1195 lines
44 KiB
C++
1195 lines
44 KiB
C++
#include "dialogcameralevel.h"
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#include "ui_dialogcameralevel.h"
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#include "WheelMeasurePresenter.h"
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#include "PathManager.h"
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#include "VrLog.h"
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#include "wheelArchHeigthMeasure_Export.h"
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#include <QThread>
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#include <QApplication>
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#include <QLabel>
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#include <QListView>
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#include <QDoubleValidator>
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#include <cmath>
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#include <mutex>
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#include <vector>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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DialogCameraLevel::DialogCameraLevel(QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogCameraLevel)
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, m_pConfig(nullptr)
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, m_pConfigResult(nullptr)
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, m_currentCameraIndex(-1)
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{
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ui->setupUi(this);
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// 初始化结果显示区域
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ui->label_level_result->setText("请选择相机，然后点击调平计算按钮\n开始相机调平操作");
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ui->label_level_result->setAlignment(Qt::AlignCenter);
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// 修正模块输入精度限制：标定块标称值 / 凹槽间距 / Y范围均为三位小数
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auto* d3Validator = new QDoubleValidator(this);
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d3Validator->setDecimals(3);
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d3Validator->setNotation(QDoubleValidator::StandardNotation);
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ui->edit_calib_nominal_length->setValidator(d3Validator);
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ui->edit_calib_groove_spacing->setValidator(d3Validator);
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ui->edit_calib_y_min->setValidator(d3Validator);
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ui->edit_calib_y_max->setValidator(d3Validator);
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// 修正系数八位小数
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auto* d8Validator = new QDoubleValidator(this);
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d8Validator->setDecimals(8);
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d8Validator->setNotation(QDoubleValidator::StandardNotation);
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ui->edit_correction_factor->setValidator(d8Validator);
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}
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DialogCameraLevel::~DialogCameraLevel()
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{
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// 清理扫描数据缓存
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clearScanDataCache();
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// 确保恢复Presenter的状态回调
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restorePresenterStatusCallback();
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delete ui;
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}
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void DialogCameraLevel::setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList,
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WheelMeasurePresenter* presenter)
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{
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m_cameraList = cameraList;
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m_presenter = presenter;
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LOG_INFO("setCameraList called with %zu cameras\n", cameraList.size());
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// 详细记录每个相机的信息
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for (size_t i = 0; i < cameraList.size(); ++i) {
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const auto& camera = cameraList[i];
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LOG_INFO(" Camera %zu: name='%s', device=%s\n",
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i + 1,
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camera.first.c_str(),
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(camera.second != nullptr ? "connected" : "not connected"));
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}
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// 初始化/重新初始化相机选择框
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initializeCameraCombo();
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}
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void DialogCameraLevel::setConfig(IVrWheelMeasureConfig* config, WheelMeasureConfigResult* configResult)
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{
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m_pConfig = config;
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m_pConfigResult = configResult;
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// 重新打开页面时，从文件重新加载配置以获取最新数据
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if (m_pConfig && m_pConfigResult) {
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QString configPath = PathManager::GetInstance().GetConfigFilePath();
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*m_pConfigResult = m_pConfig->LoadConfig(configPath.toStdString());
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}
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// 如果相机已经选择，重新加载当前相机的标定状态
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if (m_currentCameraIndex >= 0 && m_currentCameraIndex < static_cast<int>(m_cameraList.size())) {
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checkAndDisplayCalibrationStatus(m_currentCameraIndex);
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loadCameraRoiRange(m_currentCameraIndex);
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}
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}
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void DialogCameraLevel::initializeCameraCombo()
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{
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LOG_INFO("initializeCameraCombo called, camera list size: %zu\n", m_cameraList.size());
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ui->combo_camera->clear();
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if (m_cameraList.empty()) {
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ui->combo_camera->setEnabled(false);
