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GrabBag/Tools/CalibView/Src/CalibDataWidget.cpp

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手眼标定完善
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#include "CalibDataWidget.h"
#include "../../SpinBoxPasteHelper.h"
#include <QVBoxLayout>
#include <QHBoxLayout>
#include <QSettings>
#include <QDateTime>
#include <QGridLayout>
#include <QHeaderView>
#include <QLabel>
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#include <array>
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namespace {
int parseCalibType(const QVariant& value)
{
bool ok = false;
const QString text = value.toString().trimmed();
const int numericType = text.toInt(&ok);
if (ok && numericType >= 0 && numericType <= 2) {
return numericType;
}
QString normalized = text.toLower();
normalized.remove('-');
normalized.remove('_');
normalized.remove(' ');
if (normalized == "eyetohand") {
return 0;
}
if (normalized == "eyeinhand") {
return 1;
}
if (normalized == "tcp") {
return 2;
}
return -1;
}
QString calibTypeToString(int mode)
{
switch (mode) {
case 0: return "EyeToHand";
case 1: return "EyeInHand";
case 2: return "TCP";
default: return QString::number(mode);
}
}
QString tableText(const QTableWidget* table, int row, int col)
{
const QTableWidgetItem* item = table->item(row, col);
return item ? item->text() : "0";
}
double cameraAngleToRadians(const QTableWidget* table, int row, int col, int camAngleUnit)
{
double angle = tableText(table, row, col).toDouble();
if (camAngleUnit == 1) {
angle *= M_PI / 180.0;
}
return angle;
}
QString rawAngleToDisplayText(double radians, int camAngleUnit)
{
const double angle = (camAngleUnit == 1) ? (radians * 180.0 / M_PI) : radians;
return QString::number(angle, 'f', 6);
}
}
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CalibDataWidget::CalibDataWidget(QWidget* parent)
: QWidget(parent)
, m_cbCalibType(nullptr)
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, m_cbEulerOrder(nullptr)
, m_tableHandEye(nullptr)
, m_groupHandEye(nullptr)
, m_btnHandEyeAddRow(nullptr)
, m_btnHandEyeDeleteRow(nullptr)
, m_btnHandEyeCalib(nullptr)
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, m_groupTCPCalib(nullptr)
, m_tableTCP(nullptr)
, m_tcpModeCombo(nullptr)
, m_tcpEulerOrderCombo(nullptr)
, m_tcpRefPoseIndex(nullptr)
, m_tcpWorldRx(nullptr)
, m_tcpWorldRy(nullptr)
, m_tcpWorldRz(nullptr)
, m_tcpOrientationGroup(nullptr)
, m_tcpAddRowBtn(nullptr)
, m_tcpRemoveRowBtn(nullptr)
, m_btnTCPCalib(nullptr)
, m_inputCamX(nullptr)
, m_inputCamY(nullptr)
, m_inputCamZ(nullptr)
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, m_inputCamRoll(nullptr)
, m_inputCamPitch(nullptr)
, m_inputCamYaw(nullptr)
, m_inputRobotX(nullptr)
, m_inputRobotY(nullptr)
, m_inputRobotZ(nullptr)
, m_inputRobotRoll(nullptr)
, m_inputRobotPitch(nullptr)
, m_inputRobotYaw(nullptr)
, m_btnHandEyeAddInput(nullptr)
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, m_inputTcpX(nullptr)
, m_inputTcpY(nullptr)
, m_inputTcpZ(nullptr)
, m_inputTcpRx(nullptr)
, m_inputTcpRy(nullptr)
, m_inputTcpRz(nullptr)
, m_btnTcpAddInput(nullptr)
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, m_cbCamAngleUnit(nullptr)
, m_lblCamRx(nullptr)
, m_lblCamRy(nullptr)
, m_lblCamRz(nullptr)
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{
setupUI();
SpinBoxPasteHelper::install(this);
}
CalibDataWidget::~CalibDataWidget()
{
}
void CalibDataWidget::setupUI()
{
QVBoxLayout* mainLayout = new QVBoxLayout(this);
// 标定模式选择
QHBoxLayout* modeLayout = new QHBoxLayout();
QLabel* lblMode = new QLabel("标定模式:", this);
m_cbCalibType = new QComboBox(this);
m_cbCalibType->addItem("Eye-To-Hand (眼在手外)");
m_cbCalibType->addItem("Eye-In-Hand (眼在手上)");
m_cbCalibType->addItem("TCP 标定");
connect(m_cbCalibType, QOverload<int>::of(&QComboBox::currentIndexChanged),
this, &CalibDataWidget::onCalibTypeChanged);
modeLayout->addWidget(lblMode);
modeLayout->addWidget(m_cbCalibType);
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// 欧拉角顺序选择
modeLayout->addSpacing(20);
QLabel* lblEuler = new QLabel("欧拉角顺序:", this);
m_cbEulerOrder = new QComboBox(this);
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m_cbEulerOrder->addItem("ZYX (Rz-Ry-Rx)");
m_cbEulerOrder->addItem("XYZ (Rx-Ry-Rz)");
m_cbEulerOrder->addItem("XZY (Rx-Rz-Ry)");
m_cbEulerOrder->addItem("YXZ (Ry-Rx-Rz)");
m_cbEulerOrder->addItem("YZX (Ry-Rz-Rx)");
m_cbEulerOrder->addItem("ZXY (Rz-Rx-Ry)");
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modeLayout->addWidget(lblEuler);
modeLayout->addWidget(m_cbEulerOrder);
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modeLayout->addStretch();
mainLayout->addLayout(modeLayout);
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// 手眼标定数据组（Eye-To-Hand 和 Eye-In-Hand 共用）
m_groupHandEye = createHandEyeGroup();
mainLayout->addWidget(m_groupHandEye, 1);
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// TCP 标定数据组
m_groupTCPCalib = createTCPCalibGroup();
mainLayout->addWidget(m_groupTCPCalib, 1);
m_groupTCPCalib->setVisible(false);
// 初始化按钮启用状态
onCalibTypeChanged(0);
}
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QWidget* CalibDataWidget::createHandEyeGroup()
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{
QWidget* group = new QWidget(this);
QVBoxLayout* layout = new QVBoxLayout(group);
layout->setContentsMargins(0, 0, 0, 0);
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m_tableHandEye = new QTableWidget(this);
m_tableHandEye->setColumnCount(12);
m_tableHandEye->setHorizontalHeaderLabels({
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"Cam\nX", "Cam\nY", "Cam\nZ",
"Cam\nRoll(rad)", "Cam\nPitch(rad)", "Cam\nYaw(rad)",
"Robot\nX", "Robot\nY", "Robot\nZ",
"Robot\nRoll(°)", "Robot\nPitch(°)", "Robot\nYaw(°)"
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});
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m_tableHandEye->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
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m_tableHandEye->horizontalHeader()->setDefaultAlignment(Qt::AlignCenter);
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m_tableHandEye->setSelectionBehavior(QAbstractItemView::SelectRows);
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layout->addWidget(m_tableHandEye, 1);
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// 内联按钮行
QHBoxLayout* btnLayout = new QHBoxLayout();
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m_btnHandEyeAddRow = new QPushButton("添加行", this);
m_btnHandEyeDeleteRow = new QPushButton("删除行", this);
m_btnHandEyeCalib = new QPushButton("手眼标定", this);
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m_btnHandEyeCalib->setStyleSheet(
"QPushButton { background-color: #4CAF50; color: white; font-weight: bold; padding: 4px 12px; }"
"QPushButton:hover { background-color: #45a049; }"
"QPushButton:pressed { background-color: #3d8b40; }"
);
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connect(m_btnHandEyeAddRow, &QPushButton::clicked, this, [this]() {
int row = m_tableHandEye->rowCount();
m_tableHandEye->insertRow(row);
for (int col = 0; col < 12; ++col) {
m_tableHandEye->setItem(row, col, new QTableWidgetItem("0"));
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}
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m_tableHandEye->scrollToBottom();
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});
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connect(m_btnHandEyeDeleteRow, &QPushButton::clicked, this, [this]() {
int row = m_tableHandEye->currentRow();
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if (row >= 0) {
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m_tableHandEye->removeRow(row);
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}
});
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connect(m_btnHandEyeCalib, &QPushButton::clicked, this, [this]() {
int mode = m_cbCalibType->currentIndex();
if (mode == 0) {
emit requestEyeToHandCalib();
} else if (mode == 1) {
emit requestEyeInHandCalib();
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}
});
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btnLayout->addWidget(m_btnHandEyeAddRow);
btnLayout->addWidget(m_btnHandEyeDeleteRow);
btnLayout->addWidget(m_btnHandEyeCalib);
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btnLayout->addStretch();
layout->addLayout(btnLayout);
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// 数据输入区（水平布局：左侧输入框 + 右侧添加按钮）
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QGroupBox* inputGroup = new QGroupBox("数据输入", group);
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QHBoxLayout* inputMainLayout = new QHBoxLayout(inputGroup);
inputMainLayout->setContentsMargins(4, 4, 4, 4);
inputMainLayout->setSpacing(8);
// 左侧：输入框网格
QWidget* inputFields = new QWidget(this);
QGridLayout* inputLayout = new QGridLayout(inputFields);
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inputLayout->setHorizontalSpacing(2);
inputLayout->setVerticalSpacing(4);
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inputLayout->setContentsMargins(0, 0, 0, 0);
