467 lines
16 KiB
C++
467 lines
16 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include "HolePitPositionPresenter.h"
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#include "HandEyeCalibWidget.h"
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#include "NetworkConfigWidget.h"
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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#include "VrLog.h"
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#include <cstring>
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#include <cmath>
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DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, HolePitPositionPresenter* presenter, QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoarg)
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, m_pConfigManager(configManager)
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, m_presenter(presenter)
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, m_handEyeCalibWidget(nullptr)
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, m_networkConfigWidget(nullptr)
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{
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try {
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ui->setupUi(this);
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// 获取配置文件路径
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m_configFilePath = PathManager::GetInstance().GetConfigFilePath();
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if (m_configFilePath.isEmpty()) {
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StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
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return;
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}
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// 初始化姿态输出顺序下拉框
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InitPoseOutputOrderComboBox();
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// 初始化手眼标定 tab（使用共享 HandEyeCalibWidget）
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InitHandEyeCalibTab();
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// 初始化网络配置 tab（使用共享 NetworkConfigWidget）
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InitNetworkConfigTab();
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// 从配置文件加载数据到界面
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LoadConfigToUI();
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} catch (const std::exception& e) {
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StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
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} catch (...) {
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StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
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}
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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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// ========== 手眼标定相关实现 ==========
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void DialogAlgoarg::InitHandEyeCalibTab()
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{
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if (!m_presenter) return;
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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m_handEyeCalibWidget->setMatrixEditable(true);
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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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m_handEyeCalibWidget->setDefaultFilePath(
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PathManager::GetInstance().GetAppConfigDirectory());
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// 获取相机列表
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const auto& cameraList = m_presenter->GetCameraList();
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QVector<HandEyeCalibCameraInfo> calibCameraList;
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if (cameraList.empty()) {
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HandEyeCalibCameraInfo defaultCam;
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defaultCam.cameraIndex = 1;
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defaultCam.displayName = QString::fromUtf8("相机 1");
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calibCameraList.append(defaultCam);
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} else {
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for (size_t i = 0; i < 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(cameraList[i].first);
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calibCameraList.append(info);
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}
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}
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m_handEyeCalibWidget->setCameraList(calibCameraList);
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// 加载各相机的标定矩阵
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for (const auto& camInfo : calibCameraList) {
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CalibMatrix calibMatrix = m_presenter->GetClibMatrix(camInfo.cameraIndex - 1);
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bool hasCalibData = false;
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for (int i = 0; i < 16; ++i) {
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double identity = (i / 4 == i % 4) ? 1.0 : 0.0;
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if (qAbs(calibMatrix.clibMatrix[i] - identity) > 1e-9) {
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hasCalibData = true;
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break;
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}
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}
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m_handEyeCalibWidget->setCalibData(camInfo.cameraIndex, calibMatrix.clibMatrix, hasCalibData);
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}
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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::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
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{
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Q_UNUSED(cameraIndex);
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Q_UNUSED(matrix);
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StyledMessageBox::information(this, "提示", "已从文件导入标定矩阵");
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}
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void DialogAlgoarg::onSaveCalibRequested(int cameraIndex, const double* matrix)
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{
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Q_UNUSED(cameraIndex);
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Q_UNUSED(matrix);
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if (SaveConfigFromUI()) {
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StyledMessageBox::information(this, "成功", "手眼标定参数已保存！");
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} else {
