644 lines
22 KiB
C++
644 lines
22 KiB
C++
#include "dialogalgoarg.h"
|
||
#include "ui_dialogalgoarg.h"
|
||
#include <QMessageBox>
|
||
#include <QPushButton>
|
||
#include <QtCore/QCoreApplication>
|
||
#include <QtCore/QFileInfo>
|
||
#include <QtCore/QDir>
|
||
#include <QtCore/QStandardPaths>
|
||
#include <QtCore/QFile>
|
||
#include <cstring>
|
||
#include <cmath>
|
||
#include <QSettings>
|
||
#include <QFileDialog>
|
||
#include "PathManager.h"
|
||
#include "StyledMessageBox.h"
|
||
|
||
#include "VrLog.h"
|
||
|
||
DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
|
||
: QDialog(parent)
|
||
, ui(new Ui::DialogAlgoarg)
|
||
, m_pConfigManager(configManager)
|
||
{
|
||
try {
|
||
ui->setupUi(this);
|
||
|
||
// 获取配置文件路径
|
||
m_configFilePath = PathManager::GetInstance().GetConfigFilePath();
|
||
|
||
// 检查配置文件路径是否有效
|
||
if (m_configFilePath.isEmpty()) {
|
||
StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
|
||
return;
|
||
}
|
||
|
||
// 初始化旋转顺序下拉框
|
||
InitEulerOrderComboBox();
|
||
|
||
// 初始化标定相机选择下拉框
|
||
InitCalibCameraComboBox();
|
||
|
||
// 初始化姿态输出顺序下拉框
|
||
InitPoseOutputOrderComboBox();
|
||
|
||
// 初始化方向向量反向下拉框
|
||
InitDirVectorInvertComboBox();
|
||
|
||
// 初始化排序模式下拉框
|
||
InitSortModeComboBox();
|
||
|
||
// 从配置文件加载数据到界面
|
||
LoadConfigToUI();
|
||
|
||
} catch (const std::exception& e) {
|
||
StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
|
||
} catch (...) {
|
||
StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
|
||
}
|
||
}
|
||
|
||
DialogAlgoarg::~DialogAlgoarg()
|
||
{
|
||
delete ui;
|
||
}
|
||
|
||
void DialogAlgoarg::LoadConfigToUI()
|
||
{
|
||
if (!m_pConfigManager) {
|
||
StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
|
||
return;
|
||
}
|
||
|
||
try {
|
||
// 从ConfigManager获取配置数据
|
||
ConfigResult configData = m_pConfigManager->GetConfigResult();
|
||
|
||
// 检查配置文件路径是否有效
|
||
if (m_configFilePath.isEmpty()) {
|
||
LOG_WARNING("Config file path is empty\n");
|
||
}
|
||
|
||
// 加载算法参数到UI
|
||
const VrAlgorithmParams& algoParams = configData.algorithmParams;
|
||
|
||
// 加载各个参数组
|
||
LoadDetectionParamToUI(algoParams.detectionParam);
|
||
LoadFilterParamToUI(algoParams.filterParam);
|
||
LoadSortModeToUI(algoParams.sortMode);
|
||
|
||
// 加载网络配置（PLC和机械臂服务端）
|
||
LoadPlcRobotServerConfigToUI(configData.plcRobotServerConfig);
|
||
|
||
// 初始化标定矩阵缓存（必须在LoadCalibMatrixToUI之前调用）
|
||
m_calibMatrixCache = configData.handEyeCalibMatrixList;
|
||
|
||
// 确保缓存至少有一个元素（防止配置文件中为空）
|
||
if (m_calibMatrixCache.empty()) {
|
||
LOG_WARNING("handEyeCalibMatrixList is empty, adding default matrix\n");
|
||
m_calibMatrixCache.push_back(VrHandEyeCalibMatrix());
|
||
}
|
||
|
||
// 加载手眼标定矩阵
|
||
LoadCalibMatrixToUI();
|
||
|
||
} catch (const std::exception& e) {
|
||
LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
|
||
StyledMessageBox::warning(this, "警告",
|
||
QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));
|
||
|
||
