公共的工具末端调整
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杰仔
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49
AppUtils/UICommon/Inc/ToolExtrinsicWidget.h
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49
AppUtils/UICommon/Inc/ToolExtrinsicWidget.h
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@ -0,0 +1,49 @@
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#ifndef TOOLEXTRINSICWIDGET_H
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#define TOOLEXTRINSICWIDGET_H
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#include <QWidget>
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#include <QComboBox>
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#include <QGroupBox>
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#include <QLabel>
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#include <QLineEdit>
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/**
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* @brief 工具外参编辑控件（从 HandEyeCalibWidget 中抽取 m_groupExtrinsic）
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*
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* 纯 QWidget，代码构建 UI（无 .ui 文件），可嵌入任意 tab/layout。
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* 包含：欧拉角顺序 + 姿态调整 + 目标点偏移。
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*/
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class ToolExtrinsicWidget : public QWidget
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{
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Q_OBJECT
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public:
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explicit ToolExtrinsicWidget(QWidget *parent = nullptr);
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~ToolExtrinsicWidget();
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void setData(int eulerOrder,
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double rotX, double rotY, double rotZ,
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double offsetX, double offsetY, double offsetZ);
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void getData(int& eulerOrder,
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double& rotX, double& rotY, double& rotZ,
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double& offsetX, double& offsetY, double& offsetZ) const;
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void setTargetOffsetVisible(bool visible);
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private:
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void setupUI();
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void initEulerOrderComboBox();
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QGroupBox* m_groupExtrinsic;
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QComboBox* m_comboEulerOrder;
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QLineEdit* m_editRotX;
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QLineEdit* m_editRotY;
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QLineEdit* m_editRotZ;
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QLabel* m_labelTargetOffset;
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QLineEdit* m_editOffsetX;
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QLineEdit* m_editOffsetY;
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QLineEdit* m_editOffsetZ;
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};
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#endif // TOOLEXTRINSICWIDGET_H
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@ -264,7 +264,7 @@ void DeviceStatusWidget::setCameraCount(int cameraCount, bool horizontal)
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}
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// 横向布局时不需要调整布局
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if (!horizontal) {
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if (!horizontal || 1 == m_cameraCount) {
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updateLayout();
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}
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} else {
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@ -292,7 +292,7 @@ void DeviceStatusWidget::setCameraCount(int cameraCount, bool horizontal)
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}
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// 横向布局时不需要调整布局
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if (!horizontal) {
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if (!horizontal || 1 == m_cameraCount) {
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updateLayout();
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}
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}, Qt::QueuedConnection);
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208
AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp
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208
AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp
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#include "ToolExtrinsicWidget.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QFormLayout>
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#include <QDoubleValidator>
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ToolExtrinsicWidget::ToolExtrinsicWidget(QWidget *parent)
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: QWidget(parent)
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, m_groupExtrinsic(nullptr)
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, m_comboEulerOrder(nullptr)
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, m_editRotX(nullptr)
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, m_editRotY(nullptr)
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, m_editRotZ(nullptr)
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, m_labelTargetOffset(nullptr)
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, m_editOffsetX(nullptr)
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, m_editOffsetY(nullptr)
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, m_editOffsetZ(nullptr)
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{
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setupUI();
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}
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ToolExtrinsicWidget::~ToolExtrinsicWidget()
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{
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}
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void ToolExtrinsicWidget::setData(int eulerOrder,
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double rotX, double rotY, double rotZ,
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double offsetX, double offsetY, double offsetZ)
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{
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if (m_comboEulerOrder) {
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int idx = m_comboEulerOrder->findData(eulerOrder);
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if (idx < 0) idx = 0;
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m_comboEulerOrder->setCurrentIndex(idx);
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}
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if (m_editRotX) m_editRotX->setText(QString::number(rotX, 'f', 6));
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if (m_editRotY) m_editRotY->setText(QString::number(rotY, 'f', 6));
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if (m_editRotZ) m_editRotZ->setText(QString::number(rotZ, 'f', 6));
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if (m_editOffsetX) m_editOffsetX->setText(QString::number(offsetX, 'f', 3));
