566 lines
21 KiB
C++
566 lines
21 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include "HandEyeCalibWidget.h"
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#include "NetworkConfigWidget.h"
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#include "ToolExtrinsicWidget.h"
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#include "PathManager.h"
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#include "JiuruiWorkpiecePosePresenter.h"
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#include "StyledMessageBox.h"
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#include <QDoubleValidator>
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#include <QGroupBox>
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#include <QIntValidator>
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#include <QLabel>
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#include <QLineEdit>
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#include <algorithm>
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#include <cmath>
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#include <cstring>
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namespace {
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bool IsIdentityMatrix(const double matrix[16])
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{
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for (int i = 0; i < 16; ++i) {
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const double expected = (i / 4 == i % 4) ? 1.0 : 0.0;
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if (std::fabs(matrix[i] - expected) > 1e-9) {
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return false;
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}
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}
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return true;
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}
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} // namespace
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DialogAlgoArg::DialogAlgoArg(QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoArg)
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{
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ui->setupUi(this);
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setWindowTitle(QStringLiteral("工件定位 - 算法参数设置"));
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initNumericEditors();
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initWorkpieceParamEditors();
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initHandEyeCalibTab();
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initNetworkConfigTab();
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}
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DialogAlgoArg::~DialogAlgoArg()
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{
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delete ui;
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}
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void DialogAlgoArg::SetPresenter(JiuruiWorkpiecePosePresenter* presenter)
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{
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m_presenter = presenter;
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loadParams();
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loadHandEyeCalibConfig();
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// 配置工具参数控件
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ui->toolExtrinsicWidget->setTargetOffsetVisible(true);
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ui->toolExtrinsicWidget->setAxialAngleRangeVisible(true);
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loadToolExtrinsicConfig();
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loadNetworkConfig();
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}
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void DialogAlgoArg::initNumericEditors()
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{
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auto setupDoubleEditor = [](QLineEdit* edit, double min, double max, int decimals) {
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auto* validator = new QDoubleValidator(min, max, decimals, edit);
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validator->setNotation(QDoubleValidator::StandardNotation);
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edit->setValidator(validator);
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};
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// 角点检测的 6 个参数
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setupDoubleEditor(ui->spinCornerTh, 0.0, 180.0, 6);
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setupDoubleEditor(ui->spinScale, 0.0, 200.0, 6);
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setupDoubleEditor(ui->spinMinEndingGap, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinMinEndingGapZ, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinJumpCornerTh1, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinJumpCornerTh2, 0.0, 180.0, 6);
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}
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void DialogAlgoArg::initWorkpieceParamEditors()
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{
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// 在 tabWidget 中新增独立的"工件参数"Tab 页
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if (!ui->tabWidget || m_editWpLength) {
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return;
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}
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// 创建 Tab 页容器
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auto* tabWorkpiece = new QWidget();
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tabWorkpiece->setObjectName(QStringLiteral("tabWorkpiece"));
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tabWorkpiece->setStyleSheet(ui->tabCorner->styleSheet());
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// 工件参数 GroupBox（三个参数：长、宽、厚）
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auto* groupBoxWorkpiece = new QGroupBox(QStringLiteral("工件参数 (WD_JiuruiWorkpieceParam)"), tabWorkpiece);
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groupBoxWorkpiece->setGeometry(10, 20, 671, 260);
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QFont groupFont = ui->groupBox_corner->font();
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groupBoxWorkpiece->setFont(groupFont);
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// 工件长度
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auto* labelLength = new QLabel(QStringLiteral("工件长度(len):"), groupBoxWorkpiece);
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labelLength->setGeometry(30, 50, 220, 32);
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labelLength->setFont(groupFont);
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m_editWpLength = new QLineEdit(groupBoxWorkpiece);
