716 lines
37 KiB
C++
716 lines
37 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include <QCheckBox>
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#include <QDoubleValidator>
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#include <QFormLayout>
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#include <QFont>
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#include <QIntValidator>
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#include <QLineEdit>
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#include <QList>
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#include <QScrollArea>
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#include <QTabWidget>
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#include <cmath>
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#include "ParkingSpaceGuidePresenter.h"
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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DialogAlgoArg::DialogAlgoArg(QWidget* parent)
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: QDialog(parent)
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, ui(new Ui::DialogAlgoArg)
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{
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ui->setupUi(this);
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setWindowTitle(QStringLiteral("停机引导参数设置"));
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if (ui->label_title) {
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ui->label_title->setText(QStringLiteral("停机引导参数设置"));
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}
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BuildUi();
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connect(ui->tabWidget, &QTabWidget::currentChanged, this, [this](int index) {
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if (index >= 0 && index < m_visiblePages.size()) {
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UpdateTitle(m_visiblePages[index]);
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}
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});
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ApplyUiFont();
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}
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DialogAlgoArg::~DialogAlgoArg()
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{
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delete ui;
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}
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void DialogAlgoArg::SetPresenter(ParkingSpaceGuidePresenter* presenter)
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{
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m_presenter = presenter;
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LoadParams();
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}
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void DialogAlgoArg::SetCurrentPage(ConfigPage page)
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{
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if (ui && ui->tabWidget) {
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ShowTabGroup(page);
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}
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}
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void DialogAlgoArg::ShowTabGroup(ConfigPage page)
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{
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if (!ui || !ui->tabWidget) {
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return;
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}
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const bool oldBlocked = ui->tabWidget->blockSignals(true);
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ui->tabWidget->clear();
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HideDetachedTabs();
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m_visiblePages.clear();
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auto addTab = [this](QWidget* tab, const QString& title, ConfigPage tabPage) {
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if (tab) {
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ui->tabWidget->addTab(tab, title);
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m_visiblePages.push_back(tabPage);
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}
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};
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int selectedIndex = 0;
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if (page == ConfigPage::Camera || page == ConfigPage::Lidar) {
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addTab(m_cameraTab, QStringLiteral("相机参数"), ConfigPage::Camera);
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addTab(m_lidarTab, QStringLiteral("雷达参数"), ConfigPage::Lidar);
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selectedIndex = page == ConfigPage::Lidar ? 1 : 0;
