427 lines
16 KiB
C++
427 lines
16 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include "HandEyeCalibWidget.h"
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#include "NetworkConfigWidget.h"
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#include "PathManager.h"
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#include "ScrewPositionPresenter.h"
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#include "StyledMessageBox.h"
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#include <QDoubleValidator>
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#include <QIntValidator>
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#include <QLineEdit>
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#include <algorithm>
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#include <cmath>
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#include <cstring>
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namespace {
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bool IsIdentityMatrix(const double matrix[16])
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{
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for (int i = 0; i < 16; ++i) {
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const double expected = (i / 4 == i % 4) ? 1.0 : 0.0;
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if (std::fabs(matrix[i] - expected) > 1e-9) {
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return false;
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}
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}
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return true;
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}
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}
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DialogAlgoArg::DialogAlgoArg(QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoArg)
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{
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ui->setupUi(this);
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setWindowTitle(QStringLiteral("算法参数设置"));
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initNumericEditors();
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initHandEyeCalibTab();
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initNetworkConfigTab();
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}
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DialogAlgoArg::~DialogAlgoArg()
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{
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delete ui;
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}
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void DialogAlgoArg::SetPresenter(ScrewPositionPresenter* presenter)
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{
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m_presenter = presenter;
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loadParams();
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loadHandEyeCalibConfig();
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loadNetworkConfig();
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}
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void DialogAlgoArg::initNumericEditors()
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{
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auto setupDoubleEditor = [](QLineEdit* edit, double min, double max, int decimals) {
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auto* validator = new QDoubleValidator(min, max, decimals, edit);
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validator->setNotation(QDoubleValidator::StandardNotation);
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edit->setValidator(validator);
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};
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auto setupIntEditor = [](QLineEdit* edit, int min, int max) {
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edit->setValidator(new QIntValidator(min, max, edit));
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};
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setupDoubleEditor(ui->spinRodDiameter, 1.0, 100.0, 6);
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setupDoubleEditor(ui->spinCornerTh, 0.0, 180.0, 6);
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setupDoubleEditor(ui->spinScale, 0.0, 200.0, 6);
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setupDoubleEditor(ui->spinMinEndingGap, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinMinEndingGapZ, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinJumpCornerTh1, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinJumpCornerTh2, 0.0, 180.0, 6);
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setupDoubleEditor(ui->spinContinuityTh, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinOutlierTh, 0.0, 50.0, 6);
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setupIntEditor(ui->spinMaxLineSkipNum, -1, 100);
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setupDoubleEditor(ui->spinYDeviationMax, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinMaxSkipDistance, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinZDeviationMax, 0.0, 100.0, 6);
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setupDoubleEditor(ui->spinMinLTypeTreeLen, 0.0, 1000.0, 6);
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setupDoubleEditor(ui->spinMinVTypeTreeLen, 0.0, 1000.0, 6);
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}
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void DialogAlgoArg::initHandEyeCalibTab()
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{
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if (!ui || !ui->verticalLayout_handEyeCalibHost || m_handEyeCalibWidget) {
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return;
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}
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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m_handEyeCalibWidget->setMatrixEditable(true);
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m_handEyeCalibWidget->setDefaultFilePath(PathManager::GetInstance().GetAppConfigDirectory());
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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
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this, &DialogAlgoArg::onCalibMatrixLoaded);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
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this, &DialogAlgoArg::onSaveCalibRequested);
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}
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void DialogAlgoArg::initNetworkConfigTab()
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{
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if (!ui || !ui->verticalLayout_networkConfigHost || m_networkConfigWidget) {
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return;
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}
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m_networkConfigWidget = new NetworkConfigWidget(false, true, this);
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ui->verticalLayout_networkConfigHost->addWidget(m_networkConfigWidget);