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inputLayout->setColumnStretch(0, 0);
inputLayout->setColumnStretch(1, 1);
inputLayout->setColumnStretch(2, 0);
inputLayout->setColumnStretch(3, 1);
inputLayout->setColumnStretch(4, 0);
inputLayout->setColumnStretch(5, 1);
auto createSpinBox = [this]() {
QDoubleSpinBox* sb = new QDoubleSpinBox(this);
sb->setRange(-10000, 10000);
sb->setDecimals(3);
return sb;
};
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// 第1行：标定板 X/Y/Z
inputLayout->addWidget(new QLabel("标定板X(mm):", this), 0, 0);
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m_inputCamX = createSpinBox();
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inputLayout->addWidget(m_inputCamX, 0, 1);
inputLayout->addWidget(new QLabel("Y(mm):", this), 0, 2);
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m_inputCamY = createSpinBox();
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inputLayout->addWidget(m_inputCamY, 0, 3);
inputLayout->addWidget(new QLabel("Z(mm):", this), 0, 4);
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m_inputCamZ = createSpinBox();
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inputLayout->addWidget(m_inputCamZ, 0, 5);
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// 第2行：标定板 Rx/Ry/Rz (支持度/弧度切换)
m_lblCamRx = new QLabel("标定板Rx(rad):", this);
inputLayout->addWidget(m_lblCamRx, 1, 0);
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m_inputCamRoll = createSpinBox();
inputLayout->addWidget(m_inputCamRoll, 1, 1);
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m_lblCamRy = new QLabel("Ry(rad):", this);
inputLayout->addWidget(m_lblCamRy, 1, 2);
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m_inputCamPitch = createSpinBox();
inputLayout->addWidget(m_inputCamPitch, 1, 3);
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m_lblCamRz = new QLabel("Rz(rad):", this);
inputLayout->addWidget(m_lblCamRz, 1, 4);
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m_inputCamYaw = createSpinBox();
inputLayout->addWidget(m_inputCamYaw, 1, 5);
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// 第2.5行：角度单位选择
QLabel* lblAngleUnit = new QLabel("姿态输入单位:", this);
inputLayout->addWidget(lblAngleUnit, 2, 0);
m_cbCamAngleUnit = new QComboBox(this);
m_cbCamAngleUnit->addItem("弧度 (rad)");
m_cbCamAngleUnit->addItem("角度 (°)");
connect(m_cbCamAngleUnit, QOverload<int>::of(&QComboBox::currentIndexChanged),
this, [this](int index) {
QString unitSuffix = (index == 0) ? "rad" : "°";
m_lblCamRx->setText(QString("标定板Rx(%1):").arg(unitSuffix));
m_lblCamRy->setText(QString("Ry(%1):").arg(unitSuffix));
m_lblCamRz->setText(QString("Rz(%1):").arg(unitSuffix));
// 同步更新表格列头
updateTableHeaders();
});
inputLayout->addWidget(m_cbCamAngleUnit, 2, 1);
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// 第3行：机械臂 X/Y/Z
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inputLayout->addWidget(new QLabel("机械臂X(mm):", this), 3, 0);
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m_inputRobotX = createSpinBox();
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inputLayout->addWidget(m_inputRobotX, 3, 1);
inputLayout->addWidget(new QLabel("Y(mm):", this), 3, 2);
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m_inputRobotY = createSpinBox();
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inputLayout->addWidget(m_inputRobotY, 3, 3);
inputLayout->addWidget(new QLabel("Z(mm):", this), 3, 4);
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m_inputRobotZ = createSpinBox();
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inputLayout->addWidget(m_inputRobotZ, 3, 5);
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// 第4行：机械臂 Rx/Ry/Rz (角度)
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inputLayout->addWidget(new QLabel("机械臂Rx(°):", this), 4, 0);
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m_inputRobotRoll = createSpinBox();
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inputLayout->addWidget(m_inputRobotRoll, 4, 1);
inputLayout->addWidget(new QLabel("Ry(°):", this), 4, 2);
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m_inputRobotPitch = createSpinBox();
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inputLayout->addWidget(m_inputRobotPitch, 4, 3);
inputLayout->addWidget(new QLabel("Rz(°):", this), 4, 4);
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m_inputRobotYaw = createSpinBox();
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inputLayout->addWidget(m_inputRobotYaw, 4, 5);
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// 第5行不再放按钮
m_btnHandEyeAddInput = new QPushButton("添加到\n表格", this);
m_btnHandEyeAddInput->setMinimumHeight(60);
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connect(m_btnHandEyeAddInput, &QPushButton::clicked, this, [this]() {
int row = m_tableHandEye->rowCount();
m_tableHandEye->insertRow(row);
m_tableHandEye->setItem(row, 0, new QTableWidgetItem(QString::number(m_inputCamX->value(), 'f', 3)));
m_tableHandEye->setItem(row, 1, new QTableWidgetItem(QString::number(m_inputCamY->value(), 'f', 3)));
m_tableHandEye->setItem(row, 2, new QTableWidgetItem(QString::number(m_inputCamZ->value(), 'f', 3)));
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// 标定板姿态：直接存储用户输入的原始值（度存度、弧度存弧度）
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m_tableHandEye->setItem(row, 3, new QTableWidgetItem(QString::number(m_inputCamRoll->value(), 'f', 3)));
m_tableHandEye->setItem(row, 4, new QTableWidgetItem(QString::number(m_inputCamPitch->value(), 'f', 3)));
m_tableHandEye->setItem(row, 5, new QTableWidgetItem(QString::number(m_inputCamYaw->value(), 'f', 3)));
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m_tableHandEye->setItem(row, 6, new QTableWidgetItem(QString::number(m_inputRobotX->value(), 'f', 3)));
m_tableHandEye->setItem(row, 7, new QTableWidgetItem(QString::number(m_inputRobotY->value(), 'f', 3)));
m_tableHandEye->setItem(row, 8, new QTableWidgetItem(QString::number(m_inputRobotZ->value(), 'f', 3)));
m_tableHandEye->setItem(row, 9, new QTableWidgetItem(QString::number(m_inputRobotRoll->value(), 'f', 3)));
m_tableHandEye->setItem(row, 10, new QTableWidgetItem(QString::number(m_inputRobotPitch->value(), 'f', 3)));
m_tableHandEye->setItem(row, 11, new QTableWidgetItem(QString::number(m_inputRobotYaw->value(), 'f', 3)));
m_tableHandEye->scrollToBottom();
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});
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// 组装：左侧输入框 + 右侧按钮
inputMainLayout->addWidget(inputFields, 1);
inputMainLayout->addWidget(m_btnHandEyeAddInput);
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layout->addWidget(inputGroup);
return group;
}
void CalibDataWidget::onCalibTypeChanged(int index)
{
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// 更新表格可见性
m_groupHandEye->setVisible(index == 0 || index == 1);
m_groupTCPCalib->setVisible(index == 2);
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// 根据模式更新表格标题
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updateTableHeaders();
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if (index == 0) {
m_btnHandEyeCalib->setText("Eye-To-Hand 标定");
} else if (index == 1) {
m_btnHandEyeCalib->setText("Eye-In-Hand 标定");
}
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// TCP 按钮
m_tcpAddRowBtn->setEnabled(index == 2);
m_tcpRemoveRowBtn->setEnabled(index == 2);
m_btnTCPCalib->setEnabled(index == 2);
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// 发送标定类型改变信号
if (index == 0) {
emit calibTypeChanged(HECCalibrationType::EyeToHand);
} else if (index == 1) {
emit calibTypeChanged(HECCalibrationType::EyeInHand);
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}
}
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void CalibDataWidget::updateTableHeaders()
{
int mode = m_cbCalibType->currentIndex();
QString camAngleUnit = (m_cbCamAngleUnit->currentIndex() == 0) ? "rad" : "°";
if (mode == 0) {
// Eye-To-Hand: 标定板在前，机械臂在后
m_tableHandEye->setHorizontalHeaderLabels({
"Cam\nX", "Cam\nY", "Cam\nZ",
QString("Cam\nRoll(%1)").arg(camAngleUnit),
QString("Cam\nPitch(%1)").arg(camAngleUnit),
QString("Cam\nYaw(%1)").arg(camAngleUnit),
"Robot\nX", "Robot\nY", "Robot\nZ",
"Robot\nRoll(°)", "Robot\nPitch(°)", "Robot\nYaw(°)"
});
} else if (mode == 1) {
// Eye-In-Hand: 机械臂在前，标定板在后
m_tableHandEye->setHorizontalHeaderLabels({
"Robot\nX", "Robot\nY", "Robot\nZ",
"Robot\nRoll(°)", "Robot\nPitch(°)", "Robot\nYaw(°)",
"Cam\nX", "Cam\nY", "Cam\nZ",
QString("Cam\nRoll(%1)").arg(camAngleUnit),
QString("Cam\nPitch(%1)").arg(camAngleUnit),
QString("Cam\nYaw(%1)").arg(camAngleUnit)
});
}
}
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void CalibDataWidget::getEyeToHandData(std::vector<HECPoint3D>& eyePoints,
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std::vector<HECPoint3D>& robotPoints) const
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{
eyePoints.clear();
robotPoints.clear();
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int rowCount = m_tableHandEye->rowCount();
for (int row = 0; row < rowCount; ++row) {
HECPoint3D eyePoint;
eyePoint.x = m_tableHandEye->item(row, 0) ?