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if (m_editOffsetY) m_editOffsetY->setText(QString::number(offsetY, 'f', 3));
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if (m_editOffsetZ) m_editOffsetZ->setText(QString::number(offsetZ, 'f', 3));
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}
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void ToolExtrinsicWidget::getData(int& eulerOrder,
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double& rotX, double& rotY, double& rotZ,
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double& offsetX, double& offsetY, double& offsetZ) const
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{
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eulerOrder = m_comboEulerOrder ? m_comboEulerOrder->currentData().toInt() : 11;
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rotX = m_editRotX ? m_editRotX->text().trimmed().toDouble() : 0.0;
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rotY = m_editRotY ? m_editRotY->text().trimmed().toDouble() : 0.0;
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rotZ = m_editRotZ ? m_editRotZ->text().trimmed().toDouble() : 0.0;
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offsetX = m_editOffsetX ? m_editOffsetX->text().trimmed().toDouble() : 0.0;
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offsetY = m_editOffsetY ? m_editOffsetY->text().trimmed().toDouble() : 0.0;
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offsetZ = m_editOffsetZ ? m_editOffsetZ->text().trimmed().toDouble() : 0.0;
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}
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void ToolExtrinsicWidget::setTargetOffsetVisible(bool visible)
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{
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if (m_labelTargetOffset) m_labelTargetOffset->setVisible(visible);
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if (m_editOffsetX) m_editOffsetX->setVisible(visible);
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if (m_editOffsetY) m_editOffsetY->setVisible(visible);
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if (m_editOffsetZ) m_editOffsetZ->setVisible(visible);
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}
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void ToolExtrinsicWidget::initEulerOrderComboBox()
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{
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if (!m_comboEulerOrder) return;
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m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RY-RX (外旋ZYX)"), 11);
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m_comboEulerOrder->addItem(QString::fromUtf8("RX-RY-RZ (外旋XYZ)"), 10);
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m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RX-RY (外旋ZXY)"), 12);
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m_comboEulerOrder->addItem(QString::fromUtf8("RY-RX-RZ (外旋YXZ)"), 13);
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m_comboEulerOrder->addItem(QString::fromUtf8("RY-RZ-RX (外旋YZX)"), 14);
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m_comboEulerOrder->addItem(QString::fromUtf8("RX-RZ-RY (外旋XZY)"), 15);
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m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RY-RX (内旋ZYX)"), 1);
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m_comboEulerOrder->addItem(QString::fromUtf8("RX-RY-RZ (内旋XYZ)"), 0);
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m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RX-RY (内旋ZXY)"), 2);
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m_comboEulerOrder->addItem(QString::fromUtf8("RY-RX-RZ (内旋YXZ)"), 3);
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m_comboEulerOrder->addItem(QString::fromUtf8("RY-RZ-RX (内旋YZX)"), 4);
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m_comboEulerOrder->addItem(QString::fromUtf8("RX-RZ-RY (内旋XZY)"), 5);
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m_comboEulerOrder->setCurrentIndex(0);
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}
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void ToolExtrinsicWidget::setupUI()
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{
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const QString labelStyle = "color: rgb(221, 225, 233);";
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const QString editStyle =
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"QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"border: 1px solid rgb(70, 72, 78); padding: 4px; }";
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const QString comboStyle =
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"QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"border: 1px solid rgb(70, 72, 78); padding: 6px; }"
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"QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"selection-background-color: rgb(70, 100, 150); }";
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const QString groupStyle =
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"QGroupBox { color: rgb(221, 225, 233); border: 1px solid rgb(100, 100, 100); "
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"border-radius: 4px; margin-top: 12px; padding-top: 8px; }"
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"QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }";
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QFont font;
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font.setPointSize(14);
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QVBoxLayout* mainLayout = new QVBoxLayout(this);
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mainLayout->setContentsMargins(20, 10, 20, 10);
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m_groupExtrinsic = new QGroupBox(QString::fromUtf8("工具参数"), this);
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m_groupExtrinsic->setFont(font);
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m_groupExtrinsic->setStyleSheet(groupStyle);
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QFormLayout* form = new QFormLayout(m_groupExtrinsic);
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form->setSpacing(8);
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m_comboEulerOrder = new QComboBox(this);
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m_comboEulerOrder->setFont(font);
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m_comboEulerOrder->setStyleSheet(comboStyle);
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initEulerOrderComboBox();
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QLabel* labelEuler = new QLabel(QString::fromUtf8("欧拉角旋转顺序:"), this);
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labelEuler->setFont(font);
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labelEuler->setStyleSheet(labelStyle);
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form->addRow(labelEuler, m_comboEulerOrder);
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auto* validatorX = new QDoubleValidator(-360.0, 360.0, 6, this);
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validatorX->setNotation(QDoubleValidator::StandardNotation);
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auto* validatorY = new QDoubleValidator(-360.0, 360.0, 6, this);
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validatorY->setNotation(QDoubleValidator::StandardNotation);
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auto* validatorZ = new QDoubleValidator(-360.0, 360.0, 6, this);
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validatorZ->setNotation(QDoubleValidator::StandardNotation);
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m_editRotX = new QLineEdit(this);
