513 lines
19 KiB
C++
513 lines
19 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include "HoleDetectionPresenter.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 <algorithm>
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#include <cstring>
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DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, HoleDetectionPresenter* 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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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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InitSortModeComboBox();
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InitPoseOutputOrderComboBox();
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InitHandEyeCalibTab();
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InitNetworkConfigTab();
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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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// 手眼标定页复用共享控件，这里根据 Presenter 当前相机列表初始化并回填已有矩阵。
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void DialogAlgoarg::InitHandEyeCalibTab()
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{
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if (!m_presenter) {
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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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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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m_handEyeCalibWidget->setDefaultFilePath(PathManager::GetInstance().GetAppConfigDirectory());
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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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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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const 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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// 当前对话框只暴露 TCP 相关网络配置，不包含其它应用里的 PLC 细项。
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void DialogAlgoarg::InitNetworkConfigTab()
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{
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if (!m_pConfigManager) {
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return;
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}
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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) {
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return;
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}
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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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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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const 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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// 从当前配置结果加载整页参数；如果读取异常，则退回默认构造参数显示。
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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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const ConfigResult configData = m_pConfigManager->GetConfigResult();
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadRansacParamToUI(algoParams.ransacParam);
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LoadDetectionParamToUI(algoParams.detectionParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadSortModeToUI(algoParams.sortMode);
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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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const ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadRansacParamToUI(algoParams.ransacParam);
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LoadDetectionParamToUI(algoParams.detectionParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadSortModeToUI(algoParams.sortMode);
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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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const ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadRansacParamToUI(algoParams.ransacParam);
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LoadDetectionParamToUI(algoParams.detectionParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadSortModeToUI(algoParams.sortMode);
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}
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}
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// 从界面采集参数，合并回完整 SystemConfig，再整体落盘，避免只保存局部配置。
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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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if (!SaveRansacParamFromUI(algoParams.ransacParam)) {
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StyledMessageBox::warning(this, "错误", "RANSAC 参数输入有误，请检查！");
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return false;
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}
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if (!SaveDetectionParamFromUI(algoParams.detectionParam)) {
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StyledMessageBox::warning(this, "错误", "检测参数输入有误，请检查！");
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return false;
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}
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if (!SaveFilterParamFromUI(algoParams.filterParam)) {
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StyledMessageBox::warning(this, "错误", "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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if (!SaveSortModeFromUI(algoParams.sortMode)) {
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StyledMessageBox::warning(this, "错误", "排序模式设置有误，请检查！");
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return false;
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}
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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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const 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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const int camIdx = i + 1;
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// 先以已有配置为基准，避免未编辑的相机矩阵被默认值覆盖。
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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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bool isCalibrated = false;
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double matrix[16];
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// 仅当控件里存在有效标定矩阵时才覆盖，未标定相机保留原值。
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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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if (m_networkConfigWidget) {
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const 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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// 欧拉角顺序是和姿态输出一起配置的，这里同步回所有手眼矩阵记录。
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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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systemConfig.configResult.plcRobotServerConfig.poseOutputOrder =
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ui->comboBox_poseOutputOrder->currentData().toInt();
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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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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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// 各参数组分别做 UI 映射，方便后续跟算法头文件逐项对照。
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void DialogAlgoarg::LoadRansacParamToUI(const VrRansacPlaneSegmentationParam& param)
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{
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if (!ui) {
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return;
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}
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ui->lineEdit_distanceThreshold->setText(QString::number(param.distanceThreshold));
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ui->lineEdit_maxIterations->setText(QString::number(param.maxIterations));
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ui->lineEdit_minPlanePoints->setText(QString::number(param.minPlanePoints));
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ui->lineEdit_maxPlanes->setText(QString::number(param.maxPlanes));
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ui->lineEdit_growthZThreshold->setText(QString::number(param.growthZThreshold));
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ui->lineEdit_minPlaneRatio->setText(QString::number(param.minPlaneRatio));
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}
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void DialogAlgoarg::LoadDetectionParamToUI(const VrHoleDetectionParam& param)
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{
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if (!ui) {
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return;
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}
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ui->lineEdit_angleThresholdPos->setText(QString::number(param.angleThresholdPos));
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ui->lineEdit_angleThresholdNeg->setText(QString::number(param.angleThresholdNeg));
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ui->lineEdit_angleSearchDistance->setText(QString::number(param.angleSearchDistance));
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ui->lineEdit_minPitDepth->setText(QString::number(param.minPitDepth));
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ui->lineEdit_minRadius->setText(QString::number(param.minRadius));
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ui->lineEdit_maxRadius->setText(QString::number(param.maxRadius));
