruct.basePos[0] - resultPoints.OriginX;
+	double baseOffsetY = data->_productDataStruct.basePos[1] - resultPoints.OriginY;
+	double baseOffsetZ = data->_productDataStruct.basePos[2] - resultPoints.OriginZ;
 
-	double offsetRx = data->_productDataStruct.baseRad[0] - point.x;
-	double offsetRy = data->_productDataStruct.baseRad[1] - point.y;
-	double offsetRz = data->_productDataStruct.baseRad[2] - point.z;
+	//double offsetRx = data->_productDataStruct.baseRad[0] - point.x;
+	//double offsetRy = data->_productDataStruct.baseRad[1] - point.y;
+	//double offsetRz = data->_productDataStruct.baseRad[2] - point.z;
 
-	cv::Vec3d radIn1({ 0,0,0 });
-	cv::Vec3d radIn2({ degToRad(offsetRx),degToRad(offsetRy),degToRad(offsetRz) });
-	cv::Mat coords = (cv::Mat_<double>(3, 1) << data->_productDataStruct.basePos[0], data->_productDataStruct.basePos[1], data->_productDataStruct.basePos[2]);
-	cv::Mat newCoords = transform_coordinates(coords, radIn1, radIn2);
-	cv::Mat coordsOffset = (cv::Mat_<double>(3, 1) << coords.at<double>(0, 0) - newCoords.at<double>(0, 0), coords.at<double>(1, 0) - newCoords.at<double>(1, 0), coords.at<double>(2, 0) - newCoords.at<double>(2, 0));
+	//cv::Vec3d radIn1({ 0,0,0 });
+	//cv::Vec3d radIn2({ degToRad(offsetRx),degToRad(offsetRy),degToRad(offsetRz) });
+	//cv::Mat coords = (cv::Mat_<double>(3, 1) << data->_productDataStruct.basePos[0], data->_productDataStruct.basePos[1], data->_productDataStruct.basePos[2]);
+	//cv::Mat newCoords = transform_coordinates(coords, radIn1, radIn2);
+	//cv::Mat coordsOffset = (cv::Mat_<double>(3, 1) << coords.at<double>(0, 0) - newCoords.at<double>(0, 0), coords.at<double>(1, 0) - newCoords.at<double>(1, 0), coords.at<double>(2, 0) - newCoords.at<double>(2, 0));
 	
-	double offsetX = doubleLmit(coordsOffset.at<double>(0, 0) + baseOffsetX,3);
-	double offsetY = doubleLmit(coordsOffset.at<double>(1, 0) + baseOffsetY,3);
-	double offsetZ = doubleLmit(coordsOffset.at<double>(2, 0) + baseOffsetZ,3);
+	//double offsetX = doubleLmit(coordsOffset.at<double>(0, 0) + baseOffsetX,3);
+	//double offsetY = doubleLmit(coordsOffset.at<double>(1, 0) + baseOffsetY,3);
+	//double offsetZ = doubleLmit(coordsOffset.at<double>(2, 0) + baseOffsetZ,3);
 
-	offsetRx = doubleLmit(offsetRx, 3);
-	offsetRy = doubleLmit(offsetRy, 3);
-	offsetRz = doubleLmit(offsetRz, 3);
+	//offsetRx = doubleLmit(offsetRx, 3);
+	//offsetRy = doubleLmit(offsetRy, 3);
+	//offsetRz = doubleLmit(offsetRz, 3);
 
-	std::cout << "offsetX:" << offsetX << "offsetY:" << offsetY << "offsetZ:" << offsetZ << std::endl;
-	std::cout << "offsetRx:" << offsetRx << "offsetRy:" << offsetRy << "offsetRz:" << offsetRz << std::endl;
+	std::cout << "offsetX:" << baseOffsetX << "offsetY:" << baseOffsetY << "offsetZ:" << baseOffsetZ << std::endl;
+	//std::cout << "offsetRx:" << offsetRx << "offsetRy:" << offsetRy << "offsetRz:" << offsetRz << std::endl;
 
-	createModbusStrs(310, offsetX,data);
-	createModbusStrs(313, offsetY, data);
-	createModbusStrs(316, offsetZ, data);
+	createModbusStrs(310, baseOffsetX,data);
+	createModbusStrs(313, baseOffsetY, data);
+	createModbusStrs(316, baseOffsetZ, data);
 