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m_editWpLength->setObjectName(QStringLiteral("spinWpLength"));
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m_editWpLength->setGeometry(280, 50, 200, 35);
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m_editWpLength->setFont(groupFont);
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m_editWpLength->setText(QStringLiteral("320"));
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// 工件宽度
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auto* labelWidth = new QLabel(QStringLiteral("工件宽度(width):"), groupBoxWorkpiece);
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labelWidth->setGeometry(30, 110, 220, 32);
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labelWidth->setFont(groupFont);
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m_editWpWidth = new QLineEdit(groupBoxWorkpiece);
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m_editWpWidth->setObjectName(QStringLiteral("spinWpWidth"));
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m_editWpWidth->setGeometry(280, 110, 200, 35);
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m_editWpWidth->setFont(groupFont);
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m_editWpWidth->setText(QStringLiteral("140"));
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// 工件厚度
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auto* labelThicknessWp = new QLabel(QStringLiteral("工件厚度(thickness):"), groupBoxWorkpiece);
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labelThicknessWp->setGeometry(30, 170, 220, 32);
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labelThicknessWp->setFont(groupFont);
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m_editWpThickness = new QLineEdit(groupBoxWorkpiece);
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m_editWpThickness->setObjectName(QStringLiteral("spinWpThickness"));
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m_editWpThickness->setGeometry(280, 170, 200, 35);
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m_editWpThickness->setFont(groupFont);
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m_editWpThickness->setText(QStringLiteral("48"));
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// 设置验证器
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auto setupDouble = [](QLineEdit* edit, double min, double max, int decimals) {
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auto* validator = new QDoubleValidator(min, max, decimals, edit);
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validator->setNotation(QDoubleValidator::StandardNotation);
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edit->setValidator(validator);
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};
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setupDouble(m_editWpLength, 0.0, 10000.0, 6);
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setupDouble(m_editWpWidth, 0.0, 10000.0, 6);
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setupDouble(m_editWpThickness, 0.0, 10000.0, 6);
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// 在"角点检测"Tab 之后插入"工件参数"Tab（索引 1）
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ui->tabWidget->insertTab(1, tabWorkpiece, QStringLiteral("工件参数"));
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}
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void DialogAlgoArg::initHandEyeCalibTab()
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{
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if (!ui || !ui->verticalLayout_handEyeCalibHost || m_handEyeCalibWidget) {
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return;
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}
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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m_handEyeCalibWidget->setMatrixEditable(true);
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m_handEyeCalibWidget->setExtrinsicControlsVisible(true);
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m_handEyeCalibWidget->setDefaultFilePath(PathManager::GetInstance().GetAppConfigDirectory());
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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
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this, &DialogAlgoArg::onCalibMatrixLoaded);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
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this, &DialogAlgoArg::onSaveCalibRequested);
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}
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void DialogAlgoArg::initNetworkConfigTab()
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{
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if (!ui || !ui->verticalLayout_networkConfigHost || m_networkConfigWidget) {
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return;
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}
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m_networkConfigWidget = new NetworkConfigWidget(false, true, this);
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m_networkConfigWidget->setExtrinsicControlsVisible(true);
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ui->verticalLayout_networkConfigHost->addWidget(m_networkConfigWidget);
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}
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void DialogAlgoArg::setDoubleEditorText(QLineEdit* edit, double value)
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{
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if (edit) {
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edit->setText(QString::number(value, 'g', 12));
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}
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}
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void DialogAlgoArg::setIntEditorText(QLineEdit* edit, int value)
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{
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if (edit) {
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edit->setText(QString::number(value));
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}
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}
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bool DialogAlgoArg::tryGetDouble(QLineEdit* edit, const QString& label, double& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toDouble(&ok);
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if (!ok) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("\"%1\" 输入的数值无效。").arg(label));
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edit->setFocus();
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edit->selectAll();
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return false;
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}
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return true;
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}
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bool DialogAlgoArg::tryGetInt(QLineEdit* edit, const QString& label, int& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toInt(&ok);