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} else if (page == ConfigPage::Calibration) {
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addTab(m_groundCalibrationTab, QStringLiteral("地面调平"), ConfigPage::Calibration);
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} else if (page == ConfigPage::Multicast) {
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addTab(m_multicastTab, QStringLiteral("组播参数"), ConfigPage::Multicast);
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} else {
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addTab(m_planeParkingTab, QStringLiteral("停机几何"), ConfigPage::Detection);
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addTab(m_groundCalibrationTab, QStringLiteral("地面调平"), ConfigPage::Detection);
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addTab(m_treeGrowTab, QStringLiteral("聚类生长"), ConfigPage::Detection);
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addTab(m_guideDecisionTab, QStringLiteral("引导判定"), ConfigPage::Detection);
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addTab(m_processTab, QStringLiteral("流程判定"), ConfigPage::Detection);
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addTab(m_modelRecognitionTab, QStringLiteral("机型识别"), ConfigPage::Detection);
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addTab(m_personDetectionTab, QStringLiteral("人员检测"), ConfigPage::Detection);
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}
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if (selectedIndex >= 0 && selectedIndex < ui->tabWidget->count()) {
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ui->tabWidget->setCurrentIndex(selectedIndex);
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}
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if (ui->tabWidget->currentWidget()) {
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ui->tabWidget->currentWidget()->show();
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}
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ui->tabWidget->blockSignals(oldBlocked);
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UpdateTitle(page);
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}
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void DialogAlgoArg::UpdateTitle(ConfigPage page)
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{
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QString title = QStringLiteral("停机引导参数设置");
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switch (page) {
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case ConfigPage::Detection:
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title = QStringLiteral("检测参数设置");
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break;
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case ConfigPage::Camera:
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title = QStringLiteral("相机参数设置");
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break;
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case ConfigPage::Lidar:
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title = QStringLiteral("雷达参数设置");
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break;
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case ConfigPage::Multicast:
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title = QStringLiteral("组播参数设置");
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break;
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case ConfigPage::Calibration:
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title = QStringLiteral("雷达地面调平参数");
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break;
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}
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setWindowTitle(title);
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if (ui && ui->label_title) {
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ui->label_title->setText(title);
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}
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}
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void DialogAlgoArg::HideDetachedTabs()
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{
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const QList<QWidget*> tabs = {
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m_planeParkingTab,
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m_groundCalibrationTab,
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m_treeGrowTab,
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m_guideDecisionTab,
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m_processTab,
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m_modelRecognitionTab,
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m_personDetectionTab,
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m_cameraTab,
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m_lidarTab,
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m_multicastTab
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};
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for (QWidget* tab : tabs) {