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if (!m_presenter) {
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ui->label_level_result->setText("Presenter未初始化\n无法获取相机列表");
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LOG_ERROR("Presenter is null in initializeCameraCombo\n");
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} else {
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ui->label_level_result->setText("相机列表为空\n\n可能原因：\n1. 配置文件中未配置相机\n2. 系统正在初始化中\n3. 所有相机连接失败");
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LOG_WARNING("Camera list is empty in initializeCameraCombo\n");
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}
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ui->label_level_result->setAlignment(Qt::AlignCenter);
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} else {
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LOG_INFO("Adding %zu cameras to combo box\n", m_cameraList.size());
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// 添加所有相机到下拉列表
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for (size_t i = 0; i < m_cameraList.size(); ++i) {
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const auto& camera = m_cameraList[i];
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QString cameraName = QString::fromStdString(camera.first);
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// 如果相机没有连接，在名称后添加标记
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if (camera.second == nullptr) {
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cameraName += " [未连接]";
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}
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ui->combo_camera->addItem(cameraName);
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LOG_INFO(" Added camera %zu: %s (device=%s)\n",
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i + 1,
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camera.first.c_str(),
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(camera.second != nullptr ? "OK" : "NULL"));
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}
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ui->combo_camera->setEnabled(true);
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// 获取默认相机索引
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int defaultCameraIndex = 0;
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if (m_presenter) {
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int presenterDefaultIndex = m_presenter->GetDefaultCameraIndex();
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LOG_INFO("Presenter default camera index (1-based): %d\n", presenterDefaultIndex);
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if (presenterDefaultIndex > 0 && presenterDefaultIndex <= static_cast<int>(m_cameraList.size())) {
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defaultCameraIndex = presenterDefaultIndex - 1;
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}
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}
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// 设置默认选中的相机
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if (defaultCameraIndex >= 0 && defaultCameraIndex < static_cast<int>(m_cameraList.size())) {
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ui->combo_camera->setCurrentIndex(defaultCameraIndex);
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m_currentCameraIndex = defaultCameraIndex;
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}
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// 检查并显示当前选中相机的标定状态
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if (m_currentCameraIndex >= 0) {
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checkAndDisplayCalibrationStatus(m_currentCameraIndex);
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}
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}
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}
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void DialogCameraLevel::on_btn_level_calc_clicked()
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{
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ui->label_level_result->setAlignment(Qt::AlignLeft);
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// 检查是否有可用的相机
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if (m_cameraList.empty()) {
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QMessageBox::warning(this, "错误", "无可用相机设备！");
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return;
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}
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// 获取选中的相机
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int selectedIndex = ui->combo_camera->currentIndex();
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if (selectedIndex < 0 || selectedIndex >= static_cast<int>(m_cameraList.size())) {
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QMessageBox::warning(this, "错误", "请选择有效的相机！");
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return;
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}
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// 清空之前的结果显示
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ui->label_level_result->setText("调平计算中，请稍候...");
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// 显示进度提示
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ui->btn_level_calc->setEnabled(false);
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QApplication::processEvents();
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try {
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// 执行相机调平
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if (performCameraLeveling()) {
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// 调平成功
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} else {
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ui->label_level_result->setText("调平失败！\n\n请检查：\n1. 相机连接是否正常\n2. 地面扫描数据是否充足\n3. 扫描区域是否有足够的地面");
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}
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} catch (const std::exception& e) {
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LOG_ERROR("Camera leveling failed with exception: %s\n", e.what());
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QMessageBox::critical(this, "错误", QString("调平过程发生异常：%1").arg(e.what()));
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}
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// 恢复按钮状态
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ui->btn_level_calc->setEnabled(true);
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}
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void DialogCameraLevel::on_btn_close_clicked()
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{
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reject();
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}
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bool DialogCameraLevel::performCameraLeveling()
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{
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try {
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// 获取选中的相机索引
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int selectedIndex = ui->combo_camera->currentIndex();