// 发生异常时使用默认参数
|
||
ConfigResult configData;
|
||
const VrAlgorithmParams& algoParams = configData.algorithmParams;
|
||
LoadDetectionParamToUI(algoParams.detectionParam);
|
||
LoadFilterParamToUI(algoParams.filterParam);
|
||
LoadSortModeToUI(algoParams.sortMode);
|
||
} catch (...) {
|
||
LOG_ERROR("Unknown exception in LoadConfigToUI\n");
|
||
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");
|
||
|
||
// 发生未知异常时使用默认参数
|
||
ConfigResult configData;
|
||
const VrAlgorithmParams& algoParams = configData.algorithmParams;
|
||
LoadDetectionParamToUI(algoParams.detectionParam);
|
||
LoadFilterParamToUI(algoParams.filterParam);
|
||
LoadSortModeToUI(algoParams.sortMode);
|
||
}
|
||
}
|
||
|
||
void DialogAlgoarg::LoadDetectionParamToUI(const VrHoleDetectionParam& param)
|
||
{
|
||
if (!ui) return;
|
||
|
||
ui->lineEdit_neighborCount->setText(QString::number(param.neighborCount));
|
||
ui->lineEdit_angleThresholdPos->setText(QString::number(param.angleThresholdPos));
|
||
ui->lineEdit_angleThresholdNeg->setText(QString::number(param.angleThresholdNeg));
|
||
ui->lineEdit_minPitDepth->setText(QString::number(param.minPitDepth));
|
||
ui->lineEdit_minRadius->setText(QString::number(param.minRadius));
|
||
ui->lineEdit_maxRadius->setText(QString::number(param.maxRadius));
|
||
ui->lineEdit_expansionSize1->setText(QString::number(param.expansionSize1));
|
||
ui->lineEdit_expansionSize2->setText(QString::number(param.expansionSize2));
|
||
ui->lineEdit_minVTransitionPoints->setText(QString::number(param.minVTransitionPoints));
|
||
}
|
||
|
||
void DialogAlgoarg::LoadFilterParamToUI(const VrHoleFilterParam& param)
|
||
{
|
||
if (!ui) return;
|
||
|
||
ui->lineEdit_maxEccentricity->setText(QString::number(param.maxEccentricity));
|
||
ui->lineEdit_minAngularCoverage->setText(QString::number(param.minAngularCoverage));
|
||
ui->lineEdit_maxRadiusFitRatio->setText(QString::number(param.maxRadiusFitRatio));
|
||
ui->lineEdit_minQualityScore->setText(QString::number(param.minQualityScore));
|
||
ui->lineEdit_maxPlaneResidual->setText(QString::number(param.maxPlaneResidual));
|
||
ui->lineEdit_maxAngularGap->setText(QString::number(param.maxAngularGap));
|
||
ui->lineEdit_minInlierRatio->setText(QString::number(param.minInlierRatio));
|
||
}
|
||
|
||
void DialogAlgoarg::LoadSortModeToUI(int sortMode)
|
||
{
|
||
if (!ui) return;
|
||
|
||
int index = ui->comboBox_sortMode->findData(sortMode);
|
||
if (index >= 0) {
|
||
ui->comboBox_sortMode->setCurrentIndex(index);
|
||
}
|
||
}
|
||
|
||
bool DialogAlgoarg::SaveConfigFromUI()
|
||
{
|
||
if (!m_pConfigManager) {
|
||
return false;
|
||
}
|
||
|
||
try {
|
||
// 获取当前配置
|
||
SystemConfig systemConfig = m_pConfigManager->GetConfig();
|
||
VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;
|
||
|
||
// 保存检测参数
|
||
if (!SaveDetectionParamFromUI(algoParams.detectionParam)) {
|
||
StyledMessageBox::warning(this, "错误", "检测参数输入有误，请检查！");
|
||
return false;