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if (tab) {
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tab->hide();
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}
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}
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}
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void DialogAlgoArg::BuildUi()
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{
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ui->tabWidget->clear();
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auto makeTab = [this](QWidget** tabWidget, const QString& title) -> QWidget* {
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auto* scroll = new QScrollArea(ui->tabWidget);
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scroll->setWidgetResizable(true);
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auto* page = new QWidget(scroll);
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page->setObjectName(title);
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auto* layout = new QFormLayout(page);
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layout->setContentsMargins(24, 24, 24, 24);
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layout->setSpacing(14);
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scroll->setWidget(page);
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*tabWidget = scroll;
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scroll->hide();
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return page;
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};
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QWidget* planeParking = makeTab(&m_planeParkingTab, QStringLiteral("停机几何"));
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m_parkingPointX = AddDoubleEditor(planeParking, QStringLiteral("停机点X(毫米)"), 0, -1000000.0, 1000000.0);
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m_parkingPointY = AddDoubleEditor(planeParking, QStringLiteral("停机点Y(毫米)"), 1, -1000000.0, 1000000.0);
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m_parkingPointZ = AddDoubleEditor(planeParking, QStringLiteral("停机点Z(毫米)"), 2, -1000000.0, 1000000.0);
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m_guideLinePointX = AddDoubleEditor(planeParking, QStringLiteral("引导线远点X(毫米)"), 3, -1000000.0, 1000000.0);
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m_guideLinePointY = AddDoubleEditor(planeParking, QStringLiteral("引导线远点Y(毫米)"), 4, -1000000.0, 1000000.0);
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m_guideLinePointZ = AddDoubleEditor(planeParking, QStringLiteral("引导线远点Z(毫米)"), 5, -1000000.0, 1000000.0);
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m_guidingRange = AddDoubleEditor(planeParking, QStringLiteral("飞机引导范围(毫米)"), 6, 0.0, 10000000.0);
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m_parkingRange = AddDoubleEditor(planeParking, QStringLiteral("引导线过滤范围(毫米)"), 7, 0.0, 10000000.0);
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m_distFromNoseToWheel = AddDoubleEditor(planeParking, QStringLiteral("机鼻到前轮距离(毫米)"), 8, 0.0, 100000.0);
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QWidget* ground = makeTab(&m_groundCalibrationTab, QStringLiteral("地面调平"));
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for (int i = 0; i < 9; ++i) {
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m_planeCalib[i] = AddDoubleEditor(ground,
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QStringLiteral("调平矩阵 R%1%2").arg(i / 3).arg(i % 3), i, -1000.0, 1000.0);
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}
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m_planeHeight = AddDoubleEditor(ground, QStringLiteral("地面高度(毫米)"), 9, -1000000.0, 1000000.0);
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for (int i = 0; i < 9; ++i) {
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m_invRMatrix[i] = AddDoubleEditor(ground,
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QStringLiteral("逆矩阵 R%1%2").arg(i / 3).arg(i % 3), 10 + i, -1000.0, 1000.0);
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}
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QWidget* treeGrow = makeTab(&m_treeGrowTab, QStringLiteral("聚类生长"));
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m_yDeviationMax = AddDoubleEditor(treeGrow, QStringLiteral("Y方向最大偏差(毫米)"), 0, 0.0, 1000000.0);
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m_zDeviationMax = AddDoubleEditor(treeGrow, QStringLiteral("Z方向最大偏差(毫米)"), 1, 0.0, 1000000.0);
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m_maxLineSkipNum = AddIntEditor(treeGrow, QStringLiteral("最大跳线数(-1按距离)"), 2, -1, 1000000);
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m_maxSkipDistance = AddDoubleEditor(treeGrow, QStringLiteral("最大跳过距离(毫米，-1禁用)"), 3, -1.0, 1000000.0);
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m_minLTypeTreeLen = AddDoubleEditor(treeGrow, QStringLiteral("L型树最小长度(毫米)"), 4, 0.0, 1000000.0);
