工件孔更新算法,斜着角度不对的问题
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@ -5,8 +5,8 @@
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#define WORKPIECEHOLE_APP_NAME "工件孔定位"
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// 版本字符串
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#define WORKPIECEHOLE_VERSION_STRING "1.2.2"
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#define WORKPIECEHOLE_BUILD_STRING "2"
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#define WORKPIECEHOLE_VERSION_STRING "1.2.3"
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#define WORKPIECEHOLE_BUILD_STRING "1"
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#define WORKPIECEHOLE_FULL_VERSION_STRING "V" WORKPIECEHOLE_VERSION_STRING "_" WORKPIECEHOLE_BUILD_STRING
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// 构建日期
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@ -1,5 +1,13 @@
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# 1.2.3
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## build_1 2026-07-16
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1. 更新算法 工件4，5歇着的情况
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# 1.2.2
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## build_1 2026-07-14
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## build_2 2026-07-16
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1. 重新调整了工件序号
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2. 增加正反工件的识别
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## build_1 2026-07-16
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1. 工件3和工件5 反了。
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2. 每个工件有独立的工具参数调整
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@ -114,14 +114,6 @@ typedef struct
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int idx;
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}SSG_intPair;
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typedef struct
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{
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int data_0;
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int data_1;
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double value1;
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double value2;
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}SSG_intPairRelationD;
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typedef struct
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{
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int flag;
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@ -978,12 +978,17 @@ void _XOYprojection(
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int px1 = (int)((x1 - x_range.min) / scale + sideWidth);
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int py1 = (int)((y1 - y_range.min) / scale + sideWidth);
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//x轴
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double mx2 = a_hole.center.x - dirAngleLen * a_hole.x_dir.x;
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double my2 = a_hole.center.y - dirAngleLen * a_hole.x_dir.y;
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int mpx2 = (int)((mx2 - x_range.min) / scale + sideWidth);
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int mpy2 = (int)((my2 - y_range.min) / scale + sideWidth);
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double x2 = a_hole.center.x + dirAngleLen * a_hole.x_dir.x;
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double y2 = a_hole.center.y + dirAngleLen * a_hole.x_dir.y;
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int px2 = (int)((x2 - x_range.min) / scale + sideWidth);
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int py2 = (int)((y2 - y_range.min) / scale + sideWidth);
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rgb = { 255, 0, 0 }; //x轴用红色
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cv::line(img, cv::Point(px1, py1), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
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cv::line(img, cv::Point(mpx2, mpy2), cv::Point(px2, py2), cv::Scalar(rgb[2], rgb[1], rgb[0]), 1);
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//y轴
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x2 = a_hole.center.x + dirAngleLen * a_hole.y_dir.x;
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y2 = a_hole.center.y + dirAngleLen * a_hole.y_dir.y;
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@ -1557,24 +1562,25 @@ void TuoPuFa_holePosition_test2(void)
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#endif
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}
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#define TPF3_TEST_GROUP 7
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#define TPF3_TEST_GROUP 8
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//拓普发工件孔定位（工件定位)
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void TuoPuFa_holePosition_test3(void)
