公共的工具末端调整

AppUtils/UICommon/Inc/ToolExtrinsicWidget.h

@@ -0,0 +1,49 @@
+#ifndef TOOLEXTRINSICWIDGET_H
+#define TOOLEXTRINSICWIDGET_H
+
+#include <QWidget>
+#include <QComboBox>
+#include <QGroupBox>
+#include <QLabel>
+#include <QLineEdit>
+
+/**
+ * @brief 工具外参编辑控件（从 HandEyeCalibWidget 中抽取 m_groupExtrinsic）
+ *
+ * 纯 QWidget，代码构建 UI（无 .ui 文件），可嵌入任意 tab/layout。
+ * 包含：欧拉角顺序 + 姿态调整 + 目标点偏移。
+ */
+class ToolExtrinsicWidget : public QWidget
+{
+    Q_OBJECT
+
+public:
+    explicit ToolExtrinsicWidget(QWidget *parent = nullptr);
+    ~ToolExtrinsicWidget();
+
+    void setData(int eulerOrder,
+                 double rotX, double rotY, double rotZ,
+                 double offsetX, double offsetY, double offsetZ);
+
+    void getData(int& eulerOrder,
+                 double& rotX, double& rotY, double& rotZ,
+                 double& offsetX, double& offsetY, double& offsetZ) const;
+
+    void setTargetOffsetVisible(bool visible);
+
+private:
+    void setupUI();
+    void initEulerOrderComboBox();
+
+    QGroupBox*   m_groupExtrinsic;
+    QComboBox*   m_comboEulerOrder;
+    QLineEdit*   m_editRotX;
+    QLineEdit*   m_editRotY;
+    QLineEdit*   m_editRotZ;
+    QLabel*      m_labelTargetOffset;
+    QLineEdit*   m_editOffsetX;
+    QLineEdit*   m_editOffsetY;
+    QLineEdit*   m_editOffsetZ;
+};
+
+#endif // TOOLEXTRINSICWIDGET_H

AppUtils/UICommon/Src/DeviceStatusWidget.cpp

@@ -264,7 +264,7 @@ void DeviceStatusWidget::setCameraCount(int cameraCount, bool horizontal)
         }
 
         // 横向布局时不需要调整布局
-        if (!horizontal) {
+        if (!horizontal || 1 == m_cameraCount) {
             updateLayout();
         }
     } else {
@@ -292,7 +292,7 @@ void DeviceStatusWidget::setCameraCount(int cameraCount, bool horizontal)
             }
 
             // 横向布局时不需要调整布局
-            if (!horizontal) {
+            if (!horizontal || 1 == m_cameraCount) {
                 updateLayout();
             }
         }, Qt::QueuedConnection);