-	createModbusStrs(319, offsetRx, data);
-	createModbusStrs(322, offsetRy, data);
-	createModbusStrs(325, offsetRz, data);
+	//createModbusStrs(319, offsetRx, data);
+	//createModbusStrs(322, offsetRy, data);
+	//createModbusStrs(325, offsetRz, data);
 	
 	data->writeBack("short", 274, "1");
 }

HanddleAI/HandleAiUi-new/algo/ALGO_Inspection.h

@@ -8,6 +8,7 @@
 #include <CISCO_APEX.hpp>
 #include <CISCO_APEXSMALL.hpp>
 #include <CISCO_ASR.hpp>
+#include <templateAlgo.h>
 cv::Mat pinHandleAiEvaluate(std::shared_ptr <detData> data, cv::Mat& src,
     handleAiModelSeg* segPtr, handleAiModelCls* clsPtr);
 bool pinHalconEvaluate(std::shared_ptr <detData> data, cv::Rect& Result, cv::Mat& src, cv::Mat& out, int productType);
@@ -19,6 +20,7 @@ std::vector<handdleAI::Bbox> pinDetEvaluate(std::shared_ptr <detData> data, cv::
     handleAiModelDet* detPtr = _handleAiModelManager->getDetModel("connectorDet.BHD");
     if (detPtr == nullptr)
         return std::vector<handdleAI::Bbox>();
+    src = rotateImage(src, cv::Point2f(src.cols / 2, src.rows / 2), -1, 1);
     detPtr->Evaluate(src, result);
     return result;
 }

HanddleAI/HandleAiUi-new/algo/templateAlgo.h

@@ -0,0 +1,56 @@
+#include <opencv.hpp>
+double templateMatchAndAngle(const cv::Mat& img, const cv::Mat& templ) {
+    // 创建存储匹配结果的矩阵
+    cv::Mat result;
+    int result_cols = img.cols - templ.cols + 1;
+    int result_rows = img.rows - templ.rows + 1;
+    result.create(result_rows, result_cols, CV_32FC1);
+
+    // 执行模板匹配
+    cv::matchTemplate(img, templ, result, cv::TM_CCOEFF_NORMED);
+
+    // 通过 minMaxLoc 查找最佳匹配位置
+    double minVal, maxVal;
+    cv::Point minLoc, maxLoc;
+    cv::minMaxLoc(result, &minVal, &maxVal, &minLoc, &maxLoc);
+
+    // 使用 ORB 进行特征点提取
+    std::vector<cv::KeyPoint> keypoints_img, keypoints_templ;
+    cv::Mat descriptors_img, descriptors_templ;
+    cv::Ptr<cv::ORB> orb = cv::ORB::create();
+    orb->detectAndCompute(img, cv::noArray(), keypoints_img, descriptors_img);
+    orb->detectAndCompute(templ, cv::noArray(), keypoints_templ, descriptors_templ);
+
+    // 使用 BFMatcher 进行特征点匹配
+    cv::BFMatcher matcher(cv::NORM_HAMMING);
+    std::vector<cv::DMatch> matches;
+    matcher.match(descriptors_img, descriptors_templ, matches);
+
+    // 计算匹配点间的角度偏移
+    double angle_sum = 0;
+    int count = 0;
+    for (const auto& match : matches) {
+        cv::Point2f pt_img = keypoints_img[match.queryIdx].pt;
+        cv::Point2f pt_templ = keypoints_templ[match.trainIdx].pt;
+
+        // 计算向量的角度
+        double angle = atan2(pt_img.y - pt_templ.y, pt_img.x - pt_templ.x) * 180 / CV_PI;
+        angle_sum += angle;
+        count++;
+    }
+
+    // 计算平均角度
+    double average_angle = count > 0 ? angle_sum / count : 0;
+
+    return average_angle;
+}
+cv::Mat rotateImage(const cv::Mat& img, const cv::Point2f& center, double angle, double scale) {
+    // 获取旋转矩阵
+    cv::Mat rotation_matrix = cv::getRotationMatrix2D(center, angle, scale);
+
+    // 创建旋转后的图像
+    cv::Mat rotated_img;
+    cv::warpAffine(img, rotated_img, rotation_matrix, img.size());
+
+    return rotated_img;
+}

HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlBase.h

@@ -44,8 +44,8 @@ public:
 	virtual bool Update(
 		std::string tableName,
 		std::vector<sqlData> selectStr,
-		std::string Where = "", 
-		std::string equal = "") 
+		std::string Where, 
+		std::string equal) 
 	{ return true; };
 private:
 

HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.cpp

@@ -134,7 +134,22 @@ void sqlManager::initialization(appConfig* _appConfig,std::string dataBasePath,
 	std::vector<std::string> input=getTableList();
 	mutex.unlock();
 }
-
+bool sqlManager::updateData(std::string SN,sqlRowDatas data)
+{
+	mutex.lock();
+	sqlTableDatas selectResult;
+	dbPtr->Select(getCurrentDate(), {}, selectResult, "SN", SN);
+	if (selectResult.rowDatas.size() == 0)//无指定数据 查找前一天
+	{
+		dbPtr->Update(getPreviousDate(), data, "SN", SN);
+	}
+	else
+	{
+		dbPtr->Update(getCurrentDate(), data, "SN", SN);
+	}
+	mutex.unlock();
+	
+}
 //将数据存入数据库
 bool sqlManager::addData(std::string SN,std::vector<sqlData> data)
 {

HanddleAI/HandleAiUi-new/appConfig/sqlManager/sqlManager.h

@@ -35,6 +35,7 @@ public:
     std::vector<std::string> getTableList();//获取所有列名
     void initialization(appConfig* _appConfig, std::string dataBasePath = sqlDefaultDatabasePath,bool backUp=true);
     bool addData(std::string SN, std::vector<sqlData> data);
+    bool updateData(std::string SN,sqlRowDatas data);
     void uninitlize();
     
     sqlite3* db;

HanddleAI/HandleAiUi-new/appCoreQtFunction.h

@@ -20,7 +20,7 @@ signals:
 	void uiModuleLocationMap_ResetToDefault();
 	void uiModuleLocationMap_SetProductSignStatus(int pos, int status);//设置产品示意图指定位置的状态
 
-	void uiModuleImageDoubleCheckQdialog_ShowWindows(QPixmap);
+	void uiModuleImageDoubleCheckQdialog_ShowWindows(imageDoubleCheckPack);
 
 	void uiModuleSummaryDataManager_SetSummaryResultText(QString text, Qt::GlobalColor color);
 	void uiModuleSummaryDataManager_Reset();

HanddleAI/HandleAiUi-new/detProcess.hpp

@@ -88,6 +88,7 @@ public:
 	manualDetThread _manualDetThread;//手动触发线程
 
 	///////////////////////////////
+    QMutex detMutex;
     std::string currentSn;
     void detProcessCallbackRegister()
     {
@@ -105,7 +106,7 @@ public:
     int backArmIndex = -1;
     bool currentBack = false;
     //激光校准数据缓存 //SN 数据
-    correctionStruct laserDataCache;
+    correctionStruct laserDataCache;    
     //总流程开始，机器人发送1至寄存器259
     //上位机确认OK之后，清零寄存器259，并发送1至寄存器260
     //如产品型号为Product_1且为正面，则上位机发送1至寄存器256，发送0至寄存器257
@@ -133,7 +134,7 @@ public:
         int armPos = _triggerManager.getValue(264, byteArray);
 
         int xValue1 = _triggerManager.getValue(265, byteArray);
-        int xValue2 = _triggerManager.getValue(266, byteArray);
+        int xValue2 = _triggerManager.getValue(266, byteArray); 
         int xValue3 = _triggerManager.getValue(267, byteArray);
 