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void TuoPuFa_holePosition_test4(void)
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{
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const char* dataPath[TPF3_TEST_GROUP] = {
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/B10歪/", //7
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};
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SVzNLRange fileIdx[TPF3_TEST_GROUP] = {
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{1,11}, {1, 10}, {1,10}, {1,10}, {1, 10},
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{1,10}, {1, 10},
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{1,10}, {1, 10}, {1, 10},
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};
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const char* ver = wd_workpieceHolePositioningVersion();
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@ -1617,7 +1623,7 @@ void TuoPuFa_holePosition_test3(void)
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#endif
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#if TEST_COMPUTE_HOLE
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for (int grp = 0; grp < TPF3_TEST_GROUP; grp++)
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for (int grp = 7; grp < TPF3_TEST_GROUP; grp++)
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{
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SSG_planeCalibPara groundCalibPara;
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//初始化成单位阵
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@ -1701,7 +1707,7 @@ void TuoPuFa_holePosition_test3(void)
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sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
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double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
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double angleDrawLen = 15;
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double angleDrawLen = 30;
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double displayScale = 0.3;
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cv::String imgName(calibFile);
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_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
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@ -1710,25 +1716,26 @@ void TuoPuFa_holePosition_test3(void)
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}
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#endif
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}
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#define TPF4_TEST_GROUP 7
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#define TPF4_TEST_GROUP 8
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//拓普发工件孔定位（工件定位)
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void TuoPuFa_holePosition_test4(void)
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void TuoPuFa_holePosition_test5(void)
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{
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const char* dataPath[TPF4_TEST_GROUP] = {
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/1层/", //0
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/2层/", //1
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/3层/", //2
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/4层/", //3
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/5层/", //4
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/6层/", //5
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件4/7层/", //6
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/B20歪/", //7
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};
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SVzNLRange fileIdx[TPF4_TEST_GROUP] = {
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{1,11}, {1, 11}, {1,11}, {1,10}, {1, 10},
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{1,10}, {1, 10},
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{1,10}, {1, 10}, {1, 10},
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};
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const char* ver = wd_workpieceHolePositioningVersion();
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@ -1771,7 +1778,7 @@ void TuoPuFa_holePosition_test4(void)
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#endif
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#if TEST_COMPUTE_HOLE
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for (int grp = 0; grp < TPF4_TEST_GROUP; grp++)
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for (int grp = 7; grp < TPF4_TEST_GROUP; grp++)
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{
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SSG_planeCalibPara groundCalibPara;
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//初始化成单位阵
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@ -1855,7 +1862,7 @@ void TuoPuFa_holePosition_test4(void)
