146 lines
3.1 KiB
C++
146 lines
3.1 KiB
C++
#ifndef BATCHVERIFYDIALOG_H
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#define BATCHVERIFYDIALOG_H
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#include <QDialog>
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#include <QTableWidget>
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#include <QPushButton>
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#include <QProgressBar>
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#include <QLabel>
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#include <QTextEdit>
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#include <QSpinBox>
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#include <QDoubleSpinBox>
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#include <vector>
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#include <QString>
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class IChessboardDetector;
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class IHandEyeCalib;
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/**
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* @brief 批量验证数据项
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*/
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struct BatchVerifyItem
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{
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QString leftImagePath; // 左目图像路径
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QString rightImagePath; // 右目图像路径
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double robotX, robotY, robotZ; // 机械臂坐标
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double robotRx, robotRy, robotRz; // 机械臂姿态
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// 检测结果
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bool detected;
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double camX, camY, camZ; // 相机检测到的坐标
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double camRx, camRy, camRz; // 相机检测到的姿态
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// 验证结果
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double errorX, errorY, errorZ; // 误差
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double errorTotal; // 总误差
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};
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/**
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* @brief 批量验证对话框
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* 用于批量加载图像和机械臂坐标，进行标定验证
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*/
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class BatchVerifyDialog : public QDialog
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{
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Q_OBJECT
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public:
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explicit BatchVerifyDialog(IChessboardDetector* detector,
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IHandEyeCalib* calib,
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QWidget* parent = nullptr);
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~BatchVerifyDialog() override;
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/**
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* @brief 获取验证数据列表
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*/
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const std::vector<BatchVerifyItem>& getVerifyItems() const { return m_items; }
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private slots:
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/**
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* @brief 选择数据目录
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*/
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void onSelectDirectory();
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/**
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* @brief 开始批量验证
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*/
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void onStartVerify();
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/**
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* @brief 停止验证
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*/
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void onStopVerify();
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/**
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* @brief 导出结果
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*/
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void onExportResults();
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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 扫描目录加载数据
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*/
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bool scanDirectory(const QString& dirPath);
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/**
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* @brief 加载机械臂坐标文件
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*/
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bool loadRobotCoordinates(const QString& filePath);
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/**
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* @brief 检测单个图像对
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*/
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bool detectImagePair(BatchVerifyItem& item);
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/**
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* @brief 计算验证误差
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*/
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void calculateError(BatchVerifyItem& item);
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/**
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* @brief 更新表格显示
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*/
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void updateTable();
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/**
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* @brief 追加日志
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*/
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void appendLog(const QString& message);
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// 检测器和标定实例
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IChessboardDetector* m_detector;
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IHandEyeCalib* m_calib;
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// UI 控件
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QLabel* m_lblDirectory;
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QPushButton* m_btnSelectDir;
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QPushButton* m_btnStartVerify;
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QPushButton* m_btnStopVerify;
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QPushButton* m_btnExport;
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QProgressBar* m_progressBar;
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QTableWidget* m_tableResults;
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QTextEdit* m_logEdit;
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// 标定板参数
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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
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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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// 数据
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std::vector<BatchVerifyItem> m_items;
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QString m_currentDirectory;
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bool m_isVerifying;
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};
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#endif // BATCHVERIFYDIALOG_H
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