         int yValue1 = _triggerManager.getValue(268, byteArray);
@@ -194,19 +195,20 @@ public:
             laserDataCache.in_Z_X0Y_Value.push_back(rangeData);
         }
         else if (armPos <= 6)
-        {
-            laserDataCache.in_X_X0Z.push_back(xValue);
-            laserDataCache.in_Y_X0Z.push_back(yValue);
-            laserDataCache.in_Z_X0Z.push_back(zValue);
-            laserDataCache.in_Y_X0Z_Value.push_back(rangeData);
-        }
-        else if (armPos <= 9)
         {
             laserDataCache.in_X_Y0Z.push_back(xValue);
             laserDataCache.in_Y_Y0Z.push_back(yValue);
             laserDataCache.in_Z_Y0Z.push_back(zValue);
             laserDataCache.in_X_Y0Z_Value.push_back(rangeData);
         }
+        else if (armPos <= 9)
+        {   
+            laserDataCache.in_X_X0Z.push_back(xValue);
+            laserDataCache.in_Y_X0Z.push_back(yValue);
+            laserDataCache.in_Z_X0Z.push_back(zValue);
+            laserDataCache.in_Y_X0Z_Value.push_back(rangeData);
+        }
+        
         _triggerManager.sendFinsMsg("write_short_261_0");//清零
         _triggerManager.sendFinsMsg("write_short_262_1");
         _triggerManager.sendFinsMsg("write_short_263_1");
@@ -225,6 +227,7 @@ public:
     //拍照并检测 300
     void captureImageAndDetection(QByteArray& byteArray)
     {
+        detMutex.lock();
         _lightSourceManager.getLightSourcePtr("COM9")->setValue(lightSourceChannel::DChannel, 255);
         QThread::msleep(2000);//延时等待机械臂停稳
         _triggerManager.sendFinsMsg("write_short_300_0");//触发信号清零
@@ -249,6 +252,7 @@ public:
 
         QThread::msleep(1000);//延时一秒完成拍照，后续改成拍完直接发送
         _triggerManager.sendFinsMsg("write_short_302_1");//开始检测信号
+        detMutex.unlock();
     }
     //机械臂状态切换 361 1 空闲
     void detectionSwitch1(QByteArray& byteArray)
@@ -291,11 +295,38 @@ public:
             _triggerManager.sendFinsMsg("write_short_362_0");
             auto productData = _core._productDataCache.get(currentSn);
             productData->writeProductData(currentSn, _core._appConfig.productDatas[_core._detGlobalData.productType]);
-            productData->saveData("D://CCD//result.xlsx");
-            if(productData->ngPinCount >0 || productData->ngCount>0)
+
+            QDateTime currentDateTime = QDateTime::currentDateTime();
+            std::string dateDirStr = currentDateTime.toString("yyyy-MM-dd").toStdString();
+
+            productData->saveData("D://CCD//Result//" + dateDirStr + "//result.xlsx");
+
+            //先查询数据库
+            auto sqlData = _core._appConfig._sqlManager.selectRowData(currentSn);
+            bool result = true;
+            if (sqlData.rowDatas.size() > 1)
+                for (auto data : sqlData.rowDatas[0])
+                    if (!data.key.compare("detResult"))
+                        if (!data.value.compare("NG"))
+                            result = false;
+            //数据库结果为false时 不根据当前跑料数据判断
+            if(result == false)
+            {
                 emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("NG", Qt::red);
+                return;
+            }
+
+            //数据库结果为true或者没有查询到数据时时 继续判断
+            if(productData->ngPinCount >0 || productData->ngCount>0)//NG
+            {
+                emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("NG", Qt::red);
+                _core._appConfig._sqlManager.updateData(currentSn, {{"detResult","NG"}});
+            }
             else
+            {
                 emit _core._qtFunc.uiModuleSummaryDataManager_SetSummaryResultText("OK", Qt::green);
+                _core._appConfig._sqlManager.updateData(currentSn, { {"detResult","OK"} });
+            }
             std::cout << "detprocess runEnd" << std::endl;
         }
         