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sprintf_s(calibFile, "%sresult/LaserLine%d_holes_projection.png", dataPath[grp], fidx);
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double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
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double angleDrawLen = 15;
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double angleDrawLen = 30;
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double displayScale = 0.3;
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cv::String imgName(calibFile);
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_genXOYProjectionImage(imgName, scanLines, displayScale, workpiecePositioning, rpy, angleDrawLen);
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@ -1867,28 +1874,28 @@ void TuoPuFa_holePosition_test4(void)
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#define TPF5_TEST_GROUP 14
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//拓普发工件孔定位（工件定位)
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void TuoPuFa_holePosition_test5(void)
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void TuoPuFa_holePosition_test3(void)
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{
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const char* dataPath[TPF5_TEST_GROUP] = {
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/1层/", //0
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/2层/", //1
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/3层/", //2
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/4层/", //3
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/5层/", //4
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/6层/", //5
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/7层/", //6
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/8层/", //7
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/9层/", //8
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/10层/", //9
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/11层/", //10
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/12层/", //11
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/13层/", //12
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件5/14层/", //13
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/1层/", //0
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/2层/", //1
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/3层/", //2
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/4层/", //3
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/5层/", //4
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/6层/", //5
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/7层/", //6
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/8层/", //7
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/9层/", //8
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/10层/", //9
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/11层/", //10
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/12层/", //11
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/13层/", //12
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"F:/ShangGu/项目/冠钦项目/拓普发工件孔定位/工件3/14层/", //13
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};
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SVzNLRange fileIdx[TPF5_TEST_GROUP] = {
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{1,10}, {1, 10}, {1,10}, {1,10}, {1, 10},
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{1,12}, {1, 10}, {1,10}, {1,10}, {1, 10},
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{1,11}, {1, 10}, {1,11}, {1,10}, {1,10},
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{1, 10}, {1,10}, {1,11}, {1,10}
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};
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@ -2742,9 +2749,9 @@ int main()
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{
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//TuoPuFa_holePosition_test();
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//TuoPuFa_holePosition_test2();
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TuoPuFa_holePosition_test3();
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//TuoPuFa_holePosition_test3();
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TuoPuFa_holePosition_test4();
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//TuoPuFa_holePosition_test5();
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TuoPuFa_holePosition_test5();
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}
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else if (keSG_华航孔定位 == testMode)
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HuaHang_holePosition_test();
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@ -29,10 +29,12 @@ namespace ConfigXmlUtils
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* @param root XML 根节点
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* @param list 输出的矩阵列表
