177 lines
4.0 KiB
C++
177 lines
4.0 KiB
C++
#ifndef BATCHVERIFYDIALOG_H
|
|
#define BATCHVERIFYDIALOG_H
|
|
|
|
#include <QDialog>
|
|
#include <QTableWidget>
|
|
#include <QPushButton>
|
|
#include <QProgressBar>
|
|
#include <QLabel>
|
|
#include <QTextEdit>
|
|
#include <QSpinBox>
|
|
#include <QDoubleSpinBox>
|
|
#include <QComboBox>
|
|
#include <vector>
|
|
#include <QString>
|
|
#include "IHandEyeCalib.h"
|
|
|
|
class IChessboardDetector;
|
|
class IHandEyeCalib;
|
|
|
|
/**
|
|
* @brief 批量验证数据项
|
|
*/
|
|
struct BatchVerifyItem
|
|
{
|
|
QString leftImagePath; // 左目图像路径
|
|
QString rightImagePath; // 右目图像路径
|
|
double robotX, robotY, robotZ; // 机械臂坐标
|
|
double robotRx, robotRy, robotRz; // 机械臂姿态(欧拉角,度)
|
|
double robotQw, robotQx, robotQy, robotQz; // 机械臂姿态(四元数)
|
|
|
|
// 检测结果
|
|
bool detected;
|
|
double camX, camY, camZ; // 相机检测到的坐标
|
|
double camRx, camRy, camRz; // 相机检测到的姿态
|
|
|
|
// 验证结果
|
|
double errorX, errorY, errorZ; // 误差
|
|
double errorTotal; // 总误差
|
|
|
|
BatchVerifyItem()
|
|
: robotX(0), robotY(0), robotZ(0)
|
|
, robotRx(0), robotRy(0), robotRz(0)
|
|
, robotQw(1), robotQx(0), robotQy(0), robotQz(0)
|
|
, detected(false)
|
|
, camX(0), camY(0), camZ(0)
|
|
, camRx(0), camRy(0), camRz(0)
|
|
, errorX(0), errorY(0), errorZ(0)
|
|
, errorTotal(0) {}
|
|
};
|
|
|
|
/**
|
|
* @brief 批量验证对话框
|
|
* 用于批量加载图像和机械臂坐标，进行标定验证
|
|
*/
|
|
class BatchVerifyDialog : public QDialog
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
explicit BatchVerifyDialog(IChessboardDetector* detector,
|
|
IHandEyeCalib* calib,
|
|
QWidget* parent = nullptr);
|
|
~BatchVerifyDialog() override;
|
|
|
|
/**
|
|
* @brief 获取验证数据列表
|
|
*/
|
|
const std::vector<BatchVerifyItem>& getVerifyItems() const { return m_items; }
|
|
|
|
private slots:
|
|
/**
|
|
* @brief 选择数据目录
|
|
*/
|
|
void onSelectDirectory();
|
|
|
|
/**
|
|
* @brief 开始批量验证
|
|
*/
|
|
void onStartVerify();
|
|
|
|
/**
|
|
* @brief 停止验证
|
|
*/
|
|
void onStopVerify();
|
|
|
|
/**
|
|
* @brief 导出结果
|
|
*/
|
|
void onExportResults();
|
|
|
|
private:
|
|
/**
|
|
* @brief 初始化界面
|
|
*/
|
|
void setupUI();
|
|
|
|
/**
|
|
* @brief 扫描目录加载数据
|
|
*/
|
|
bool scanDirectory(const QString& dirPath);
|
|
|
|
/**
|
|
* @brief 加载机械臂坐标文件
|
|
*/
|
|
bool loadRobotCoordinates(const QString& filePath);
|
|
|
|
/**
|
|
* @brief 检测单个图像对
|
|
*/
|
|
bool detectImagePair(BatchVerifyItem& item);
|
|
|
|
/**
|
|
* @brief 计算验证误差（直接比较模式）
|
|
*/
|
|
void calculateError(BatchVerifyItem& item);
|
|
|
|
/**
|
|
* @brief 执行 Eye-In-Hand 标定并计算一致性误差
|
|
*/
|
|
void calculateEyeInHandErrors();
|
|
|
|
/**
|
|
* @brief 四元数转旋转矩阵
|
|
*/
|
|
static void quatToRotationMatrix(double qw, double qx, double qy, double qz,
|
|
HECRotationMatrix& R);
|
|
|
|
/**
|
|
* @brief 更新表格显示
|
|
*/
|
|
void updateTable();
|
|
|
|
/**
|
|
* @brief 追加日志
|
|
*/
|
|
void appendLog(const QString& message);
|
|
|
|
// 检测器和标定实例
|
|
IChessboardDetector* m_detector;
|
|
IHandEyeCalib* m_calib;
|
|
|
|
// UI 控件
|
|
QLabel* m_lblDirectory;
|
|
QPushButton* m_btnSelectDir;
|
|
QPushButton* m_btnStartVerify;
|
|
QPushButton* m_btnStopVerify;
|
|
QPushButton* m_btnExport;
|
|
QProgressBar* m_progressBar;
|
|
QTableWidget* m_tableResults;
|
|
QTextEdit* m_logEdit;
|
|
|
|
// 标定板参数
|
|
QSpinBox* m_sbPatternWidth;
|
|
QSpinBox* m_sbPatternHeight;
|
|
QDoubleSpinBox* m_sbSquareSize;
|
|
|
|
// 相机内参
|
|
QDoubleSpinBox* m_sbFx;
|
|
QDoubleSpinBox* m_sbFy;
|
|
QDoubleSpinBox* m_sbCx;
|
|
QDoubleSpinBox* m_sbCy;
|
|
|
|
// 标定类型选择
|
|
QComboBox* m_cbCalibType;
|
|
|
|
// 标定结果
|
|
HECCalibResult m_calibResult;
|
|
bool m_calibSuccess;
|
|
|
|
// 数据
|
|
std::vector<BatchVerifyItem> m_items;
|
|
QString m_currentDirectory;
|
|
bool m_isVerifying;
|
|
};
|
|
|
|
#endif // BATCHVERIFYDIALOG_H
|