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if (!ok) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("\"%1\" 输入的整数无效。").arg(label));
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edit->setFocus();
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edit->selectAll();
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return false;
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}
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return true;
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}
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void DialogAlgoArg::loadParams()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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const VrCornerParam corner = configResult.algorithmParams.cornerParam;
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const VrJiuruiWorkpieceParam wp = configResult.algorithmParams.workpieceParam;
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setDoubleEditorText(ui->spinCornerTh, corner.cornerTh);
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setDoubleEditorText(ui->spinScale, corner.scale);
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setDoubleEditorText(ui->spinMinEndingGap, corner.minEndingGap);
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setDoubleEditorText(ui->spinMinEndingGapZ, corner.minEndingGap_z);
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setDoubleEditorText(ui->spinJumpCornerTh1, corner.jumpCornerTh_1);
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setDoubleEditorText(ui->spinJumpCornerTh2, corner.jumpCornerTh_2);
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setDoubleEditorText(m_editWpLength, wp.len);
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setDoubleEditorText(m_editWpWidth, wp.width);
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setDoubleEditorText(m_editWpThickness, wp.thickness);
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}
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void DialogAlgoArg::loadHandEyeCalibConfig()
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{
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if (!m_presenter || !m_handEyeCalibWidget || !m_presenter->GetConfigManager()) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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QVector<HandEyeCalibCameraInfo> cameraInfos;
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if (configResult.cameraList.empty()) {
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HandEyeCalibCameraInfo defaultCam;
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defaultCam.cameraIndex = 1;
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defaultCam.displayName = QStringLiteral("相机 1");
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cameraInfos.append(defaultCam);
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} else {
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for (size_t i = 0; i < configResult.cameraList.size(); ++i) {
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HandEyeCalibCameraInfo info;
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info.cameraIndex = static_cast<int>(i + 1);
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info.displayName = QString::fromStdString(configResult.cameraList[i].name);
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cameraInfos.append(info);
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}
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}
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m_handEyeCalibWidget->setCameraList(cameraInfos);
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for (const auto& info : cameraInfos) {
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const VrHandEyeCalibMatrix* savedMatrix =
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configResult.FindHandEyeMatrix(info.cameraIndex);
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if (savedMatrix) {
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m_handEyeCalibWidget->setCalibData(info.cameraIndex,
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savedMatrix->matrix,
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!IsIdentityMatrix(savedMatrix->matrix));
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m_handEyeCalibWidget->setExtrinsicData(info.cameraIndex,
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savedMatrix->eulerOrder,
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savedMatrix->rotX,
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savedMatrix->rotY,
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savedMatrix->rotZ,
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savedMatrix->approachOffset,
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savedMatrix->offsetX,
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savedMatrix->offsetY,
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savedMatrix->offsetZ);
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} else {
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const CalibMatrix calibMatrix = m_presenter->GetClibMatrix(info.cameraIndex - 1);
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m_handEyeCalibWidget->setCalibData(info.cameraIndex,
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calibMatrix.clibMatrix,
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!IsIdentityMatrix(calibMatrix.clibMatrix));
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m_handEyeCalibWidget->setExtrinsicData(info.cameraIndex, 11, 0.0, 0.0, 0.0, 0.0);
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}
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}
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}
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void DialogAlgoArg::loadNetworkConfig()
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{
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if (!m_presenter || !m_presenter->GetConfigManager() || !m_networkConfigWidget) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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NetworkConfigData netConfig;
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netConfig.tcpServerPort = configResult.tcpPort;
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netConfig.eulerOrder = configResult.eulerOrder;
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netConfig.outputEulerOrder = configResult.outputEulerOrder;
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netConfig.poseOutputOrder = configResult.poseOutputOrder;
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netConfig.byteOrder = configResult.byteOrder;
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m_networkConfigWidget->setConfig(netConfig);
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}
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bool DialogAlgoArg::saveParams()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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return false;
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}