@@ -334,21 +365,33 @@ public:
         //发送检测结果发送到界面
         if (data->armPos != -1)
         {
-            emit _core._qtFunc.addDashBoardData(0, data->halconOK);
-            emit _core._qtFunc.addDashBoardData(1, data->aiDetOK);
-            emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos,
-                (data->halconOK==true&& data->aiDetOK==true)?2:3);
+            //如果为NG，则等到按下按钮时在发送
             bool finalOk = (data->halconOK == true && data->aiDetOK == true);
-            if(finalOk == false)
+
+            if (data->aiDetOK == true)
+                emit _core._qtFunc.addDashBoardData(1, data->aiDetOK);
+            else if (data->resultImgs.size() >= 1)
             {
-                for (auto& showMat : data->resultImgs)
-                {
-                    QPixmap pixmap;
-                    cvMatToQPixMap(showMat, pixmap);
-                    //showImgPack* pack = new showImgPack();
-                    emit _core._qtFunc.uiModuleImageDoubleCheckQdialog_ShowWindows(pixmap);
-                }
+                imageDoubleCheckPack pack;
+                pack.armPos = data->armPos;
+                cvMatToQPixMap(data->resultImgs[0], pack.img);
+                emit _core._qtFunc.uiModuleImageDoubleCheckQdialog_ShowWindows(pack);
+                pack.type = 2;
             }
+            if(data->halconOK == true)
+                emit _core._qtFunc.addDashBoardData(0, data->halconOK);
+
+            else if (data->resultImgs.size() >= 2)
+            {
+                imageDoubleCheckPack pack;
+                pack.armPos = data->armPos;
+                cvMatToQPixMap(data->resultImgs[1], pack.img);
+                emit _core._qtFunc.uiModuleImageDoubleCheckQdialog_ShowWindows(pack);
+                pack.type = 1;
+            }
+            if (finalOk == true)
+                emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(data->armPos,2);
+
             auto productData = _core._productDataCache.get(currentSn);
             if (finalOk == false)
                 productData->ngCount++;
@@ -413,10 +456,26 @@ public slots:
 		_triggerManager.sendFinsMsg("write_short_350_" + QString::number(_core._appConfig.productDatas[productTypeIn].indexOfArm));
 		_triggerManager.sendFinsMsg("write_short_351_1");
 	}
-    //人工复盘按下NG
-    void uiModuleImageDoubleCheckQdialog_pressNG()
+    //人工复判按下NG
+    void uiModuleImageDoubleCheckQdialog_pressNG(int armPos,int type)//1 halcon 2ai
     {
+        if(type == 1)
+            emit _core._qtFunc.addDashBoardData(0, false);
+        else if (type == 2)
+            emit _core._qtFunc.addDashBoardData(1, false);
+        emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(armPos, 3);
         _triggerManager.sendFinsMsg("write_short_363_1");
+        detMutex.unlock();
+    }
+    //人工复判按下OK
+    void uiModuleImageDoubleCheckQdialog_pressOK(int armPos, int type)//1 halcon 2ai
+    {
+        if (type == 1)
+            emit _core._qtFunc.addDashBoardData(0, true);
+        else if (type == 2)
+            emit _core._qtFunc.addDashBoardData(1, true);
+        emit _core._qtFunc.uiModuleLocationMap_SetProductSignStatus(armPos, 2);
+        detMutex.unlock();
     }
 };
 #pragma once

HanddleAI/HandleAiUi-new/globalStruct.h

@@ -55,6 +55,12 @@ struct historyPack
     std::shared_ptr<std::string>filePath;
     std::vector<std::string>text;
 };
+struct imageDoubleCheckPack
+{
+    QPixmap img;
+    int armPos;
+    int type;//1 halcon 2ai
+};
 static QImage cvMatToQImage(cv::Mat& src)
 {
     if (src.channels() == 1) { // if grayscale image
@@ -141,4 +147,5 @@ Q_DECLARE_METATYPE(cv::Mat)
 Q_DECLARE_METATYPE(std::string)
 Q_DECLARE_METATYPE(historyPack)
 Q_DECLARE_METATYPE(Qt::GlobalColor)
+Q_DECLARE_METATYPE(imageDoubleCheckPack)
 #pragma once