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// 先检查索引有效性，再设置回调
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if (selectedIndex < 0 || selectedIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_ERROR("Invalid camera index: %d\n", selectedIndex);
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return false;
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}
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LOG_INFO("Performing camera leveling with camera %d (index %d)\n", selectedIndex + 1, selectedIndex);
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// 1. 设置调平状态回调（在索引检查之后）
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setLevelingStatusCallback();
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// 2. 清空之前的扫描数据
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clearScanDataCache();
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// 3. 启动相机扫描地面数据
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if (!startCameraScan(selectedIndex)) {
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LOG_ERROR("Failed to start camera scan for leveling\n");
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restorePresenterStatusCallback(); // 恢复回调
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return false;
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}
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// 4. 等待扫描完成
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LOG_INFO("Collecting ground scan data, waiting for swing finish signal...\n");
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int waitTime = 0;
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const int maxWaitTime = 10000; // 最大等待10秒
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const int checkInterval = 100;
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while (!m_swingFinished && waitTime < maxWaitTime) {
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QThread::msleep(checkInterval);
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QApplication::processEvents();
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waitTime += checkInterval;
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}
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// 5. 停止扫描
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stopCameraScan(selectedIndex);
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if (m_swingFinished) {
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LOG_INFO("Camera swing finished signal received, scan completed\n");
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} else if (waitTime >= maxWaitTime) {
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LOG_WARNING("Timeout waiting for camera swing finish signal\n");
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}
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// 6. 调用调平算法计算
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double planeCalib[9];
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double planeHeight;
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double invRMatrix[9];
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if (!calculatePlaneCalibration(planeCalib, planeHeight, invRMatrix)) {
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LOG_ERROR("Failed to calculate plane calibration\n");
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restorePresenterStatusCallback(); // 恢复回调
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return false;
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}
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LOG_INFO("Camera leveling calculation completed\n");
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// 7. 更新界面显示
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updateLevelingResults(planeCalib, planeHeight, invRMatrix);
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// 8. 保存结果到配置
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int cameraIndex = m_currentCameraIndex + 1; // 转换为1-based索引
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QString cameraName;
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if (m_currentCameraIndex >= 0 && m_currentCameraIndex < static_cast<int>(m_cameraList.size())) {
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cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
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} else {
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cameraName = QString("Camera_%1").arg(cameraIndex);
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}
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if (!saveLevelingResults(planeCalib, planeHeight, invRMatrix, cameraIndex, cameraName)) {
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LOG_ERROR("Failed to save leveling results\n");
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restorePresenterStatusCallback(); // 恢复回调
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return false;
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}
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clearScanDataCache();
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// 9. 调平完成后恢复回调
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restorePresenterStatusCallback();
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LOG_INFO("Camera leveling completed successfully\n");
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return true;
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in performCameraLeveling: %s\n", e.what());
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restorePresenterStatusCallback(); // 异常时也恢复回调
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return false;
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}
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}
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void DialogCameraLevel::updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9])
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{
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// 更新地面高度编辑框
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ui->edit_plane_height->setText(QString::number(planeHeight, 'f', 2));
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// 构建显示文本
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QString resultText;
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resultText += QString("地面高度: %1 mm\n").arg(QString::number(planeHeight, 'f', 2));
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// 调平矩阵
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resultText += QString("调平矩阵:\n");
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for (int i = 0; i < 3; i++) {
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resultText += QString("[%1, %2, %3]\n")
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.arg(QString::number(planeCalib[i*3], 'f', 4))
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.arg(QString::number(planeCalib[i*3+1], 'f', 4))
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.arg(QString::number(planeCalib[i*3+2], 'f', 4));
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}
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resultText += QString("逆旋转矩阵:\n");