|
||
}
|
||
|
||
// 保存过滤参数
|
||
if (!SaveFilterParamFromUI(algoParams.filterParam)) {
|
||
StyledMessageBox::warning(this, "错误", "过滤参数输入有误，请检查！");
|
||
return false;
|
||
}
|
||
|
||
// 保存排序模式
|
||
if (!SaveSortModeFromUI(algoParams.sortMode)) {
|
||
StyledMessageBox::warning(this, "错误", "排序模式设置有误，请检查！");
|
||
return false;
|
||
}
|
||
|
||
// 保存网络配置（PLC和机械臂服务端）
|
||
if (!SavePlcRobotServerConfigFromUI(systemConfig.configResult.plcRobotServerConfig)) {
|
||
StyledMessageBox::warning(this, "错误", "网络配置输入有误，请检查！");
|
||
return false;
|
||
}
|
||
|
||
// 保存手眼标定矩阵到配置（多相机）
|
||
if (!SaveCalibMatrixToConfig(systemConfig.configResult.handEyeCalibMatrixList)) {
|
||
StyledMessageBox::warning(this, "错误", "手眼标定矩阵输入有误，请检查！");
|
||
return false;
|
||
}
|
||
|
||
// 更新并保存配置到文件
|
||
if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
|
||
return false;
|
||
}
|
||
|
||
return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());
|
||
|
||
} catch (const std::exception& e) {
|
||
return false;
|
||
}
|
||
}
|
||
|
||
bool DialogAlgoarg::SaveDetectionParamFromUI(VrHoleDetectionParam& param)
|
||
{
|
||
bool ok = true;
|
||
|
||
param.neighborCount = ui->lineEdit_neighborCount->text().toInt(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.angleThresholdPos = ui->lineEdit_angleThresholdPos->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.angleThresholdNeg = ui->lineEdit_angleThresholdNeg->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.minPitDepth = ui->lineEdit_minPitDepth->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.minRadius = ui->lineEdit_minRadius->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.maxRadius = ui->lineEdit_maxRadius->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.expansionSize1 = ui->lineEdit_expansionSize1->text().toInt(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.expansionSize2 = ui->lineEdit_expansionSize2->text().toInt(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.minVTransitionPoints = ui->lineEdit_minVTransitionPoints->text().toInt(&ok);
|
||
if (!ok) return false;
|
||
|
||
return true;
|
||
}
|
||
|
||
bool DialogAlgoarg::SaveFilterParamFromUI(VrHoleFilterParam& param)
|
||
{
|
||
bool ok = true;
|
||
|
||
param.maxEccentricity = ui->lineEdit_maxEccentricity->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.minAngularCoverage = ui->lineEdit_minAngularCoverage->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.maxRadiusFitRatio = ui->lineEdit_maxRadiusFitRatio->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.minQualityScore = ui->lineEdit_minQualityScore->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.maxPlaneResidual = ui->lineEdit_maxPlaneResidual->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.maxAngularGap = ui->lineEdit_maxAngularGap->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
param.minInlierRatio = ui->lineEdit_minInlierRatio->text().toDouble(&ok);
|
||
if (!ok) return false;
