386 lines
14 KiB
C++
386 lines
14 KiB
C++
#include "ToolExtrinsicWidget.h"
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#include "ui_ToolExtrinsicWidget.h"
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#include <QDoubleValidator>
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#include <QFont>
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#include <QList>
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#include <QVariant>
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ToolExtrinsicWidget::ToolExtrinsicWidget(QWidget *parent)
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: QWidget(parent)
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, ui(new Ui::ToolExtrinsicWidget)
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, m_groupExtrinsic(nullptr)
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, m_comboCamera(nullptr)
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, m_comboEulerOrder(nullptr)
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, m_editRotX(nullptr)
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, m_editRotY(nullptr)
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, m_editRotZ(nullptr)
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, m_labelAxialAngleRange(nullptr)
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, m_widgetAxialAngleRangeRow(nullptr)
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, m_editAxialAngleMin(nullptr)
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, m_editAxialAngleMax(nullptr)
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, m_labelTargetOffset(nullptr)
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, m_widgetTargetOffsetRow(nullptr)
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, m_editOffsetX(nullptr)
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, m_editOffsetY(nullptr)
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, m_editOffsetZ(nullptr)
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, m_currentCameraIndex(-1)
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{
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setupUI();
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}
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ToolExtrinsicWidget::~ToolExtrinsicWidget()
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{
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delete ui;
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}
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void ToolExtrinsicWidget::setCameraList(const QVector<ToolExtrinsicCameraInfo>& cameras)
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{
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saveCurrentUiToCache();
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if (!m_comboCamera) {
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return;
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}
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m_comboCamera->blockSignals(true);
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m_comboCamera->clear();
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for (const ToolExtrinsicCameraInfo& camera : cameras) {
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m_comboCamera->addItem(camera.displayName, QVariant(camera.cameraIndex));
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ensureData(camera.cameraIndex);
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}
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m_comboCamera->blockSignals(false);
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if (cameras.isEmpty()) {
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m_currentCameraIndex = -1;
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loadDataToUi(ToolExtrinsicData{});
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} else {
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m_comboCamera->setCurrentIndex(0);
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m_currentCameraIndex = cameras.first().cameraIndex;
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loadDataToUi(ensureData(m_currentCameraIndex));
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}
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}
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void ToolExtrinsicWidget::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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{
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setData(eulerOrder,
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rotX, rotY, rotZ,
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offsetX, offsetY, offsetZ,
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-180.0, 180.0);
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}
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void ToolExtrinsicWidget::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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{
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ToolExtrinsicData data;
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data.cameraIndex = m_currentCameraIndex;
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data.eulerOrder = eulerOrder;
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data.rotX = rotX;
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data.rotY = rotY;
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data.rotZ = rotZ;
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data.axialAngleMin = axialAngleMin;
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data.axialAngleMax = axialAngleMax;
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data.offsetX = offsetX;
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data.offsetY = offsetY;
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data.offsetZ = offsetZ;
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loadDataToUi(data);
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if (m_currentCameraIndex > 0) {
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ensureData(m_currentCameraIndex) = data;
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}
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}
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void ToolExtrinsicWidget::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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{
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double axialAngleMin = -180.0;
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double axialAngleMax = 180.0;
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getData(eulerOrder,
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rotX, rotY, rotZ,
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offsetX, offsetY, offsetZ,
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axialAngleMin, axialAngleMax);
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}
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void ToolExtrinsicWidget::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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{
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eulerOrder = m_comboEulerOrder ? m_comboEulerOrder->currentData().toInt() : 11;
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rotX = m_editRotX ? m_editRotX->text().trimmed().toDouble() : 0.0;
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rotY = m_editRotY ? m_editRotY->text().trimmed().toDouble() : 0.0;
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rotZ = m_editRotZ ? m_editRotZ->text().trimmed().toDouble() : 0.0;
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axialAngleMin = m_editAxialAngleMin ? m_editAxialAngleMin->text().trimmed().toDouble() : -180.0;
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axialAngleMax = m_editAxialAngleMax ? m_editAxialAngleMax->text().trimmed().toDouble() : 180.0;
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offsetX = m_editOffsetX ? m_editOffsetX->text().trimmed().toDouble() : 0.0;
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offsetY = m_editOffsetY ? m_editOffsetY->text().trimmed().toDouble() : 0.0;
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offsetZ = m_editOffsetZ ? m_editOffsetZ->text().trimmed().toDouble() : 0.0;
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}
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void ToolExtrinsicWidget::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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{
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setData(cameraIndex,
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eulerOrder,
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rotX, rotY, rotZ,
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offsetX, offsetY, offsetZ,
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-180.0, 180.0);
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}
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void ToolExtrinsicWidget::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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{