AppUtils/UICommon/Src/ToolExtrinsicWidget.cpp

@@ -0,0 +1,208 @@
+#include "ToolExtrinsicWidget.h"
+
+#include <QVBoxLayout>
+#include <QHBoxLayout>
+#include <QFormLayout>
+#include <QDoubleValidator>
+
+ToolExtrinsicWidget::ToolExtrinsicWidget(QWidget *parent)
+    : QWidget(parent)
+    , m_groupExtrinsic(nullptr)
+    , m_comboEulerOrder(nullptr)
+    , m_editRotX(nullptr)
+    , m_editRotY(nullptr)
+    , m_editRotZ(nullptr)
+    , m_labelTargetOffset(nullptr)
+    , m_editOffsetX(nullptr)
+    , m_editOffsetY(nullptr)
+    , m_editOffsetZ(nullptr)
+{
+    setupUI();
+}
+
+ToolExtrinsicWidget::~ToolExtrinsicWidget()
+{
+}
+
+void ToolExtrinsicWidget::setData(int eulerOrder,
+                                  double rotX, double rotY, double rotZ,
+                                  double offsetX, double offsetY, double offsetZ)
+{
+    if (m_comboEulerOrder) {
+        int idx = m_comboEulerOrder->findData(eulerOrder);
+        if (idx < 0) idx = 0;
+        m_comboEulerOrder->setCurrentIndex(idx);
+    }
+    if (m_editRotX) m_editRotX->setText(QString::number(rotX, 'f', 6));
+    if (m_editRotY) m_editRotY->setText(QString::number(rotY, 'f', 6));
+    if (m_editRotZ) m_editRotZ->setText(QString::number(rotZ, 'f', 6));
+    if (m_editOffsetX) m_editOffsetX->setText(QString::number(offsetX, 'f', 3));
+    if (m_editOffsetY) m_editOffsetY->setText(QString::number(offsetY, 'f', 3));
+    if (m_editOffsetZ) m_editOffsetZ->setText(QString::number(offsetZ, 'f', 3));
+}
+
+void ToolExtrinsicWidget::getData(int& eulerOrder,
+                                  double& rotX, double& rotY, double& rotZ,
+                                  double& offsetX, double& offsetY, double& offsetZ) const
+{
+    eulerOrder = m_comboEulerOrder ? m_comboEulerOrder->currentData().toInt() : 11;
+    rotX = m_editRotX ? m_editRotX->text().trimmed().toDouble() : 0.0;
+    rotY = m_editRotY ? m_editRotY->text().trimmed().toDouble() : 0.0;
+    rotZ = m_editRotZ ? m_editRotZ->text().trimmed().toDouble() : 0.0;
+    offsetX = m_editOffsetX ? m_editOffsetX->text().trimmed().toDouble() : 0.0;
+    offsetY = m_editOffsetY ? m_editOffsetY->text().trimmed().toDouble() : 0.0;
+    offsetZ = m_editOffsetZ ? m_editOffsetZ->text().trimmed().toDouble() : 0.0;
+}
+
+void ToolExtrinsicWidget::setTargetOffsetVisible(bool visible)
+{
+    if (m_labelTargetOffset) m_labelTargetOffset->setVisible(visible);
+    if (m_editOffsetX) m_editOffsetX->setVisible(visible);
+    if (m_editOffsetY) m_editOffsetY->setVisible(visible);
+    if (m_editOffsetZ) m_editOffsetZ->setVisible(visible);
+}
+
+void ToolExtrinsicWidget::initEulerOrderComboBox()
+{
+    if (!m_comboEulerOrder) return;
+    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RY-RX (外旋ZYX)"), 11);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RY-RZ (外旋XYZ)"), 10);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RX-RY (外旋ZXY)"), 12);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RX-RZ (外旋YXZ)"), 13);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RZ-RX (外旋YZX)"), 14);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RZ-RY (外旋XZY)"), 15);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RY-RX (内旋ZYX)"), 1);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RY-RZ (内旋XYZ)"), 0);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RZ-RX-RY (内旋ZXY)"), 2);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RX-RZ (内旋YXZ)"), 3);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RY-RZ-RX (内旋YZX)"), 4);
+    m_comboEulerOrder->addItem(QString::fromUtf8("RX-RZ-RY (内旋XZY)"), 5);
+    m_comboEulerOrder->setCurrentIndex(0);
+}
+
+void ToolExtrinsicWidget::setupUI()
+{
+    const QString labelStyle = "color: rgb(221, 225, 233);";
+    const QString editStyle =
+        "QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
+        "border: 1px solid rgb(70, 72, 78); padding: 4px; }";
+    const QString comboStyle =
+        "QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
+        "border: 1px solid rgb(70, 72, 78); padding: 6px; }"
+        "QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
+        "selection-background-color: rgb(70, 100, 150); }";
+    const QString groupStyle =
+        "QGroupBox { color: rgb(221, 225, 233); border: 1px solid rgb(100, 100, 100); "
+        "border-radius: 4px; margin-top: 12px; padding-top: 8px; }"
+        "QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }";
+
+    QFont font;
+    font.setPointSize(14);
+
+    QVBoxLayout* mainLayout = new QVBoxLayout(this);
+    mainLayout->setContentsMargins(20, 10, 20, 10);
+
+    m_groupExtrinsic = new QGroupBox(QString::fromUtf8("工具参数"), this);
+    m_groupExtrinsic->setFont(font);
+    m_groupExtrinsic->setStyleSheet(groupStyle);
