手眼标定

Tools/CalibView/CalibView.pro

@@ -1,7 +1,7 @@
 # CalibView - 手眼标定工具
 QT += core gui widgets
 
-CONFIG += c++17 console
+CONFIG += c++17 #console
 CONFIG -= app_bundle
 
 # Windows平台UTF-8编码支持

Tools/CalibView/Inc/CalibViewMainWindow.h

@@ -36,10 +36,20 @@ signals:
 
 private slots:
     /**
-     * @brief 执行 Eye-To-Hand 标定
+     * @brief 执行 Eye-To-Hand 标定（选择方法）
      */
     void onEyeToHandCalib();
 
+    /**
+     * @brief 执行 Eye-To-Hand 标定（简单方法 - 仅位置）
+     */
+    void onEyeToHandCalibSimple();
+
+    /**
+     * @brief 执行 Eye-To-Hand 标定（完整位姿方法 - Park算法）
+     */
+    void onEyeToHandCalibWithPose();
+
     /**
      * @brief 执行 Eye-In-Hand 标定
      */

Tools/CalibView/Src/CalibViewMainWindow.cpp

@@ -48,7 +48,7 @@ CalibViewMainWindow::CalibViewMainWindow(QWidget* parent)
     createMenuBar();
     SpinBoxPasteHelper::install(this);
 
-    setWindowTitle("CalibView - 手眼标定工具");
+    setWindowTitle("CalibView - 手眼标定工具 - 1.0.0");
     resize(1400, 700);
 
     updateStatusBar("就绪");
@@ -303,10 +303,61 @@ void CalibViewMainWindow::onEyeToHandCalib()
         return;
     }
 
-    // 使用完整位姿方法（Park 方法）
+    QMessageBox msgBox(this);
+    msgBox.setWindowTitle("选择标定方法");
+    msgBox.setText("请选择 Eye-To-Hand 标定方法：");
+    QPushButton* simpleBtn = msgBox.addButton("简单方法 (仅位置)", QMessageBox::ActionRole);
+    QPushButton* poseBtn = msgBox.addButton("完整位姿方法 (Park算法)", QMessageBox::ActionRole);
+    QPushButton* cancelBtn = msgBox.addButton("取消", QMessageBox::RejectRole);
+
+    msgBox.exec();
+
+    if (msgBox.clickedButton() == cancelBtn) {
+        return;
+    }
+
+    if (msgBox.clickedButton() == simpleBtn) {
+        onEyeToHandCalibSimple();
+    } else if (msgBox.clickedButton() == poseBtn) {
+        onEyeToHandCalibWithPose();
+    }
+}
+
+void CalibViewMainWindow::onEyeToHandCalibSimple()
+{
+    appendLog("开始 Eye-To-Hand 标定（简单方法 - 仅位置）...");
+
+    std::vector<HECPoint3D> eyePoints;
+    std::vector<HECPoint3D> robotPoints;
+    m_dataWidget->getEyeToHandData(eyePoints, robotPoints);
+
+    if (eyePoints.size() < 3) {
+        QMessageBox::warning(this, "警告", "至少需要3组数据进行标定");
+        return;
+    }
+
+    appendLog(QString("输入数据组数: %1").arg(eyePoints.size()));
+    appendLog("使用 SVD 分解方法，仅利用位置信息");
+
+    int ret = m_calib->CalculateRT(eyePoints, robotPoints, m_currentResult);
+
+    if (ret == 0) {
+        m_hasResult = true;
+        m_resultWidget->showCalibResult(m_currentResult);
+        appendLog(QString("标定成功，误差: %1 mm")
+            .arg(m_currentResult.error, 0, 'f', 4));
+        updateStatusBar("Eye-To-Hand 标定完成（简单方法）");
+        emit calibrationCompleted(m_currentResult);
+    } else {
+        appendLog(QString("标定失败，错误码: %1").arg(ret));
+        QMessageBox::critical(this, "错误", QString("标定失败，错误码: %1").arg(ret));
+    }
+}
+
+void CalibViewMainWindow::onEyeToHandCalibWithPose()
+{
     appendLog("开始 Eye-To-Hand 标定（完整位姿方法 - Park 算法）...");
 
-    // 从 CalibDataWidget 获取完整位姿数据
     std::vector<HECEyeToHandData> calibData;
     m_dataWidget->getEyeToHandPoseData(calibData);
 
@@ -317,7 +368,6 @@ void CalibViewMainWindow::onEyeToHandCalib()
         return;
     }
 
-    // 获取欧拉角顺序
     HECEulerOrder eulerOrder = m_dataWidget->getEulerOrder();
     QString eulerOrderStr;
     switch (eulerOrder) {
@@ -572,12 +622,18 @@ void CalibViewMainWindow::onSaveResult()
 
     // [CommInfo]
     ini.beginGroup("CommInfo");
-    ini.setValue("sCalibTime", QDateTime::currentDateTime().toString("yyyy-MM-dd-HH-mm-ss"));
-    ini.setValue("dError", m_currentResult.error);
+    ini.setValue("nMaxMaxMatrixNum", 8);
+    ini.setValue("nExistMatrixNum", 1);
     ini.endGroup();
 
     // [CalibMatrixInfo_0] - 4x4 齐次矩阵
     ini.beginGroup("CalibMatrixInfo_0");
+    ini.setValue("sCalibTime", QDateTime::currentDateTime().toString("yyyy-MM-dd-HH-mm-ss"));
+    ini.setValue("nCalibPosIdx", 0);
+    ini.setValue("nCalibType", 0);
+    ini.setValue("nCalibMode", 0);
+    ini.setValue("sCalibPosName", 0);
+    ini.setValue("dError", m_currentResult.error);
     // 第0行: R[0,0] R[0,1] R[0,2] Tx
     ini.setValue("dCalibMatrix_0",  m_currentResult.R.data[0]);
     ini.setValue("dCalibMatrix_1",  m_currentResult.R.data[1]);
@@ -600,16 +656,6 @@ void CalibViewMainWindow::onSaveResult()
     ini.setValue("dCalibMatrix_15", 1.0);
     ini.endGroup();
 
-    // [CenterInfo] - 质心
-    ini.beginGroup("CenterInfo");
-    ini.setValue("dCenterEyeX",   m_currentResult.centerEye.x);
-    ini.setValue("dCenterEyeY",   m_currentResult.centerEye.y);
-    ini.setValue("dCenterEyeZ",   m_currentResult.centerEye.z);
-    ini.setValue("dCenterRobotX", m_currentResult.centerRobot.x);
-    ini.setValue("dCenterRobotY", m_currentResult.centerRobot.y);
-    ini.setValue("dCenterRobotZ", m_currentResult.centerRobot.z);
-    ini.endGroup();
-
     appendLog(QString("结果已保存到: %1").arg(fileName));
     updateStatusBar("结果已保存");
 }