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* @param defaultEulerOrder 当 XML 中无 eulerOrder 属性时使用的默认值
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* @param defaultCalibType 当 XML 中无 calibType 属性时使用的默认值（0=眼在手外，1=眼在手上）
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*/
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void LoadHandEyeCalibMatrixs(tinyxml2::XMLElement* root,
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std::vector<VrHandEyeCalibMatrix>& list,
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int defaultEulerOrder = 11);
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int defaultEulerOrder = 11,
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int defaultCalibType = 0);
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/**
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* @brief 保存手眼标定矩阵列表到 XML 根节点（<HandEyeCalibMatrixs> 格式）
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@ -16,6 +16,7 @@
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struct VrHandEyeCalibMatrix
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{
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int cameraIndex;
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int calibType; // 0=眼在手外，1=眼在手上
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double matrix[16];
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int eulerOrder;
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double rotX;
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@ -35,6 +36,7 @@ struct VrHandEyeCalibMatrix
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VrHandEyeCalibMatrix()
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: cameraIndex(1)
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, calibType(0)
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, eulerOrder(11)
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, rotX(0.0)
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, rotY(0.0)
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@ -12,11 +12,22 @@ namespace ConfigXmlUtils
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static void LoadSingleHandEyeCalibMatrix(XMLElement* handEyeElement,
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VrHandEyeCalibMatrix& calibMatrix,
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int defaultEulerOrder)
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int defaultEulerOrder,
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int defaultCalibType)
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{
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if (handEyeElement->Attribute("cameraIndex"))
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calibMatrix.cameraIndex = handEyeElement->IntAttribute("cameraIndex");
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const int fallbackCalibType = defaultCalibType == 1 ? 1 : 0;
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if (handEyeElement->Attribute("calibType")) {
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const int calibType = handEyeElement->IntAttribute("calibType");
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calibMatrix.calibType = (calibType == 0 || calibType == 1)
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? calibType
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: fallbackCalibType;
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} else {
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calibMatrix.calibType = fallbackCalibType;
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}
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for (int i = 0; i < 16; i++)
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{
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char attrName[32];
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@ -60,7 +71,8 @@ static void LoadSingleHandEyeCalibMatrix(XMLElement* handEyeElement,
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void LoadHandEyeCalibMatrixs(XMLElement* root,
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std::vector<VrHandEyeCalibMatrix>& list,
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int defaultEulerOrder)
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int defaultEulerOrder,
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int defaultCalibType)
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{
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// 优先找 <HandEyeCalibMatrixs>
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XMLElement* containerElement = root->FirstChildElement("HandEyeCalibMatrixs");
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@ -76,7 +88,8 @@ void LoadHandEyeCalibMatrixs(XMLElement* root,
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{
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VrHandEyeCalibMatrix calibMatrix;
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calibMatrix.cameraIndex = static_cast<int>(list.size()) + 1; // 默认递增