m_tableHandEye->item(row, 0)->text().toDouble() : 0;
eyePoint.y = m_tableHandEye->item(row, 1) ?
m_tableHandEye->item(row, 1)->text().toDouble() : 0;
eyePoint.z = m_tableHandEye->item(row, 2) ?
m_tableHandEye->item(row, 2)->text().toDouble() : 0;
HECPoint3D robotPoint;
robotPoint.x = m_tableHandEye->item(row, 6) ?
m_tableHandEye->item(row, 6)->text().toDouble() : 0;
robotPoint.y = m_tableHandEye->item(row, 7) ?
m_tableHandEye->item(row, 7)->text().toDouble() : 0;
robotPoint.z = m_tableHandEye->item(row, 8) ?
m_tableHandEye->item(row, 8)->text().toDouble() : 0;
eyePoints.push_back(eyePoint);
robotPoints.push_back(robotPoint);
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}
}
void CalibDataWidget::getEyeInHandData(std::vector<HECEyeInHandData>& calibData) const
{
calibData.clear();
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// 创建标定实例用于欧拉角转换
IHandEyeCalib* calib = CreateHandEyeCalibInstance();
if (!calib) {
return;
}
// 获取用户选择的欧拉角顺序
HECEulerOrder eulerOrder = getEulerOrder();
int rowCount = m_tableHandEye->rowCount();
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for (int row = 0; row < rowCount; ++row) {
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HECEyeInHandData data;
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// 获取末端位姿（Eye-In-Hand模式下，Robot数据在前6列）
double endX = m_tableHandEye->item(row, 0) ?
m_tableHandEye->item(row, 0)->text().toDouble() : 0;
double endY = m_tableHandEye->item(row, 1) ?
m_tableHandEye->item(row, 1)->text().toDouble() : 0;
double endZ = m_tableHandEye->item(row, 2) ?
m_tableHandEye->item(row, 2)->text().toDouble() : 0;
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// 机器人姿态是角度，需要转换为弧度
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double endRoll = m_tableHandEye->item(row, 3) ?
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m_tableHandEye->item(row, 3)->text().toDouble() * M_PI / 180.0 : 0;
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double endPitch = m_tableHandEye->item(row, 4) ?
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m_tableHandEye->item(row, 4)->text().toDouble() * M_PI / 180.0 : 0;
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double endYaw = m_tableHandEye->item(row, 5) ?
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m_tableHandEye->item(row, 5)->text().toDouble() * M_PI / 180.0 : 0;
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// 使用标定接口统一转换欧拉角到旋转矩阵
HECEulerAngles endAngles(endRoll, endPitch, endYaw);
HECRotationMatrix R_end;
calib->EulerToRotationMatrix(endAngles, eulerOrder, R_end);
HECTranslationVector T_end(endX, endY, endZ);
data.endPose = HECHomogeneousMatrix(R_end, T_end);
// 获取相机观测点（Eye-In-Hand模式下，Cam数据在后6列）
data.targetInCamera.x = m_tableHandEye->item(row, 6) ?
m_tableHandEye->item(row, 6)->text().toDouble() : 0;
data.targetInCamera.y = m_tableHandEye->item(row, 7) ?
m_tableHandEye->item(row, 7)->text().toDouble() : 0;
data.targetInCamera.z = m_tableHandEye->item(row, 8) ?
m_tableHandEye->item(row, 8)->text().toDouble() : 0;
calibData.push_back(data);
}
DestroyHandEyeCalibInstance(calib);
}
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void CalibDataWidget::getEyeInHandPoseData(std::vector<HECEyeInHandPoseData>& calibData) const
{
calibData.clear();
IHandEyeCalib* calib = CreateHandEyeCalibInstance();
if (!calib) {
return;
}
const HECEulerOrder eulerOrder = getEulerOrder();
const int rowCount = m_tableHandEye->rowCount();
for (int row = 0; row < rowCount; ++row) {
HECEyeInHandPoseData data;
const double endX = m_tableHandEye->item(row, 0) ?
m_tableHandEye->item(row, 0)->text().toDouble() : 0;
const double endY = m_tableHandEye->item(row, 1) ?
m_tableHandEye->item(row, 1)->text().toDouble() : 0;
const double endZ = m_tableHandEye->item(row, 2) ?
m_tableHandEye->item(row, 2)->text().toDouble() : 0;
const double endRoll = m_tableHandEye->item(row, 3) ?
m_tableHandEye->item(row, 3)->text().toDouble() * M_PI / 180.0 : 0;
const double endPitch = m_tableHandEye->item(row, 4) ?
m_tableHandEye->item(row, 4)->text().toDouble() * M_PI / 180.0 : 0;
const double endYaw = m_tableHandEye->item(row, 5) ?
m_tableHandEye->item(row, 5)->text().toDouble() * M_PI / 180.0 : 0;
HECEulerAngles endAngles(endRoll, endPitch, endYaw);
HECRotationMatrix R_end;
calib->EulerToRotationMatrix(endAngles, eulerOrder, R_end);
data.endPose = HECHomogeneousMatrix(R_end, HECTranslationVector(endX, endY, endZ));
const double boardX = m_tableHandEye->item(row, 6) ?
m_tableHandEye->item(row, 6)->text().toDouble() : 0;
const double boardY = m_tableHandEye->item(row, 7) ?
m_tableHandEye->item(row, 7)->text().toDouble() : 0;
const double boardZ = m_tableHandEye->item(row, 8) ?
m_tableHandEye->item(row, 8)->text().toDouble() : 0;
double boardRoll = m_tableHandEye->item(row, 9) ?
m_tableHandEye->item(row, 9)->text().toDouble() : 0;
double boardPitch = m_tableHandEye->item(row, 10) ?
m_tableHandEye->item(row, 10)->text().toDouble() : 0;
double boardYaw = m_tableHandEye->item(row, 11) ?
m_tableHandEye->item(row, 11)->text().toDouble() : 0;
if (m_cbCamAngleUnit->currentIndex() == 1) {
boardRoll *= M_PI / 180.0;
boardPitch *= M_PI / 180.0;
boardYaw *= M_PI / 180.0;
}
// ChessboardDetector::DetectChessboardWithPose 固定按 ZYX 顺序输出相机观测姿态。
// 这里不能复用机器人姿态的欧拉角顺序，否则会把旧文件中的 dExtrinsic_3..5 解释错。
HECEulerAngles boardAngles(boardRoll, boardPitch, boardYaw);
HECEulerAngles boardAnglesFixed(boardRoll, boardPitch, boardYaw);
HECRotationMatrix R_board;
calib->EulerToRotationMatrix(boardAnglesFixed, HECEulerOrder::XYZ, R_board);
data.boardInCamera = HECHomogeneousMatrix(R_board, HECTranslationVector(boardX, boardY, boardZ));
calibData.push_back(data);
}
DestroyHandEyeCalibInstance(calib);
}
void CalibDataWidget::getEyeInHandPoseData(std::vector<HECEyeInHandPoseData>& calibData,
HECEulerOrder robotEulerOrder) const
{
calibData.clear();
IHandEyeCalib* calib = CreateHandEyeCalibInstance();
if (!calib) {
return;
}
const int rowCount = m_tableHandEye->rowCount();
for (int row = 0; row < rowCount; ++row) {
HECEyeInHandPoseData data;
const double endX = m_tableHandEye->item(row, 0) ?
m_tableHandEye->item(row, 0)->text().toDouble() : 0;
const double endY = m_tableHandEye->item(row, 1) ?
m_tableHandEye->item(row, 1)->text().toDouble() : 0;
const double endZ = m_tableHandEye->item(row, 2) ?
m_tableHandEye->item(row, 2)->text().toDouble() : 0;
const double endRoll = m_tableHandEye->item(row, 3) ?
m_tableHandEye->item(row, 3)->text().toDouble() * M_PI / 180.0 : 0;
const double endPitch = m_tableHandEye->item(row, 4) ?
m_tableHandEye->item(row, 4)->text().toDouble() * M_PI / 180.0 : 0;
const double endYaw = m_tableHandEye->item(row, 5) ?