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SystemConfig systemConfig = m_presenter->GetConfigManager()->GetConfig();
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// —— 读取共享算法参数 ——
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VrCornerParam& corner = systemConfig.configResult.algorithmParams.cornerParam;
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if (!tryGetDouble(ui->spinCornerTh, QStringLiteral("拐角阈值"), corner.cornerTh)) return false;
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if (!tryGetDouble(ui->spinScale, QStringLiteral("窗口比例因子"), corner.scale)) return false;
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if (!tryGetDouble(ui->spinMinEndingGap, QStringLiteral("Y方向最小结束间隙"), corner.minEndingGap)) return false;
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if (!tryGetDouble(ui->spinMinEndingGapZ, QStringLiteral("Z方向最小结束间隙"), corner.minEndingGap_z)) return false;
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if (!tryGetDouble(ui->spinJumpCornerTh1, QStringLiteral("跳变拐角阈值1"), corner.jumpCornerTh_1)) return false;
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if (!tryGetDouble(ui->spinJumpCornerTh2, QStringLiteral("跳变拐角阈值2"), corner.jumpCornerTh_2)) return false;
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VrJiuruiWorkpieceParam& wp = systemConfig.configResult.algorithmParams.workpieceParam;
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if (!tryGetDouble(m_editWpLength, QStringLiteral("工件长度"), wp.len)) return false;
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if (!tryGetDouble(m_editWpWidth, QStringLiteral("工件宽度"), wp.width)) return false;
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if (!tryGetDouble(m_editWpThickness, QStringLiteral("工件厚度"), wp.thickness)) return false;
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// —— 保存手眼标定矩阵到 handEyeCalibMatrixList ——
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if (m_handEyeCalibWidget) {
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const int cameraCount = std::max(1, static_cast<int>(systemConfig.configResult.cameraList.size()));
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for (int camIdx = 1; camIdx <= cameraCount; ++camIdx) {
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systemConfig.configResult.EnsureHandEyeMatrix(camIdx);
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}
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for (int camIdx = 1; camIdx <= cameraCount; ++camIdx) {
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bool isCalibrated = false;
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double matrix[16];
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int eulerOrder = 11;
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double rotX = 0.0, rotY = 0.0, rotZ = 0.0;
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double approachOffset = 0.0;
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double offsetX = 0.0, offsetY = 0.0, offsetZ = 0.0;
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const bool hasMatrix = m_handEyeCalibWidget->getCalibData(camIdx, matrix, isCalibrated) && isCalibrated;
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const bool hasExtrinsic = m_handEyeCalibWidget->getExtrinsicData(
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camIdx, eulerOrder, rotX, rotY, rotZ, approachOffset, offsetX, offsetY, offsetZ);
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VrHandEyeCalibMatrix* hePtr = systemConfig.configResult.FindHandEyeMatrix(camIdx);
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if (!hePtr) {
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systemConfig.configResult.EnsureHandEyeMatrix(camIdx);
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hePtr = systemConfig.configResult.FindHandEyeMatrix(camIdx);
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}
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if (hePtr) {
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hePtr->cameraIndex = camIdx;
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if (hasMatrix) {
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std::memcpy(hePtr->matrix, matrix, sizeof(double) * 16);
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}
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if (hasExtrinsic) {
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hePtr->eulerOrder = eulerOrder;
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hePtr->rotX = rotX;
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hePtr->rotY = rotY;
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hePtr->rotZ = rotZ;
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hePtr->offsetX = offsetX;
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hePtr->offsetY = offsetY;
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hePtr->offsetZ = offsetZ;
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}
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// 从工具参数控件获取该相机的工具外参
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if (ui->toolExtrinsicWidget) {
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int toolEulerOrder = hePtr->eulerOrder;
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double toolRotX = hePtr->rotX;
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double toolRotY = hePtr->rotY;
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double toolRotZ = hePtr->rotZ;
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double toolOffsetX = hePtr->offsetX;
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double toolOffsetY = hePtr->offsetY;
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double toolOffsetZ = hePtr->offsetZ;
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double axialAngleMin = hePtr->axialAngleMin;
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double axialAngleMax = hePtr->axialAngleMax;
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if (ui->toolExtrinsicWidget->getData(camIdx,
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toolEulerOrder,
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toolRotX, toolRotY, toolRotZ,
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toolOffsetX, toolOffsetY, toolOffsetZ,
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axialAngleMin, axialAngleMax)) {
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hePtr->eulerOrder = toolEulerOrder;
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hePtr->rotX = toolRotX;
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hePtr->rotY = toolRotY;
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hePtr->rotZ = toolRotZ;
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hePtr->offsetX = toolOffsetX;
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hePtr->offsetY = toolOffsetY;
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hePtr->offsetZ = toolOffsetZ;
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hePtr->axialAngleMin = axialAngleMin;
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hePtr->axialAngleMax = axialAngleMax;