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LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix, defaultEulerOrder);
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LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix,
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defaultEulerOrder, defaultCalibType);
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list.push_back(calibMatrix);
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handEyeElement = handEyeElement->NextSiblingElement("HandEyeCalibMatrix");
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}
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@ -89,7 +102,8 @@ void LoadHandEyeCalibMatrixs(XMLElement* root,
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{
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VrHandEyeCalibMatrix calibMatrix;
|
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calibMatrix.cameraIndex = 1;
|
||||
LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix, defaultEulerOrder);
|
||||
LoadSingleHandEyeCalibMatrix(handEyeElement, calibMatrix,
|
||||
defaultEulerOrder, defaultCalibType);
|
||||
list.push_back(calibMatrix);
|
||||
}
|
||||
}
|
||||
@ -104,6 +118,7 @@ void SaveHandEyeCalibMatrixs(XMLDocument& doc,
|
||||
{
|
||||
XMLElement* handEyeElement = doc.NewElement("HandEyeCalibMatrix");
|
||||
handEyeElement->SetAttribute("cameraIndex", calibMatrix.cameraIndex);
|
||||
handEyeElement->SetAttribute("calibType", calibMatrix.calibType);
|
||||
for (int i = 0; i < 16; i++)
|
||||
{
|
||||
char attrName[32];
|
||||
|
||||
@ -57,6 +57,26 @@ padding: 2px;</string>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<layout class="QHBoxLayout" name="horizontalLayoutCalibType">
|
||||
<item>
|
||||
<widget class="QLabel" name="labelCalibType">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>120</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>标定方式:</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="comboCalibType"/>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QLabel" name="labelStatus">
|
||||
<property name="text">
|
||||
|
||||
@ -30,6 +30,7 @@ struct HandEyeCalibCameraInfo
|
||||
struct HandEyeCalibData
|
||||
{
|
||||
int cameraIndex = 0;
|
||||
int calibType = 0; // 0=眼在手外，1=眼在手上
|
||||
double matrix[16] = {
|
||||
1.0, 0.0, 0.0, 0.0,
|
||||
0.0, 1.0, 0.0, 0.0,
|
||||
@ -72,6 +73,23 @@ public:
|
||||
*/
|
||||
void setCalibData(int cameraIndex, const double matrix[16], bool isCalibrated);
|
||||
|
||||
/**
|
||||
* @brief 设置新增相机数据使用的默认标定类型
|
||||
* @param calibType 0=眼在手外，1=眼在手上
|
||||
*/
|
||||
void setDefaultCalibType(int calibType);
|
||||
|
||||
/**
|
||||
* @brief 设置指定相机的标定类型
|
||||
*/
|
||||
void setCalibType(int cameraIndex, int calibType);
|
||||
|
||||
/**
|
||||
* @brief 获取指定相机的标定类型
|
||||
* @return 是否存在该相机的数据
|
||||
*/
|
||||
bool getCalibType(int cameraIndex, int& outCalibType) const;
|
||||
|
||||
/**
|
||||
* @brief 设置指定相机的欧拉角顺序与补偿旋转
|
||||
*/
|
||||
@ -165,6 +183,7 @@ signals:
|
||||
|
||||
private slots:
|
||||
void onCameraSelectionChanged(int index);
|
||||
void onCalibTypeChanged(int index);
|
||||
void onLoadCalibMatrixClicked();
|
||||
void onSaveCalibMatrixClicked();
|
||||
|
||||
@ -174,6 +193,7 @@ private:
|
||||
void clearMatrix();
|
||||
void displayIdentityMatrix();
|
||||
void updateCalibStatus(bool isCalibrated);
|
||||
void updateCalibType(int calibType);
|
||||
|
||||
// 从矩阵编辑框读取当前矩阵值
|
||||
bool readMatrixFromUI(double outMatrix[16]) const;
|
||||
@ -187,6 +207,7 @@ private:
|
||||
Ui::HandEyeCalibWidget* ui = nullptr;
|
||||
|
||||
QComboBox* m_comboCamera;
|
||||
QComboBox* m_comboCalibType;
|
||||
QLabel* m_labelStatus;
|
||||
QLineEdit* m_matrixEdits[4][4]; // 4x4 矩阵编辑框
|
||||
QPushButton* m_btnLoad;
|
||||
@ -195,6 +216,7 @@ private:
|
||||
QVector<HandEyeCalibData> m_calibDataCache; // 按相机索引缓存
|
||||
QString m_defaultFilePath;
|
||||
bool m_matrixEditable;
|
||||
int m_defaultCalibType;
|
||||
};
|
||||
|
||||
#endif // HANDEYECALIBWIDGET_H
|
||||
|
||||
@ -12,10 +12,12 @@ HandEyeCalibWidget::HandEyeCalibWidget(QWidget *parent)
|
||||
: QWidget(parent)
|
||||
, ui(new Ui::HandEyeCalibWidget)
|
||||
, m_comboCamera(nullptr)
|
||||
, m_comboCalibType(nullptr)
|
||||
, m_labelStatus(nullptr)
|
||||
, m_btnLoad(nullptr)
|
||||
, m_btnSave(nullptr)
|
||||
, m_matrixEditable(false)
|
||||
, m_defaultCalibType(0)
|
||||
{
|
||||
memset(m_matrixEdits, 0, sizeof(m_matrixEdits));
|
||||
setupUI();
|
||||
@ -62,6 +64,38 @@ void HandEyeCalibWidget::setCalibData(int cameraIndex, const double matrix[16],
|
||||
}
|
||||
}
|
||||
|
||||
void HandEyeCalibWidget::setDefaultCalibType(int calibType)
|
||||
{
|
||||
m_defaultCalibType = (calibType == 1) ? 1 : 0;
|
||||
|
||||
const int cameraIndex = currentCameraIndex();
|
||||
const HandEyeCalibData* data = findCalibData(cameraIndex);
|
||||
if (!data) {
|
||||
updateCalibType(m_defaultCalibType);
|
||||
}
|
||||
