184 lines
4.1 KiB
C++
184 lines
4.1 KiB
C++
#ifndef VREYEVIEWWIDGET_H
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#define VREYEVIEWWIDGET_H
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#include <QWidget>
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#include <QLabel>
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#include <QPushButton>
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#include <QSpinBox>
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#include <QDoubleSpinBox>
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#include <QCheckBox>
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#include <QTimer>
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#include <QImage>
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#include <QLineEdit>
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#include <mutex>
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#include <memory>
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#include "IVrEyeDevice.h"
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#include "IChessboardDetector.h"
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#include "VZNL_Common.h"
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/**
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* @brief 标定板检测回调数据
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*/
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struct ChessboardDetectionData
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{
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bool detected; // 是否检测到
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double x, y, z; // 标定板中心位置（相机坐标系，单位：mm）
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double nx, ny, nz; // 标定板法向量（单位向量）
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double rx, ry, rz; // 标定板姿态（欧拉角，度）
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};
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/**
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* @brief VrEyeView 主窗口部件
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* 用于显示相机图像并进行标定板检测
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*/
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class VrEyeViewWidget : public QWidget
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{
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Q_OBJECT
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public:
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explicit VrEyeViewWidget(QWidget* parent = nullptr);
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~VrEyeViewWidget() override;
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/**
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* @brief 设置检测回调函数
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*/
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using DetectionCallback = std::function<void(const ChessboardDetectionData&)>;
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void SetDetectionCallback(DetectionCallback callback);
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signals:
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/**
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* @brief 检测到标定板信号
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*/
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void chessboardDetected(const ChessboardDetectionData& data);
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private slots:
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/**
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* @brief 连接相机
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*/
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void onConnectCamera();
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/**
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* @brief 断开相机
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*/
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void onDisconnectCamera();
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/**
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* @brief 开始采集
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*/
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void onStartCapture();
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/**
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* @brief 停止采集
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*/
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void onStopCapture();
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/**
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* @brief 检测标定板
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*/
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void onDetectChessboard();
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/**
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* @brief 加载图片
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*/
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void onLoadImage();
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/**
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* @brief 更新显示
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*/
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void onUpdateDisplay();
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private:
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/**
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* @brief 初始化界面
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*/
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void setupUI();
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/**
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* @brief 相机数据回调
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*/
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static void OnLaserDataCallback(EVzResultDataType eDataType,
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SVzLaserLineData* pLaserData,
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void* pUserData);
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/**
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* @brief 处理激光数据
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*/
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void ProcessLaserData(EVzResultDataType eDataType, SVzLaserLineData* pLaserData);
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/**
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* @brief 更新左右目图像显示（保持比例，不拉伸）
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*/
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void UpdateImageDisplay();
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/**
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* @brief 在图像上绘制角点
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*/
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void DrawCorners(QImage& image, const std::vector<Point2D>& corners);
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// 相机设备
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IVrEyeDevice* m_eyeDevice;
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// 标定板检测器
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IChessboardDetector* m_detector;
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// UI 控件 - 左右目图像
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QLabel* m_leftImageLabel;
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QLabel* m_rightImageLabel;
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QPushButton* m_btnConnect;
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QPushButton* m_btnDisconnect;
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QPushButton* m_btnStartCapture;
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QPushButton* m_btnStopCapture;
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QPushButton* m_btnDetect;
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// 相机参数控件
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QLineEdit* m_editCameraIP;
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QSpinBox* m_sbExposure;
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QSpinBox* m_sbGain;
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// 标定板参数控件
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QSpinBox* m_sbPatternWidth;
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QSpinBox* m_sbPatternHeight;
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QDoubleSpinBox* m_sbSquareSize;
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// 相机内参控件
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QDoubleSpinBox* m_sbFx;
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QDoubleSpinBox* m_sbFy;
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QDoubleSpinBox* m_sbCx;
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QDoubleSpinBox* m_sbCy;
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// 检测选项
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QCheckBox* m_cbAdaptiveThresh;
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QCheckBox* m_cbNormalizeImage;
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QCheckBox* m_cbAutoDetect;
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// 状态标签
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QLabel* m_lblStatus;
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QLabel* m_lblDetectionResult;
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// 定时器
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QTimer* m_displayTimer;
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// 状态
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bool m_isConnected;
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bool m_isCapturing;
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// 左右目图像
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QImage m_leftImage;
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QImage m_rightImage;
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std::vector<unsigned char> m_imageBuffer;
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int m_imageWidth;
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int m_imageHeight;
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bool m_hasNewImage;
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// 检测结果
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ChessboardDetectionData m_lastDetection;
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std::vector<Point2D> m_lastLeftCorners;
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std::vector<Point2D> m_lastRightCorners;
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// 回调函数
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DetectionCallback m_detectionCallback;
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};
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#endif // VREYEVIEWWIDGET_H
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