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m_minVTypeTreeLen = AddDoubleEditor(treeGrow, QStringLiteral("V型树最小长度(毫米)"), 5, 0.0, 1000000.0);
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QWidget* guideDecision = makeTab(&m_guideDecisionTab, QStringLiteral("引导判定"));
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m_lateralTolerance = AddDoubleEditor(guideDecision, QStringLiteral("横向对中容差(毫米)"), 0, 0.0, 100000.0);
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m_angleTolerance = AddDoubleEditor(guideDecision, QStringLiteral("航向角容差(度)"), 1, 0.0, 180.0);
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QWidget* process = makeTab(&m_processTab, QStringLiteral("流程判定"));
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m_dockingStartDistance = AddDoubleEditor(process, QStringLiteral("引导启动距离(毫米)"), 0, 0.0, 1000000.0);
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m_captureStartDistance = AddDoubleEditor(process, QStringLiteral("目标捕获距离(毫米)"), 1, 0.0, 1000000.0);
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m_approachStartDistance = AddDoubleEditor(process, QStringLiteral("对中/方位引导距离(毫米)"), 2, 0.0, 1000000.0);
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m_slowDistance = AddDoubleEditor(process, QStringLiteral("减速触发距离(毫米)"), 3, 0.0, 1000000.0);
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m_stopDistanceTolerance = AddDoubleEditor(process, QStringLiteral("到位距离容差(毫米)"), 4, 0.0, 100000.0);
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m_overshootDistance = AddDoubleEditor(process, QStringLiteral("越过停止线距离(毫米)"), 5, 0.0, 1000000.0);
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m_stoppedShortMinDistance = AddDoubleEditor(process, QStringLiteral("提前停止最小距离(毫米)"), 6, 0.0, 1000000.0);
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m_maxApproachSpeed = AddDoubleEditor(process, QStringLiteral("最大接近速度(毫米/秒)"), 7, 0.0, 100000.0);
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m_stoppedSpeedThreshold = AddDoubleEditor(process, QStringLiteral("静止速度阈值(毫米/秒)"), 8, 0.0, 100000.0);
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m_speedFilterAlpha = AddDoubleEditor(process, QStringLiteral("速度滤波系数"), 9, 0.0, 1.0);
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m_distanceChangeThreshold = AddDoubleEditor(process, QStringLiteral("距离变化阈值(毫米)"), 10, 0.0, 1000000.0);
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m_lateralOffsetChangeThreshold = AddDoubleEditor(process, QStringLiteral("横向偏移变化阈值(毫米)"), 11, 0.0, 1000000.0);
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m_stopStableFrames = AddIntEditor(process, QStringLiteral("到位稳定帧数"), 12, 1, 1000000);
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m_stoppedShortStableFrames = AddIntEditor(process, QStringLiteral("提前停止稳定帧数"), 13, 1, 1000000);
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m_errorFrameThreshold = AddIntEditor(process, QStringLiteral("连续错误帧阈值"), 14, 1, 1000000);
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m_lostFrameThreshold = AddIntEditor(process, QStringLiteral("目标丢失帧阈值"), 15, 1, 1000000);
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m_completedHoldFrames = AddIntEditor(process, QStringLiteral("完成状态保持帧数"), 16, 1, 1000000);
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QWidget* model = makeTab(&m_modelRecognitionTab, QStringLiteral("机型识别"));
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m_modelVerifyDistance = AddDoubleEditor(model, QStringLiteral("机型验证距离(毫米)"), 0, -1000000.0, 1000000.0);
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m_modelRoiX = AddDoubleEditor(model, QStringLiteral("飞机检测区域 X (0~1)"), 1, 0.0, 1.0);
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m_modelRoiY = AddDoubleEditor(model, QStringLiteral("飞机检测区域 Y (0~1)"), 2, 0.0, 1.0);
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m_modelRoiWidth = AddDoubleEditor(model, QStringLiteral("飞机检测区域宽度 (0~1)"), 3, 0.000001, 1.0);
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m_modelRoiHeight = AddDoubleEditor(model, QStringLiteral("飞机检测区域高度 (0~1)"), 4, 0.000001, 1.0);
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m_confidenceThreshold = AddDoubleEditor(model, QStringLiteral("识别置信度阈值"), 5, 0.0, 1.0);
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m_maxRecognitionAttempts = AddIntEditor(model, QStringLiteral("最大识别次数"), 6, 1, 1000);
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QWidget* person = makeTab(&m_personDetectionTab, QStringLiteral("人员检测"));
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m_personDetectionEnabled = AddCheckBox(person, QStringLiteral("启用停稳后人员检测"), 0);
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m_personRoiX = AddDoubleEditor(person, QStringLiteral("轮挡区域 X (0~1)"), 1, 0.0, 1.0);
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m_personRoiY = AddDoubleEditor(person, QStringLiteral("轮挡区域 Y (0~1)"), 2, 0.0, 1.0);
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m_personRoiWidth = AddDoubleEditor(person, QStringLiteral("轮挡区域宽度 (0~1)"), 3, 0.000001, 1.0);