m_tableHandEye->item(row, 5)->text().toDouble() * M_PI / 180.0 : 0;
HECEulerAngles endAngles(endRoll, endPitch, endYaw);
HECRotationMatrix R_end;
calib->EulerToRotationMatrix(endAngles, robotEulerOrder, R_end);
data.endPose = HECHomogeneousMatrix(R_end, HECTranslationVector(endX, endY, endZ));
const double boardX = m_tableHandEye->item(row, 6) ?
m_tableHandEye->item(row, 6)->text().toDouble() : 0;
const double boardY = m_tableHandEye->item(row, 7) ?
m_tableHandEye->item(row, 7)->text().toDouble() : 0;
const double boardZ = m_tableHandEye->item(row, 8) ?
m_tableHandEye->item(row, 8)->text().toDouble() : 0;
double boardRoll = m_tableHandEye->item(row, 9) ?
m_tableHandEye->item(row, 9)->text().toDouble() : 0;
double boardPitch = m_tableHandEye->item(row, 10) ?
m_tableHandEye->item(row, 10)->text().toDouble() : 0;
double boardYaw = m_tableHandEye->item(row, 11) ?
m_tableHandEye->item(row, 11)->text().toDouble() : 0;
if (m_cbCamAngleUnit->currentIndex() == 1) {
boardRoll *= M_PI / 180.0;
boardPitch *= M_PI / 180.0;
boardYaw *= M_PI / 180.0;
}
HECEulerAngles boardAngles(boardRoll, boardPitch, boardYaw);
HECRotationMatrix R_board;
calib->EulerToRotationMatrix(boardAngles, HECEulerOrder::XYZ, R_board);
data.boardInCamera = HECHomogeneousMatrix(R_board, HECTranslationVector(boardX, boardY, boardZ));
calibData.push_back(data);
}
DestroyHandEyeCalibInstance(calib);
}
void CalibDataWidget::getEyeInHandPoseData(std::vector<HECEyeInHandPoseData>& calibData,
HECEulerOrder robotEulerOrder,
HECEulerOrder boardEulerOrder,
bool invertBoardPose) const
{
calibData.clear();
IHandEyeCalib* calib = CreateHandEyeCalibInstance();
if (!calib) {
return;
}
const int rowCount = m_tableHandEye->rowCount();
for (int row = 0; row < rowCount; ++row) {
HECEyeInHandPoseData data;
const double endX = m_tableHandEye->item(row, 0) ?
m_tableHandEye->item(row, 0)->text().toDouble() : 0;
const double endY = m_tableHandEye->item(row, 1) ?
m_tableHandEye->item(row, 1)->text().toDouble() : 0;
const double endZ = m_tableHandEye->item(row, 2) ?
m_tableHandEye->item(row, 2)->text().toDouble() : 0;
const double endRoll = m_tableHandEye->item(row, 3) ?
m_tableHandEye->item(row, 3)->text().toDouble() * M_PI / 180.0 : 0;
const double endPitch = m_tableHandEye->item(row, 4) ?
m_tableHandEye->item(row, 4)->text().toDouble() * M_PI / 180.0 : 0;
const double endYaw = m_tableHandEye->item(row, 5) ?
m_tableHandEye->item(row, 5)->text().toDouble() * M_PI / 180.0 : 0;
HECEulerAngles endAngles(endRoll, endPitch, endYaw);
HECRotationMatrix R_end;
calib->EulerToRotationMatrix(endAngles, robotEulerOrder, R_end);
data.endPose = HECHomogeneousMatrix(R_end, HECTranslationVector(endX, endY, endZ));
const double boardX = m_tableHandEye->item(row, 6) ?
m_tableHandEye->item(row, 6)->text().toDouble() : 0;
const double boardY = m_tableHandEye->item(row, 7) ?
m_tableHandEye->item(row, 7)->text().toDouble() : 0;
const double boardZ = m_tableHandEye->item(row, 8) ?
m_tableHandEye->item(row, 8)->text().toDouble() : 0;
double boardRoll = m_tableHandEye->item(row, 9) ?
m_tableHandEye->item(row, 9)->text().toDouble() : 0;
double boardPitch = m_tableHandEye->item(row, 10) ?
m_tableHandEye->item(row, 10)->text().toDouble() : 0;
double boardYaw = m_tableHandEye->item(row, 11) ?
m_tableHandEye->item(row, 11)->text().toDouble() : 0;
if (m_cbCamAngleUnit->currentIndex() == 1) {
boardRoll *= M_PI / 180.0;
boardPitch *= M_PI / 180.0;
boardYaw *= M_PI / 180.0;
}
HECEulerAngles boardAngles(boardRoll, boardPitch, boardYaw);
HECRotationMatrix R_board;
calib->EulerToRotationMatrix(boardAngles, boardEulerOrder, R_board);
data.boardInCamera = HECHomogeneousMatrix(R_board, HECTranslationVector(boardX, boardY, boardZ));
if (invertBoardPose) {
data.boardInCamera = data.boardInCamera.inverse();
}
calibData.push_back(data);
}
DestroyHandEyeCalibInstance(calib);
}
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void CalibDataWidget::getEyeToHandPoseData(std::vector<HECEyeToHandData>& calibData) const
{
calibData.clear();
// 创建标定实例用于欧拉角转换
IHandEyeCalib* calib = CreateHandEyeCalibInstance();
if (!calib) {
return;
}
// 获取用户选择的欧拉角顺序
HECEulerOrder eulerOrder = getEulerOrder();
int rowCount = m_tableHandEye->rowCount();
for (int row = 0; row < rowCount; ++row) {
HECEyeToHandData data;
// 获取末端位姿（Eye-To-Hand模式下，Robot数据在后6列）
double endX = m_tableHandEye->item(row, 6) ?
m_tableHandEye->item(row, 6)->text().toDouble() : 0;
double endY = m_tableHandEye->item(row, 7) ?
m_tableHandEye->item(row, 7)->text().toDouble() : 0;
double endZ = m_tableHandEye->item(row, 8) ?
m_tableHandEye->item(row, 8)->text().toDouble() : 0;
// 机器人姿态是角度，需要转换为弧度
double endRoll = m_tableHandEye->item(row, 9) ?
m_tableHandEye->item(row, 9)->text().toDouble() * M_PI / 180.0 : 0;
double endPitch = m_tableHandEye->item(row, 10) ?
m_tableHandEye->item(row, 10)->text().toDouble() * M_PI / 180.0 : 0;
double endYaw = m_tableHandEye->item(row, 11) ?
m_tableHandEye->item(row, 11)->text().toDouble() * M_PI / 180.0 : 0;
// 末端位姿和标定板姿态统一使用相同的欧拉角顺序
HECEulerAngles endAngles(endRoll, endPitch, endYaw);
HECRotationMatrix R_end;
calib->EulerToRotationMatrix(endAngles, eulerOrder, R_end);
HECTranslationVector T_end(endX, endY, endZ);
data.endPose = HECHomogeneousMatrix(R_end, T_end);
// 获取标定板在相机坐标系的位置（Eye-To-Hand模式下，Cam数据在前6列）
double boardX = m_tableHandEye->item(row, 0) ?
m_tableHandEye->item(row, 0)->text().toDouble() : 0;
double boardY = m_tableHandEye->item(row, 1) ?
m_tableHandEye->item(row, 1)->text().toDouble() : 0;
double boardZ = m_tableHandEye->item(row, 2) ?
m_tableHandEye->item(row, 2)->text().toDouble() : 0;
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// 获取标定板在相机坐标系的姿态
// 表格中存储的是欧拉角，当前单位可能是弧度或角度
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double boardRoll = m_tableHandEye->item(row, 3) ?
m_tableHandEye->item(row, 3)->text().toDouble() : 0;
double boardPitch = m_tableHandEye->item(row, 4) ?
m_tableHandEye->item(row, 4)->text().toDouble() : 0;
double boardYaw = m_tableHandEye->item(row, 5) ?
m_tableHandEye->item(row, 5)->text().toDouble() : 0;
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// 如果当前单位是角度，转换为弧度
if (m_cbCamAngleUnit->currentIndex() == 1) {
boardRoll = boardRoll * M_PI / 180.0;
boardPitch = boardPitch * M_PI / 180.0;
boardYaw = boardYaw * M_PI / 180.0;
}
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// 标定板姿态与机器人姿态统一使用当前选中的欧拉角顺序
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// ChessboardDetector::DetectChessboardWithPose 固定按 ZYX 顺序输出相机观测姿态。
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HECEulerAngles boardAngles(boardRoll, boardPitch, boardYaw);
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HECEulerAngles boardAnglesFixed(boardRoll, boardPitch, boardYaw);
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HECRotationMatrix R_board;
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calib->EulerToRotationMatrix(boardAnglesFixed, HECEulerOrder::XYZ, R_board);
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HECTranslationVector T_board(boardX, boardY, boardZ);
data.boardInCamera = HECHomogeneousMatrix(R_board, T_board);
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calibData.push_back(data);
}
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DestroyHandEyeCalibInstance(calib);
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}
HECCalibrationType CalibDataWidget::getCalibType() const
{
return m_cbCalibType->currentIndex() == 0 ?
