398 lines
12 KiB
C++
398 lines
12 KiB
C++
#include "HandEyeCalibWidget.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QGridLayout>
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#include <QGroupBox>
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#include <QFileDialog>
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#include <QSettings>
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#include <cstring>
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HandEyeCalibWidget::HandEyeCalibWidget(QWidget *parent)
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: QWidget(parent)
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, m_comboCamera(nullptr)
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, m_labelStatus(nullptr)
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, m_btnLoad(nullptr)
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, m_btnSave(nullptr)
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, m_matrixEditable(false)
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{
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memset(m_matrixEdits, 0, sizeof(m_matrixEdits));
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setupUI();
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}
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HandEyeCalibWidget::~HandEyeCalibWidget()
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{
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}
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// ========== 公开接口 ==========
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void HandEyeCalibWidget::setCameraList(const QVector<HandEyeCalibCameraInfo>& cameras)
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{
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m_comboCamera->blockSignals(true);
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m_comboCamera->clear();
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for (int i = 0; i < cameras.size(); ++i) {
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m_comboCamera->addItem(cameras[i].displayName, QVariant(cameras[i].cameraIndex));
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}
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m_comboCamera->blockSignals(false);
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if (cameras.isEmpty()) {
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onCameraSelectionChanged(-1);
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} else {
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// 默认选中第一个相机
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m_comboCamera->setCurrentIndex(0);
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onCameraSelectionChanged(0);
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}
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}
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void HandEyeCalibWidget::setCalibData(int cameraIndex, const double matrix[16], bool isCalibrated)
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{
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HandEyeCalibData* data = findCalibData(cameraIndex);
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if (!data) {
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HandEyeCalibData newData;
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newData.cameraIndex = cameraIndex;
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m_calibDataCache.append(newData);
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data = &m_calibDataCache.last();
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}
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memcpy(data->matrix, matrix, sizeof(double) * 16);
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data->isCalibrated = isCalibrated;
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// 如果当前正在显示这个相机，刷新 UI
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if (currentCameraIndex() == cameraIndex) {
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if (isCalibrated) {
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displayMatrix(matrix);
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updateCalibStatus(true);
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} else {
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displayIdentityMatrix();
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updateCalibStatus(false);
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}
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}
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}
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bool HandEyeCalibWidget::getCalibData(int cameraIndex, double outMatrix[16], bool& outIsCalibrated) const
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{
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// 如果当前显示的就是这个相机，且矩阵可编辑，优先从 UI 读取
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if (m_matrixEditable && currentCameraIndex() == cameraIndex) {
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double uiMatrix[16];
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if (readMatrixFromUI(uiMatrix)) {
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memcpy(outMatrix, uiMatrix, sizeof(double) * 16);
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outIsCalibrated = true;
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return true;
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}
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}
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const HandEyeCalibData* data = findCalibData(cameraIndex);
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if (!data) {
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return false;
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}
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memcpy(outMatrix, data->matrix, sizeof(double) * 16);
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outIsCalibrated = data->isCalibrated;
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return true;
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}
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int HandEyeCalibWidget::currentCameraIndex() const
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{
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if (!m_comboCamera || m_comboCamera->count() == 0 || m_comboCamera->currentIndex() < 0) {
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return -1;
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}
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return m_comboCamera->currentData().toInt();
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}
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void HandEyeCalibWidget::setDefaultFilePath(const QString& path)
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{
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m_defaultFilePath = path;
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}
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void HandEyeCalibWidget::setMatrixEditable(bool editable)
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{
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m_matrixEditable = editable;
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for (int r = 0; r < 4; ++r) {
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for (int c = 0; c < 4; ++c) {
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if (m_matrixEdits[r][c]) {
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m_matrixEdits[r][c]->setReadOnly(!editable);
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}
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}
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}
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}
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// ========== 私有槽 ==========
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void HandEyeCalibWidget::onCameraSelectionChanged(int index)
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{
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if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
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m_btnLoad->setEnabled(false);
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m_btnSave->setEnabled(false);
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displayIdentityMatrix();
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updateCalibStatus(false);
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return;
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}
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m_btnLoad->setEnabled(true);
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m_btnSave->setEnabled(true);
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int camIdx = m_comboCamera->itemData(index).toInt();
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const HandEyeCalibData* data = findCalibData(camIdx);
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if (data && data->isCalibrated) {
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displayMatrix(data->matrix);