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StyledMessageBox::warning(this, "失败", "保存手眼标定参数失败！");
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}
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}
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// ========== 网络配置相关实现 ==========
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void DialogAlgoarg::InitNetworkConfigTab()
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{
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if (!m_pConfigManager) return;
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// 创建网络配置控件：不显示PLC配置，显示TCP端口配置
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m_networkConfigWidget = new NetworkConfigWidget(false, true, this);
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ui->verticalLayout_networkConfigHost->addWidget(m_networkConfigWidget);
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}
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void DialogAlgoarg::LoadNetworkConfigToUI()
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{
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if (!m_pConfigManager || !m_networkConfigWidget) return;
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ConfigResult configResult = m_pConfigManager->GetConfigResult();
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const VrPlcRobotServerConfig& plcConfig = configResult.plcRobotServerConfig;
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NetworkConfigData netConfig;
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netConfig.tcpServerPort = plcConfig.tcpServerPort;
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netConfig.dirVectorInvert = plcConfig.dirVectorInvert;
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// eulerOrder: 从第一个手眼标定矩阵的旋转顺序获取
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if (!configResult.handEyeCalibMatrixList.empty()) {
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netConfig.eulerOrder = configResult.handEyeCalibMatrixList[0].eulerOrder;
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}
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m_networkConfigWidget->setConfig(netConfig);
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// 加载姿态输出顺序
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int poseOrderIndex = ui->comboBox_poseOutputOrder->findData(plcConfig.poseOutputOrder);
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if (poseOrderIndex >= 0) {
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ui->comboBox_poseOutputOrder->setCurrentIndex(poseOrderIndex);
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}
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}
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// ========== 配置加载与保存 ==========
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void DialogAlgoarg::LoadConfigToUI()
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{
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if (!m_pConfigManager) {
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StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
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return;
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}
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try {
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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// 加载各个参数组
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadCornerParamToUI(algoParams.cornerParam);
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LoadOutlierFilterParamToUI(algoParams.outlierFilterParam);
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LoadTreeGrowParamToUI(algoParams.treeGrowParam);
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// 加载网络配置
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LoadNetworkConfigToUI();
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
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StyledMessageBox::warning(this, "警告",
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QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadCornerParamToUI(algoParams.cornerParam);
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LoadOutlierFilterParamToUI(algoParams.outlierFilterParam);
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LoadTreeGrowParamToUI(algoParams.treeGrowParam);
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} catch (...) {
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LOG_ERROR("Unknown exception in LoadConfigToUI\n");
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StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadLineSegParamToUI(algoParams.lineSegParam);
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LoadCornerParamToUI(algoParams.cornerParam);
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LoadOutlierFilterParamToUI(algoParams.outlierFilterParam);
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LoadTreeGrowParamToUI(algoParams.treeGrowParam);
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}
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}
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bool DialogAlgoarg::SaveConfigFromUI()
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{
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if (!m_pConfigManager) {
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return false;
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}
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try {
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SystemConfig systemConfig = m_pConfigManager->GetConfig();
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VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;
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// 保存线段分割参数
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if (!SaveLineSegParamFromUI(algoParams.lineSegParam)) {
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StyledMessageBox::warning(this, "错误", "线段分割参数输入有误，请检查！");
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return false;
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}
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// 保存角点参数
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if (!SaveCornerParamFromUI(algoParams.cornerParam)) {
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StyledMessageBox::warning(this, "错误", "角点参数输入有误，请检查！");
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return false;
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}
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// 保存噪声过滤参数
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if (!SaveOutlierFilterParamFromUI(algoParams.outlierFilterParam)) {
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StyledMessageBox::warning(this, "错误", "噪声过滤参数输入有误，请检查！");
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return false;
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}
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// 保存树生长参数
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if (!SaveTreeGrowParamFromUI(algoParams.treeGrowParam)) {