|
||
|
||
return true;
|
||
}
|
||
|
||
bool DialogAlgoarg::SaveSortModeFromUI(int& sortMode)
|
||
{
|
||
if (!ui) return false;
|
||
sortMode = ui->comboBox_sortMode->currentData().toInt();
|
||
return true;
|
||
}
|
||
|
||
void DialogAlgoarg::on_btn_camer_ok_clicked()
|
||
{
|
||
if (SaveConfigFromUI()) {
|
||
StyledMessageBox::information(this, "成功", "配置保存成功！");
|
||
accept();
|
||
} else {
|
||
StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
|
||
}
|
||
}
|
||
|
||
void DialogAlgoarg::on_btn_camer_cancel_clicked()
|
||
{
|
||
reject();
|
||
}
|
||
|
||
void DialogAlgoarg::on_btn_loadCalibMatrix_clicked()
|
||
{
|
||
QString filePath = QFileDialog::getOpenFileName(
|
||
this,
|
||
"选择手眼标定文件",
|
||
QString(),
|
||
"INI文件 (*.ini);;所有文件 (*.*)"
|
||
);
|
||
|
||
if (filePath.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
LoadCalibMatrixFromFile(filePath);
|
||
StyledMessageBox::information(this, "提示",
|
||
QString("已从文件导入标定矩阵到相机 %1").arg(m_currentCalibCameraIndex + 1));
|
||
}
|
||
|
||
void DialogAlgoarg::onCalibCameraChanged(int index)
|
||
{
|
||
// 切换前，先保存当前相机的矩阵到缓存
|
||
SaveCurrentCalibMatrixToCache();
|
||
|
||
// 更新当前选中的相机索引
|
||
m_currentCalibCameraIndex = index;
|
||
|
||
// 如果缓存中有对应相机的数据，加载到 UI
|
||
LoadCalibMatrixForCamera(index);
|
||
}
|
||
|
||
void DialogAlgoarg::InitCalibCameraComboBox()
|
||
{
|
||
if (!m_pConfigManager) return;
|
||
|
||
ConfigResult configData = m_pConfigManager->GetConfigResult();
|
||
|
||
// 初始化标定矩阵缓存
|
||
m_calibMatrixCache = configData.handEyeCalibMatrixList;
|
||
|
||
// 根据相机列表填充下拉框
|
||
ui->comboBox_calibCamera->blockSignals(true);
|
||
ui->comboBox_calibCamera->clear();
|
||
|
||
if (configData.cameraList.empty()) {
|
||
// 没有相机配置时，至少添加一个默认项
|
||
ui->comboBox_calibCamera->addItem("相机 1", 0);
|
||
// 确保缓存至少有一个元素
|
||
if (m_calibMatrixCache.empty()) {
|
||
m_calibMatrixCache.push_back(VrHandEyeCalibMatrix());
|
||
}
|
||
} else {
|
||
for (size_t i = 0; i < configData.cameraList.size(); i++) {
|
||
QString cameraName = QString::fromStdString(configData.cameraList[i].name);
|
||
if (cameraName.isEmpty()) {
|
||
cameraName = QString("相机 %1").arg(i + 1);
|
||
}
|
||
ui->comboBox_calibCamera->addItem(cameraName, static_cast<int>(i));
|
||
}
|
||
// 确保缓存数量与相机数量匹配
|
||
while (m_calibMatrixCache.size() < configData.cameraList.size()) {
|
||
m_calibMatrixCache.push_back(VrHandEyeCalibMatrix());
|
||
}
|
||
}
|
||
|
||
ui->comboBox_calibCamera->blockSignals(false);
|
||
|
||
// 连接信号
|
||
connect(ui->comboBox_calibCamera, QOverload<int>::of(&QComboBox::currentIndexChanged),
|
||
this, &DialogAlgoarg::onCalibCameraChanged);
|
||
|
||
m_currentCalibCameraIndex = 0;
|
||
}
|
||
|
||
QLineEdit* DialogAlgoarg::GetCalibLineEdit(int row, int col)
|
||
{
|
||
// 通过名称查找对应的QLineEdit (UI中使用 lineEdit_calib_row_col 格式)
|
||
QString name = QString("lineEdit_calib_%1_%2").arg(row).arg(col);
|
||
QLineEdit* edit = findChild<QLineEdit*>(name);
|
||
if (!edit) {
|
||