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for (int i = 0; i < 3; i++) {
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resultText += QString("[%1, %2, %3]\n")
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.arg(QString::number(invRMatrix[i*3], 'f', 4))
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.arg(QString::number(invRMatrix[i*3+1], 'f', 4))
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.arg(QString::number(invRMatrix[i*3+2], 'f', 4));
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}
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ui->label_level_result->setText(resultText);
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ui->label_level_result->setAlignment(Qt::AlignLeft | Qt::AlignTop);
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}
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bool DialogCameraLevel::startCameraScan(int cameraIndex)
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{
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if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_ERROR("Invalid camera index for scan: %d\n", cameraIndex);
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return false;
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}
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IVrEyeDevice* camera = m_cameraList[cameraIndex].second;
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if (!camera) {
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LOG_ERROR("Camera device is null at index: %d\n", cameraIndex);
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return false;
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}
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// 启动相机检测
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int result = camera->StartDetect(&DialogCameraLevel::StaticDetectionCallback, keResultDataType_Position, this);
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if (result != 0) {
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LOG_ERROR("Failed to start camera detection: %d\n", result);
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return false;
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}
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LOG_INFO("Camera scan started successfully for camera index: %d\n", cameraIndex);
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return true;
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}
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bool DialogCameraLevel::stopCameraScan(int cameraIndex)
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{
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if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_ERROR("Invalid camera index for stop scan: %d\n", cameraIndex);
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return false;
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}
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IVrEyeDevice* camera = m_cameraList[cameraIndex].second;
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if (!camera) {
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LOG_ERROR("Camera device is null at index: %d\n", cameraIndex);
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return false;
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}
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int result = camera->StopDetect();
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if (result != 0) {
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LOG_WARNING("Failed to stop camera detection, error: %d\n", result);
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return false;
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}
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LOG_INFO("Camera scan stopped successfully for camera index: %d\n", cameraIndex);
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return true;
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}
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void DialogCameraLevel::StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
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{
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DialogCameraLevel* pThis = reinterpret_cast<DialogCameraLevel*>(pUserData);
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if (pThis && pLaserLinePoint) {
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pThis->DetectionCallback(eDataType, pLaserLinePoint);
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}
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}
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void DialogCameraLevel::StaticStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
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{
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DialogCameraLevel* pThis = reinterpret_cast<DialogCameraLevel*>(pInfoParam);
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if (pThis) {
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pThis->StatusCallback(eStatus, pExtData, nDataLength, pInfoParam);
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}
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}
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void DialogCameraLevel::StatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
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{
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LOG_DEBUG("[Leveling Status Callback] received: status=%d\n", (int)eStatus);
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switch (eStatus) {
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case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
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{
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LOG_INFO("[Leveling Status Callback] Camera swing finished, scan completed\n");
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m_swingFinished = true;
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break;
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}
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default:
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LOG_DEBUG("[Leveling Status Callback] Other status: %d\n", (int)eStatus);
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break;
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}
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}
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void DialogCameraLevel::DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint)
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{
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if (!pLaserLinePoint) {
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LOG_WARNING("[Leveling Callback] pLaserLinePoint is null\n");
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return;
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}
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if (pLaserLinePoint->nPointCount <= 0) {
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LOG_WARNING("[Leveling Callback] Point count is zero or negative: %d\n", pLaserLinePoint->nPointCount);