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ToolExtrinsicData& data = ensureData(cameraIndex);
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data.eulerOrder = eulerOrder;
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data.rotX = rotX;
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data.rotY = rotY;
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data.rotZ = rotZ;
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data.axialAngleMin = axialAngleMin;
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data.axialAngleMax = axialAngleMax;
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data.offsetX = offsetX;
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data.offsetY = offsetY;
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data.offsetZ = offsetZ;
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if (currentCameraIndex() == cameraIndex) {
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loadDataToUi(data);
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}
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}
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bool ToolExtrinsicWidget::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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{
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double axialAngleMin = -180.0;
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double axialAngleMax = 180.0;
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return getData(cameraIndex,
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eulerOrder,
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rotX, rotY, rotZ,
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offsetX, offsetY, offsetZ,
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axialAngleMin, axialAngleMax);
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}
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bool ToolExtrinsicWidget::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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{
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if (currentCameraIndex() == cameraIndex) {
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getData(eulerOrder, rotX, rotY, rotZ, offsetX, offsetY, offsetZ, axialAngleMin, axialAngleMax);
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return true;
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}
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const ToolExtrinsicData* data = findData(cameraIndex);
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if (!data) {
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return false;
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}
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eulerOrder = data->eulerOrder;
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rotX = data->rotX;
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rotY = data->rotY;
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rotZ = data->rotZ;
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axialAngleMin = data->axialAngleMin;
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axialAngleMax = data->axialAngleMax;
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offsetX = data->offsetX;
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offsetY = data->offsetY;
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offsetZ = data->offsetZ;
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return true;
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}
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int ToolExtrinsicWidget::currentCameraIndex() const
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{
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if (!m_comboCamera || m_comboCamera->count() == 0 || m_comboCamera->currentIndex() < 0) {
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return -1;
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}
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return m_comboCamera->currentData().toInt();
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}
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void ToolExtrinsicWidget::setTargetOffsetVisible(bool visible)
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{
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if (m_labelTargetOffset) m_labelTargetOffset->setVisible(visible);
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if (m_widgetTargetOffsetRow) m_widgetTargetOffsetRow->setVisible(visible);
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}
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void ToolExtrinsicWidget::setAxialAngleRangeVisible(bool visible)
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{
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if (m_labelAxialAngleRange) m_labelAxialAngleRange->setVisible(visible);
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if (m_widgetAxialAngleRangeRow) m_widgetAxialAngleRangeRow->setVisible(visible);
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}
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void ToolExtrinsicWidget::onCameraSelectionChanged(int index)
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{
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saveCurrentUiToCache();
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if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
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m_currentCameraIndex = -1;
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loadDataToUi(ToolExtrinsicData{});
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return;
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}
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m_currentCameraIndex = m_comboCamera->itemData(index).toInt();
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loadDataToUi(ensureData(m_currentCameraIndex));
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}
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void ToolExtrinsicWidget::loadDataToUi(const ToolExtrinsicData& data)
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{
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if (m_comboEulerOrder) {
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int idx = m_comboEulerOrder->findData(data.eulerOrder);
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if (idx < 0) idx = 0;
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m_comboEulerOrder->setCurrentIndex(idx);
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}
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if (m_editRotX) m_editRotX->setText(QString::number(data.rotX, 'f', 3));
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if (m_editRotY) m_editRotY->setText(QString::number(data.rotY, 'f', 3));
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if (m_editRotZ) m_editRotZ->setText(QString::number(data.rotZ, 'f', 3));
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if (m_editAxialAngleMin) m_editAxialAngleMin->setText(QString::number(data.axialAngleMin, 'f', 3));
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if (m_editAxialAngleMax) m_editAxialAngleMax->setText(QString::number(data.axialAngleMax, 'f', 3));
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if (m_editOffsetX) m_editOffsetX->setText(QString::number(data.offsetX, 'f', 3));
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if (m_editOffsetY) m_editOffsetY->setText(QString::number(data.offsetY, 'f', 3));
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if (m_editOffsetZ) m_editOffsetZ->setText(QString::number(data.offsetZ, 'f', 3));
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}
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void ToolExtrinsicWidget::saveCurrentUiToCache()
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{
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if (m_currentCameraIndex <= 0) {
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return;
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}
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ToolExtrinsicData& data = ensureData(m_currentCameraIndex);
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data.cameraIndex = m_currentCameraIndex;
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getData(data.eulerOrder,
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data.rotX, data.rotY, data.rotZ,
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data.offsetX, data.offsetY, data.offsetZ,
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data.axialAngleMin, data.axialAngleMax);
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}
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ToolExtrinsicData* ToolExtrinsicWidget::findData(int cameraIndex)
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{
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for (ToolExtrinsicData& data : m_dataCache) {
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if (data.cameraIndex == cameraIndex) {
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return &data;