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}
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}
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}
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}
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}
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// —— 网络配置 ——
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if (m_networkConfigWidget) {
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const NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
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if (netConfig.tcpServerPort <= 0 || netConfig.tcpServerPort > 65535) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("TCP端口必须在 1 到 65535 之间。"));
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return false;
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}
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systemConfig.configResult.tcpPort = static_cast<uint16_t>(netConfig.tcpServerPort);
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systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
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systemConfig.configResult.outputEulerOrder = netConfig.outputEulerOrder;
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systemConfig.configResult.poseOutputOrder = netConfig.poseOutputOrder;
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systemConfig.configResult.byteOrder = netConfig.byteOrder;
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}
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if (!m_presenter->GetConfigManager()->UpdateFullConfig(systemConfig)) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("更新配置缓存失败。"));
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return false;
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}
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const QString configPath = PathManager::GetInstance().GetConfigFilePath();
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if (!m_presenter->GetConfigManager()->SaveConfigToFile(configPath.toStdString())) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("保存配置文件失败。"));
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return false;
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}
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m_presenter->OnConfigChanged(systemConfig.configResult);
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return true;
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}
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void DialogAlgoArg::resetParams()
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{
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setDoubleEditorText(ui->spinCornerTh, 60.0);
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setDoubleEditorText(ui->spinScale, 10.0);
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setDoubleEditorText(ui->spinMinEndingGap, 10.0);
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setDoubleEditorText(ui->spinMinEndingGapZ, 5.0);
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setDoubleEditorText(ui->spinJumpCornerTh1, 15.0);
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setDoubleEditorText(ui->spinJumpCornerTh2, 60.0);
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setDoubleEditorText(m_editWpLength, 320.0);
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setDoubleEditorText(m_editWpWidth, 140.0);
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setDoubleEditorText(m_editWpThickness, 48.0);
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}
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void DialogAlgoArg::on_btnOK_clicked()
|
||
{
|
||
if (saveParams()) {
|
||
accept();
|
||
}
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnCancel_clicked()
|
||
{
|
||
reject();
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnApply_clicked()
|
||
{
|
||
if (saveParams()) {
|
||
StyledMessageBox::information(this, QStringLiteral("提示"),
|
||
QStringLiteral("参数已应用。"));
|
||
}
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnReset_clicked()
|
||
{
|
||
const auto ret = StyledMessageBox::question(this, QStringLiteral("确认重置"),
|
||
QStringLiteral("确定要重置为默认参数吗？"), QMessageBox::Yes | QMessageBox::No);
|
||
if (ret == QMessageBox::Yes) {
|
||
resetParams();
|
||
}
|
||
}
|
||
|
||
void DialogAlgoArg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
|
||
{
|
||
Q_UNUSED(cameraIndex);
|
||
Q_UNUSED(matrix);
|
||
StyledMessageBox::information(this, QStringLiteral("提示"),
|
||
QStringLiteral("已从文件导入手眼标定矩阵。"));
|
||
}
|
||
|
||
void DialogAlgoArg::onSaveCalibRequested(int cameraIndex, const double* matrix)
|
||
{
|
||
Q_UNUSED(cameraIndex);
|
||
Q_UNUSED(matrix);
|
||
|
||
if (saveParams()) {
|
||
StyledMessageBox::information(this, QStringLiteral("成功"),
|
||
QStringLiteral("手眼标定参数已保存。"));
|
||
} else {
|
||
StyledMessageBox::warning(this, QStringLiteral("失败"),
|
||
QStringLiteral("保存手眼标定参数失败。"));
|
||
}
|
||
}
|
||
|
||
// ========== 工具参数相关实现 ==========
|
||
|
||
void DialogAlgoArg::loadToolExtrinsicConfig()
|
||
{
|
||
if (!m_presenter || !ui->toolExtrinsicWidget) return;
|
||
|
||
ConfigManager* configManager = m_presenter->GetConfigManager();
|
||
if (!configManager) return;
|
||
|
||
const ConfigResult configResult = configManager->GetConfigResult();
|
||
const auto& cameraList = configResult.cameraList;
|
||
int cameraCount = std::max(1, static_cast<int>(cameraList.size()));
|
||
|
||
// 设置相机列表
|
||
QVector<ToolExtrinsicCameraInfo> toolCameraList;
|
||
for (size_t i = 0; i < cameraList.size(); ++i) {
|
||
ToolExtrinsicCameraInfo info;
|
||
info.cameraIndex = static_cast<int>(i + 1);
|
||
info.displayName = QString::fromStdString(cameraList[i].name);
|
||
toolCameraList.append(info);
|
||
}
|
||
if (toolCameraList.empty()) {
|
||
ToolExtrinsicCameraInfo defaultCam;
|
||
defaultCam.cameraIndex = 1;
|
||
defaultCam.displayName = QString::fromUtf8("相机 1");
|
||
toolCameraList.append(defaultCam);
|
||
}
|
||
ui->toolExtrinsicWidget->setCameraList(toolCameraList);
|
||
|
||
// 加载每台相机的工具参数
|
||
for (int i = 0; i < cameraCount; ++i) {
|
||
int camIdx = i + 1;
|
||
int toolEulerOrder = 11;
|
||
double rotX = 0.0;
|
||
double rotY = 0.0;
|
||
double rotZ = 0.0;
|
||
double offsetX = 0.0;
|
||
double offsetY = 0.0;
|
||
double offsetZ = 0.0;
|
||
double axialAngleMin = -180.0;
|
||
double axialAngleMax = 180.0;
|
||
|
||
for (const auto& toolConfig : configResult.handEyeCalibMatrixList) {
|
||
if (toolConfig.cameraIndex == camIdx) {
|
||
toolEulerOrder = toolConfig.eulerOrder;
|
||
rotX = toolConfig.rotX;
|
||
rotY = toolConfig.rotY;
|
||
rotZ = toolConfig.rotZ;
|
||
offsetX = toolConfig.offsetX;
|
||
offsetY = toolConfig.offsetY;
|
||
offsetZ = toolConfig.offsetZ;
|
||
axialAngleMin = toolConfig.axialAngleMin;
|
||
axialAngleMax = toolConfig.axialAngleMax;
|
||
break;
|
||
}
|
||
}
|
||
|
||
ui->toolExtrinsicWidget->setData(camIdx,
|
||
toolEulerOrder,
|
||
rotX, rotY, rotZ,
|
||
offsetX, offsetY, offsetZ,
|
||
axialAngleMin, axialAngleMax);
|
||
}
|
||
}
|