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return;
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}
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if (!pLaserLinePoint->p3DPoint) {
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LOG_WARNING("[Leveling Callback] p3DPoint is null\n");
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return;
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}
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// 将数据添加到缓存
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std::vector<SVzNL3DPosition> lineData;
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lineData.reserve(pLaserLinePoint->nPointCount);
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// p3DPoint 是 void*，需要转换为 SVzNL3DPosition*
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SVzNL3DPosition* p3DPoints = reinterpret_cast<SVzNL3DPosition*>(pLaserLinePoint->p3DPoint);
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for (int i = 0; i < pLaserLinePoint->nPointCount; ++i) {
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lineData.push_back(p3DPoints[i]);
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}
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std::lock_guard<std::mutex> lock(m_scanDataMutex);
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m_scanDataCache.push_back(std::move(lineData));
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}
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bool DialogCameraLevel::calculatePlaneCalibration(double planeCalib[9], double& planeHeight, double invRMatrix[9])
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{
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std::lock_guard<std::mutex> lock(m_scanDataMutex);
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if (m_scanDataCache.empty()) {
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LOG_ERROR("No scan data available for plane calibration\n");
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return false;
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}
|
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|
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LOG_INFO("Calculating plane calibration from %zu scan lines\n", m_scanDataCache.size());
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|
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try {
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// 调用 wheelArchHeigthMeasure SDK 的调平算法
|
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SSG_planeCalibPara calibResult = wd_horizonCamera_getGroundCalibPara(m_scanDataCache);
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// 复制调平矩阵
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for (int i = 0; i < 9; i++) {
|
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planeCalib[i] = calibResult.planeCalib[i];
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invRMatrix[i] = calibResult.invRMatrix[i];
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}
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planeHeight = calibResult.planeHeight;
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LOG_INFO("Plane calibration calculated successfully\n");
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LOG_INFO(" planeHeight: %.3f\n", planeHeight);
|
||
LOG_INFO(" planeCalib: [%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f]\n",
|
||
planeCalib[0], planeCalib[1], planeCalib[2],
|
||
planeCalib[3], planeCalib[4], planeCalib[5],
|
||
planeCalib[6], planeCalib[7], planeCalib[8]);
|
||
LOG_INFO(" invRMatrix: [%.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f, %.6f]\n",
|
||
invRMatrix[0], invRMatrix[1], invRMatrix[2],
|
||
invRMatrix[3], invRMatrix[4], invRMatrix[5],
|
||
invRMatrix[6], invRMatrix[7], invRMatrix[8]);
|
||
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in calculatePlaneCalibration: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::clearScanDataCache()
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_scanDataMutex);
|
||
|
||
LOG_DEBUG("Clearing scan data cache, current size: %zu\n", m_scanDataCache.size());
|
||
m_scanDataCache.clear();
|
||
LOG_DEBUG("Scan data cache cleared successfully\n");
|
||
}
|
||
|
||
bool DialogCameraLevel::saveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
|
||
int cameraIndex, const QString& cameraName)
|
||
{
|
||
try {
|
||
if (!m_pConfig || !m_pConfigResult) {
|
||
LOG_ERROR("Config is null, cannot save leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
if (cameraIndex <= 0) {
|
||
LOG_ERROR("Invalid camera index: %d\n", cameraIndex);
|
||
return false;
|
||
}
|
||
|
||
if (cameraName.isEmpty()) {
|
||
LOG_ERROR("Camera name is empty\n");
|
||
return false;
|
||
}
|
||
|
||
// 获取UI中的误差补偿值
|
||
double errorCompensation = ui->edit_error_compensation->text().toDouble();
|
||
|
||
// 获取UI中的修正系数（非法或为0时回退为1.0）
|
||
bool cfOk = false;
|
||
double correctionFactor = ui->edit_correction_factor->text().toDouble(&cfOk);
|
||
if (!cfOk || correctionFactor == 0.0) {
|
||
correctionFactor = 1.0;
|
||
}
|
||
|
||
// 查找已有的调平参数，仅更新调平相关字段，保留 ROI 等其他字段
|
||
bool found = false;
|
||
for (auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == cameraIndex) {
|
||
param.cameraName = cameraName.toStdString();
|
||
param.planeHeight = planeHeight;
|
||
param.isCalibrated = true;
|
||
param.errorCompensation = errorCompensation;
|
||
param.correctionFactor = correctionFactor;
|
||
for (int i = 0; i < 9; i++) {
|
||
param.planeCalib[i] = planeCalib[i];
|
||
param.invRMatrix[i] = invRMatrix[i];
|
||
}
|
||
found = true;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (!found) {
|
||
WheelCameraPlaneCalibParam cameraParam;
|
||
cameraParam.cameraIndex = cameraIndex;
|
||
cameraParam.cameraName = cameraName.toStdString();
|
||
cameraParam.planeHeight = planeHeight;
|
||
cameraParam.isCalibrated = true;
|
||
cameraParam.errorCompensation = errorCompensation;
|
||
cameraParam.correctionFactor = correctionFactor;
|
||
for (int i = 0; i < 9; i++) {
|
||
cameraParam.planeCalib[i] = planeCalib[i];
|
||
cameraParam.invRMatrix[i] = invRMatrix[i];
|
||
}
|
||
m_pConfigResult->planeCalibParams.push_back(cameraParam);
|
||
}
|
||
|
||
// 保存配置
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
|
||
if (!saveResult) {
|
||
LOG_ERROR("Failed to save config with leveling results\n");
|
||
return false;
|
||
}
|
||
|
||
LOG_INFO("Leveling results saved successfully for camera %d (%s)\n",
|
||
cameraIndex, cameraName.toUtf8().constData());
|
||
LOG_INFO("Plane height: %.3f, Error compensation: %.2f\n", planeHeight, errorCompensation);
|
||
|
||
return true;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in saveLevelingResults: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool DialogCameraLevel::loadCameraCalibrationData(int cameraIndex, const QString& cameraName,
|
||
double planeCalib[9], double& planeHeight, double invRMatrix[9])
|
||
{
|
||
try {
|
||
if (!m_pConfigResult) {
|
||
LOG_ERROR("Config result is null, cannot load calibration data\n");
|
||
return false;
|
||
}
|
||
|
||
// 查找对应相机的调平参数
|
||
for (const auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == cameraIndex && param.isCalibrated) {