HanddleAI/HandleAiUi-new/main.cpp

@@ -109,9 +109,11 @@ void connectSignalAndSlots(MainWindow* front, appCore* _core, detProcess* _detPr
         front, &MainWindow::uiModuleLocationMapSetProductSignStatus);
     //uiModuleImageDoubleCheckQdialog
     QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleImageDoubleCheckQdialog_ShowWindows,
-        front, [=](QPixmap map) {front->_imageDoubleCheckQdialog->showAndSetImg(map); });
+        front, [=](imageDoubleCheckPack pack) {front->_imageDoubleCheckQdialog->showAndSetImg(pack); });
     QObject::connect(front->_imageDoubleCheckQdialog,&imageDoubleCheckQdialog::ngSignal,
         _detProcess, &detProcess::uiModuleImageDoubleCheckQdialog_pressNG);
+    QObject::connect(front->_imageDoubleCheckQdialog, &imageDoubleCheckQdialog::okSignal,
+        _detProcess, &detProcess::uiModuleImageDoubleCheckQdialog_pressOK);
     //uiModuleSummaryDataManager
     QObject::connect(&_core->_qtFunc, &qtFunction::uiModuleSummaryDataManager_SetSummaryResultText,
         front, [=](QString text, Qt::GlobalColor color)
@@ -177,6 +179,8 @@ int main(int argc, char* argv[])
     qRegisterMetaType<std::string>("stdString");
     qRegisterMetaType<historyPack>("historyPack");
     qRegisterMetaType<Qt::GlobalColor>("QtGlobalColor");
+    qRegisterMetaType<imageDoubleCheckPack>("imageDoubleCheckPack");
+    
     //_core.initTimer();
     MainWindow w;
     w.show();

HanddleAI/HandleAiUi-new/uiModule/uiModule_imageDoubleCheckQdialog.h

@@ -7,7 +7,6 @@
 #include <uiModule/components/fancyButton.h>
 #include <qdatetime.h>
 #include <uiModule/uiModule_imageView.h>
-
 class imageDoubleCheckQdialog :public QDialog
 {
 	Q_OBJECT
@@ -18,7 +17,8 @@ public:
 	fancyButtonText* okBtn = new fancyButtonText(120, 40, "OK", "继续");
 	fancyButtonText* ngBtn = new fancyButtonText(120, 40, "NG", "继续");
 	QMutex mutex;
-	QQueue< QPixmap>imgqueue;
+	QQueue< imageDoubleCheckPack>imgqueue;
+	imageDoubleCheckPack currentPack;
 	imageDoubleCheckQdialog()
 	{
 		QPalette paletteWhite, paletteRed, paletteGreen;
@@ -83,7 +83,7 @@ public:
 		menuBarLayoutRight->addWidget(closeBtn);
 
 		QObject::connect(closeBtn, &QPushButton::clicked, this, &QDialog::close);
-
+		closeBtn->hide();//隐藏关闭按钮
 		QHBoxLayout* imageViewLayout = new QHBoxLayout();
 		imageViewLayout->addWidget(_ImageWidgetManager);
 
@@ -105,34 +105,35 @@ public:
 		this->setWindowFlags(this->windowFlags() | Qt::WindowStaysOnTopHint);
 		//this->show();
 	}
-	void showAndSetImg(QPixmap img)
+	void showAndSetImg(imageDoubleCheckPack pack)
 	{
 		mutex.lock();
 		std::cout << isShowing<<"-" << imgqueue.size()<< std::endl;
 		if (isShowing == false && imgqueue.size() == 0)
 		{
-			_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
+			currentPack = pack;
+			_ImageWidgetManager->showImg(pack.img, imgWidgetShowType::imgWidgetOri, 0);
 			this->show();
 			isShowing = true;
 		}
 		else
 		{
-			imgqueue.enqueue(img);
+			imgqueue.enqueue(pack);
 		}
 		mutex.unlock();
 	}
 signals:
-	void okSignal();
-	void ngSignal();
+	void okSignal(int armPos, int type);
+	void ngSignal(int armPos, int type);
 private:
 	void pressOK()
 	{
 		mutex.lock();
-		emit okSignal();
+		emit okSignal(currentPack.armPos , currentPack.type);
 		if (imgqueue.size() > 0)
 		{
-			QPixmap img = imgqueue.dequeue();
-			_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
+			currentPack = imgqueue.dequeue();
+			_ImageWidgetManager->showImg(currentPack.img, imgWidgetShowType::imgWidgetOri, 0);
 		}
 		else
 		{
@@ -144,11 +145,11 @@ private:
 	void pressNG()
 	{
 		mutex.lock();
-		emit ngSignal();
+		emit ngSignal(currentPack.armPos, currentPack.type);
 		if (imgqueue.size() > 0)
 		{
-			QPixmap img = imgqueue.dequeue();
-			_ImageWidgetManager->showImg(img, imgWidgetShowType::imgWidgetOri, 0);
+			currentPack = imgqueue.dequeue();
+			_ImageWidgetManager->showImg(currentPack.img, imgWidgetShowType::imgWidgetOri, 0);
 		}
 		else
 		{