LOG_WARNING("LineEdit not found: %s\n", name.toStdString().c_str());
|
||
}
|
||
return edit;
|
||
}
|
||
|
||
void DialogAlgoarg::LoadCalibMatrixToUI()
|
||
{
|
||
// 加载当前选中相机的标定矩阵
|
||
LoadCalibMatrixForCamera(m_currentCalibCameraIndex);
|
||
}
|
||
|
||
void DialogAlgoarg::LoadCalibMatrixForCamera(int cameraIndex)
|
||
{
|
||
LOG_INFO("LoadCalibMatrixForCamera: cameraIndex=%d, cacheSize=%zu\n",
|
||
cameraIndex, m_calibMatrixCache.size());
|
||
|
||
// 检查索引是否有效
|
||
if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_calibMatrixCache.size())) {
|
||
LOG_WARNING("Invalid camera index, loading identity matrix\n");
|
||
LoadIdentityMatrixToUI();
|
||
return;
|
||
}
|
||
|
||
const VrHandEyeCalibMatrix& calibMatrix = m_calibMatrixCache[cameraIndex];
|
||
|
||
// 打印矩阵前4个元素用于调试
|
||
LOG_INFO("Matrix values: [0]=%.6f, [1]=%.6f, [2]=%.6f, [3]=%.6f\n",
|
||
calibMatrix.matrix[0], calibMatrix.matrix[1],
|
||
calibMatrix.matrix[2], calibMatrix.matrix[3]);
|
||
|
||
// 直接加载矩阵数据到UI（不再检查是否为空）
|
||
for (int i = 0; i < 16; i++) {
|
||
QLineEdit* edit = GetCalibLineEdit(i / 4, i % 4);
|
||
if (edit) {
|
||
edit->setText(QString::number(calibMatrix.matrix[i], 'f', 6));
|
||
} else {
|
||
LOG_WARNING("LineEdit not found for matrix[%d]\n", i);
|
||
}
|
||
}
|
||
|
||
// 加载旋转顺序
|
||
int eulerOrder = calibMatrix.eulerOrder;
|
||
LOG_INFO("Loading eulerOrder: %d\n", eulerOrder);
|
||
int index = ui->comboBox_eulerOrder->findData(eulerOrder);
|
||
if (index >= 0) {
|
||
ui->comboBox_eulerOrder->setCurrentIndex(index);
|
||
} else {
|
||
LOG_WARNING("EulerOrder %d not found in comboBox, using default\n", eulerOrder);
|
||
ui->comboBox_eulerOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
LOG_INFO("LoadCalibMatrixForCamera completed\n");
|
||
}
|
||
|
||
void DialogAlgoarg::LoadIdentityMatrixToUI()
|
||
{
|
||
LOG_INFO("LoadIdentityMatrixToUI called\n");
|
||
|
||
// 显示单位矩阵
|
||
for (int i = 0; i < 16; i++) {
|
||
int row = i / 4;
|
||
int col = i % 4;
|
||
QLineEdit* edit = GetCalibLineEdit(row, col);
|
||
if (edit) {
|
||
// 对角线元素为1，其他为0
|
||
double value = (row == col) ? 1.0 : 0.0;
|
||
edit->setText(QString::number(value, 'f', 6));
|
||
} else {
|
||
LOG_WARNING("LineEdit not found for identity matrix[%d]\n", i);
|
||
}
|
||
}
|
||
|
||
// 默认旋转顺序：外旋ZYX
|
||
int index = ui->comboBox_eulerOrder->findData(11);
|
||
if (index >= 0) {
|
||
ui->comboBox_eulerOrder->setCurrentIndex(index);
|
||
} else {
|
||
LOG_WARNING("Default eulerOrder 11 not found, using index 0\n");
|
||
ui->comboBox_eulerOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
LOG_INFO("LoadIdentityMatrixToUI completed\n");
|
||
}
|
||
|
||
void DialogAlgoarg::LoadCalibMatrixFromFile(const QString& filePath)
|
||
{
|
||
QSettings settings(filePath, QSettings::IniFormat);
|
||
|
||
// 根据当前选中的相机索引决定 INI section
|
||
QString section = QString("CalibMatrixInfo_%1").arg(m_currentCalibCameraIndex);
|
||
settings.beginGroup(section);
|
||
|
||