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updateCalibStatus(true);
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} else {
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displayIdentityMatrix();
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updateCalibStatus(false);
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}
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}
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void HandEyeCalibWidget::onLoadCalibMatrixClicked()
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{
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int camIdx = currentCameraIndex();
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if (camIdx < 0) {
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return;
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}
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QString startDir = m_defaultFilePath.isEmpty() ? QString() : m_defaultFilePath;
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QString fileName = QFileDialog::getOpenFileName(this,
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QString::fromUtf8("选择手眼标定矩阵文件"),
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startDir,
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QString::fromUtf8("INI Files (*.ini);;All Files (*)"));
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if (fileName.isEmpty()) {
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return;
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}
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// 用 QSettings 读取 [CalibMatrixInfo_0] section
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QSettings settings(fileName, QSettings::IniFormat);
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settings.setIniCodec("UTF-8");
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settings.beginGroup("CalibMatrixInfo_0");
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double matrix[16];
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for (int i = 0; i < 16; ++i) {
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int row = i / 4;
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int col = i % 4;
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double defaultVal = (row == col) ? 1.0 : 0.0;
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QString key = QString("dCalibMatrix_%1").arg(i);
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matrix[i] = settings.value(key, defaultVal).toDouble();
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}
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settings.endGroup();
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// 更新缓存
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setCalibData(camIdx, matrix, true);
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// 发射信号通知外部
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emit calibMatrixLoaded(camIdx, matrix);
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}
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void HandEyeCalibWidget::onSaveCalibMatrixClicked()
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{
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int camIdx = currentCameraIndex();
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if (camIdx < 0) {
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return;
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}
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// 如果可编辑，先从 UI 读取最新值更新到缓存
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if (m_matrixEditable) {
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double uiMatrix[16];
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if (readMatrixFromUI(uiMatrix)) {
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setCalibData(camIdx, uiMatrix, true);
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}
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}
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const HandEyeCalibData* data = findCalibData(camIdx);
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if (data && data->isCalibrated) {
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emit saveCalibRequested(camIdx, data->matrix);
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}
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}
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// ========== 私有方法 ==========
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void HandEyeCalibWidget::setupUI()
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{
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// 主样式（继承父容器暗色主题）
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QString comboStyle =
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"QComboBox { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"border: 1px solid rgb(70, 72, 78); padding: 6px; }"
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"QComboBox QAbstractItemView { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"selection-background-color: rgb(70, 100, 150); }";
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QString editStyle =
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"QLineEdit { color: rgb(221, 225, 233); background-color: rgb(47, 48, 52); "
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"border: 1px solid rgb(70, 72, 78); padding: 4px; }";
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QString labelStyle = "color: rgb(221, 225, 233);";
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QString btnLoadStyle =
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"QPushButton { background-color: rgb(60, 120, 180); color: rgb(221, 225, 233); "
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"border: none; border-radius: 4px; padding: 8px 16px; }"
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"QPushButton:hover { background-color: rgb(80, 140, 200); }"
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"QPushButton:pressed { background-color: rgb(40, 100, 160); }"
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"QPushButton:disabled { background-color: rgb(80, 80, 80); color: rgb(120, 120, 120); }";
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QString btnSaveStyle =
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"QPushButton { background-color: rgb(60, 150, 80); color: rgb(221, 225, 233); "
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"border: none; border-radius: 4px; padding: 8px 16px; }"
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"QPushButton:hover { background-color: rgb(80, 170, 100); }"
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"QPushButton:pressed { background-color: rgb(40, 130, 60); }"
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"QPushButton:disabled { background-color: rgb(80, 80, 80); color: rgb(120, 120, 120); }";
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QVBoxLayout* mainLayout = new QVBoxLayout(this);
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mainLayout->setContentsMargins(20, 10, 20, 10);
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// 相机选择行
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QHBoxLayout* cameraRow = new QHBoxLayout();
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QLabel* labelCamera = new QLabel(QString::fromUtf8("选择相机:"), this);
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labelCamera->setStyleSheet(labelStyle);
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QFont labelFont;
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labelFont.setPointSize(16);
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labelCamera->setFont(labelFont);
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labelCamera->setMinimumWidth(120);
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m_comboCamera = new QComboBox(this);
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QFont comboFont;
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comboFont.setPointSize(14);
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m_comboCamera->setFont(comboFont);
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m_comboCamera->setStyleSheet(comboStyle);
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cameraRow->addWidget(labelCamera);
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cameraRow->addWidget(m_comboCamera);
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mainLayout->addLayout(cameraRow);
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// 标定状态
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m_labelStatus = new QLabel(QString::fromUtf8("标定状态: 未标定"), this);
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QFont statusFont;
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statusFont.setPointSize(14);
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m_labelStatus->setFont(statusFont);
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m_labelStatus->setStyleSheet("color: rgb(180, 180, 180); padding: 4px 0;");
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mainLayout->addWidget(m_labelStatus);
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// 矩阵标题