HECCalibrationType::EyeToHand : HECCalibrationType::EyeInHand;
}
int CalibDataWidget::getCalibTypeIndex() const
{
return m_cbCalibType->currentIndex();
}
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HECEulerOrder CalibDataWidget::getEulerOrder() const
{
switch (m_cbEulerOrder->currentIndex()) {
case 0: return HECEulerOrder::ZYX;
case 1: return HECEulerOrder::XYZ;
case 2: return HECEulerOrder::XZY;
case 3: return HECEulerOrder::YXZ;
case 4: return HECEulerOrder::YZX;
case 5: return HECEulerOrder::ZXY;
default: return HECEulerOrder::ZYX;
}
}
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void CalibDataWidget::clearAll()
{
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m_tableHandEye->setRowCount(0);
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m_tableTCP->setRowCount(0);
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m_boardPoseData.clear();
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}
QWidget* CalibDataWidget::createTCPCalibGroup()
{
QWidget* group = new QWidget(this);
QVBoxLayout* layout = new QVBoxLayout(group);
layout->setContentsMargins(0, 0, 0, 0);
QHBoxLayout* modeLayout = new QHBoxLayout();
modeLayout->addWidget(new QLabel("标定模式:", this));
m_tcpModeCombo = new QComboBox(this);
m_tcpModeCombo->addItem("位置标定 (3-DOF)");
m_tcpModeCombo->addItem("完整标定 (6-DOF)");
connect(m_tcpModeCombo, QOverload<int>::of(&QComboBox::currentIndexChanged),
this, &CalibDataWidget::onTCPModeChanged);
modeLayout->addWidget(m_tcpModeCombo);
modeLayout->addWidget(new QLabel("欧拉角顺序:", this));
m_tcpEulerOrderCombo = new QComboBox(this);
m_tcpEulerOrderCombo->addItem("XYZ", static_cast<int>(HECEulerOrder::XYZ));
m_tcpEulerOrderCombo->addItem("XZY", static_cast<int>(HECEulerOrder::XZY));
m_tcpEulerOrderCombo->addItem("YXZ", static_cast<int>(HECEulerOrder::YXZ));
m_tcpEulerOrderCombo->addItem("YZX", static_cast<int>(HECEulerOrder::YZX));
m_tcpEulerOrderCombo->addItem("ZXY", static_cast<int>(HECEulerOrder::ZXY));
m_tcpEulerOrderCombo->addItem("ZYX (常用)", static_cast<int>(HECEulerOrder::ZYX));
m_tcpEulerOrderCombo->setCurrentIndex(5);
modeLayout->addWidget(m_tcpEulerOrderCombo);
modeLayout->addStretch();
layout->addLayout(modeLayout);
m_tableTCP = new QTableWidget(this);
m_tableTCP->setColumnCount(6);
m_tableTCP->setHorizontalHeaderLabels({"X", "Y", "Z", "Roll(°)", "Pitch(°)", "Yaw(°)"});
m_tableTCP->horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
m_tableTCP->setSelectionBehavior(QAbstractItemView::SelectRows);
layout->addWidget(m_tableTCP, 1);
QHBoxLayout* btnLayout = new QHBoxLayout();
m_tcpAddRowBtn = new QPushButton("添加行", this);
m_tcpRemoveRowBtn = new QPushButton("删除行", this);
m_btnTCPCalib = new QPushButton("TCP 标定", this);
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m_btnTCPCalib->setStyleSheet(
"QPushButton { background-color: #4CAF50; color: white; font-weight: bold; padding: 4px 12px; }"
"QPushButton:hover { background-color: #45a049; }"
"QPushButton:pressed { background-color: #3d8b40; }"
);
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connect(m_tcpAddRowBtn, &QPushButton::clicked, this, &CalibDataWidget::onTCPAddRow);
connect(m_tcpRemoveRowBtn, &QPushButton::clicked, this, &CalibDataWidget::onTCPRemoveRow);
connect(m_btnTCPCalib, &QPushButton::clicked, this, &CalibDataWidget::requestTCPCalib);
btnLayout->addWidget(m_tcpAddRowBtn);
btnLayout->addWidget(m_tcpRemoveRowBtn);
btnLayout->addWidget(m_btnTCPCalib);
btnLayout->addStretch();
layout->addLayout(btnLayout);
QGroupBox* inputGroup = new QGroupBox("数据输入", group);
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QHBoxLayout* tcpInputMainLayout = new QHBoxLayout(inputGroup);
tcpInputMainLayout->setContentsMargins(4, 4, 4, 4);
tcpInputMainLayout->setSpacing(8);
QWidget* tcpInputFields = new QWidget(this);
QGridLayout* inputLayout = new QGridLayout(tcpInputFields);
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inputLayout->setHorizontalSpacing(2);
inputLayout->setVerticalSpacing(4);
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inputLayout->setContentsMargins(0, 0, 0, 0);
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inputLayout->setColumnStretch(0, 0);
inputLayout->setColumnStretch(1, 1);
inputLayout->setColumnStretch(2, 0);
inputLayout->setColumnStretch(3, 1);
inputLayout->setColumnStretch(4, 0);
inputLayout->setColumnStretch(5, 1);
auto createSpinBox = [this]() {
QDoubleSpinBox* sb = new QDoubleSpinBox(this);
sb->setRange(-10000, 10000);
sb->setDecimals(3);
return sb;
};
inputLayout->addWidget(new QLabel("X:", this), 0, 0);
m_inputTcpX = createSpinBox();
inputLayout->addWidget(m_inputTcpX, 0, 1);
inputLayout->addWidget(new QLabel("Y:", this), 0, 2);
m_inputTcpY = createSpinBox();
inputLayout->addWidget(m_inputTcpY, 0, 3);
inputLayout->addWidget(new QLabel("Z:", this), 0, 4);
m_inputTcpZ = createSpinBox();
inputLayout->addWidget(m_inputTcpZ, 0, 5);
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inputLayout->addWidget(new QLabel("Roll(°):", this), 1, 0);
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m_inputTcpRx = createSpinBox();
inputLayout->addWidget(m_inputTcpRx, 1, 1);
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inputLayout->addWidget(new QLabel("Pitch(°):", this), 1, 2);
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m_inputTcpRy = createSpinBox();
inputLayout->addWidget(m_inputTcpRy, 1, 3);
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inputLayout->addWidget(new QLabel("Yaw(°):", this), 1, 4);
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m_inputTcpRz = createSpinBox();
inputLayout->addWidget(m_inputTcpRz, 1, 5);
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m_btnTcpAddInput = new QPushButton("添加到\n表格", this);
m_btnTcpAddInput->setMinimumHeight(40);
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connect(m_btnTcpAddInput, &QPushButton::clicked, this, [this]() {
int row = m_tableTCP->rowCount();
m_tableTCP->insertRow(row);
m_tableTCP->setItem(row, 0, new QTableWidgetItem(QString::number(m_inputTcpX->value(), 'f', 3)));
m_tableTCP->setItem(row, 1, new QTableWidgetItem(QString::number(m_inputTcpY->value(), 'f', 3)));
m_tableTCP->setItem(row, 2, new QTableWidgetItem(QString::number(m_inputTcpZ->value(), 'f', 3)));
m_tableTCP->setItem(row, 3, new QTableWidgetItem(QString::number(m_inputTcpRx->value(), 'f', 3)));
m_tableTCP->setItem(row, 4, new QTableWidgetItem(QString::number(m_inputTcpRy->value(), 'f', 3)));
m_tableTCP->setItem(row, 5, new QTableWidgetItem(QString::number(m_inputTcpRz->value(), 'f', 3)));
m_tableTCP->scrollToBottom();
});
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// 组装：左侧输入框 + 右侧按钮
tcpInputMainLayout->addWidget(tcpInputFields, 1);
tcpInputMainLayout->addWidget(m_btnTcpAddInput);
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layout->addWidget(inputGroup);
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m_tcpOrientationGroup = new QGroupBox("6-DOF 参数", group);
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QGridLayout* oriLayout = new QGridLayout(m_tcpOrientationGroup);
oriLayout->addWidget(new QLabel("参考位姿索引:", this), 0, 0);
m_tcpRefPoseIndex = new QSpinBox(this);
m_tcpRefPoseIndex->setRange(0, 999);
oriLayout->addWidget(m_tcpRefPoseIndex, 0, 1);
oriLayout->addWidget(new QLabel("期望世界朝向 Rx(°):", this), 1, 0);
m_tcpWorldRx = new QDoubleSpinBox(this);
m_tcpWorldRx->setRange(-360, 360);
m_tcpWorldRx->setDecimals(2);
oriLayout->addWidget(m_tcpWorldRx, 1, 1);
oriLayout->addWidget(new QLabel("Ry(°):", this), 1, 2);
m_tcpWorldRy = new QDoubleSpinBox(this);
m_tcpWorldRy->setRange(-360, 360);
m_tcpWorldRy->setDecimals(2);
oriLayout->addWidget(m_tcpWorldRy, 1, 3);
oriLayout->addWidget(new QLabel("Rz(°):", this), 1, 4);
m_tcpWorldRz = new QDoubleSpinBox(this);
m_tcpWorldRz->setRange(-360, 360);
m_tcpWorldRz->setDecimals(2);
oriLayout->addWidget(m_tcpWorldRz, 1, 5);
m_tcpOrientationGroup->setVisible(false);
layout->addWidget(m_tcpOrientationGroup);
return group;
}
void CalibDataWidget::onTCPModeChanged(int index)
{
m_tcpOrientationGroup->setVisible(index == 1);
}
void CalibDataWidget::onTCPAddRow()
{
int row = m_tableTCP->rowCount();
m_tableTCP->insertRow(row);
for (int col = 0; col < 6; ++col) {
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m_tableTCP->setItem(row, col, new QTableWidgetItem("0"));
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}
m_tableTCP->scrollToBottom();
}
void CalibDataWidget::onTCPRemoveRow()
{
int row = m_tableTCP->currentRow();
if (row >= 0) {
m_tableTCP->removeRow(row);
}
}
HECTCPCalibData CalibDataWidget::getTCPCalibData() const
{
HECTCPCalibData data;
data.mode = (m_tcpModeCombo->currentIndex() == 0) ?
