更新多点标定功能

2026-10-13 15:13:55 +08:00
parent 7c6d84859d
commit 656e08482e
9 changed files with 1959 additions and 6 deletions
@@ -311,6 +311,76 @@
    "path": "Trial path (N): {path}",
    "invalid_levels": "Enter strictly increasing levels greater than 0 and at most 30 N"
  },
+  "multipoint": {
+    "tab": "02 multi-point",
+    "hint": "A point comes from the position chosen on Select point. Adding it solves the platform pose so the surface normal faces the tool. Align normal asks before moving the five axes. If the controller is not connected, nothing moves and the reason is shown on this page. Simulation does not move the platform. A weight reference is typed. A six-axis reference stores Fx, Fy and Fz, then projects them with the rotation you enter. One raw axis is not the normal. Confirm the indenter has left before the next point.",
+    "site_id": "Point id",
+    "coordinates": "Position X / Y / Z",
+    "levels": "Load levels for this point (N), excluding baseline",
+    "hold": "Hold time",
+    "repeats": "Repeats",
+    "frame": "Coordinate frame",
+    "frame_placeholder": "Name the frame; it is stored and not converted",
+    "min_force": "Minimum force (N)",
+    "min_placeholder": "Blank means 0; the unloaded baseline is always recorded",
+    "max_force": "Maximum force (N)",
+    "force_placeholder": "Required; nothing is assumed",
+    "force_required": "Enter the maximum force; it is not assumed",
+    "add": "Add point",
+    "update": "Update selected",
+    "remove": "Delete selected",
+    "up": "Move up",
+    "down": "Move down",
+    "import_points": "Import from finger debug",
+    "align": "Align normal",
+    "reacquire": "Record selected again",
+    "source": "Reference source",
+    "source_weight": "Weights",
+    "source_wrench": "Six-axis",
+    "fx": "Fx",
+    "fy": "Fy",
+    "fz": "Fz",
+    "rotation": "Force sensor to tool rotation",
+    "rotation_placeholder": "9 numbers, row major. Required before a normal component can be computed",
+    "reference": "Measured reference (N)",
+    "simulate": "Simulate acquisition",
+    "start": "Start acquisition",
+    "confirm": "At target force, start hold",
+    "liftoff": "Confirm the indenter has left the sensor",
+    "stop": "Stop and keep data",
+    "stopped_reason": "operator stopped",
+    "finger_busy": "A single-point trial is running; finish it before multi-point acquisition",
+    "camera_required": "Start the camera or video input before live acquisition. Use simulation when there is no image; simulation does not open a camera or move the platform.",
+    "liftoff_wait": "The previous point is unloaded. Next point is {site}. Lift the indenter, click Align normal, and confirm before the platform moves so this normal faces up. Then click Confirm the indenter has left the sensor. Progress {done}/{total}",
+    "progress": "Point {site} ({site_index}/{site_count}) · {branch} {load:g} N · repeat {repeat}/{repeats} · progress {done}/{total} · {seconds:.1f} s left",
+    "idle": "Not started. Pick a position on Select point, add it, then simulate or start.",
+    "pose": "Solved pose: table X {x:.3f} mm, Y {y:.3f} mm, yaw {yaw:.3f}°, pitch {pitch:.3f}°, Z {z:.3f} mm, residual {residual:.3f}°. Align normal asks before the platform moves.",
+    "no_pose": "This point has no normal. Pick a valid position on Select point, then click Add point or Update selected.",
+    "no_map": "Load a sensor bundle so Select point shows the surface.",
+    "no_solver": "The pose solver is not connected.",
+    "align_select": "Select the destination point in the table, then click Align normal.",
+    "pose_refused": "This pose cannot be commanded: {reason}",
+    "no_finger": "The finger page is not connected.",