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m_personRoiHeight = AddDoubleEditor(person, QStringLiteral("轮挡区域高度 (0~1)"), 4, 0.000001, 1.0);
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m_personConfidenceThreshold = AddDoubleEditor(person, QStringLiteral("人员置信度阈值"), 5, 0.0, 1.0);
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m_personStableFrames = AddIntEditor(person, QStringLiteral("连续有效检测次数"), 6, 1, 1000);
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m_personDetectionIntervalMs = AddIntEditor(person, QStringLiteral("检测周期(毫秒)"), 7, 10, 60000);
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QWidget* camera = makeTab(&m_cameraTab, QStringLiteral("相机参数"));
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m_mvsSerialNumber = AddTextEditor(camera, QStringLiteral("设备序列号"), 0);
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m_mvsDeviceIndex = AddIntEditor(camera, QStringLiteral("设备序号"), 1, 0, 64);
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m_mvsEnabled = AddCheckBox(camera, QStringLiteral("启用"), 2);
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QWidget* lidar = makeTab(&m_lidarTab, QStringLiteral("雷达参数"));
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m_lidarType = AddTextEditor(lidar, QStringLiteral("雷达型号"), 0);
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m_lidarHost = AddTextEditor(lidar, QStringLiteral("监听地址"), 1);
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m_lidarMsopPort = AddIntEditor(lidar, QStringLiteral("数据端口"), 2, 1, 65535);
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m_lidarDifopPort = AddIntEditor(lidar, QStringLiteral("设备端口"), 3, 1, 65535);
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m_lidarMinDistance = AddDoubleEditor(lidar, QStringLiteral("最小距离(米)"), 4, 0.0, 1000.0);
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m_lidarMaxDistance = AddDoubleEditor(lidar, QStringLiteral("最大距离(米)"), 5, 0.0, 1000.0);
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m_lidarStartAngle = AddDoubleEditor(lidar, QStringLiteral("起始角度(度)"), 6, 0.0, 360.0);
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m_lidarEndAngle = AddDoubleEditor(lidar, QStringLiteral("结束角度(度)"), 7, 0.0, 360.0);
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QWidget* udp = makeTab(&m_multicastTab, QStringLiteral("组播参数"));
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m_udpAddress = AddTextEditor(udp, QStringLiteral("组播地址"), 0);
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m_udpPort = AddIntEditor(udp, QStringLiteral("组播端口"), 1, 1, 65535);
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m_udpTargetId = AddTextEditor(udp, QStringLiteral("目标编号"), 2);
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m_udpParkId = AddTextEditor(udp, QStringLiteral("车位编号"), 3);
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m_udpEnabled = AddCheckBox(udp, QStringLiteral("启用"), 4);
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ShowTabGroup(ConfigPage::Detection);
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}
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void DialogAlgoArg::ApplyUiFont()
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{
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QFont font;
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font.setPointSize(16);
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setFont(font);
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const QList<QWidget*> widgets = findChildren<QWidget*>();
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for (QWidget* widget : widgets) {
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widget->setFont(font);
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}
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}
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QLineEdit* DialogAlgoArg::AddDoubleEditor(QWidget* parent, const QString& label, int row, double min, double max)
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{
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Q_UNUSED(row);
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auto* edit = new QLineEdit(parent);
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auto* validator = new QDoubleValidator(min, max, 12, edit);
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validator->setNotation(QDoubleValidator::ScientificNotation);
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edit->setValidator(validator);
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static_cast<QFormLayout*>(parent->layout())->addRow(label, edit);
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return edit;
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}
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QLineEdit* DialogAlgoArg::AddIntEditor(QWidget* parent, const QString& label, int row, int min, int max)
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{
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Q_UNUSED(row);
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auto* edit = new QLineEdit(parent);
