371 lines
12 KiB
C++
371 lines
12 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include <QMessageBox>
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#include <QPushButton>
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#include <QFileDialog>
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#include <QComboBox>
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#include <QtCore/QCoreApplication>
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#include <QtCore/QFileInfo>
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#include <QtCore/QDir>
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#include <QtCore/QStandardPaths>
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#include <QtCore/QFile>
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#include <cstring>
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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#include "HandEyeCalibWidget.h"
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#include "VrLog.h"
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DialogAlgoarg::DialogAlgoarg(ConfigManager* configManager, QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoarg)
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, m_pConfigManager(configManager)
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, m_handEyeCalibWidget(nullptr)
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{
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try {
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ui->setupUi(this);
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// 获取配置文件路径
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m_configFilePath = PathManager::GetInstance().GetConfigFilePath();
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// 检查配置文件路径是否有效
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if (m_configFilePath.isEmpty()) {
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StyledMessageBox::critical(this, "错误", "无法获取配置文件路径！");
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return;
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}
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// 从配置文件加载数据到界面
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LoadConfigToUI();
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// 初始化手眼标定 tab
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InitHandEyeCalibTab();
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} catch (const std::exception& e) {
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StyledMessageBox::critical(this, "初始化错误", QString("对话框初始化失败: %1").arg(e.what()));
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} catch (...) {
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StyledMessageBox::critical(this, "初始化错误", "对话框初始化失败！（未知错误）");
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}
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}
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DialogAlgoarg::~DialogAlgoarg()
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{
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delete ui;
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}
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void DialogAlgoarg::LoadConfigToUI()
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{
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if (!m_pConfigManager) {
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StyledMessageBox::critical(this, "错误", "配置对象未初始化！");
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return;
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}
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try {
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// 从ConfigManager获取配置数据
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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// 检查配置文件路径是否有效
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if (m_configFilePath.isEmpty()) {
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LOG_WARNING("Config file path is empty\n");
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}
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// 加载算法参数到UI
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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// 加载各个参数组
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LoadWorkpieceParamToUI(algoParams.workpieceParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadCornerParamToUI(algoParams.cornerParam);
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LoadGrowParamToUI(algoParams.growParam);
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in LoadConfigToUI: %s\n", e.what());
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StyledMessageBox::warning(this, "警告",
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QString("加载配置时发生异常: %1\n将使用默认参数显示").arg(e.what()));
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// 发生异常时使用默认参数
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadWorkpieceParamToUI(algoParams.workpieceParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadCornerParamToUI(algoParams.cornerParam);
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LoadGrowParamToUI(algoParams.growParam);
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} catch (...) {
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LOG_ERROR("Unknown exception in LoadConfigToUI\n");
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StyledMessageBox::warning(this, "警告", "加载配置文件失败（未知错误），将使用默认参数显示");
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// 发生未知异常时使用默认参数
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ConfigResult configData;
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const VrAlgorithmParams& algoParams = configData.algorithmParams;
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LoadWorkpieceParamToUI(algoParams.workpieceParam);
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LoadFilterParamToUI(algoParams.filterParam);
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LoadCornerParamToUI(algoParams.cornerParam);
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LoadGrowParamToUI(algoParams.growParam);
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}
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}
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void DialogAlgoarg::LoadWorkpieceParamToUI(const VrWorkpieceParam& param)
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{
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if (!ui) return;
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ui->lineEdit_lineLen->setText(QString::number(param.lineLen));
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ui->lineEdit_dirAngleScale->setText(QString::number(param.dirAngleScale));
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ui->lineEdit_lineDeviation->setText(QString::number(param.lineDeviation));
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ui->lineEdit_minCutAngleTh->setText(QString::number(param.minCutAngleTh));
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}
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void DialogAlgoarg::LoadFilterParamToUI(const VrOutlierFilterParam& param)
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{
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if (!ui) return;
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ui->lineEdit_continuityTh->setText(QString::number(param.continuityTh));
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ui->lineEdit_outlierTh->setText(QString::number(param.outlierTh));
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}
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void DialogAlgoarg::LoadCornerParamToUI(const VrCornerParam& param)
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{
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if (!ui) return;