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StyledMessageBox::warning(this, "错误", "树生长参数输入有误，请检查！");
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return false;
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}
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// 保存手眼标定矩阵（使用共享控件）
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if (m_handEyeCalibWidget && m_presenter) {
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const auto& oldMatrixList = systemConfig.configResult.handEyeCalibMatrixList;
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std::vector<VrHandEyeCalibMatrix> newMatrixList;
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const auto& cameraList = m_presenter->GetCameraList();
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int cameraCount = std::max(1, static_cast<int>(cameraList.size()));
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for (int i = 0; i < cameraCount; ++i) {
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int camIdx = i + 1;
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// 先从已有配置中获取该相机的矩阵作为基础
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VrHandEyeCalibMatrix calibMatrix;
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calibMatrix.cameraIndex = camIdx;
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for (const auto& old : oldMatrixList) {
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if (old.cameraIndex == camIdx) {
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calibMatrix = old;
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break;
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}
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}
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// 如果控件中有更新的数据则覆盖
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bool isCalibrated = false;
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double matrix[16];
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if (m_handEyeCalibWidget->getCalibData(camIdx, matrix, isCalibrated) && isCalibrated) {
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memcpy(calibMatrix.matrix, matrix, sizeof(double) * 16);
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}
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newMatrixList.push_back(calibMatrix);
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}
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systemConfig.configResult.handEyeCalibMatrixList = newMatrixList;
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}
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// 保存网络配置（使用共享控件）
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if (m_networkConfigWidget) {
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NetworkConfigData netConfig = m_networkConfigWidget->getConfig();
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systemConfig.configResult.plcRobotServerConfig.tcpServerPort = netConfig.tcpServerPort;
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systemConfig.configResult.plcRobotServerConfig.dirVectorInvert = netConfig.dirVectorInvert;
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// 保存 eulerOrder 到所有手眼标定矩阵
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for (auto& calibMatrix : systemConfig.configResult.handEyeCalibMatrixList) {
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calibMatrix.eulerOrder = netConfig.eulerOrder;
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}
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}
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// 保存姿态输出顺序
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systemConfig.configResult.plcRobotServerConfig.poseOutputOrder =
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ui->comboBox_poseOutputOrder->currentData().toInt();
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// 更新并保存配置到文件
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if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
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return false;
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}
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if (!m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString())) {
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return false;
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}
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// 通知 Presenter 重新加载配置
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if (m_presenter) {
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m_presenter->OnConfigChanged(systemConfig.configResult);
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}
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return true;
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in SaveConfigFromUI: %s\n", e.what());
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return false;
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}
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}
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// ========== 参数加载到 UI ==========
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void DialogAlgoarg::LoadLineSegParamToUI(const VrLineSegParam& param)
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{
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if (!ui) return;
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ui->lineEdit_distScale->setText(QString::number(param.distScale));
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ui->lineEdit_segGapTh_y->setText(QString::number(param.segGapTh_y));
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ui->lineEdit_segGapTh_z->setText(QString::number(param.segGapTh_z));
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}
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void DialogAlgoarg::LoadCornerParamToUI(const VrCornerParam& param)
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{
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if (!ui) return;
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ui->lineEdit_cornerTh->setText(QString::number(param.cornerTh));
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ui->lineEdit_scale->setText(QString::number(param.scale));
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ui->lineEdit_minEndingGap->setText(QString::number(param.minEndingGap));
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ui->lineEdit_minEndingGap_z->setText(QString::number(param.minEndingGap_z));
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ui->lineEdit_jumpCornerTh_1->setText(QString::number(param.jumpCornerTh_1));
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ui->lineEdit_jumpCornerTh_2->setText(QString::number(param.jumpCornerTh_2));
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}
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void DialogAlgoarg::LoadOutlierFilterParamToUI(const VrOutlierFilterParam& param)
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{
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if (!ui) return;
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ui->lineEdit_continuityTh->setText(QString::number(param.continuityTh));