|
||
for (int i = 0; i < 9; i++) {
|
||
planeCalib[i] = param.planeCalib[i];
|
||
invRMatrix[i] = param.invRMatrix[i];
|
||
}
|
||
planeHeight = param.planeHeight;
|
||
|
||
// 加载该相机的地面高度和误差补偿值到UI
|
||
ui->edit_plane_height->setText(QString::number(param.planeHeight, 'f', 2));
|
||
ui->edit_error_compensation->setText(QString::number(param.errorCompensation, 'f', 1));
|
||
|
||
LOG_INFO("Calibration data loaded successfully for camera %d (%s)\n",
|
||
cameraIndex, cameraName.toUtf8().constData());
|
||
return true;
|
||
}
|
||
}
|
||
|
||
// 没有找到标定数据时，设置默认误差补偿值
|
||
ui->edit_error_compensation->setText(QString::number(-5.0, 'f', 1));
|
||
|
||
LOG_INFO("No calibration data found for camera %d (%s)\n",
|
||
cameraIndex, cameraName.toUtf8().constData());
|
||
return false;
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in loadCameraCalibrationData: %s\n", e.what());
|
||
return false;
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::checkAndDisplayCalibrationStatus(int cameraIndex)
|
||
{
|
||
if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||
LOG_WARNING("Invalid camera index for status check: %d\n", cameraIndex);
|
||
ui->label_level_result->setText("无效的相机索引");
|
||
ui->label_level_result->setAlignment(Qt::AlignCenter);
|
||
return;
|
||
}
|
||
|
||
QString cameraName = QString::fromStdString(m_cameraList[cameraIndex].first);
|
||
int configCameraIndex = cameraIndex + 1;
|
||
|
||
double planeCalib[9];
|
||
double planeHeight;
|
||
double invRMatrix[9];
|
||
|
||
if (loadCameraCalibrationData(configCameraIndex, cameraName, planeCalib, planeHeight, invRMatrix)) {
|
||
// 有标定数据，显示
|
||
LOG_INFO("Displaying existing calibration data for camera %s\n", cameraName.toUtf8().constData());
|
||
updateLevelingResults(planeCalib, planeHeight, invRMatrix);
|
||
} else {
|
||
// 没有标定数据，显示未标定
|
||
LOG_INFO("No calibration data found for camera %s, showing uncalibrated\n", cameraName.toUtf8().constData());
|
||
ui->edit_plane_height->setText("-1.00");
|
||
ui->label_level_result->setText(QString("相机: %1\n\n未标定").arg(cameraName));
|
||
ui->label_level_result->setAlignment(Qt::AlignCenter);
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::on_combo_camera_currentIndexChanged(int index)
|
||
{
|
||
m_currentCameraIndex = index;
|
||
|
||
if (index >= 0 && index < static_cast<int>(m_cameraList.size())) {
|
||
LOG_INFO("Camera selection changed to index: %d (%s)\n", index,
|
||
QString::fromStdString(m_cameraList[index].first).toUtf8().constData());
|
||
|
||
checkAndDisplayCalibrationStatus(m_currentCameraIndex);
|
||
loadCameraRoiRange(m_currentCameraIndex);
|
||
} else {
|
||
LOG_WARNING("Invalid camera index selected: %d\n", index);
|
||
ui->label_level_result->setText("无效的相机选择");
|
||
ui->label_level_result->setAlignment(Qt::AlignCenter);
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::setLevelingStatusCallback()
|
||
{
|
||
if (!m_presenter) {
|
||
LOG_ERROR("Presenter is null, cannot set leveling status callback\n");
|
||
return;
|
||
}
|
||
|
||
m_presenter->SetCameraStatusCallback(&DialogCameraLevel::StaticStatusCallback, this);
|
||
|
||
m_swingFinished = false;
|
||
m_callbackRestored = false;
|
||
|
||
LOG_INFO("Leveling status callback set for all cameras\n");
|
||
}
|
||
|
||
void DialogCameraLevel::restorePresenterStatusCallback()
|
||
{
|
||
if (m_callbackRestored.exchange(true)) {
|
||
LOG_DEBUG("Presenter status callback already restored, skipping\n");
|
||
return;
|
||
}
|
||
|
||
if (!m_presenter) {
|
||
LOG_ERROR("Presenter is null, cannot restore status callback\n");
|
||
return;
|
||
}
|
||
|
||
m_presenter->SetCameraStatusCallback(&WheelMeasurePresenter::_StaticCameraNotify, m_presenter);
|
||
|
||
LOG_INFO("Presenter status callback restored for all cameras\n");
|
||
}
|
||
|
||
void DialogCameraLevel::on_btn_save_compensation_clicked()
|
||
{
|
||
// 保存误差补偿值到当前相机的调平参数
|
||
if (!m_pConfig || !m_pConfigResult) {
|
||
LOG_ERROR("Config is null, cannot save error compensation\n");
|
||
return;
|
||
}
|
||
|
||
if (m_currentCameraIndex < 0 || m_currentCameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||
LOG_WARNING("Invalid camera index: %d\n", m_currentCameraIndex);
|
||
return;
|
||
}
|
||
|
||
// 获取UI中的误差补偿值
|
||
double errorCompensation = ui->edit_error_compensation->text().toDouble();
|
||
int cameraIndex = m_currentCameraIndex + 1; // 转换为1-based索引
|
||
QString cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
|
||
|
||
LOG_INFO("Saving error compensation for camera %d (%s): %.2f\n",
|
||
cameraIndex, cameraName.toUtf8().constData(), errorCompensation);
|
||
|
||
// 查找或创建相机调平参数
|
||
bool found = false;
|
||
for (auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == cameraIndex) {
|
||
param.errorCompensation = errorCompensation;
|
||
found = true;
|
||
break;
|
||
}
|
||
}
|
||
|
||
// 如果没有找到现有记录，创建一个新的（仅包含误差补偿，其他值为默认）
|
||
if (!found) {
|
||
WheelCameraPlaneCalibParam newParam;
|
||
newParam.cameraIndex = cameraIndex;
|
||
newParam.cameraName = cameraName.toStdString();
|
||
newParam.errorCompensation = errorCompensation;
|
||
newParam.isCalibrated = false; // 尚未标定
|
||
m_pConfigResult->planeCalibParams.push_back(newParam);
|
||
}
|
||
|
||
// 保存配置到文件
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
|
||
if (saveResult) {
|
||
LOG_INFO("Error compensation saved successfully for camera %d: %.2f\n", cameraIndex, errorCompensation);
|
||
} else {
|
||
LOG_ERROR("Failed to save error compensation\n");
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::on_btn_save_plane_height_clicked()
|
||
{
|
||
if (!m_pConfig || !m_pConfigResult) {
|
||
LOG_ERROR("Config is null, cannot save plane height\n");
|
||
return;
|
||
}
|
||
|
||
if (m_currentCameraIndex < 0 || m_currentCameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||
LOG_WARNING("Invalid camera index: %d\n", m_currentCameraIndex);
|
||
return;
|
||
}
|
||
|
||
double planeHeight = ui->edit_plane_height->text().toDouble();
|
||
int cameraIndex = m_currentCameraIndex + 1;
|
||
|
||
// 查找或创建相机调平参数
|
||
bool found = false;
|
||
for (auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == cameraIndex) {
|
||
param.planeHeight = planeHeight;
|
||
param.isCalibrated = true;
|
||
found = true;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (!found) {
|
||
WheelCameraPlaneCalibParam newParam;
|
||
newParam.cameraIndex = cameraIndex;
|
||
newParam.planeHeight = planeHeight;
|
||
newParam.isCalibrated = true;
|
||
m_pConfigResult->planeCalibParams.push_back(newParam);
|
||
}
|
||
|
||
// 保存配置到文件
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
|
||
if (saveResult) {
|
||
LOG_INFO("Plane height saved successfully for camera %d: %.2f\n", cameraIndex, planeHeight);
|
||
// 刷新界面显示
|
||
checkAndDisplayCalibrationStatus(m_currentCameraIndex);
|
||
} else {
|
||
LOG_ERROR("Failed to save plane height\n");
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::loadCameraRoiRange(int cameraIndex)
|
||
{
|
||
if (!m_pConfig || !m_pConfigResult) {
|
||
LOG_WARNING("Config is null, cannot load ROI range\n");
|
||
return;
|
||
}
|
||
|
||
if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||
LOG_WARNING("Invalid camera index: %d\n", cameraIndex);
|
||
return;
|
||
}
|