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edit->setValidator(new QIntValidator(min, max, edit));
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static_cast<QFormLayout*>(parent->layout())->addRow(label, edit);
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return edit;
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}
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QLineEdit* DialogAlgoArg::AddTextEditor(QWidget* parent, const QString& label, int row, bool password)
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{
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Q_UNUSED(row);
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auto* edit = new QLineEdit(parent);
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if (password) {
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edit->setEchoMode(QLineEdit::Password);
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}
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static_cast<QFormLayout*>(parent->layout())->addRow(label, edit);
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return edit;
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}
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QCheckBox* DialogAlgoArg::AddCheckBox(QWidget* parent, const QString& label, int row)
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{
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Q_UNUSED(row);
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auto* check = new QCheckBox(parent);
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static_cast<QFormLayout*>(parent->layout())->addRow(label, check);
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return check;
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}
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void DialogAlgoArg::LoadParams()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) {
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return;
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}
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const ConfigResult config = m_presenter->GetConfigManager()->GetConfigResult();
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const VrAlgorithmParams& params = config.algorithmParams;
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const VrPlaneParkingParam& parking = params.planeParkingParam;
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SetDouble(m_parkingPointX, parking.parkingPointX);
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SetDouble(m_parkingPointY, parking.parkingPointY);
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SetDouble(m_parkingPointZ, parking.parkingPointZ);
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SetDouble(m_guideLinePointX, parking.guideLinePointX);
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SetDouble(m_guideLinePointY, parking.guideLinePointY);
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SetDouble(m_guideLinePointZ, parking.guideLinePointZ);
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SetDouble(m_guidingRange, parking.guidingRange);
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SetDouble(m_parkingRange, parking.parkingRange);
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SetDouble(m_distFromNoseToWheel, parking.distFromNoseToWheel);
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const VrPlaneGroundCalibrationParam& ground = params.groundCalibrationParam;
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SetMatrix(m_planeCalib, ground.planeCalib);
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SetDouble(m_planeHeight, ground.planeHeight);
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SetMatrix(m_invRMatrix, ground.invRMatrix);
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const VrPlaneTreeGrowParam& tree = params.treeGrowParam;
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SetDouble(m_yDeviationMax, tree.yDeviationMax);
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SetDouble(m_zDeviationMax, tree.zDeviationMax);
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SetInt(m_maxLineSkipNum, tree.maxLineSkipNum);
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SetDouble(m_maxSkipDistance, tree.maxSkipDistance);
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SetDouble(m_minLTypeTreeLen, tree.minLTypeTreeLen);
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SetDouble(m_minVTypeTreeLen, tree.minVTypeTreeLen);
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const VrGuideDecisionParam& guide = params.guideDecisionParam;
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SetDouble(m_lateralTolerance, guide.lateralTolerance);
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SetDouble(m_angleTolerance, guide.angleTolerance);
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const VrParkingProcessParam& process = params.processParam;
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SetDouble(m_dockingStartDistance, process.dockingStartDistance);