HECTCPCalibMode::PositionOnly : HECTCPCalibMode::Full6DOF;
HECEulerOrder eulerOrder = static_cast<HECEulerOrder>(
m_tcpEulerOrderCombo->currentData().toInt());
for (int row = 0; row < m_tableTCP->rowCount(); ++row) {
HECTCPCalibPose pose;
pose.x = m_tableTCP->item(row, 0) ? m_tableTCP->item(row, 0)->text().toDouble() : 0;
pose.y = m_tableTCP->item(row, 1) ? m_tableTCP->item(row, 1)->text().toDouble() : 0;
pose.z = m_tableTCP->item(row, 2) ? m_tableTCP->item(row, 2)->text().toDouble() : 0;
pose.rx = m_tableTCP->item(row, 3) ? m_tableTCP->item(row, 3)->text().toDouble() : 0;
pose.ry = m_tableTCP->item(row, 4) ? m_tableTCP->item(row, 4)->text().toDouble() : 0;
pose.rz = m_tableTCP->item(row, 5) ? m_tableTCP->item(row, 5)->text().toDouble() : 0;
pose.eulerOrder = eulerOrder;
data.poses.push_back(pose);
}
data.referencePoseIndex = m_tcpRefPoseIndex->value();
data.worldRx = m_tcpWorldRx->value();
data.worldRy = m_tcpWorldRy->value();
data.worldRz = m_tcpWorldRz->value();
data.worldEulerOrder = eulerOrder;
return data;
}
void CalibDataWidget::setRobotInput(double x, double y, double z,
double rx, double ry, double rz)
{
int mode = m_cbCalibType->currentIndex();
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if (mode == 0) {
m_inputRobotX->setValue(x);
m_inputRobotY->setValue(y);
m_inputRobotZ->setValue(z);
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m_inputRobotRoll->setValue(rx);
m_inputRobotPitch->setValue(ry);
m_inputRobotYaw->setValue(rz);
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} else if (mode == 1) {
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m_inputRobotX->setValue(x);
m_inputRobotY->setValue(y);
m_inputRobotZ->setValue(z);
m_inputRobotRoll->setValue(rx);
m_inputRobotPitch->setValue(ry);
m_inputRobotYaw->setValue(rz);
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} else if (mode == 2) {
m_inputTcpX->setValue(x);
m_inputTcpY->setValue(y);
m_inputTcpZ->setValue(z);
m_inputTcpRx->setValue(rx);
m_inputTcpRy->setValue(ry);
m_inputTcpRz->setValue(rz);
}
}
void CalibDataWidget::setCameraInput(double x, double y, double z,
double rx, double ry, double rz)
{
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m_inputCamX->setValue(x);
m_inputCamY->setValue(y);
m_inputCamZ->setValue(z);
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// VrEyeView 回填的是欧拉角“度”，UI 根据当前输入单位决定如何显示
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if (m_cbCamAngleUnit->currentIndex() == 1) {
m_inputCamRoll->setValue(rx);
m_inputCamPitch->setValue(ry);
m_inputCamYaw->setValue(rz);
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} else {
m_inputCamRoll->setValue(rx * M_PI / 180.0);
m_inputCamPitch->setValue(ry * M_PI / 180.0);
m_inputCamYaw->setValue(rz * M_PI / 180.0);
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}
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}
void CalibDataWidget::saveCalibData(const QString& filePath) const
{
QSettings ini(filePath, QSettings::IniFormat);
ini.setIniCodec("UTF-8");
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ini.clear();
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int mode = m_cbCalibType->currentIndex();
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const int eulerOrderIndex = m_cbEulerOrder->currentIndex();
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// 兼容旧格式：轴序字符串直接表示姿态角的应用顺序。
// 例如 RxRyRz 表示 RX=roll, RY=pitch, RZ=yaw。
QString axisOrder;
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switch (eulerOrderIndex) {
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case 0: axisOrder = "RzRyRx"; break;
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case 1: axisOrder = "RxRyRz"; break;
case 2: axisOrder = "RxRzRy"; break;
case 3: axisOrder = "RyRxRz"; break;
case 4: axisOrder = "RyRzRx"; break;
case 5: axisOrder = "RzRxRy"; break;
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default: axisOrder = "RzRyRx"; break;
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}
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ini.beginGroup("CommInfo");
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ini.setValue("eCalibType", calibTypeToString(mode));
ini.setValue("eCalibTypeIndex", mode);
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ini.setValue("sCalibTime", QDateTime::currentDateTime().toString("yyyy-MM-dd-HH-mm-ss"));
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ini.setValue("eCamAngleUnit", m_cbCamAngleUnit->currentIndex()); // 0=弧度, 1=角度
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ini.setValue("eEulerOrder", eulerOrderIndex);
ini.setValue("eRobotPosAxisOrder", axisOrder);
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if (mode == 0) {
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int count = m_tableHandEye->rowCount();
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ini.setValue("eCalibMethod", "PARK");
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ini.setValue("nPointCount", count);
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ini.setValue("nCalibItemNum", count);
ini.setValue("nCurCalibItemIdx", count);
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ini.endGroup();
for (int row = 0; row < count; ++row) {
ini.beginGroup(QString("CalibPointInfo_%1").arg(row));
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ini.setValue("dCamX", m_tableHandEye->item(row, 0) ? m_tableHandEye->item(row, 0)->text() : "0");
ini.setValue("dCamY", m_tableHandEye->item(row, 1) ? m_tableHandEye->item(row, 1)->text() : "0");
ini.setValue("dCamZ", m_tableHandEye->item(row, 2) ? m_tableHandEye->item(row, 2)->text() : "0");
ini.setValue("dCamRoll", m_tableHandEye->item(row, 3) ? m_tableHandEye->item(row, 3)->text() : "0");
ini.setValue("dCamPitch", m_tableHandEye->item(row, 4) ? m_tableHandEye->item(row, 4)->text() : "0");
ini.setValue("dCamYaw", m_tableHandEye->item(row, 5) ? m_tableHandEye->item(row, 5)->text() : "0");
ini.setValue("dRobotX", m_tableHandEye->item(row, 6) ? m_tableHandEye->item(row, 6)->text() : "0");
ini.setValue("dRobotY", m_tableHandEye->item(row, 7) ? m_tableHandEye->item(row, 7)->text() : "0");
ini.setValue("dRobotZ", m_tableHandEye->item(row, 8) ? m_tableHandEye->item(row, 8)->text() : "0");
ini.setValue("dRobotRoll", m_tableHandEye->item(row, 9) ? m_tableHandEye->item(row, 9)->text() : "0");
ini.setValue("dRobotPitch", m_tableHandEye->item(row, 10) ? m_tableHandEye->item(row, 10)->text() : "0");
ini.setValue("dRobotYaw", m_tableHandEye->item(row, 11) ? m_tableHandEye->item(row, 11)->text() : "0");
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ini.endGroup();
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ini.beginGroup(QString("pCalibItemList_%1").arg(row));
ini.setValue("sRobotPos_x", tableText(m_tableHandEye, row, 6));
ini.setValue("sRobotPos_y", tableText(m_tableHandEye, row, 7));
ini.setValue("sRobotPos_z", tableText(m_tableHandEye, row, 8));
ini.setValue("sRobotPos_roll", tableText(m_tableHandEye, row, 9));
ini.setValue("sRobotPos_pitch", tableText(m_tableHandEye, row, 10));
ini.setValue("sRobotPos_yaw", tableText(m_tableHandEye, row, 11));
ini.setValue("dExtrinsic_0", tableText(m_tableHandEye, row, 0).toDouble());
ini.setValue("dExtrinsic_1", tableText(m_tableHandEye, row, 1).toDouble());
ini.setValue("dExtrinsic_2", tableText(m_tableHandEye, row, 2).toDouble());
ini.setValue("dExtrinsic_3", cameraAngleToRadians(m_tableHandEye, row, 3, m_cbCamAngleUnit->currentIndex()));