||
|
||
int configCameraIndex = cameraIndex + 1; // 转换为1-based索引
|
||
|
||
// 查找相机的调平参数
|
||
for (const auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == configCameraIndex) {
|
||
// 加载ROI范围到UI
|
||
ui->edit_roi_x_min->setText(QString::number(param.wheelRoi3d_xMin, 'f', 1));
|
||
ui->edit_roi_x_max->setText(QString::number(param.wheelRoi3d_xMax, 'f', 1));
|
||
ui->edit_roi_y_min->setText(QString::number(param.wheelRoi3d_yMin, 'f', 1));
|
||
ui->edit_roi_y_max->setText(QString::number(param.wheelRoi3d_yMax, 'f', 1));
|
||
ui->edit_roi_z_min->setText(QString::number(param.wheelRoi3d_zMin, 'f', 1));
|
||
ui->edit_roi_z_max->setText(QString::number(param.wheelRoi3d_zMax, 'f', 1));
|
||
|
||
// 加载修正系数
|
||
ui->edit_correction_factor->setText(QString::number(param.correctionFactor, 'f', 8));
|
||
|
||
LOG_INFO("Loaded ROI range for camera %d: X[%.1f, %.1f], Y[%.1f, %.1f], Z[%.1f, %.1f], correctionFactor=%.8f\n",
|
||
configCameraIndex,
|
||
param.wheelRoi3d_xMin, param.wheelRoi3d_xMax,
|
||
param.wheelRoi3d_yMin, param.wheelRoi3d_yMax,
|
||
param.wheelRoi3d_zMin, param.wheelRoi3d_zMax,
|
||
param.correctionFactor);
|
||
return;
|
||
}
|
||
}
|
||
|
||
// 如果没有找到，使用默认值
|
||
ui->edit_roi_x_min->setText("-1000.0");
|
||
ui->edit_roi_x_max->setText("1000.0");
|
||
ui->edit_roi_y_min->setText("-1000.0");
|
||
ui->edit_roi_y_max->setText("1000.0");
|
||
ui->edit_roi_z_min->setText("-1000.0");
|
||
ui->edit_roi_z_max->setText("1000.0");
|
||
ui->edit_correction_factor->setText("1.00000000");
|
||
LOG_INFO("No ROI range found for camera %d, using default values\n", configCameraIndex);
|
||
}
|
||
|
||
void DialogCameraLevel::saveCameraRoiRange()
|
||
{
|
||
if (!m_pConfig || !m_pConfigResult) {
|
||
LOG_ERROR("Config is null, cannot save ROI range\n");
|
||
QMessageBox::warning(this, "错误", "配置对象为空，无法保存ROI范围");
|
||
return;
|
||
}
|
||
|
||
if (m_currentCameraIndex < 0 || m_currentCameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||
LOG_WARNING("Invalid camera index: %d\n", m_currentCameraIndex);
|
||
QMessageBox::warning(this, "错误", "请先选择相机");
|
||
return;
|
||
}
|
||
|
||
// 获取UI中的ROI范围值
|
||
double xMin = ui->edit_roi_x_min->text().toDouble();
|
||
double xMax = ui->edit_roi_x_max->text().toDouble();
|
||
double yMin = ui->edit_roi_y_min->text().toDouble();
|
||
double yMax = ui->edit_roi_y_max->text().toDouble();
|
||
double zMin = ui->edit_roi_z_min->text().toDouble();
|
||
double zMax = ui->edit_roi_z_max->text().toDouble();
|
||
|
||
// 验证范围有效性
|
||
if (xMin >= xMax || yMin >= yMax || zMin >= zMax) {
|
||
QMessageBox::warning(this, "错误", "ROI范围无效：最小值必须小于最大值");
|
||
return;
|
||
}
|
||
|
||
// 获取UI中的修正系数（非法或为0时回退为1.0）
|
||
bool cfOk = false;
|
||
double correctionFactor = ui->edit_correction_factor->text().toDouble(&cfOk);
|
||
if (!cfOk || correctionFactor == 0.0) {
|
||
correctionFactor = 1.0;
|
||
}
|
||
|
||
int cameraIndex = m_currentCameraIndex + 1; // 转换为1-based索引
|
||
QString cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
|
||
|
||
LOG_INFO("Saving ROI range for camera %d (%s): X[%.1f, %.1f], Y[%.1f, %.1f], Z[%.1f, %.1f], correctionFactor=%.8f\n",
|
||
cameraIndex, cameraName.toUtf8().constData(),
|
||
xMin, xMax, yMin, yMax, zMin, zMax, correctionFactor);
|
||
|
||
// 查找或创建相机调平参数
|
||
bool found = false;
|
||
for (auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == cameraIndex) {
|
||
param.wheelRoi3d_xMin = xMin;
|
||
param.wheelRoi3d_xMax = xMax;
|
||
param.wheelRoi3d_yMin = yMin;
|
||
param.wheelRoi3d_yMax = yMax;
|
||
param.wheelRoi3d_zMin = zMin;
|
||
param.wheelRoi3d_zMax = zMax;
|
||
param.correctionFactor = correctionFactor;
|
||
found = true;
|
||
break;
|
||
}
|
||
}
|
||
|
||
// 如果没有找到现有记录，创建一个新的
|
||
if (!found) {
|
||
WheelCameraPlaneCalibParam newParam;
|
||
newParam.cameraIndex = cameraIndex;
|
||
newParam.cameraName = cameraName.toStdString();
|
||
newParam.wheelRoi3d_xMin = xMin;
|
||
newParam.wheelRoi3d_xMax = xMax;
|
||
newParam.wheelRoi3d_yMin = yMin;
|
||
newParam.wheelRoi3d_yMax = yMax;
|
||
newParam.wheelRoi3d_zMin = zMin;
|
||
newParam.wheelRoi3d_zMax = zMax;
|
||
newParam.correctionFactor = correctionFactor;
|
||
newParam.isCalibrated = false; // 尚未标定
|
||
m_pConfigResult->planeCalibParams.push_back(newParam);
|
||
}
|
||
|
||
// 保存配置到文件
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
|
||
if (saveResult) {
|
||
LOG_INFO("ROI range saved successfully for camera %d\n", cameraIndex);
|
||
QMessageBox::information(this, "成功", "ROI范围和修正系数已保存");
|
||
} else {
|
||
LOG_ERROR("Failed to save ROI range\n");
|
||
QMessageBox::critical(this, "错误", "保存失败");
|
||
}
|
||
}
|
||
|
||
void DialogCameraLevel::on_btn_save_roi_clicked()
|
||
{
|
||
saveCameraRoiRange();
|
||
}
|
||
|
||
bool DialogCameraLevel::performCorrectionMeasurement(double& measuredLength)
|
||
{
|
||
measuredLength = 0.0;
|
||
|
||
int selectedIndex = ui->combo_camera->currentIndex();
|
||
if (selectedIndex < 0 || selectedIndex >= static_cast<int>(m_cameraList.size())) {
|
||
LOG_ERROR("Invalid camera index for correction: %d\n", selectedIndex);
|
||
return false;
|
||
}
|
||
|
||
if (!m_pConfigResult) {
|
||
LOG_ERROR("Config result is null, cannot perform correction measurement\n");
|
||
return false;
|
||
}
|
||
|
||
// 解析 UI 中的标定块参数
|
||
bool ok = false;
|
||
double nominalLen = ui->edit_calib_nominal_length->text().toDouble(&ok);
|
||
if (!ok || nominalLen <= 0.0) {
|
||
QMessageBox::warning(this, "错误", "标定块标称值无效，请输入大于0的数值");
|
||
return false;
|
||
}
|
||
|
||
double yMin = ui->edit_calib_y_min->text().toDouble();
|
||
double yMax = ui->edit_calib_y_max->text().toDouble();
|
||
if (yMin >= yMax) {
|
||
QMessageBox::warning(this, "错误", "标定块Y范围无效：最小值必须小于最大值");
|
||
return false;
|
||
}
|
||
|
||
// 1. 设置状态回调（复用调平回调，监听摆动完成）
|
||
setLevelingStatusCallback();
|
||
|
||
// 2. 清空之前的扫描数据
|
||
clearScanDataCache();
|
||
|
||
// 3. 启动相机扫描
|
||
if (!startCameraScan(selectedIndex)) {
|
||
LOG_ERROR("Failed to start camera scan for correction\n");
|
||
restorePresenterStatusCallback();
|
||
return false;
|
||
}
|
||
|
||
// 4. 等待扫描完成
|
||
LOG_INFO("Collecting calibration block scan data, waiting for swing finish signal...\n");
|
||
int waitTime = 0;
|
||
const int maxWaitTime = 10000;
|
||
const int checkInterval = 100;
|
||
while (!m_swingFinished && waitTime < maxWaitTime) {
|
||
QThread::msleep(checkInterval);
|
||
QApplication::processEvents();
|
||
waitTime += checkInterval;
|
||
}
|
||
|
||
// 5. 停止扫描
|
||
stopCameraScan(selectedIndex);
|
||
restorePresenterStatusCallback();
|
||
|
||
if (!m_swingFinished) {
|
||
LOG_WARNING("Timeout waiting for camera swing finish signal in correction\n");
|
||
}
|
||
|
||
// 6. 准备算法参数（从 ConfigResult 取得）
|
||
SSG_outlierFilterParam filterParam;
|
||
filterParam.continuityTh = m_pConfigResult->algorithmParams.filterParam.continuityTh;
|
||
filterParam.outlierTh = m_pConfigResult->algorithmParams.filterParam.outlierTh;
|
||
|
||
SSG_treeGrowParam growParam;
|
||
growParam.yDeviation_max = m_pConfigResult->algorithmParams.growParam.yDeviation_max;
|
||
growParam.zDeviation_max = m_pConfigResult->algorithmParams.growParam.zDeviation_max;
|
||
growParam.maxLineSkipNum = m_pConfigResult->algorithmParams.growParam.maxLineSkipNum;
|
||