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m_editRotX->setFont(font);
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m_editRotX->setStyleSheet(editStyle);
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m_editRotX->setValidator(validatorX);
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m_editRotY = new QLineEdit(this);
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m_editRotY->setFont(font);
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m_editRotY->setStyleSheet(editStyle);
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m_editRotY->setValidator(validatorY);
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m_editRotZ = new QLineEdit(this);
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m_editRotZ->setFont(font);
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m_editRotZ->setStyleSheet(editStyle);
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m_editRotZ->setValidator(validatorZ);
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auto makeAxisLabel = [&](const QString& text) {
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QLabel* label = new QLabel(text, this);
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label->setFont(font);
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label->setStyleSheet(labelStyle);
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return label;
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};
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QWidget* rotationRow = new QWidget(this);
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QHBoxLayout* rotationLayout = new QHBoxLayout(rotationRow);
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rotationLayout->setContentsMargins(0, 0, 0, 0);
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rotationLayout->setSpacing(8);
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rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("X:")));
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rotationLayout->addWidget(m_editRotX, 1);
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rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("Y:")));
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rotationLayout->addWidget(m_editRotY, 1);
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rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("Z:")));
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rotationLayout->addWidget(m_editRotZ, 1);
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QLabel* labelRotation = new QLabel(QString::fromUtf8("姿态调整 (°):"), this);
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labelRotation->setFont(font);
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labelRotation->setStyleSheet(labelStyle);
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form->addRow(labelRotation, rotationRow);
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auto* validatorTargetOffset = new QDoubleValidator(-10000.0, 10000.0, 3, this);
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validatorTargetOffset->setNotation(QDoubleValidator::StandardNotation);
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m_editOffsetX = new QLineEdit(this);
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m_editOffsetX->setFont(font);
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m_editOffsetX->setStyleSheet(editStyle);
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m_editOffsetX->setValidator(validatorTargetOffset);
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m_editOffsetY = new QLineEdit(this);
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m_editOffsetY->setFont(font);
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m_editOffsetY->setStyleSheet(editStyle);
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m_editOffsetY->setValidator(validatorTargetOffset);
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m_editOffsetZ = new QLineEdit(this);
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m_editOffsetZ->setFont(font);
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m_editOffsetZ->setStyleSheet(editStyle);
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m_editOffsetZ->setValidator(validatorTargetOffset);
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QWidget* targetOffsetRow = new QWidget(this);
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QHBoxLayout* targetOffsetLayout = new QHBoxLayout(targetOffsetRow);
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targetOffsetLayout->setContentsMargins(0, 0, 0, 0);
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targetOffsetLayout->setSpacing(8);
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targetOffsetLayout->addWidget(makeAxisLabel(QString::fromUtf8("X:")));
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targetOffsetLayout->addWidget(m_editOffsetX, 1);
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targetOffsetLayout->addWidget(makeAxisLabel(QString::fromUtf8("Y:")));
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targetOffsetLayout->addWidget(m_editOffsetY, 1);
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targetOffsetLayout->addWidget(makeAxisLabel(QString::fromUtf8("Z:")));
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targetOffsetLayout->addWidget(m_editOffsetZ, 1);
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m_labelTargetOffset = new QLabel(QString::fromUtf8("目标点偏移 (mm):"), this);
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m_labelTargetOffset->setFont(font);
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m_labelTargetOffset->setStyleSheet(labelStyle);
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form->addRow(m_labelTargetOffset, targetOffsetRow);
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m_labelTargetOffset->setVisible(false);
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m_editOffsetX->setVisible(false);
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m_editOffsetY->setVisible(false);
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m_editOffsetZ->setVisible(false);
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mainLayout->addWidget(m_groupExtrinsic);
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setData(11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
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}
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@ -37,7 +37,8 @@ HEADERS += \
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Inc/XyzRpyItem.h \
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Inc/ResultListLayoutHelper.h \
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Inc/AboutDialog.h \
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Inc/NetworkConfigWidget.h
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Inc/NetworkConfigWidget.h \
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Inc/ToolExtrinsicWidget.h
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SOURCES += \
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Src/StyledMessageBox.cpp \
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@ -53,7 +54,8 @@ SOURCES += \
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Src/XyzRpyItem.cpp \
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Src/ResultListLayoutHelper.cpp \
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Src/AboutDialog.cpp \
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Src/NetworkConfigWidget.cpp
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Src/NetworkConfigWidget.cpp \
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Src/ToolExtrinsicWidget.cpp
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FORMS += \
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DeviceStatusWidget.ui \
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