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SetDouble(m_captureStartDistance, process.captureStartDistance);
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SetDouble(m_approachStartDistance, process.approachStartDistance);
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SetDouble(m_slowDistance, process.slowDistance);
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SetDouble(m_stopDistanceTolerance, process.stopDistanceTolerance);
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SetDouble(m_overshootDistance, process.overshootDistance);
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SetDouble(m_stoppedShortMinDistance, process.stoppedShortMinDistance);
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SetDouble(m_maxApproachSpeed, process.maxApproachSpeed);
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SetDouble(m_stoppedSpeedThreshold, process.stoppedSpeedThreshold);
|
||
SetDouble(m_speedFilterAlpha, process.speedFilterAlpha);
|
||
SetDouble(m_distanceChangeThreshold, process.distanceChangeThreshold);
|
||
SetDouble(m_lateralOffsetChangeThreshold, process.lateralOffsetChangeThreshold);
|
||
SetInt(m_stopStableFrames, process.stopStableFrames);
|
||
SetInt(m_stoppedShortStableFrames, process.stoppedShortStableFrames);
|
||
SetInt(m_errorFrameThreshold, process.errorFrameThreshold);
|
||
SetInt(m_lostFrameThreshold, process.lostFrameThreshold);
|
||
SetInt(m_completedHoldFrames, process.completedHoldFrames);
|
||
|
||
const VrModelRecognitionParam& model = params.modelRecognitionParam;
|
||
SetDouble(m_modelVerifyDistance, model.modelVerifyDistance);
|
||
SetDouble(m_modelRoiX, model.roiX);
|
||
SetDouble(m_modelRoiY, model.roiY);
|
||
SetDouble(m_modelRoiWidth, model.roiWidth);
|
||
SetDouble(m_modelRoiHeight, model.roiHeight);
|
||
SetDouble(m_confidenceThreshold, model.confidenceThreshold);
|
||
SetInt(m_maxRecognitionAttempts, model.maxRecognitionAttempts);
|
||
|
||
const VrPersonDetectionParam& person = params.personDetectionParam;
|
||
m_personDetectionEnabled->setChecked(person.enabled);
|
||
SetDouble(m_personRoiX, person.roiX);
|
||
SetDouble(m_personRoiY, person.roiY);
|
||
SetDouble(m_personRoiWidth, person.roiWidth);
|
||
SetDouble(m_personRoiHeight, person.roiHeight);
|
||
SetDouble(m_personConfidenceThreshold, person.confidenceThreshold);
|
||
SetInt(m_personStableFrames, person.stableFrames);
|
||
SetInt(m_personDetectionIntervalMs, person.detectionIntervalMs);
|
||
|
||
m_mvsSerialNumber->setText(QString::fromStdString(config.mvsCamera.serialNumber));
|
||
SetInt(m_mvsDeviceIndex, config.mvsCamera.deviceIndex);
|
||
m_mvsEnabled->setChecked(config.mvsCamera.enabled);
|
||
m_lidarType->setText(QString::fromStdString(config.lidarConfig.lidarType));
|
||
m_lidarHost->setText(QString::fromStdString(config.lidarConfig.hostAddress));
|
||
SetInt(m_lidarMsopPort, config.lidarConfig.msopPort);
|
||
SetInt(m_lidarDifopPort, config.lidarConfig.difopPort);
|
||
SetDouble(m_lidarMinDistance, config.lidarConfig.minDistance);
|
||
SetDouble(m_lidarMaxDistance, config.lidarConfig.maxDistance);
|
||
SetDouble(m_lidarStartAngle, config.lidarConfig.startAngle);
|
||
SetDouble(m_lidarEndAngle, config.lidarConfig.endAngle);
|
||
m_udpAddress->setText(QString::fromStdString(config.udpBroadcastConfig.address));
|
||
SetInt(m_udpPort, config.udpBroadcastConfig.port);
|
||
m_udpTargetId->setText(QString::fromStdString(config.udpBroadcastConfig.targetId));
|
||
m_udpParkId->setText(QString::fromStdString(config.udpBroadcastConfig.parkId));
|
||
m_udpEnabled->setChecked(config.udpBroadcastConfig.enabled);
|
||
}
|
||
|
||
bool DialogAlgoArg::SaveParams()
|
||
{
|
||
if (!m_presenter || !m_presenter->GetConfigManager()) {
|
||
return false;
|
||
}
|
||
SystemConfig systemConfig = m_presenter->GetConfigManager()->GetConfig();
|
||
ConfigResult& config = systemConfig.configResult;
|
||
VrAlgorithmParams& params = config.algorithmParams;
|
||
|
||
VrPlaneParkingParam& parking = params.planeParkingParam;
|
||
if (!GetDouble(m_parkingPointX, QStringLiteral("停机点X"), parking.parkingPointX)) return false;
|
||
if (!GetDouble(m_parkingPointY, QStringLiteral("停机点Y"), parking.parkingPointY)) return false;
|
||
if (!GetDouble(m_parkingPointZ, QStringLiteral("停机点Z"), parking.parkingPointZ)) return false;
|
||
if (!GetDouble(m_guideLinePointX, QStringLiteral("引导线远点X"), parking.guideLinePointX)) return false;
|
||
if (!GetDouble(m_guideLinePointY, QStringLiteral("引导线远点Y"), parking.guideLinePointY)) return false;
|
||
if (!GetDouble(m_guideLinePointZ, QStringLiteral("引导线远点Z"), parking.guideLinePointZ)) return false;
|
||
if (!GetDouble(m_guidingRange, QStringLiteral("飞机引导范围"), parking.guidingRange)) return false;
|
||
if (!GetDouble(m_parkingRange, QStringLiteral("引导线过滤范围"), parking.parkingRange)) return false;
|
||
if (!GetDouble(m_distFromNoseToWheel, QStringLiteral("机鼻到前轮距离"), parking.distFromNoseToWheel)) return false;
|
||
const double dx = parking.guideLinePointX - parking.parkingPointX;
|
||
const double dy = parking.guideLinePointY - parking.parkingPointY;
|
||
const double dz = parking.guideLinePointZ - parking.parkingPointZ;