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ui->lineEdit_cornerTh->setText(QString::number(param.cornerTh));
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ui->lineEdit_scale->setText(QString::number(param.scale));
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ui->lineEdit_minEndingGap->setText(QString::number(param.minEndingGap));
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ui->lineEdit_minEndingGap_z->setText(QString::number(param.minEndingGap_z));
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ui->lineEdit_jumpCornerTh_1->setText(QString::number(param.jumpCornerTh_1));
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ui->lineEdit_jumpCornerTh_2->setText(QString::number(param.jumpCornerTh_2));
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}
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void DialogAlgoarg::LoadGrowParamToUI(const VrTreeGrowParam& param)
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{
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if (!ui) return;
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ui->lineEdit_maxLineSkipNum->setText(QString::number(param.maxLineSkipNum));
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ui->lineEdit_yDeviation_max->setText(QString::number(param.yDeviation_max));
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ui->lineEdit_maxSkipDistance->setText(QString::number(param.maxSkipDistance));
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ui->lineEdit_zDeviation_max->setText(QString::number(param.zDeviation_max));
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ui->lineEdit_minLTypeTreeLen->setText(QString::number(param.minLTypeTreeLen));
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ui->lineEdit_minVTypeTreeLen->setText(QString::number(param.minVTypeTreeLen));
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}
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bool DialogAlgoarg::SaveConfigFromUI()
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{
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if (!m_pConfigManager) {
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return false;
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}
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try {
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// 获取当前配置
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SystemConfig systemConfig = m_pConfigManager->GetConfig();
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VrAlgorithmParams& algoParams = systemConfig.configResult.algorithmParams;
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// 保存各个参数组
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if (!SaveWorkpieceParamFromUI(algoParams.workpieceParam)) {
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StyledMessageBox::warning(this, "错误", "工件参数输入有误，请检查！");
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return false;
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}
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if (!SaveFilterParamFromUI(algoParams.filterParam)) {
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StyledMessageBox::warning(this, "错误", "滤波参数输入有误，请检查！");
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return false;
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}
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if (!SaveCornerParamFromUI(algoParams.cornerParam)) {
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StyledMessageBox::warning(this, "错误", "拐角参数输入有误，请检查！");
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return false;
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}
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if (!SaveGrowParamFromUI(algoParams.growParam)) {
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StyledMessageBox::warning(this, "错误", "生长参数输入有误，请检查！");
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return false;
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}
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// 保存手眼标定参数（从临时缓存更新到配置）
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algoParams.handEyeCalibParam = m_handEyeCalibParams;
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// 更新并保存配置到文件
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if (!m_pConfigManager->UpdateFullConfig(systemConfig)) {
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return false;
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}
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return m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString());
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} catch (const std::exception& e) {
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return false;
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}
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}
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bool DialogAlgoarg::SaveWorkpieceParamFromUI(VrWorkpieceParam& param)
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{
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bool ok = true;
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param.lineLen = ui->lineEdit_lineLen->text().toDouble(&ok);
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if (!ok) return false;
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param.dirAngleScale = ui->lineEdit_dirAngleScale->text().toDouble(&ok);
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if (!ok) return false;
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param.lineDeviation = ui->lineEdit_lineDeviation->text().toDouble(&ok);
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if (!ok) return false;
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param.minCutAngleTh = ui->lineEdit_minCutAngleTh->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveFilterParamFromUI(VrOutlierFilterParam& param)
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{
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bool ok = true;
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param.continuityTh = ui->lineEdit_continuityTh->text().toDouble(&ok);
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if (!ok) return false;
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param.outlierTh = ui->lineEdit_outlierTh->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveCornerParamFromUI(VrCornerParam& param)
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{
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bool ok = true;
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param.cornerTh = ui->lineEdit_cornerTh->text().toDouble(&ok);
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if (!ok) return false;
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param.scale = ui->lineEdit_scale->text().toDouble(&ok);
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if (!ok) return false;
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param.minEndingGap = ui->lineEdit_minEndingGap->text().toDouble(&ok);
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if (!ok) return false;
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param.minEndingGap_z = ui->lineEdit_minEndingGap_z->text().toDouble(&ok);
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if (!ok) return false;
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param.jumpCornerTh_1 = ui->lineEdit_jumpCornerTh_1->text().toDouble(&ok);
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if (!ok) return false;
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param.jumpCornerTh_2 = ui->lineEdit_jumpCornerTh_2->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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bool DialogAlgoarg::SaveGrowParamFromUI(VrTreeGrowParam& param)
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{
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bool ok = true;