growParam.maxSkipDistance = m_pConfigResult->algorithmParams.growParam.maxSkipDistance;
|
||
growParam.minLTypeTreeLen = m_pConfigResult->algorithmParams.growParam.minLTypeTreeLen;
|
||
growParam.minVTypeTreeLen = m_pConfigResult->algorithmParams.growParam.minVTypeTreeLen;
|
||
|
||
SVzNLRangeD yRange;
|
||
yRange.min = yMin;
|
||
yRange.max = yMax;
|
||
|
||
// 7. 调用算法计算标定块测量长度
|
||
int errCode = 0;
|
||
double length = 0.0;
|
||
{
|
||
std::lock_guard<std::mutex> lock(m_scanDataMutex);
|
||
if (m_scanDataCache.empty()) {
|
||
LOG_ERROR("No scan data available for correction measurement\n");
|
||
return false;
|
||
}
|
||
LOG_INFO("Calling wd_getCalibrationBlockLength with %zu scan lines, nominalLen=%.3f, Y[%.1f, %.1f]\n",
|
||
m_scanDataCache.size(), nominalLen, yMin, yMax);
|
||
|
||
#if _OUTPUT_DEBUG_DATA
|
||
std::vector<std::vector<SVzNL3DPosition>> debugData;
|
||
length = wd_getCalibrationBlockLength(
|
||
m_scanDataCache, nominalLen, filterParam, growParam, yRange, debugData, &errCode);
|
||
#else
|
||
length = wd_getCalibrationBlockLength(
|
||
m_scanDataCache, nominalLen, filterParam, growParam, yRange, &errCode);
|
||
#endif
|
||
}
|
||
|
||
LOG_INFO("Calibration block length measurement: %.3f, errCode=%d\n", length, errCode);
|
||
|
||
clearScanDataCache();
|
||
|
||
if (errCode != 0 || length <= 0.0) {
|
||
LOG_ERROR("Calibration block measurement failed, errCode=%d, length=%.3f\n", errCode, length);
|
||
return false;
|
||
}
|
||
|
||
measuredLength = length;
|
||
return true;
|
||
}
|
||
|
||
void DialogCameraLevel::on_btn_start_correction_clicked()
|
||
{
|
||
if (m_cameraList.empty()) {
|
||
QMessageBox::warning(this, "错误", "无可用相机设备！");
|
||
return;
|
||
}
|
||
|
||
int selectedIndex = ui->combo_camera->currentIndex();
|
||
if (selectedIndex < 0 || selectedIndex >= static_cast<int>(m_cameraList.size())) {
|
||
QMessageBox::warning(this, "错误", "请选择有效的相机！");
|
||
return;
|
||
}
|
||
|
||
// 扫描次数仅由配置文件控制（WheelMeasureConfigResult::correctionScanCount）
|
||
// 读不到配置或配置值不合理时统一回退到默认 10
|
||
constexpr int kDefaultScanCount = 10;
|
||
constexpr int kMaxScanCount = 50;
|
||
int scanCount = kDefaultScanCount;
|
||
if (m_pConfigResult && m_pConfigResult->correctionScanCount > 0
|
||
&& m_pConfigResult->correctionScanCount <= kMaxScanCount) {
|
||
scanCount = m_pConfigResult->correctionScanCount;
|
||
} else if (m_pConfigResult) {
|
||
LOG_WARNING("correctionScanCount=%d in config is invalid, fallback to %d\n",
|
||
m_pConfigResult->correctionScanCount, kDefaultScanCount);
|
||
}
|
||
LOG_INFO("Correction measurement will scan %d times (from config)\n", scanCount);
|
||
|
||
const QString originalBtnText = ui->btn_start_correction->text();
|
||
ui->btn_start_correction->setEnabled(false);
|
||
ui->btn_apply_correction->setEnabled(false);
|
||
ui->btn_start_correction->setText("正在测量...");
|
||
QApplication::processEvents();
|
||
|
||
try {
|
||
std::vector<double> validMeasurements;
|
||
validMeasurements.reserve(scanCount);
|
||
|
||
for (int i = 0; i < scanCount; ++i) {
|
||
ui->btn_start_correction->setText(QString("正在测量 %1/%2...").arg(i + 1).arg(scanCount));
|
||
QApplication::processEvents();
|
||
|
||
double singleLength = 0.0;
|
||
if (performCorrectionMeasurement(singleLength)) {
|
||
LOG_INFO("Correction measurement %d/%d: %.3f\n", i + 1, scanCount, singleLength);
|
||
validMeasurements.push_back(singleLength);
|
||
} else {
|
||
LOG_WARNING("Correction measurement %d/%d failed, skipped\n", i + 1, scanCount);
|
||
}
|
||
}
|
||
|
||
if (validMeasurements.empty()) {
|
||
QMessageBox::warning(this, "错误",
|
||
QString("标定块测量失败！%1次扫描均未获得有效结果。\n\n请检查：\n1. 相机连接是否正常\n2. 标定块是否放置在Y范围内\n3. 扫描数据是否充足").arg(scanCount));
|
||
} else {
|
||
// 求平均值
|
||
double sum = 0.0;
|
||
for (double v : validMeasurements) {
|
||
sum += v;
|
||
}
|
||
double averageLength = sum / validMeasurements.size();
|
||
|
||
// 计算修正系数 = 凹槽间距(标称) / 平均测量值（算法输出为凹槽间距）
|
||
double grooveSpacing = ui->edit_calib_groove_spacing->text().toDouble();
|
||
if (grooveSpacing <= 0.0) {
|
||
LOG_WARNING("Groove spacing is invalid (%.3f), skip correction factor calculation\n", grooveSpacing);
|
||
} else if (averageLength > 0.0) {
|
||
double correctionFactor = grooveSpacing / averageLength;
|
||
ui->edit_correction_factor->setText(QString::number(correctionFactor, 'f', 8));
|
||
LOG_INFO("Correction factor calculated: %.8f (grooveSpacing=%.3f / avg=%.3f, valid=%zu/%d)\n",
|
||
correctionFactor, grooveSpacing, averageLength, validMeasurements.size(), scanCount);
|
||
} else {
|
||
LOG_WARNING("Average length is zero or negative, skip correction factor calculation\n");
|
||
}
|
||
|
||
if (static_cast<int>(validMeasurements.size()) < scanCount) {
|
||
QMessageBox::information(this, "提示",
|
||
QString("共扫描 %1 次，有效结果 %2 次，已按有效结果求平均值")
|
||
.arg(scanCount).arg(validMeasurements.size()));
|
||
}
|
||
}
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in on_btn_start_correction_clicked: %s\n", e.what());
|
||
QMessageBox::critical(this, "错误", QString("测量过程发生异常：%1").arg(e.what()));
|
||
restorePresenterStatusCallback();
|
||
}
|
||
|
||
ui->btn_start_correction->setText(originalBtnText);
|
||
ui->btn_start_correction->setEnabled(true);
|
||
ui->btn_apply_correction->setEnabled(true);
|
||
}
|
||
|
||
void DialogCameraLevel::on_btn_apply_correction_clicked()
|
||
{
|
||
if (!m_pConfig || !m_pConfigResult) {
|
||
LOG_ERROR("Config is null, cannot save correction factor\n");
|
||
return;
|
||
}
|
||
|
||
if (m_currentCameraIndex < 0 || m_currentCameraIndex >= static_cast<int>(m_cameraList.size())) {
|
||
QMessageBox::warning(this, "错误", "请先选择相机");
|
||
return;
|
||
}
|
||
|
||
// 从 UI 读取修正系数
|
||
bool cfOk = false;
|
||
double correctionFactor = ui->edit_correction_factor->text().toDouble(&cfOk);
|
||
if (!cfOk || correctionFactor == 0.0) {
|
||
QMessageBox::warning(this, "错误", "修正系数无效，请先执行测量或手动输入有效值");
|
||
return;
|
||
}
|
||
|
||
int cameraIndex = m_currentCameraIndex + 1;
|
||
QString cameraName = QString::fromStdString(m_cameraList[m_currentCameraIndex].first);
|
||
|
||
LOG_INFO("Applying correction factor for camera %d (%s): %.8f\n",
|
||
cameraIndex, cameraName.toUtf8().constData(), correctionFactor);
|
||
|
||
bool found = false;
|
||
for (auto& param : m_pConfigResult->planeCalibParams) {
|
||
if (param.cameraIndex == cameraIndex) {
|
||
param.correctionFactor = correctionFactor;
|
||
found = true;
|
||
break;
|
||
}
|
||
}
|
||
|
||
if (!found) {
|
||
WheelCameraPlaneCalibParam newParam;
|
||
newParam.cameraIndex = cameraIndex;
|
||
newParam.cameraName = cameraName.toStdString();
|
||
newParam.correctionFactor = correctionFactor;
|
||
newParam.isCalibrated = false;
|
||
m_pConfigResult->planeCalibParams.push_back(newParam);
|
||
}
|
||
|
||
QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
bool saveResult = m_pConfig->SaveConfig(configPath.toStdString(), *m_pConfigResult);
|
||
if (saveResult) {
|
||
LOG_INFO("Correction factor saved successfully for camera %d: %.8f\n", cameraIndex, correctionFactor);
|
||
QMessageBox::information(this, "成功", QString("修正系数已保存：%1").arg(QString::number(correctionFactor, 'f', 8)));
|
||
} else {
|
||
LOG_ERROR("Failed to save correction factor\n");
|
||
QMessageBox::critical(this, "错误", "保存失败");
|
||
}
|
||
}
|
||
|
||
|