// 如果该 section 不存在，尝试默认 section
|
||
if (settings.childKeys().isEmpty()) {
|
||
settings.endGroup();
|
||
settings.beginGroup("CalibMatrixInfo_0");
|
||
}
|
||
|
||
for (int i = 0; i < 16; i++) {
|
||
int row = i / 4;
|
||
int col = i % 4;
|
||
QString key = QString("dCalibMatrix_%1").arg(i);
|
||
double val = settings.value(key, (row == col) ? 1.0 : 0.0).toDouble();
|
||
|
||
QLineEdit* edit = GetCalibLineEdit(row, col);
|
||
if (edit) {
|
||
edit->setText(QString::number(val, 'f', 6));
|
||
}
|
||
}
|
||
|
||
settings.endGroup();
|
||
}
|
||
|
||
bool DialogAlgoarg::SaveCurrentCalibMatrixToCache()
|
||
{
|
||
if (m_currentCalibCameraIndex < 0 || m_currentCalibCameraIndex >= static_cast<int>(m_calibMatrixCache.size())) {
|
||
LOG_ERROR("Invalid camera index: %d, cache size: %zu\n",
|
||
m_currentCalibCameraIndex, m_calibMatrixCache.size());
|
||
return false;
|
||
}
|
||
|
||
VrHandEyeCalibMatrix& calibMatrix = m_calibMatrixCache[m_currentCalibCameraIndex];
|
||
|
||
for (int i = 0; i < 16; i++) {
|
||
int row = i / 4;
|
||
int col = i % 4;
|
||
QLineEdit* edit = GetCalibLineEdit(row, col);
|
||
if (!edit) {
|
||
LOG_ERROR("LineEdit not found for matrix[%d][%d] (index=%d)\n", row, col, i);
|
||
StyledMessageBox::warning(this, "错误",
|
||
QString("找不到标定矩阵输入框 [%1][%2]，请检查UI设计！").arg(row).arg(col));
|
||
return false;
|
||
}
|
||
|
||
QString text = edit->text().trimmed();
|
||
if (text.isEmpty()) {
|
||
LOG_ERROR("Empty input for matrix[%d][%d] (index=%d)\n", row, col, i);
|
||
StyledMessageBox::warning(this, "错误",
|
||
QString("标定矩阵 [%1][%2] 不能为空！").arg(row).arg(col));
|
||
return false;
|
||
}
|
||
|
||
bool ok = false;
|
||
calibMatrix.matrix[i] = text.toDouble(&ok);
|
||
if (!ok) {
|
||
LOG_ERROR("Invalid number format for matrix[%d][%d]: '%s'\n",
|
||
row, col, text.toStdString().c_str());
|
||
StyledMessageBox::warning(this, "错误",
|
||
QString("标定矩阵 [%1][%2] 输入格式错误：'%3'\n请输入有效的数字！").arg(row).arg(col).arg(text));
|
||
return false;
|
||
}
|
||
}
|
||
calibMatrix.eulerOrder = ui->comboBox_eulerOrder->currentData().toInt();
|
||
|
||
LOG_INFO("Successfully saved calib matrix for camera %d\n", m_currentCalibCameraIndex);
|
||
return true;
|
||
}
|
||
|
||
bool DialogAlgoarg::SaveCalibMatrixToConfig(std::vector<VrHandEyeCalibMatrix>& calibMatrixList)
|
||
{
|
||
// 先保存当前编辑中的相机矩阵到缓存
|
||
if (!SaveCurrentCalibMatrixToCache()) {
|
||
return false;
|
||
}
|
||
|
||
// 将缓存写入输出参数
|
||
calibMatrixList = m_calibMatrixCache;
|
||
return true;
|
||
}
|
||
|
||
void DialogAlgoarg::InitEulerOrderComboBox()
|
||
{
|
||
// 添加外旋旋转顺序选项（工业机械臂常用）
|
||
ui->comboBox_eulerOrder->addItem("RZ-RY-RX (外旋ZYX)", 11); // ABB、KUKA、发那科等常用
|
||
ui->comboBox_eulerOrder->addItem("RX-RY-RZ (外旋XYZ)", 10);
|
||
ui->comboBox_eulerOrder->addItem("RZ-RX-RY (外旋ZXY)", 12);
|
||
ui->comboBox_eulerOrder->addItem("RY-RX-RZ (外旋YXZ)", 13);
|
||
ui->comboBox_eulerOrder->addItem("RY-RZ-RX (外旋YZX)", 14);
|
||
ui->comboBox_eulerOrder->addItem("RX-RZ-RY (外旋XZY)", 15);
