130 lines
3.9 KiB
C++
130 lines
3.9 KiB
C++
#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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#include <QString>
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#include <QVector>
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namespace Ui {
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class ToolExtrinsicWidget;
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}
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struct ToolExtrinsicCameraInfo
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{
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int cameraIndex = 0;
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QString displayName;
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};
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struct ToolExtrinsicData
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{
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int cameraIndex = 0;
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int eulerOrder = 11;
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double rotX = 0.0;
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double rotY = 0.0;
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double rotZ = 0.0;
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double axialAngleMin = -180.0;
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double axialAngleMax = 180.0;
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double offsetX = 0.0;
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double offsetY = 0.0;
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double offsetZ = 0.0;
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};
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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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* QWidget + .ui，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 setCameraList(const QVector<ToolExtrinsicCameraInfo>& cameras);
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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 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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double axialAngleMin, double axialAngleMax);
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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 getData(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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double& axialAngleMin, double& axialAngleMax) const;
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void setData(int cameraIndex,
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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 setData(int cameraIndex,
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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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double axialAngleMin, double axialAngleMax);
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bool getData(int cameraIndex,
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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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bool getData(int cameraIndex,
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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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double& axialAngleMin, double& axialAngleMax) const;
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int currentCameraIndex() const;
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void setTargetOffsetVisible(bool visible);
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void setAxialAngleRangeVisible(bool visible);
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private slots:
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void onCameraSelectionChanged(int index);
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private:
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void setupUI();
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void initEulerOrderComboBox();
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void loadDataToUi(const ToolExtrinsicData& data);
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void saveCurrentUiToCache();
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ToolExtrinsicData* findData(int cameraIndex);
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const ToolExtrinsicData* findData(int cameraIndex) const;
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ToolExtrinsicData& ensureData(int cameraIndex);
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Ui::ToolExtrinsicWidget* ui = nullptr;
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QGroupBox* m_groupExtrinsic;
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QComboBox* m_comboCamera;
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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_labelAxialAngleRange;
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QWidget* m_widgetAxialAngleRangeRow;
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QLineEdit* m_editAxialAngleMin;
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QLineEdit* m_editAxialAngleMax;
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QLabel* m_labelTargetOffset;
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QWidget* m_widgetTargetOffsetRow;
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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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QVector<ToolExtrinsicData> m_dataCache;
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int m_currentCameraIndex;
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};
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#endif // TOOLEXTRINSICWIDGET_H
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