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ui->lineEdit_expansionSize1->setText(QString::number(param.expansionSize1));
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ui->lineEdit_expansionSize2->setText(QString::number(param.expansionSize2));
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ui->lineEdit_minVTransitionPoints->setText(QString::number(param.minVTransitionPoints));
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ui->lineEdit_jumpThresholdResidual->setText(QString::number(param.jumpThresholdResidual));
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ui->lineEdit_gapJumpThresholdResidual->setText(QString::number(param.gapJumpThresholdResidual));
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ui->lineEdit_maxGapPointsInLine->setText(QString::number(param.maxGapPointsInLine));
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ui->lineEdit_minFeatureSpan->setText(QString::number(param.minFeatureSpan));
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ui->lineEdit_residualSmoothWindow->setText(QString::number(param.residualSmoothWindow));
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ui->lineEdit_slopeAngleThreshold->setText(QString::number(param.slopeAngleThreshold));
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ui->lineEdit_edgeBoundaryFilterDist->setText(QString::number(param.edgeBoundaryFilterDist));
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}
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void DialogAlgoarg::LoadFilterParamToUI(const VrHoleFilterParam& param)
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{
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if (!ui) {
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return;
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}
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ui->lineEdit_maxEccentricity->setText(QString::number(param.maxEccentricity));
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ui->lineEdit_minAngularCoverage->setText(QString::number(param.minAngularCoverage));
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ui->lineEdit_maxRadiusFitRatio->setText(QString::number(param.maxRadiusFitRatio));
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ui->lineEdit_minQualityScore->setText(QString::number(param.minQualityScore));
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ui->lineEdit_maxPlaneResidual->setText(QString::number(param.maxPlaneResidual));
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ui->lineEdit_maxAngularGap->setText(QString::number(param.maxAngularGap));
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ui->lineEdit_minInlierRatio->setText(QString::number(param.minInlierRatio));
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ui->lineEdit_minHoleDepth->setText(QString::number(param.minHoleDepth));
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}
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void DialogAlgoarg::LoadSortModeToUI(int sortMode)
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{
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if (!ui) {
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return;
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}
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const int index = ui->comboBox_sortMode->findData(sortMode);
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if (index >= 0) {
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ui->comboBox_sortMode->setCurrentIndex(index);
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}
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}
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// 保存时逐项做文本转数值校验，避免无效输入直接污染配置对象。
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bool DialogAlgoarg::SaveRansacParamFromUI(VrRansacPlaneSegmentationParam& param)
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{
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bool ok = true;
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param.distanceThreshold = ui->lineEdit_distanceThreshold->text().toDouble(&ok);
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if (!ok) return false;
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param.maxIterations = ui->lineEdit_maxIterations->text().toInt(&ok);
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if (!ok) return false;
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param.minPlanePoints = ui->lineEdit_minPlanePoints->text().toInt(&ok);
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if (!ok) return false;
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param.maxPlanes = ui->lineEdit_maxPlanes->text().toInt(&ok);
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if (!ok) return false;
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param.growthZThreshold = ui->lineEdit_growthZThreshold->text().toDouble(&ok);
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if (!ok) return false;
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param.minPlaneRatio = ui->lineEdit_minPlaneRatio->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::SaveDetectionParamFromUI(VrHoleDetectionParam& param)
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{
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bool ok = true;
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param.angleThresholdPos = ui->lineEdit_angleThresholdPos->text().toDouble(&ok);
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if (!ok) return false;
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param.angleThresholdNeg = ui->lineEdit_angleThresholdNeg->text().toDouble(&ok);
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if (!ok) return false;
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param.angleSearchDistance = ui->lineEdit_angleSearchDistance->text().toDouble(&ok);
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if (!ok) return false;
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param.minPitDepth = ui->lineEdit_minPitDepth->text().toDouble(&ok);
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if (!ok) return false;
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param.minRadius = ui->lineEdit_minRadius->text().toDouble(&ok);
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if (!ok) return false;
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param.maxRadius = ui->lineEdit_maxRadius->text().toDouble(&ok);
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if (!ok) return false;
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param.expansionSize1 = ui->lineEdit_expansionSize1->text().toInt(&ok);
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if (!ok) return false;
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param.expansionSize2 = ui->lineEdit_expansionSize2->text().toInt(&ok);
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if (!ok) return false;
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param.minVTransitionPoints = ui->lineEdit_minVTransitionPoints->text().toInt(&ok);
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if (!ok) return false;
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param.jumpThresholdResidual = ui->lineEdit_jumpThresholdResidual->text().toDouble(&ok);
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if (!ok) return false;
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param.gapJumpThresholdResidual = ui->lineEdit_gapJumpThresholdResidual->text().toDouble(&ok);
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if (!ok) return false;
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param.maxGapPointsInLine = ui->lineEdit_maxGapPointsInLine->text().toInt(&ok);
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if (!ok) return false;
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param.minFeatureSpan = ui->lineEdit_minFeatureSpan->text().toDouble(&ok);
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if (!ok) return false;
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param.residualSmoothWindow = ui->lineEdit_residualSmoothWindow->text().toInt(&ok);
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if (!ok) return false;
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param.slopeAngleThreshold = ui->lineEdit_slopeAngleThreshold->text().toDouble(&ok);
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if (!ok) return false;
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param.edgeBoundaryFilterDist = ui->lineEdit_edgeBoundaryFilterDist->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::SaveFilterParamFromUI(VrHoleFilterParam& param)
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{
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bool ok = true;
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param.maxEccentricity = ui->lineEdit_maxEccentricity->text().toDouble(&ok);
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if (!ok) return false;
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param.minAngularCoverage = ui->lineEdit_minAngularCoverage->text().toDouble(&ok);
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if (!ok) return false;
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param.maxRadiusFitRatio = ui->lineEdit_maxRadiusFitRatio->text().toDouble(&ok);
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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;
|
||
|
||
param.minHoleDepth = ui->lineEdit_minHoleDepth->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;
|
||
}
|
||
|
||
// 点击确定时保存整份配置，而不是只保存当前页签里的算法参数。
|
||
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::InitPoseOutputOrderComboBox()
|
||
{
|
||
ui->comboBox_poseOutputOrder->addItem("RPY (Roll, Pitch, Yaw)", POSE_ORDER_RPY);
|
||
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);
|
||
ui->comboBox_poseOutputOrder->setCurrentIndex(0);
|
||
}
|
||
|
||
void DialogAlgoarg::InitSortModeComboBox()
|
||
{
|
||
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);
|
||
ui->comboBox_sortMode->setCurrentIndex(0);
|
||
}
|