|
||
|
||
// 默认选择外旋 ZYX
|
||
ui->comboBox_eulerOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
void DialogAlgoarg::InitPoseOutputOrderComboBox()
|
||
{
|
||
// 添加姿态输出顺序选项
|
||
ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY); // 默认
|
||
ui->comboBox_poseOutputOrder->addItem("RYP (Roll, Yaw, Pitch)", POSE_ORDER_RYP);
|
||
ui->comboBox_poseOutputOrder->addItem("PRY (Pitch, Roll, Yaw)", POSE_ORDER_PRY);
|
||
ui->comboBox_poseOutputOrder->addItem("PYR (Pitch, Yaw, Roll)", POSE_ORDER_PYR);
|
||
ui->comboBox_poseOutputOrder->addItem("YRP (Yaw, Roll, Pitch)", POSE_ORDER_YRP);
|
||
ui->comboBox_poseOutputOrder->addItem("YPR (Yaw, Pitch, Roll)", POSE_ORDER_YPR);
|
||
|
||
// 默认选择 RPY
|
||
ui->comboBox_poseOutputOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
void DialogAlgoarg::InitDirVectorInvertComboBox()
|
||
{
|
||
// 添加方向向量反向选项
|
||
ui->comboBox_dirVectorInvert->addItem("不反向", DIR_INVERT_NONE);
|
||
ui->comboBox_dirVectorInvert->addItem("XY反向", DIR_INVERT_XY);
|
||
ui->comboBox_dirVectorInvert->addItem("XZ反向", DIR_INVERT_XZ);
|
||
ui->comboBox_dirVectorInvert->addItem("YZ反向（默认）", DIR_INVERT_YZ);
|
||
|
||
// 默认选择 YZ反向（兼容原有行为）
|
||
ui->comboBox_dirVectorInvert->setCurrentIndex(3);
|
||
}
|
||
|
||
void DialogAlgoarg::InitSortModeComboBox()
|
||
{
|
||
// 添加排序模式选项
|
||
ui->comboBox_sortMode->addItem("不排序", HOLE_SORT_NONE);
|
||
ui->comboBox_sortMode->addItem("按半径排序（最大优先）", HOLE_SORT_BY_RADIUS);
|
||
ui->comboBox_sortMode->addItem("按深度排序（最深优先）", HOLE_SORT_BY_DEPTH);
|
||
ui->comboBox_sortMode->addItem("按质量分数排序（最高优先）", HOLE_SORT_BY_QUALITY);
|
||
|
||
// 默认不排序
|
||
ui->comboBox_sortMode->setCurrentIndex(0);
|
||
}
|
||
|
||
void DialogAlgoarg::LoadPlcRobotServerConfigToUI(const VrPlcRobotServerConfig& config)
|
||
{
|
||
if (!ui) return;
|
||
|
||
// 加载TCP协议端口
|
||
ui->lineEdit_tcpServerPort->setText(QString::number(config.tcpServerPort));
|
||
|
||
// 加载姿态输出顺序
|
||
int poseOrderIndex = ui->comboBox_poseOutputOrder->findData(config.poseOutputOrder);
|
||
if (poseOrderIndex >= 0) {
|
||
ui->comboBox_poseOutputOrder->setCurrentIndex(poseOrderIndex);
|
||
}
|
||
|
||
// 加载方向向量反向配置
|
||
int dirInvertIndex = ui->comboBox_dirVectorInvert->findData(config.dirVectorInvert);
|
||
if (dirInvertIndex >= 0) {
|
||
ui->comboBox_dirVectorInvert->setCurrentIndex(dirInvertIndex);
|
||
}
|
||
}
|
||
|
||
bool DialogAlgoarg::SavePlcRobotServerConfigFromUI(VrPlcRobotServerConfig& config)
|
||
{
|
||
if (!ui) return false;
|
||
|
||
// 获取TCP协议端口
|
||
bool ok = false;
|
||
config.tcpServerPort = ui->lineEdit_tcpServerPort->text().toInt(&ok);
|
||
if (!ok || config.tcpServerPort <= 0 || config.tcpServerPort > 65535) {
|
||
return false;
|
||
}
|
||
|
||
// 获取姿态输出顺序
|
||
config.poseOutputOrder = ui->comboBox_poseOutputOrder->currentData().toInt();
|
||
|
||
// 获取方向向量反向配置
|
||
config.dirVectorInvert = ui->comboBox_dirVectorInvert->currentData().toInt();
|
||
|
||
return true;
|
||
}
|