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ui->lineEdit_outlierTh->setText(QString::number(param.outlierTh));
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}
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void DialogAlgoarg::LoadTreeGrowParamToUI(const VrTreeGrowParam& param)
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{
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if (!ui) return;
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ui->lineEdit_maxLineSkipNum->setText(QString::number(param.maxLineSkipNum));
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ui->lineEdit_yDeviation_max->setText(QString::number(param.yDeviation_max));
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ui->lineEdit_maxSkipDistance->setText(QString::number(param.maxSkipDistance));
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ui->lineEdit_zDeviation_max->setText(QString::number(param.zDeviation_max));
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ui->lineEdit_minLTypeTreeLen->setText(QString::number(param.minLTypeTreeLen));
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ui->lineEdit_minVTypeTreeLen->setText(QString::number(param.minVTypeTreeLen));
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}
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// ========== 从 UI 保存参数 ==========
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bool DialogAlgoarg::SaveLineSegParamFromUI(VrLineSegParam& param)
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{
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bool ok = true;
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param.distScale = ui->lineEdit_distScale->text().toDouble(&ok);
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if (!ok) return false;
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param.segGapTh_y = ui->lineEdit_segGapTh_y->text().toDouble(&ok);
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if (!ok) return false;
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param.segGapTh_z = ui->lineEdit_segGapTh_z->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveCornerParamFromUI(VrCornerParam& param)
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{
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bool ok = true;
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param.cornerTh = ui->lineEdit_cornerTh->text().toDouble(&ok);
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if (!ok) return false;
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param.scale = ui->lineEdit_scale->text().toDouble(&ok);
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if (!ok) return false;
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param.minEndingGap = ui->lineEdit_minEndingGap->text().toDouble(&ok);
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if (!ok) return false;
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param.minEndingGap_z = ui->lineEdit_minEndingGap_z->text().toDouble(&ok);
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if (!ok) return false;
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param.jumpCornerTh_1 = ui->lineEdit_jumpCornerTh_1->text().toDouble(&ok);
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if (!ok) return false;
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param.jumpCornerTh_2 = ui->lineEdit_jumpCornerTh_2->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveOutlierFilterParamFromUI(VrOutlierFilterParam& param)
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{
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bool ok = true;
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param.continuityTh = ui->lineEdit_continuityTh->text().toDouble(&ok);
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if (!ok) return false;
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param.outlierTh = ui->lineEdit_outlierTh->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveTreeGrowParamFromUI(VrTreeGrowParam& param)
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{
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bool ok = true;
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param.maxLineSkipNum = ui->lineEdit_maxLineSkipNum->text().toInt(&ok);
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if (!ok) return false;
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param.yDeviation_max = ui->lineEdit_yDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.maxSkipDistance = ui->lineEdit_maxSkipDistance->text().toDouble(&ok);
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if (!ok) return false;
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param.zDeviation_max = ui->lineEdit_zDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.minLTypeTreeLen = ui->lineEdit_minLTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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param.minVTypeTreeLen = ui->lineEdit_minVTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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// ========== 按钮事件 ==========
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void DialogAlgoarg::on_btn_camer_ok_clicked()
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{
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if (SaveConfigFromUI()) {
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StyledMessageBox::information(this, "成功", "配置保存成功！");
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accept();
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} else {
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StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
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}
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}
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void DialogAlgoarg::on_btn_camer_cancel_clicked()
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{
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reject();
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}
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// ========== 下拉框初始化 ==========
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void DialogAlgoarg::InitPoseOutputOrderComboBox()
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{
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ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY);
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ui->comboBox_poseOutputOrder->addItem("RYP (Roll, Yaw, Pitch)", POSE_ORDER_RYP);
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ui->comboBox_poseOutputOrder->addItem("PRY (Pitch, Roll, Yaw)", POSE_ORDER_PRY);
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ui->comboBox_poseOutputOrder->addItem("PYR (Pitch, Yaw, Roll)", POSE_ORDER_PYR);
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ui->comboBox_poseOutputOrder->addItem("YRP (Yaw, Roll, Pitch)", POSE_ORDER_YRP);
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ui->comboBox_poseOutputOrder->addItem("YPR (Yaw, Pitch, Roll)", POSE_ORDER_YPR);
|
||
|
||
ui->comboBox_poseOutputOrder->setCurrentIndex(0);
|
||
}
|