132 lines
3.3 KiB
C
132 lines
3.3 KiB
C
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#ifndef HANDEYECALIBWIDGET_H
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#define HANDEYECALIBWIDGET_H
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#include <QWidget>
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#include <QVector>
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#include <QString>
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#include <QComboBox>
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#include <QLabel>
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#include <QLineEdit>
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#include <QPushButton>
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/**
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* @brief 手眼标定相机信息
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*/
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struct HandEyeCalibCameraInfo
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{
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int cameraIndex; // 相机索引（1-based）
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QString displayName; // 显示名称
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};
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/**
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* @brief 单个相机的标定数据缓存
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*/
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struct HandEyeCalibData
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{
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int cameraIndex = 0;
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double matrix[16] = {
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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bool isCalibrated = false;
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};
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/**
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* @brief 手眼标定共享控件
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*
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* 纯 QWidget，代码构建 UI（无 .ui 文件），可嵌入任意 tab/layout。
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* 配置无关：不依赖任何 App 的 IVrConfig，只操作原始数据。
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* 自带 INI 解析：用 QSettings 读取 [CalibMatrixInfo_0] section。
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*
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* UI 布局：选择相机 ComboBox → 标定状态 Label → 4x4 矩阵 GridLayout → 加载/保存按钮
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*/
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class HandEyeCalibWidget : public QWidget
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{
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Q_OBJECT
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public:
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explicit HandEyeCalibWidget(QWidget *parent = nullptr);
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~HandEyeCalibWidget();
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/**
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* @brief 设置相机列表
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*/
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void setCameraList(const QVector<HandEyeCalibCameraInfo>& cameras);
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/**
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* @brief 设置指定相机的标定数据
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*/
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void setCalibData(int cameraIndex, const double matrix[16], bool isCalibrated);
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/**
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* @brief 获取指定相机的标定数据
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* @return 是否存在该相机的数据
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*/
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bool getCalibData(int cameraIndex, double outMatrix[16], bool& outIsCalibrated) const;
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/**
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* @brief 获取当前选中的相机索引
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* @return 相机索引，未选择返回 -1
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*/
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int currentCameraIndex() const;
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/**
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* @brief 设置默认文件打开路径
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*/
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void setDefaultFilePath(const QString& path);
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/**
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* @brief 设置矩阵是否可编辑
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*/
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void setMatrixEditable(bool editable);
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signals:
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/**
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* @brief 标定矩阵已从文件加载
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* @param cameraIndex 相机索引
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* @param matrix 16 个 double 的矩阵
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*/
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void calibMatrixLoaded(int cameraIndex, const double* matrix);
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/**
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* @brief 请求保存标定数据
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* @param cameraIndex 相机索引
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* @param matrix 16 个 double 的矩阵
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*/
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void saveCalibRequested(int cameraIndex, const double* matrix);
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private slots:
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void onCameraSelectionChanged(int index);
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void onLoadCalibMatrixClicked();
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void onSaveCalibMatrixClicked();
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private:
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void setupUI();
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void displayMatrix(const double* matrix);
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void clearMatrix();
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void displayIdentityMatrix();
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void updateCalibStatus(bool isCalibrated);
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// 从矩阵编辑框读取当前矩阵值
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bool readMatrixFromUI(double outMatrix[16]) const;
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// 查找缓存中指定相机的数据
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HandEyeCalibData* findCalibData(int cameraIndex);
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const HandEyeCalibData* findCalibData(int cameraIndex) const;
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private:
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QComboBox* m_comboCamera;
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QLabel* m_labelStatus;
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QLineEdit* m_matrixEdits[4][4]; // 4x4 矩阵编辑框
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QPushButton* m_btnLoad;
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QPushButton* m_btnSave;
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QVector<HandEyeCalibData> m_calibDataCache; // 按相机索引缓存
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QString m_defaultFilePath;
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bool m_matrixEditable;
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};
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#endif // HANDEYECALIBWIDGET_H
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