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}
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}
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return nullptr;
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}
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const ToolExtrinsicData* ToolExtrinsicWidget::findData(int cameraIndex) const
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{
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for (const ToolExtrinsicData& data : m_dataCache) {
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if (data.cameraIndex == cameraIndex) {
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return &data;
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}
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}
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return nullptr;
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}
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ToolExtrinsicData& ToolExtrinsicWidget::ensureData(int cameraIndex)
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{
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if (ToolExtrinsicData* data = findData(cameraIndex)) {
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return *data;
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}
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ToolExtrinsicData data;
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data.cameraIndex = cameraIndex;
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m_dataCache.append(data);
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return m_dataCache.last();
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}
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void ToolExtrinsicWidget::initEulerOrderComboBox()
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{
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if (!m_comboEulerOrder) return;
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m_comboEulerOrder->addItem(QStringLiteral("RZ-RY-RX (外旋ZYX)"), 11);
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m_comboEulerOrder->addItem(QStringLiteral("RX-RY-RZ (外旋XYZ)"), 10);
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m_comboEulerOrder->addItem(QStringLiteral("RZ-RX-RY (外旋ZXY)"), 12);
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m_comboEulerOrder->addItem(QStringLiteral("RY-RX-RZ (外旋YXZ)"), 13);
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m_comboEulerOrder->addItem(QStringLiteral("RY-RZ-RX (外旋YZX)"), 14);
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m_comboEulerOrder->addItem(QStringLiteral("RX-RZ-RY (外旋XZY)"), 15);
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m_comboEulerOrder->setCurrentIndex(0);
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}
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void ToolExtrinsicWidget::setupUI()
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{
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ui->setupUi(this);
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QFont font;
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font.setPointSize(16);
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setStyleSheet(
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"QLabel { color: rgb(221, 225, 233); }"
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"QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"border: 1px solid rgb(70, 72, 78); padding: 4px; }"
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"QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"border: 1px solid rgb(70, 72, 78); padding: 6px; }"
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"QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"selection-background-color: rgb(70, 100, 150); }"
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"QGroupBox { color: rgb(221, 225, 233); border: 1px solid rgb(100, 100, 100); "
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"border-radius: 4px; margin-top: 12px; padding-top: 8px; }"
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"QGroupBox::title { subcontrol-origin: margin; left: 10px; padding: 0 3px 0 3px; }");
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const QList<QWidget*> widgets = findChildren<QWidget*>();
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for (QWidget* widget : widgets) {
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widget->setFont(font);
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}
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m_groupExtrinsic = ui->groupExtrinsic;
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m_comboCamera = ui->comboCamera;
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m_comboEulerOrder = ui->comboEulerOrder;
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m_editRotX = ui->editRotX;
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m_editRotY = ui->editRotY;
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m_editRotZ = ui->editRotZ;
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m_labelAxialAngleRange = ui->labelAxialAngleRange;
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m_widgetAxialAngleRangeRow = ui->widgetAxialAngleRangeRow;
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m_editAxialAngleMin = ui->editAxialAngleMin;
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m_editAxialAngleMax = ui->editAxialAngleMax;
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m_labelTargetOffset = ui->labelTargetOffset;
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m_widgetTargetOffsetRow = ui->widgetTargetOffsetRow;
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m_editOffsetX = ui->editOffsetX;
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m_editOffsetY = ui->editOffsetY;
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m_editOffsetZ = ui->editOffsetZ;
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initEulerOrderComboBox();
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connect(m_comboCamera, QOverload<int>::of(&QComboBox::currentIndexChanged),
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this, &ToolExtrinsicWidget::onCameraSelectionChanged);
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auto* validatorX = new QDoubleValidator(-360.0, 360.0, 3, this);
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validatorX->setNotation(QDoubleValidator::StandardNotation);
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auto* validatorY = new QDoubleValidator(-360.0, 360.0, 3, this);
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validatorY->setNotation(QDoubleValidator::StandardNotation);
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auto* validatorZ = new QDoubleValidator(-360.0, 360.0, 3, this);
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validatorZ->setNotation(QDoubleValidator::StandardNotation);
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m_editRotX->setValidator(validatorX);
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m_editRotY->setValidator(validatorY);
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m_editRotZ->setValidator(validatorZ);
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auto* validatorAxialAngle = new QDoubleValidator(-180.0, 180.0, 3, this);
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validatorAxialAngle->setNotation(QDoubleValidator::StandardNotation);
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m_editAxialAngleMin->setValidator(validatorAxialAngle);
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m_editAxialAngleMax->setValidator(validatorAxialAngle);
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auto* validatorTargetOffset = new QDoubleValidator(-10000.0, 10000.0, 3, this);
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validatorTargetOffset->setNotation(QDoubleValidator::StandardNotation);
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m_editOffsetX->setValidator(validatorTargetOffset);
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m_editOffsetY->setValidator(validatorTargetOffset);
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m_editOffsetZ->setValidator(validatorTargetOffset);
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setTargetOffsetVisible(false);
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setAxialAngleRangeVisible(false);
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QVector<ToolExtrinsicCameraInfo> defaultCameras;
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ToolExtrinsicCameraInfo defaultCamera;
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defaultCamera.cameraIndex = 1;
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defaultCamera.displayName = QStringLiteral("相机 1");
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defaultCameras.append(defaultCamera);
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setCameraList(defaultCameras);
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setData(11, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
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}
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