ini.setValue("dExtrinsic_4", cameraAngleToRadians(m_tableHandEye, row, 4, m_cbCamAngleUnit->currentIndex()));
ini.setValue("dExtrinsic_5", cameraAngleToRadians(m_tableHandEye, row, 5, m_cbCamAngleUnit->currentIndex()));
ini.endGroup();
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}
} else if (mode == 1) {
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int count = m_tableHandEye->rowCount();
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ini.setValue("eCalibMethod", "PARK");
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ini.setValue("nPointCount", count);
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ini.setValue("nCalibItemNum", count);
ini.setValue("nCurCalibItemIdx", count);
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ini.endGroup();
for (int row = 0; row < count; ++row) {
ini.beginGroup(QString("CalibPointInfo_%1").arg(row));
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ini.setValue("dEndX", m_tableHandEye->item(row, 0) ? m_tableHandEye->item(row, 0)->text() : "0");
ini.setValue("dEndY", m_tableHandEye->item(row, 1) ? m_tableHandEye->item(row, 1)->text() : "0");
ini.setValue("dEndZ", m_tableHandEye->item(row, 2) ? m_tableHandEye->item(row, 2)->text() : "0");
ini.setValue("dEndRoll", m_tableHandEye->item(row, 3) ? m_tableHandEye->item(row, 3)->text() : "0");
ini.setValue("dEndPitch", m_tableHandEye->item(row, 4) ? m_tableHandEye->item(row, 4)->text() : "0");
ini.setValue("dEndYaw", m_tableHandEye->item(row, 5) ? m_tableHandEye->item(row, 5)->text() : "0");
ini.setValue("dCamX", m_tableHandEye->item(row, 6) ? m_tableHandEye->item(row, 6)->text() : "0");
ini.setValue("dCamY", m_tableHandEye->item(row, 7) ? m_tableHandEye->item(row, 7)->text() : "0");
ini.setValue("dCamZ", m_tableHandEye->item(row, 8) ? m_tableHandEye->item(row, 8)->text() : "0");
ini.setValue("dCamRoll", m_tableHandEye->item(row, 9) ? m_tableHandEye->item(row, 9)->text() : "0");
ini.setValue("dCamPitch", m_tableHandEye->item(row, 10) ? m_tableHandEye->item(row, 10)->text() : "0");
ini.setValue("dCamYaw", m_tableHandEye->item(row, 11) ? m_tableHandEye->item(row, 11)->text() : "0");
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ini.endGroup();
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ini.beginGroup(QString("pCalibItemList_%1").arg(row));
ini.setValue("sRobotPos_x", tableText(m_tableHandEye, row, 0));
ini.setValue("sRobotPos_y", tableText(m_tableHandEye, row, 1));
ini.setValue("sRobotPos_z", tableText(m_tableHandEye, row, 2));
ini.setValue("sRobotPos_roll", tableText(m_tableHandEye, row, 3));
ini.setValue("sRobotPos_pitch", tableText(m_tableHandEye, row, 4));
ini.setValue("sRobotPos_yaw", tableText(m_tableHandEye, row, 5));
ini.setValue("dExtrinsic_0", tableText(m_tableHandEye, row, 6).toDouble());
ini.setValue("dExtrinsic_1", tableText(m_tableHandEye, row, 7).toDouble());
ini.setValue("dExtrinsic_2", tableText(m_tableHandEye, row, 8).toDouble());
ini.setValue("dExtrinsic_3", cameraAngleToRadians(m_tableHandEye, row, 9, m_cbCamAngleUnit->currentIndex()));
ini.setValue("dExtrinsic_4", cameraAngleToRadians(m_tableHandEye, row, 10, m_cbCamAngleUnit->currentIndex()));
ini.setValue("dExtrinsic_5", cameraAngleToRadians(m_tableHandEye, row, 11, m_cbCamAngleUnit->currentIndex()));
ini.endGroup();
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}
} else {
int count = m_tableTCP->rowCount();
ini.setValue("nPoseCount", count);
ini.setValue("eCalibMode", m_tcpModeCombo->currentIndex());
ini.setValue("eEulerOrder", m_tcpEulerOrderCombo->currentIndex());
ini.setValue("nRefPoseIndex", m_tcpRefPoseIndex->value());
ini.setValue("dWorldRx", m_tcpWorldRx->value());
ini.setValue("dWorldRy", m_tcpWorldRy->value());
ini.setValue("dWorldRz", m_tcpWorldRz->value());
ini.endGroup();
for (int row = 0; row < count; ++row) {
ini.beginGroup(QString("CalibPoseInfo_%1").arg(row));
ini.setValue("dX", m_tableTCP->item(row, 0) ? m_tableTCP->item(row, 0)->text() : "0");
ini.setValue("dY", m_tableTCP->item(row, 1) ? m_tableTCP->item(row, 1)->text() : "0");
ini.setValue("dZ", m_tableTCP->item(row, 2) ? m_tableTCP->item(row, 2)->text() : "0");
ini.setValue("dRx", m_tableTCP->item(row, 3) ? m_tableTCP->item(row, 3)->text() : "0");
ini.setValue("dRy", m_tableTCP->item(row, 4) ? m_tableTCP->item(row, 4)->text() : "0");
ini.setValue("dRz", m_tableTCP->item(row, 5) ? m_tableTCP->item(row, 5)->text() : "0");
ini.endGroup();
}
}
}
void CalibDataWidget::loadCalibData(const QString& filePath)
{
QSettings ini(filePath, QSettings::IniFormat);
ini.setIniCodec("UTF-8");
ini.beginGroup("CommInfo");
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int calibType = parseCalibType(ini.value("eCalibType"));
if (calibType < 0) {
calibType = ini.value("eCalibTypeIndex", -1).toInt();
}
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棒材定位项目&手眼标定，网络配置，结果提取公共内容
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// 读取标定板角度单位 (0=弧度, 1=角度，默认0兼容旧文件)
int camAngleUnit = ini.value("eCamAngleUnit", 0).toInt();
m_cbCamAngleUnit->setCurrentIndex(camAngleUnit);
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// 读取欧拉角顺序：优先使用当前工具保存的 eEulerOrder，兼容旧文件的 eRobotPosAxisOrder
int savedEulerOrder = ini.value("eEulerOrder", -1).toInt();
if (savedEulerOrder >= 0 && savedEulerOrder <= 5) {
m_cbEulerOrder->setCurrentIndex(savedEulerOrder);
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} else {
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QString axisOrder = ini.value("eRobotPosAxisOrder", "RzRyRx").toString();
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// 旧文件里保存的是轴顺序标签，不是矩阵乘法顺序。
// RxRyRz 表示 RX-roll / RY-pitch / RZ-yaw。
if (axisOrder == "RzRyRx") {
m_cbEulerOrder->setCurrentIndex(0); // ZYX
} else if (axisOrder == "RxRyRz") {
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m_cbEulerOrder->setCurrentIndex(1); // XYZ
} else if (axisOrder == "RxRzRy") {
m_cbEulerOrder->setCurrentIndex(2); // XZY
} else if (axisOrder == "RyRxRz") {
m_cbEulerOrder->setCurrentIndex(3); // YXZ
} else if (axisOrder == "RyRzRx") {
m_cbEulerOrder->setCurrentIndex(4); // YZX
} else if (axisOrder == "RzRxRy") {
m_cbEulerOrder->setCurrentIndex(5); // ZXY
} else {
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m_cbEulerOrder->setCurrentIndex(0); // 默认 ZYX / RzRyRx
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}
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}
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const int handEyePointCount = ini.value("nPointCount", 0).toInt();
const int handEyeItemCount = ini.value("nCalibItemNum", 0).toInt();
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if (calibType == 0) {
ini.endGroup();
m_cbCalibType->setCurrentIndex(0);
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m_tableHandEye->setRowCount(0);
m_boardPoseData.clear();
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if (handEyeItemCount > 0) {
for (int i = 0; i < handEyeItemCount; ++i) {
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ini.beginGroup(QString("pCalibItemList_%1").arg(i));
int row = m_tableHandEye->rowCount();
m_tableHandEye->insertRow(row);
m_tableHandEye->setItem(row, 0, new QTableWidgetItem(ini.value("dExtrinsic_0", "0").toString()));
m_tableHandEye->setItem(row, 1, new QTableWidgetItem(ini.value("dExtrinsic_1", "0").toString()));
m_tableHandEye->setItem(row, 2, new QTableWidgetItem(ini.value("dExtrinsic_2", "0").toString()));
double camRoll = ini.value("dExtrinsic_3", 0).toDouble();
double camPitch = ini.value("dExtrinsic_4", 0).toDouble();