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}
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void DialogAlgoArg::setDoubleEditorText(QLineEdit* edit, double value)
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{
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if (edit) {
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edit->setText(QString::number(value, 'g', 12));
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}
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}
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void DialogAlgoArg::setIntEditorText(QLineEdit* edit, int value)
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{
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if (edit) {
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edit->setText(QString::number(value));
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}
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}
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bool DialogAlgoArg::tryGetDouble(QLineEdit* edit, const QString& label, double& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toDouble(&ok);
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if (!ok) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("“%1” 输入的数值无效。").arg(label));
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edit->setFocus();
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edit->selectAll();
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return false;
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}
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return true;
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}
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bool DialogAlgoArg::tryGetInt(QLineEdit* edit, const QString& label, int& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toInt(&ok);
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if (!ok) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("“%1” 输入的整数无效。").arg(label));
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edit->setFocus();
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edit->selectAll();
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return false;
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}
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return true;
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}
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void DialogAlgoArg::loadParams()
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{
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if (!m_presenter) {
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return;
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}
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const auto params = m_presenter->GetAlgoParams();
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setDoubleEditorText(ui->spinRodDiameter, params.screwParam.rodDiameter);
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ui->chkHorizonScan->setChecked(params.screwParam.isHorizonScan);
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setDoubleEditorText(ui->spinCornerTh, params.cornerParam.cornerTh);
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setDoubleEditorText(ui->spinScale, params.cornerParam.scale);
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setDoubleEditorText(ui->spinMinEndingGap, params.cornerParam.minEndingGap);
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setDoubleEditorText(ui->spinMinEndingGapZ, params.cornerParam.minEndingGap_z);
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setDoubleEditorText(ui->spinJumpCornerTh1, params.cornerParam.jumpCornerTh_1);
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setDoubleEditorText(ui->spinJumpCornerTh2, params.cornerParam.jumpCornerTh_2);
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setDoubleEditorText(ui->spinContinuityTh, params.filterParam.continuityTh);
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setDoubleEditorText(ui->spinOutlierTh, params.filterParam.outlierTh);
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setIntEditorText(ui->spinMaxLineSkipNum, params.growParam.maxLineSkipNum);
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setDoubleEditorText(ui->spinYDeviationMax, params.growParam.yDeviation_max);
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setDoubleEditorText(ui->spinMaxSkipDistance, params.growParam.maxSkipDistance);
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setDoubleEditorText(ui->spinZDeviationMax, params.growParam.zDeviation_max);
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setDoubleEditorText(ui->spinMinLTypeTreeLen, params.growParam.minLTypeTreeLen);
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setDoubleEditorText(ui->spinMinVTypeTreeLen, params.growParam.minVTypeTreeLen);
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}
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void DialogAlgoArg::loadHandEyeCalibConfig()
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{
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if (!m_presenter || !m_handEyeCalibWidget || !m_presenter->GetConfigManager()) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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QVector<HandEyeCalibCameraInfo> cameraInfos;
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if (configResult.cameraList.empty()) {
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HandEyeCalibCameraInfo defaultCam;
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defaultCam.cameraIndex = 1;
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defaultCam.displayName = QStringLiteral("相机 1");
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cameraInfos.append(defaultCam);
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} else {
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for (size_t i = 0; i < configResult.cameraList.size(); ++i) {
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HandEyeCalibCameraInfo info;
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info.cameraIndex = static_cast<int>(i + 1);
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info.displayName = QString::fromStdString(configResult.cameraList[i].name);
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cameraInfos.append(info);
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}
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}
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m_handEyeCalibWidget->setCameraList(cameraInfos);
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for (const auto& info : cameraInfos) {
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bool found = false;
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for (const auto& savedMatrix : configResult.handEyeCalibMatrixList) {
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if (savedMatrix.cameraIndex != info.cameraIndex) {
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continue;
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}
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m_handEyeCalibWidget->setCalibData(info.cameraIndex,