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QLabel* labelMatrixTitle = new QLabel(QString::fromUtf8("4x4 变换矩阵:"), this);
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QFont titleFont;
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titleFont.setPointSize(14);
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labelMatrixTitle->setFont(titleFont);
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labelMatrixTitle->setStyleSheet(labelStyle);
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mainLayout->addWidget(labelMatrixTitle);
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// 4x4 矩阵 Grid
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QGridLayout* gridLayout = new QGridLayout();
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QFont editFont;
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editFont.setPointSize(12);
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for (int r = 0; r < 4; ++r) {
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for (int c = 0; c < 4; ++c) {
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m_matrixEdits[r][c] = new QLineEdit(this);
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m_matrixEdits[r][c]->setFont(editFont);
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m_matrixEdits[r][c]->setReadOnly(true); // 默认只读
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m_matrixEdits[r][c]->setStyleSheet(editStyle);
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gridLayout->addWidget(m_matrixEdits[r][c], r, c);
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}
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}
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mainLayout->addLayout(gridLayout);
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// 按钮行
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QHBoxLayout* btnRow = new QHBoxLayout();
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m_btnLoad = new QPushButton(QString::fromUtf8("加载标定矩阵"), this);
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QFont btnFont;
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btnFont.setPointSize(14);
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btnFont.setBold(true);
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m_btnLoad->setFont(btnFont);
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m_btnLoad->setStyleSheet(btnLoadStyle);
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m_btnLoad->setEnabled(false);
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m_btnSave = new QPushButton(QString::fromUtf8("保存标定"), this);
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m_btnSave->setFont(btnFont);
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m_btnSave->setStyleSheet(btnSaveStyle);
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m_btnSave->setEnabled(false);
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btnRow->addWidget(m_btnLoad);
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btnRow->addWidget(m_btnSave);
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mainLayout->addLayout(btnRow);
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// 底部弹性空间
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mainLayout->addStretch();
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// 连接信号
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connect(m_comboCamera, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
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this, &HandEyeCalibWidget::onCameraSelectionChanged);
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connect(m_btnLoad, &QPushButton::clicked,
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this, &HandEyeCalibWidget::onLoadCalibMatrixClicked);
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connect(m_btnSave, &QPushButton::clicked,
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this, &HandEyeCalibWidget::onSaveCalibMatrixClicked);
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}
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void HandEyeCalibWidget::displayMatrix(const double* matrix)
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{
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if (!matrix) return;
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for (int r = 0; r < 4; ++r) {
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for (int c = 0; c < 4; ++c) {
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m_matrixEdits[r][c]->setText(QString::number(matrix[r * 4 + c], 'f', 6));
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}
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}
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}
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void HandEyeCalibWidget::clearMatrix()
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{
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for (int r = 0; r < 4; ++r) {
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for (int c = 0; c < 4; ++c) {
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m_matrixEdits[r][c]->setText("");
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}
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}
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}
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void HandEyeCalibWidget::displayIdentityMatrix()
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{
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static const double identity[16] = {
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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displayMatrix(identity);
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}
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void HandEyeCalibWidget::updateCalibStatus(bool isCalibrated)
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{
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if (isCalibrated) {
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m_labelStatus->setText(QString::fromUtf8("标定状态: 已标定"));
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m_labelStatus->setStyleSheet("color: rgb(100, 200, 100); padding: 4px 0;");
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} else {
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m_labelStatus->setText(QString::fromUtf8("标定状态: 未标定"));
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m_labelStatus->setStyleSheet("color: rgb(180, 180, 180); padding: 4px 0;");
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}
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}
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bool HandEyeCalibWidget::readMatrixFromUI(double outMatrix[16]) const
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{
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for (int r = 0; r < 4; ++r) {
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for (int c = 0; c < 4; ++c) {
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if (!m_matrixEdits[r][c]) return false;
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QString text = m_matrixEdits[r][c]->text().trimmed();
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if (text.isEmpty()) return false;
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bool ok = false;
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outMatrix[r * 4 + c] = text.toDouble(&ok);
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if (!ok) return false;
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}
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}
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return true;
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}
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HandEyeCalibData* HandEyeCalibWidget::findCalibData(int cameraIndex)
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{
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for (int i = 0; i < m_calibDataCache.size(); ++i) {
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if (m_calibDataCache[i].cameraIndex == cameraIndex) {
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return &m_calibDataCache[i];
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}
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}
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return nullptr;
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}
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const HandEyeCalibData* HandEyeCalibWidget::findCalibData(int cameraIndex) const
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{
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for (int i = 0; i < m_calibDataCache.size(); ++i) {
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if (m_calibDataCache[i].cameraIndex == cameraIndex) {
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return &m_calibDataCache[i];
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}
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}
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return nullptr;
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}
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