+    "no_finger_points": "The finger page has no picked points.",
+    "branch_baseline": "baseline",
+    "branch_load": "load",
+    "branch_unload": "unload",
+    "mesh_required": "Pick the point with U/V on the right so its mesh coordinate is shown, then add it.",
+    "right_confirm": "This step uses the right side: type the weight in Manual reference. For a six-axis reading, type Fx, Fy and Fz on the left. Then click At target force, start hold.",
+    "save": "Save status: {status}\n{path}",
+    "save_idle": "Nothing saved yet",
+    "save_writing": "Writing",
+    "save_kept": "Stopped; data already collected is kept",
+    "save_done": "Session complete",
+    "col_id": "Id",
+    "col_x": "X",
+    "col_y": "Y",
+    "col_z": "Z",
+    "col_levels": "Levels (N)",
+    "col_hold": "Hold (s)",
+    "col_repeats": "Repeats",
+    "col_done": "Done"
+  },
  "finger": {
    "title": "Finger calibration-point debug",
    "bundle_path": "Export bundle",
@@ -311,6 +311,76 @@
    "path": "本次路径 (N)：{path}",
    "invalid_levels": "请输入严格递增的加载档位，每档大于 0 且不超过 30 N"
  },
+  "multipoint": {
+    "tab": "02 多点采集",
+    "hint": "测点直接用标定采集「选择测点」里点中的位置。添加时会用法向解出平台姿态，使该点法向朝上。点「对齐法向」会先询问再移动五个轴；未连接控制器时不会动，原因写在本页下方。模拟采集不移动平台。砝码参考由人工填写。六维力参考记录三个分量，再按你填写的旋转投影到刀具轴，不会把某一轴直接当成法向。换点前确认压头已脱离。",
+    "site_id": "测点编号",
+    "coordinates": "位置 X / Y / Z",
+    "levels": "该点加载档位 (N)，不含空载",
+    "hold": "保持时间",
+    "repeats": "重复次数",
+    "frame": "坐标所在坐标系",
+    "frame_placeholder": "填写坐标系名称，程序不解释、不换算",
+    "min_force": "最小力 (N)",
+    "min_placeholder": "空着表示 0；空载基线总会记录",
+    "max_force": "最大力 (N)",
+    "force_placeholder": "必须填写，程序不预设",
+    "force_required": "请填写最大力，程序不会替你假设",
+    "add": "添加测点",
+    "update": "更新所选",
+    "remove": "删除所选",
+    "up": "上移",
+    "down": "下移",
+    "import_points": "从手指调试导入",
+    "align": "对齐法向",
+    "reacquire": "补采所选",
+    "source": "参考力来源",
+    "source_weight": "砝码",
+    "source_wrench": "六维力",
+    "fx": "Fx",
+    "fy": "Fy",
+    "fz": "Fz",
+    "rotation": "力传感器到刀具的旋转",
+    "rotation_placeholder": "9 个数，行优先。不填不能计算法向力",
+    "reference": "实测参考力 (N)",
+    "simulate": "模拟采集",
+    "start": "开始采集",
+    "confirm": "已到目标力，开始保持",
+    "liftoff": "确认压头已脱离传感器",
+    "stop": "停止并保留数据",
+    "stopped_reason": "操作员停止",
+    "finger_busy": "单点试验进行中，请先结束再开始多点采集",
+    "camera_required": "开始采集前请先启动相机或视频输入。没有图像时用模拟采集，模拟不会打开相机，也不会移动平台。",
+    "liftoff_wait": "上一点已卸载。下一点是 {site}。先抬起接触头，再点「对齐法向」并确认，平台才移到这个点、法向朝上。到位后再点「确认压头已脱离传感器」。程序不会自动移动。总进度 {done}/{total}",
+    "progress": "测点 {site}（{site_index}/{site_count}）· {branch} {load:g} N · 重复 {repeat}/{repeats} · 总进度 {done}/{total} · 剩余 {seconds:.1f} s",
+    "idle": "尚未开始。先在「选择测点」里点一个位置，再添加测点，然后模拟采集或开始采集。",
+    "pose": "求解姿态：工作台 X {x:.3f} mm，Y {y:.3f} mm，yaw {yaw:.3f}°，pitch {pitch:.3f}°，Z {z:.3f} mm，残差 {residual:.3f}°。点「对齐法向」后才会询问并移动平台。",
+    "no_pose": "这个测点还没有法向。请在「选择测点」里点一个有效位置，再点「添加测点」或「更新所选」。",
+    "no_map": "请先载入传感器导出包，让「选择测点」出现曲面。",
+    "no_solver": "姿态求解还没有接上。",
+    "align_select": "请先在左边表里点中要去的测点，再点「对齐法向」。",
+    "pose_refused": "这个点的姿态不能执行：{reason}",
+    "no_finger": "手指调试页面还没有接上。",
+    "no_finger_points": "手指调试里还没有选点。",
+    "branch_baseline": "空载",
+    "branch_load": "加载",
+    "branch_unload": "卸载",
+    "mesh_required": "请先在右侧用 U/V 选出测点，出现网格坐标后再添加。",
+    "right_confirm": "这一档用右侧：砝码填写人工参考力；六维力填写左侧 Fx、Fy、Fz。然后点「已到目标力，开始保持」。",
+    "save": "保存状态：{status}\n{path}",
+    "save_idle": "尚未保存",
+    "save_writing": "正在写入",
+    "save_kept": "已停止，已经采集的数据保留在目录中",
+    "save_done": "本场已完成",
+    "col_id": "编号",
+    "col_x": "X",
+    "col_y": "Y",
+    "col_z": "Z",
+    "col_levels": "档位 (N)",
+    "col_hold": "保持 (s)",
+    "col_repeats": "重复",
+    "col_done": "完成"
+  },
  "finger": {
    "title": "手指标定点调试",
    "bundle_path": "导出包",