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savedMatrix.matrix,
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!IsIdentityMatrix(savedMatrix.matrix));
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found = true;
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break;
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}
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if (!found) {
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const CalibMatrix calibMatrix = m_presenter->GetClibMatrix(info.cameraIndex - 1);
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m_handEyeCalibWidget->setCalibData(info.cameraIndex,
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calibMatrix.clibMatrix,
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!IsIdentityMatrix(calibMatrix.clibMatrix));
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}
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}
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}
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void DialogAlgoArg::loadNetworkConfig()
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{
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if (!m_presenter || !m_presenter->GetConfigManager() || !m_networkConfigWidget) {
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return;
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}
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const ConfigResult configResult = m_presenter->GetConfigManager()->GetConfigResult();
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NetworkConfigData netConfig;
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netConfig.tcpServerPort = configResult.tcpPort;
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netConfig.eulerOrder = configResult.eulerOrder;
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netConfig.outputEulerOrder = configResult.outputEulerOrder;
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netConfig.poseOutputOrder = configResult.poseOutputOrder;
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netConfig.dirVectorInvert = configResult.dirVectorInvert;
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netConfig.byteOrder = configResult.byteOrder;
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netConfig.longAxisDir = configResult.longAxisDir;
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if (!configResult.handEyeCalibMatrixList.empty()) {
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netConfig.eulerOrder = configResult.handEyeCalibMatrixList.front().eulerOrder;
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}
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m_networkConfigWidget->setConfig(netConfig);
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}
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bool DialogAlgoArg::saveParams()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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return false;
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}
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SystemConfig systemConfig = m_presenter->GetConfigManager()->GetConfig();
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VrAlgorithmParams& params = systemConfig.configResult.algorithmParams;
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if (!tryGetDouble(ui->spinRodDiameter, QStringLiteral("螺杆直径"), params.screwParam.rodDiameter)) return false;
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params.screwParam.isHorizonScan = ui->chkHorizonScan->isChecked();
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if (!tryGetDouble(ui->spinCornerTh, QStringLiteral("拐角阈值"), params.cornerParam.cornerTh)) return false;
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if (!tryGetDouble(ui->spinScale, QStringLiteral("窗口比例因子"), params.cornerParam.scale)) return false;
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if (!tryGetDouble(ui->spinMinEndingGap, QStringLiteral("Y方向最小结束间隙"), params.cornerParam.minEndingGap)) return false;
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if (!tryGetDouble(ui->spinMinEndingGapZ, QStringLiteral("Z方向最小结束间隙"), params.cornerParam.minEndingGap_z)) return false;
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if (!tryGetDouble(ui->spinJumpCornerTh1, QStringLiteral("跳变拐角阈值1"), params.cornerParam.jumpCornerTh_1)) return false;
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if (!tryGetDouble(ui->spinJumpCornerTh2, QStringLiteral("跳变拐角阈值2"), params.cornerParam.jumpCornerTh_2)) return false;
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if (!tryGetDouble(ui->spinContinuityTh, QStringLiteral("连续性阈值"), params.filterParam.continuityTh)) return false;
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if (!tryGetDouble(ui->spinOutlierTh, QStringLiteral("离群点阈值"), params.filterParam.outlierTh)) return false;
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if (!tryGetInt(ui->spinMaxLineSkipNum, QStringLiteral("最大跳线数"), params.growParam.maxLineSkipNum)) return false;
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if (!tryGetDouble(ui->spinYDeviationMax, QStringLiteral("Y偏差最大值"), params.growParam.yDeviation_max)) return false;
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if (!tryGetDouble(ui->spinMaxSkipDistance, QStringLiteral("最大跳跃距离"), params.growParam.maxSkipDistance)) return false;
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if (!tryGetDouble(ui->spinZDeviationMax, QStringLiteral("Z偏差最大值"), params.growParam.zDeviation_max)) return false;
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if (!tryGetDouble(ui->spinMinLTypeTreeLen, QStringLiteral("L型树最小长度"), params.growParam.minLTypeTreeLen)) return false;
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if (!tryGetDouble(ui->spinMinVTypeTreeLen, QStringLiteral("V型树最小长度"), params.growParam.minVTypeTreeLen)) return false;
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if (m_handEyeCalibWidget) {
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const auto& oldMatrixList = systemConfig.configResult.handEyeCalibMatrixList;
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std::vector<VrHandEyeCalibMatrix> newMatrixList;
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int cameraCount = std::max(1, static_cast<int>(systemConfig.configResult.cameraList.size()));
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for (const auto& oldMatrix : oldMatrixList) {
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cameraCount = std::max(cameraCount, oldMatrix.cameraIndex);
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}
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for (int camIdx = 1; camIdx <= cameraCount; ++camIdx) {
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VrHandEyeCalibMatrix calibMatrix;
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calibMatrix.cameraIndex = camIdx;
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for (const auto& oldMatrix : oldMatrixList) {
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if (oldMatrix.cameraIndex == camIdx) {
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calibMatrix = oldMatrix;