+
+    QFormLayout* form = new QFormLayout(m_groupExtrinsic);
+    form->setSpacing(8);
+
+    m_comboEulerOrder = new QComboBox(this);
+    m_comboEulerOrder->setFont(font);
+    m_comboEulerOrder->setStyleSheet(comboStyle);
+    initEulerOrderComboBox();
+    QLabel* labelEuler = new QLabel(QString::fromUtf8("欧拉角旋转顺序:"), this);
+    labelEuler->setFont(font);
+    labelEuler->setStyleSheet(labelStyle);
+    form->addRow(labelEuler, m_comboEulerOrder);
+
+    auto* validatorX = new QDoubleValidator(-360.0, 360.0, 6, this);
+    validatorX->setNotation(QDoubleValidator::StandardNotation);
+    auto* validatorY = new QDoubleValidator(-360.0, 360.0, 6, this);
+    validatorY->setNotation(QDoubleValidator::StandardNotation);
+    auto* validatorZ = new QDoubleValidator(-360.0, 360.0, 6, this);
+    validatorZ->setNotation(QDoubleValidator::StandardNotation);
+
+    m_editRotX = new QLineEdit(this);
+    m_editRotX->setFont(font);
+    m_editRotX->setStyleSheet(editStyle);
+    m_editRotX->setValidator(validatorX);
+
+    m_editRotY = new QLineEdit(this);
+    m_editRotY->setFont(font);
+    m_editRotY->setStyleSheet(editStyle);
+    m_editRotY->setValidator(validatorY);
+
+    m_editRotZ = new QLineEdit(this);
+    m_editRotZ->setFont(font);
+    m_editRotZ->setStyleSheet(editStyle);
+    m_editRotZ->setValidator(validatorZ);
+
+    auto makeAxisLabel = [&](const QString& text) {
+        QLabel* label = new QLabel(text, this);
+        label->setFont(font);
+        label->setStyleSheet(labelStyle);
+        return label;
+    };
+
+    QWidget* rotationRow = new QWidget(this);
+    QHBoxLayout* rotationLayout = new QHBoxLayout(rotationRow);
+    rotationLayout->setContentsMargins(0, 0, 0, 0);
+    rotationLayout->setSpacing(8);
+    rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("X:")));
+    rotationLayout->addWidget(m_editRotX, 1);
+    rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("Y:")));
+    rotationLayout->addWidget(m_editRotY, 1);
+    rotationLayout->addWidget(makeAxisLabel(QString::fromUtf8("Z:")));
+    rotationLayout->addWidget(m_editRotZ, 1);
+
+    QLabel* labelRotation = new QLabel(QString::fromUtf8("姿态调整 (°):"), this);
+    labelRotation->setFont(font);
+    labelRotation->setStyleSheet(labelStyle);
+    form->addRow(labelRotation, rotationRow);
+
+    auto* validatorTargetOffset = new QDoubleValidator(-10000.0, 10000.0, 3, this);
+    validatorTargetOffset->setNotation(QDoubleValidator::StandardNotation);
+
+    m_editOffsetX = new QLineEdit(this);
+    m_editOffsetX->setFont(font);
+    m_editOffsetX->setStyleSheet(editStyle);
+    m_editOffsetX->setValidator(validatorTargetOffset);
+
+    m_editOffsetY = new QLineEdit(this);
+    m_editOffsetY->setFont(font);
+    m_editOffsetY->setStyleSheet(editStyle);
+    m_editOffsetY->setValidator(validatorTargetOffset);
+
+    m_editOffsetZ = new QLineEdit(this);
+    m_editOffsetZ->setFont(font);
+    m_editOffsetZ->setStyleSheet(editStyle);
+    m_editOffsetZ->setValidator(validatorTargetOffset);
+
+    QWidget* targetOffsetRow = new QWidget(this);
+    QHBoxLayout* targetOffsetLayout = new QHBoxLayout(targetOffsetRow);
+    targetOffsetLayout->setContentsMargins(0, 0, 0, 0);
+    targetOffsetLayout->setSpacing(8);
+    targetOffsetLayout->addWidget(makeAxisLabel(QString::fromUtf8("X:")));
+    targetOffsetLayout->addWidget(m_editOffsetX, 1);
+    targetOffsetLayout->addWidget(makeAxisLabel(QString::fromUtf8("Y:")));
+    targetOffsetLayout->addWidget(m_editOffsetY, 1);
+    targetOffsetLayout->addWidget(makeAxisLabel(QString::fromUtf8("Z:")));
+    targetOffsetLayout->addWidget(m_editOffsetZ, 1);
+
+    m_labelTargetOffset = new QLabel(QString::fromUtf8("目标点偏移 (mm):"), this);
+    m_labelTargetOffset->setFont(font);
+    m_labelTargetOffset->setStyleSheet(labelStyle);
+    form->addRow(m_labelTargetOffset, targetOffsetRow);
+
+    m_labelTargetOffset->setVisible(false);
+    m_editOffsetX->setVisible(false);
+    m_editOffsetY->setVisible(false);
+    m_editOffsetZ->setVisible(false);
+
+    mainLayout->addWidget(m_groupExtrinsic);
+
+    setData(11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+}

AppUtils/UICommon/UICommon.pro

@@ -37,7 +37,8 @@ HEADERS += \
     Inc/XyzRpyItem.h \
     Inc/ResultListLayoutHelper.h \
     Inc/AboutDialog.h \
-    Inc/NetworkConfigWidget.h
+    Inc/NetworkConfigWidget.h \
+    Inc/ToolExtrinsicWidget.h
 
 SOURCES += \
     Src/StyledMessageBox.cpp \
@@ -53,7 +54,8 @@ SOURCES += \
     Src/XyzRpyItem.cpp \
     Src/ResultListLayoutHelper.cpp \
     Src/AboutDialog.cpp \
-    Src/NetworkConfigWidget.cpp
+    Src/NetworkConfigWidget.cpp \
+    Src/ToolExtrinsicWidget.cpp
 
 FORMS += \
     DeviceStatusWidget.ui \