double camYaw = ini.value("dExtrinsic_5", 0).toDouble();
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m_tableHandEye->setItem(row, 3, new QTableWidgetItem(rawAngleToDisplayText(camRoll, camAngleUnit)));
m_tableHandEye->setItem(row, 4, new QTableWidgetItem(rawAngleToDisplayText(camPitch, camAngleUnit)));
m_tableHandEye->setItem(row, 5, new QTableWidgetItem(rawAngleToDisplayText(camYaw, camAngleUnit)));
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m_tableHandEye->setItem(row, 6, new QTableWidgetItem(ini.value("sRobotPos_x", "0").toString()));
m_tableHandEye->setItem(row, 7, new QTableWidgetItem(ini.value("sRobotPos_y", "0").toString()));
m_tableHandEye->setItem(row, 8, new QTableWidgetItem(ini.value("sRobotPos_z", "0").toString()));
// 机器人姿态保持角度（不转换）
double robotRoll = ini.value("sRobotPos_roll", 0).toDouble();
double robotPitch = ini.value("sRobotPos_pitch", 0).toDouble();
double robotYaw = ini.value("sRobotPos_yaw", 0).toDouble();
m_tableHandEye->setItem(row, 9, new QTableWidgetItem(QString::number(robotRoll, 'f', 6)));
m_tableHandEye->setItem(row, 10, new QTableWidgetItem(QString::number(robotPitch, 'f', 6)));
m_tableHandEye->setItem(row, 11, new QTableWidgetItem(QString::number(robotYaw, 'f', 6)));
m_boardPoseData.push_back({camRoll, camPitch, camYaw});
ini.endGroup();
}
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} else if (handEyePointCount > 0) {
for (int i = 0; i < handEyePointCount; ++i) {
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ini.beginGroup(QString("CalibPointInfo_%1").arg(i));
int row = m_tableHandEye->rowCount();
m_tableHandEye->insertRow(row);
m_tableHandEye->setItem(row, 0, new QTableWidgetItem(ini.value("dCamX", "0").toString()));
m_tableHandEye->setItem(row, 1, new QTableWidgetItem(ini.value("dCamY", "0").toString()));
m_tableHandEye->setItem(row, 2, new QTableWidgetItem(ini.value("dCamZ", "0").toString()));
m_tableHandEye->setItem(row, 3, new QTableWidgetItem(ini.value("dCamRoll", "0").toString()));
m_tableHandEye->setItem(row, 4, new QTableWidgetItem(ini.value("dCamPitch", "0").toString()));
m_tableHandEye->setItem(row, 5, new QTableWidgetItem(ini.value("dCamYaw", "0").toString()));
m_tableHandEye->setItem(row, 6, new QTableWidgetItem(ini.value("dRobotX", "0").toString()));
m_tableHandEye->setItem(row, 7, new QTableWidgetItem(ini.value("dRobotY", "0").toString()));
m_tableHandEye->setItem(row, 8, new QTableWidgetItem(ini.value("dRobotZ", "0").toString()));
m_tableHandEye->setItem(row, 9, new QTableWidgetItem(ini.value("dRobotRoll", "0").toString()));
m_tableHandEye->setItem(row, 10, new QTableWidgetItem(ini.value("dRobotPitch", "0").toString()));
m_tableHandEye->setItem(row, 11, new QTableWidgetItem(ini.value("dRobotYaw", "0").toString()));
ini.endGroup();
}
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}
} else if (calibType == 1) {
ini.endGroup();
m_cbCalibType->setCurrentIndex(1);
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m_tableHandEye->setRowCount(0);
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m_boardPoseData.clear();
if (handEyeItemCount > 0) {
for (int i = 0; i < handEyeItemCount; ++i) {
ini.beginGroup(QString("pCalibItemList_%1").arg(i));
int row = m_tableHandEye->rowCount();
m_tableHandEye->insertRow(row);
m_tableHandEye->setItem(row, 0, new QTableWidgetItem(ini.value("sRobotPos_x", "0").toString()));
m_tableHandEye->setItem(row, 1, new QTableWidgetItem(ini.value("sRobotPos_y", "0").toString()));
m_tableHandEye->setItem(row, 2, new QTableWidgetItem(ini.value("sRobotPos_z", "0").toString()));
m_tableHandEye->setItem(row, 3, new QTableWidgetItem(ini.value("sRobotPos_roll", "0").toString()));
m_tableHandEye->setItem(row, 4, new QTableWidgetItem(ini.value("sRobotPos_pitch", "0").toString()));
m_tableHandEye->setItem(row, 5, new QTableWidgetItem(ini.value("sRobotPos_yaw", "0").toString()));
m_tableHandEye->setItem(row, 6, new QTableWidgetItem(ini.value("dExtrinsic_0", "0").toString()));
m_tableHandEye->setItem(row, 7, new QTableWidgetItem(ini.value("dExtrinsic_1", "0").toString()));
m_tableHandEye->setItem(row, 8, new QTableWidgetItem(ini.value("dExtrinsic_2", "0").toString()));
double camRoll = ini.value("dExtrinsic_3", 0).toDouble();
double camPitch = ini.value("dExtrinsic_4", 0).toDouble();
double camYaw = ini.value("dExtrinsic_5", 0).toDouble();
m_tableHandEye->setItem(row, 9, new QTableWidgetItem(rawAngleToDisplayText(camRoll, camAngleUnit)));
m_tableHandEye->setItem(row, 10, new QTableWidgetItem(rawAngleToDisplayText(camPitch, camAngleUnit)));
m_tableHandEye->setItem(row, 11, new QTableWidgetItem(rawAngleToDisplayText(camYaw, camAngleUnit)));
m_boardPoseData.push_back({camRoll, camPitch, camYaw});
ini.endGroup();
}
} else {
for (int i = 0; i < handEyePointCount; ++i) {
ini.beginGroup(QString("CalibPointInfo_%1").arg(i));
int row = m_tableHandEye->rowCount();
m_tableHandEye->insertRow(row);
m_tableHandEye->setItem(row, 0, new QTableWidgetItem(ini.value("dEndX", "0").toString()));
m_tableHandEye->setItem(row, 1, new QTableWidgetItem(ini.value("dEndY", "0").toString()));
m_tableHandEye->setItem(row, 2, new QTableWidgetItem(ini.value("dEndZ", "0").toString()));
m_tableHandEye->setItem(row, 3, new QTableWidgetItem(ini.value("dEndRoll", "0").toString()));
m_tableHandEye->setItem(row, 4, new QTableWidgetItem(ini.value("dEndPitch", "0").toString()));
m_tableHandEye->setItem(row, 5, new QTableWidgetItem(ini.value("dEndYaw", "0").toString()));
m_tableHandEye->setItem(row, 6, new QTableWidgetItem(ini.value("dCamX", "0").toString()));
m_tableHandEye->setItem(row, 7, new QTableWidgetItem(ini.value("dCamY", "0").toString()));
m_tableHandEye->setItem(row, 8, new QTableWidgetItem(ini.value("dCamZ", "0").toString()));
m_tableHandEye->setItem(row, 9, new QTableWidgetItem(ini.value("dCamRoll", "0").toString()));
m_tableHandEye->setItem(row, 10, new QTableWidgetItem(ini.value("dCamPitch", "0").toString()));
m_tableHandEye->setItem(row, 11, new QTableWidgetItem(ini.value("dCamYaw", "0").toString()));
ini.endGroup();
}
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}
} else if (calibType == 2) {
int count = ini.value("nPoseCount", 0).toInt();
m_tcpModeCombo->setCurrentIndex(ini.value("eCalibMode", 0).toInt());
m_tcpEulerOrderCombo->setCurrentIndex(ini.value("eEulerOrder", 5).toInt());
m_tcpRefPoseIndex->setValue(ini.value("nRefPoseIndex", 0).toInt());
m_tcpWorldRx->setValue(ini.value("dWorldRx", 0).toDouble());
m_tcpWorldRy->setValue(ini.value("dWorldRy", 0).toDouble());
m_tcpWorldRz->setValue(ini.value("dWorldRz", 0).toDouble());
ini.endGroup();
m_cbCalibType->setCurrentIndex(2);
m_tableTCP->setRowCount(0);
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m_boardPoseData.clear();
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for (int i = 0; i < count; ++i) {
ini.beginGroup(QString("CalibPoseInfo_%1").arg(i));
int row = m_tableTCP->rowCount();
m_tableTCP->insertRow(row);
m_tableTCP->setItem(row, 0, new QTableWidgetItem(ini.value("dX", "0").toString()));
m_tableTCP->setItem(row, 1, new QTableWidgetItem(ini.value("dY", "0").toString()));
m_tableTCP->setItem(row, 2, new QTableWidgetItem(ini.value("dZ", "0").toString()));
m_tableTCP->setItem(row, 3, new QTableWidgetItem(ini.value("dRx", "0").toString()));
m_tableTCP->setItem(row, 4, new QTableWidgetItem(ini.value("dRy", "0").toString()));
m_tableTCP->setItem(row, 5, new QTableWidgetItem(ini.value("dRz", "0").toString()));
ini.endGroup();
}
} else {
ini.endGroup();
}
}
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