}
|
||||
|
||||
void HandEyeCalibWidget::setCalibType(int cameraIndex, int calibType)
|
||||
{
|
||||
HandEyeCalibData& data = ensureCalibData(cameraIndex);
|
||||
data.calibType = (calibType == 1) ? 1 : 0;
|
||||
|
||||
if (currentCameraIndex() == cameraIndex) {
|
||||
updateCalibType(data.calibType);
|
||||
}
|
||||
}
|
||||
|
||||
bool HandEyeCalibWidget::getCalibType(int cameraIndex, int& outCalibType) const
|
||||
{
|
||||
const HandEyeCalibData* data = findCalibData(cameraIndex);
|
||||
if (!data) {
|
||||
return false;
|
||||
}
|
||||
|
||||
outCalibType = data->calibType;
|
||||
return true;
|
||||
}
|
||||
|
||||
void HandEyeCalibWidget::setExtrinsicData(int cameraIndex, int eulerOrder,
|
||||
double rotX, double rotY, double rotZ)
|
||||
{
|
||||
@ -214,13 +248,16 @@ void HandEyeCalibWidget::onCameraSelectionChanged(int index)
|
||||
if (index < 0 || !m_comboCamera || m_comboCamera->count() == 0) {
|
||||
m_btnLoad->setEnabled(false);
|
||||
m_btnSave->setEnabled(false);
|
||||
m_comboCalibType->setEnabled(false);
|
||||
displayIdentityMatrix();
|
||||
updateCalibStatus(false);
|
||||
updateCalibType(m_defaultCalibType);
|
||||
return;
|
||||
}
|
||||
|
||||
m_btnLoad->setEnabled(true);
|
||||
m_btnSave->setEnabled(true);
|
||||
m_comboCalibType->setEnabled(true);
|
||||
|
||||
int camIdx = m_comboCamera->itemData(index).toInt();
|
||||
const HandEyeCalibData* data = findCalibData(camIdx);
|
||||
@ -231,7 +268,22 @@ void HandEyeCalibWidget::onCameraSelectionChanged(int index)
|
||||
displayIdentityMatrix();
|
||||
updateCalibStatus(false);
|
||||
}
|
||||
updateCalibType(data ? data->calibType : m_defaultCalibType);
|
||||
}
|
||||
|
||||
void HandEyeCalibWidget::onCalibTypeChanged(int index)
|
||||
{
|
||||
if (index < 0 || !m_comboCalibType) {
|
||||
return;
|
||||
}
|
||||
|
||||
const int cameraIndex = currentCameraIndex();
|
||||
if (cameraIndex < 0) {
|
||||
return;
|
||||
}
|
||||
|
||||
HandEyeCalibData& data = ensureCalibData(cameraIndex);
|
||||
data.calibType = (m_comboCalibType->itemData(index).toInt() == 1) ? 1 : 0;
|
||||
}
|
||||
|
||||
void HandEyeCalibWidget::onLoadCalibMatrixClicked()
|
||||
@ -254,6 +306,11 @@ void HandEyeCalibWidget::onLoadCalibMatrixClicked()
|
||||
settings.setIniCodec("UTF-8");
|
||||
settings.beginGroup("CalibMatrixInfo_0");
|
||||
|
||||
int calibType = settings.value("eCalibType", m_defaultCalibType).toInt();
|
||||
if (calibType != 0 && calibType != 1) {
|
||||
calibType = m_defaultCalibType;
|
||||
}
|
||||
|
||||
double matrix[16];
|
||||
for (int i = 0; i < 16; ++i) {
|
||||
int row = i / 4;
|
||||
@ -264,6 +321,7 @@ void HandEyeCalibWidget::onLoadCalibMatrixClicked()
|
||||
settings.endGroup();
|
||||
|
||||
setCalibData(camIdx, matrix, true);
|
||||
setCalibType(camIdx, calibType);
|
||||
emit calibMatrixLoaded(camIdx, matrix);
|
||||
}
|
||||
|
||||
@ -322,10 +380,15 @@ void HandEyeCalibWidget::setupUI()
|
||||
matrixFont.setPointSize(16);
|
||||
|
||||
m_comboCamera = ui->comboCamera;
|
||||
m_comboCalibType = ui->comboCalibType;
|
||||
m_labelStatus = ui->labelStatus;
|
||||
m_btnLoad = ui->btnLoad;
|
||||
m_btnSave = ui->btnSave;
|
||||
|
||||
m_comboCalibType->addItem(QStringLiteral("眼在手外"), 0);
|
||||
m_comboCalibType->addItem(QStringLiteral("眼在手上"), 1);
|
||||
updateCalibType(m_defaultCalibType);
|
||||
|
||||
m_matrixEdits[0][0] = ui->editMatrix00;
|
||||
m_matrixEdits[0][1] = ui->editMatrix01;
|
||||
m_matrixEdits[0][2] = ui->editMatrix02;
|
||||
@ -363,6 +426,8 @@ void HandEyeCalibWidget::setupUI()
|
||||
|
||||
connect(m_comboCamera, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
|
||||
this, &HandEyeCalibWidget::onCameraSelectionChanged);
|
||||
connect(m_comboCalibType, static_cast<void(QComboBox::*)(int)>(&QComboBox::currentIndexChanged),
|
||||
this, &HandEyeCalibWidget::onCalibTypeChanged);
|
||||
connect(m_btnLoad, &QPushButton::clicked,
|
||||
this, &HandEyeCalibWidget::onLoadCalibMatrixClicked);
|
||||
connect(m_btnSave, &QPushButton::clicked,
|
||||
@ -411,6 +476,18 @@ void HandEyeCalibWidget::updateCalibStatus(bool isCalibrated)
|
||||
}
|
||||
}
|
||||
|
||||
void HandEyeCalibWidget::updateCalibType(int calibType)
|
||||
{
|
||||
if (!m_comboCalibType) {
|
||||
return;
|
||||
}
|
||||
|
||||
const int index = m_comboCalibType->findData(calibType == 1 ? 1 : 0);
|
||||
m_comboCalibType->blockSignals(true);
|
||||
m_comboCalibType->setCurrentIndex(index);
|
||||
m_comboCalibType->blockSignals(false);
|
||||
}
|
||||
|
||||
bool HandEyeCalibWidget::readMatrixFromUI(double outMatrix[16]) const
|
||||
{
|
||||
for (int r = 0; r < 4; ++r) {
|
||||
@ -455,6 +532,7 @@ HandEyeCalibData& HandEyeCalibWidget::ensureCalibData(int cameraIndex)
|
||||
|
||||
HandEyeCalibData newData;
|
||||
newData.cameraIndex = cameraIndex;
|
||||
newData.calibType = m_defaultCalibType;
|
||||
m_calibDataCache.append(newData);
|
||||
return m_calibDataCache.last();
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user