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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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if (m_handEyeCalibWidget->getCalibData(camIdx, matrix, isCalibrated) && isCalibrated) {
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std::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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if (netConfig.tcpServerPort <= 0 || netConfig.tcpServerPort > 65535) {
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StyledMessageBox::warning(this, QStringLiteral("错误"),
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QStringLiteral("TCP端口必须在 1 到 65535 之间。"));
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return false;
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}
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systemConfig.configResult.tcpPort = static_cast<uint16_t>(netConfig.tcpServerPort);
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systemConfig.configResult.eulerOrder = netConfig.eulerOrder;
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systemConfig.configResult.outputEulerOrder = netConfig.outputEulerOrder;
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systemConfig.configResult.poseOutputOrder = netConfig.poseOutputOrder;
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systemConfig.configResult.dirVectorInvert = netConfig.dirVectorInvert;
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systemConfig.configResult.byteOrder = netConfig.byteOrder;
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systemConfig.configResult.longAxisDir = netConfig.longAxisDir;
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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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if (!m_presenter->GetConfigManager()->UpdateFullConfig(systemConfig)) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("更新配置缓存失败。"));
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return false;
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}
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const QString configPath = PathManager::GetInstance().GetConfigFilePath();
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if (!m_presenter->GetConfigManager()->SaveConfigToFile(configPath.toStdString())) {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("保存配置文件失败。"));
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return false;
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}
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m_presenter->OnConfigChanged(systemConfig.configResult);
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return true;
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}
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void DialogAlgoArg::resetParams()
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{
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setDoubleEditorText(ui->spinRodDiameter, 10.0);
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ui->chkHorizonScan->setChecked(true);
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setDoubleEditorText(ui->spinCornerTh, 60.0);
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setDoubleEditorText(ui->spinScale, 50.0);
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setDoubleEditorText(ui->spinMinEndingGap, 20.0);
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setDoubleEditorText(ui->spinMinEndingGapZ, 20.0);
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setDoubleEditorText(ui->spinJumpCornerTh1, 10.0);
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setDoubleEditorText(ui->spinJumpCornerTh2, 60.0);
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setDoubleEditorText(ui->spinContinuityTh, 20.0);
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setDoubleEditorText(ui->spinOutlierTh, 5.0);
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setIntEditorText(ui->spinMaxLineSkipNum, 10);
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setDoubleEditorText(ui->spinYDeviationMax, 10.0);
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setDoubleEditorText(ui->spinMaxSkipDistance, 10.0);
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setDoubleEditorText(ui->spinZDeviationMax, 10.0);
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setDoubleEditorText(ui->spinMinLTypeTreeLen, 100.0);
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setDoubleEditorText(ui->spinMinVTypeTreeLen, 100.0);
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}
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void DialogAlgoArg::on_btnOK_clicked()
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{
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if (saveParams()) {
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accept();
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}
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}
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void DialogAlgoArg::on_btnCancel_clicked()
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{
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reject();
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}
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void DialogAlgoArg::on_btnApply_clicked()
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{
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if (saveParams()) {
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StyledMessageBox::information(this, QStringLiteral("提示"),
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QStringLiteral("参数已应用。"));
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}
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}
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void DialogAlgoArg::on_btnReset_clicked()
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{
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const auto ret = StyledMessageBox::question(this, QStringLiteral("确认重置"),
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QStringLiteral("确定要重置为默认参数吗？"), QMessageBox::Yes | QMessageBox::No);
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if (ret == QMessageBox::Yes) {
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resetParams();
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}
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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, QStringLiteral("提示"),
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QStringLiteral("已从文件导入手眼标定矩阵。"));
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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 (saveParams()) {
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StyledMessageBox::information(this, QStringLiteral("成功"),
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QStringLiteral("手眼标定参数已保存。"));
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} else {
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StyledMessageBox::warning(this, QStringLiteral("失败"),
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QStringLiteral("保存手眼标定参数失败。"));
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}
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}
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