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param.maxLineSkipNum = ui->lineEdit_maxLineSkipNum->text().toInt(&ok);
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if (!ok) return false;
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param.yDeviation_max = ui->lineEdit_yDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.maxSkipDistance = ui->lineEdit_maxSkipDistance->text().toDouble(&ok);
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if (!ok) return false;
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param.zDeviation_max = ui->lineEdit_zDeviation_max->text().toDouble(&ok);
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if (!ok) return false;
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param.minLTypeTreeLen = ui->lineEdit_minLTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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param.minVTypeTreeLen = ui->lineEdit_minVTypeTreeLen->text().toDouble(&ok);
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if (!ok) return false;
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return true;
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}
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void DialogAlgoarg::on_btn_camer_ok_clicked()
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{
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if (SaveConfigFromUI()) {
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StyledMessageBox::information(this, "成功", "配置保存成功！");
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accept();
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} else {
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StyledMessageBox::warning(this, "失败", "配置保存失败，请检查文件权限或参数输入！");
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}
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}
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void DialogAlgoarg::on_btn_camer_cancel_clicked()
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{
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// 直接关闭窗口，不保存任何更改
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reject();
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}
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// ========== 手眼标定相关实现 ==========
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void DialogAlgoarg::InitHandEyeCalibTab()
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{
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if (!ui || !m_pConfigManager) return;
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// 创建共享控件并嵌入 tab 的 layout
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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ui->verticalLayout_handeyecalib->addWidget(m_handEyeCalibWidget);
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// 设置默认文件路径
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m_handEyeCalibWidget->setDefaultFilePath(
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PathManager::GetInstance().GetAppConfigDirectory());
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// 从配置中获取相机列表填充控件
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ConfigResult configData = m_pConfigManager->GetConfigResult();
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QVector<HandEyeCalibCameraInfo> cameraList;
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for (size_t i = 0; i < configData.cameraList.size(); ++i) {
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const DeviceInfo& camera = configData.cameraList[i];
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HandEyeCalibCameraInfo info;
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info.cameraIndex = static_cast<int>(i + 1); // 1-based
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info.displayName = QString::fromStdString(camera.name);
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cameraList.append(info);
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}
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m_handEyeCalibWidget->setCameraList(cameraList);
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// 加载已有的手眼标定数据到缓存和控件
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m_handEyeCalibParams = configData.algorithmParams.handEyeCalibParam;
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for (const VrHandEyeCalibParam& param : m_handEyeCalibParams.cameraHandEyeParams) {
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m_handEyeCalibWidget->setCalibData(
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param.cameraIndex, param.transformMatrix, param.isCalibrated);
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}
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// 连接信号
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
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this, &DialogAlgoarg::onCalibMatrixLoaded);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
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this, &DialogAlgoarg::onSaveCalibRequested);
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}
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void DialogAlgoarg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
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{
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// 更新临时缓存
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VrHandEyeCalibParam param;
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param.cameraIndex = cameraIndex;
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param.isCalibrated = true;
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memcpy(param.transformMatrix, matrix, sizeof(double) * 16);
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m_handEyeCalibParams.SetCameraHandEyeParam(param);
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StyledMessageBox::information(this, "成功", "标定矩阵加载成功！");
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}
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void DialogAlgoarg::onSaveCalibRequested(int cameraIndex, const double* matrix)
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{
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const VrHandEyeCalibParam* param = m_handEyeCalibParams.GetCameraHandEyeParam(cameraIndex);
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if (!param || !param->isCalibrated) {
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StyledMessageBox::warning(this, "提示", "当前相机尚未加载标定矩阵！请先加载标定矩阵文件。");
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return;
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}
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// 将手眼标定数据保存到配置
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try {
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SystemConfig systemConfig = m_pConfigManager->GetConfig();
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systemConfig.configResult.algorithmParams.handEyeCalibParam = m_handEyeCalibParams;
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if (m_pConfigManager->UpdateFullConfig(systemConfig) &&
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m_pConfigManager->SaveConfigToFile(m_configFilePath.toStdString())) {
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StyledMessageBox::information(this, "成功", "手眼标定参数已保存到配置文件！");
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} else {
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StyledMessageBox::warning(this, "失败", "保存手眼标定参数失败！");
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}
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} catch (const std::exception& e) {
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StyledMessageBox::warning(this, "错误",
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QString("保存手眼标定参数异常: %1").arg(e.what()));
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}
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}
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