|
||
if (parking.guidingRange <= 0.0 || parking.parkingRange <= 0.0 ||
|
||
std::sqrt(dx * dx + dy * dy + dz * dz) < 20000.0) {
|
||
StyledMessageBox::warning(this, QStringLiteral("参数错误"),
|
||
QStringLiteral("引导范围必须大于0，且引导线远点距离停机点至少20米"));
|
||
return false;
|
||
}
|
||
|
||
VrPlaneGroundCalibrationParam& ground = params.groundCalibrationParam;
|
||
if (!GetMatrix(m_planeCalib, QStringLiteral("调平矩阵"), ground.planeCalib)) return false;
|
||
if (!GetDouble(m_planeHeight, QStringLiteral("地面高度"), ground.planeHeight)) return false;
|
||
if (!GetMatrix(m_invRMatrix, QStringLiteral("逆矩阵"), ground.invRMatrix)) return false;
|
||
|
||
VrPlaneTreeGrowParam& tree = params.treeGrowParam;
|
||
if (!GetDouble(m_yDeviationMax, QStringLiteral("Y方向最大偏差"), tree.yDeviationMax)) return false;
|
||
if (!GetDouble(m_zDeviationMax, QStringLiteral("Z方向最大偏差"), tree.zDeviationMax)) return false;
|
||
if (!GetInt(m_maxLineSkipNum, QStringLiteral("最大跳线数"), tree.maxLineSkipNum)) return false;
|
||
if (!GetDouble(m_maxSkipDistance, QStringLiteral("最大跳过距离"), tree.maxSkipDistance)) return false;
|
||
if (!GetDouble(m_minLTypeTreeLen, QStringLiteral("L型树最小长度"), tree.minLTypeTreeLen)) return false;
|
||
if (!GetDouble(m_minVTypeTreeLen, QStringLiteral("V型树最小长度"), tree.minVTypeTreeLen)) return false;
|
||
if (tree.yDeviationMax <= 0.0 || tree.zDeviationMax <= 0.0 ||
|
||
(tree.maxLineSkipNum == -1 && tree.maxSkipDistance < 0.0)) {
|
||
StyledMessageBox::warning(this, QStringLiteral("参数错误"), QStringLiteral("聚类生长参数组合无效"));
|
||
return false;
|
||
}
|
||
|
||
VrGuideDecisionParam& guide = params.guideDecisionParam;
|
||
if (!GetDouble(m_lateralTolerance, QStringLiteral("横向对中容差"), guide.lateralTolerance)) return false;
|
||
if (!GetDouble(m_angleTolerance, QStringLiteral("航向角容差"), guide.angleTolerance)) return false;
|
||
|
||
VrParkingProcessParam& process = params.processParam;
|
||
if (!GetDouble(m_dockingStartDistance, QStringLiteral("引导启动距离"), process.dockingStartDistance)) return false;
|
||
if (!GetDouble(m_captureStartDistance, QStringLiteral("目标捕获距离"), process.captureStartDistance)) return false;
|
||
if (!GetDouble(m_approachStartDistance, QStringLiteral("对中/方位引导距离"), process.approachStartDistance)) return false;
|
||
if (!GetDouble(m_slowDistance, QStringLiteral("减速触发距离"), process.slowDistance)) return false;
|
||
if (!GetDouble(m_stopDistanceTolerance, QStringLiteral("到位距离容差"), process.stopDistanceTolerance)) return false;
|
||
if (!GetDouble(m_overshootDistance, QStringLiteral("越过停止线距离"), process.overshootDistance)) return false;
|
||
if (!GetDouble(m_stoppedShortMinDistance, QStringLiteral("提前停止最小距离"), process.stoppedShortMinDistance)) return false;
|
||
if (!GetDouble(m_maxApproachSpeed, QStringLiteral("最大接近速度"), process.maxApproachSpeed)) return false;
|
||
if (!GetDouble(m_stoppedSpeedThreshold, QStringLiteral("静止速度阈值"), process.stoppedSpeedThreshold)) return false;
|
||
if (!GetDouble(m_speedFilterAlpha, QStringLiteral("速度滤波系数"), process.speedFilterAlpha)) return false;
|
||
if (!GetDouble(m_distanceChangeThreshold, QStringLiteral("距离变化阈值"), process.distanceChangeThreshold)) return false;
|
||
if (!GetDouble(m_lateralOffsetChangeThreshold, QStringLiteral("横向偏移变化阈值"), process.lateralOffsetChangeThreshold)) return false;
|
||
if (!GetInt(m_stopStableFrames, QStringLiteral("到位稳定帧数"), process.stopStableFrames)) return false;
|
||
if (!GetInt(m_stoppedShortStableFrames, QStringLiteral("提前停止稳定帧数"), process.stoppedShortStableFrames)) return false;
|
||
if (!GetInt(m_errorFrameThreshold, QStringLiteral("连续错误帧阈值"), process.errorFrameThreshold)) return false;
|
||
if (!GetInt(m_lostFrameThreshold, QStringLiteral("目标丢失帧阈值"), process.lostFrameThreshold)) return false;
|
||
if (!GetInt(m_completedHoldFrames, QStringLiteral("完成状态保持帧数"), process.completedHoldFrames)) return false;
|
||
if (process.dockingStartDistance <= process.captureStartDistance ||
|
||
process.captureStartDistance <= process.approachStartDistance ||
|
||
process.approachStartDistance <= process.slowDistance ||
|
||
process.slowDistance <= process.stopDistanceTolerance ||
|
||
process.overshootDistance < process.stopDistanceTolerance ||
|
||
process.stoppedShortMinDistance < process.stopDistanceTolerance ||
|
||
process.maxApproachSpeed <= process.stoppedSpeedThreshold) {
|
||
StyledMessageBox::warning(this, QStringLiteral("参数错误"),
|
||
QStringLiteral("流程距离应满足启动>捕获>对中/方位>减速>到位容差，越线和提前停止距离不得小于到位容差，最大接近速度必须大于静止速度阈值"));
|
||
return false;
|
||
}
|
||
|
||
VrModelRecognitionParam& model = params.modelRecognitionParam;
|
||
if (!GetDouble(m_modelVerifyDistance, QStringLiteral("机型验证距离"), model.modelVerifyDistance)) return false;
|
||
if (!GetDouble(m_modelRoiX, QStringLiteral("飞机检测区域 X"), model.roiX)) return false;
|
||
if (!GetDouble(m_modelRoiY, QStringLiteral("飞机检测区域 Y"), model.roiY)) return false;
|
||
if (!GetDouble(m_modelRoiWidth, QStringLiteral("飞机检测区域宽度"), model.roiWidth)) return false;
|
||
if (!GetDouble(m_modelRoiHeight, QStringLiteral("飞机检测区域高度"), model.roiHeight)) return false;
|
||
if (!GetDouble(m_confidenceThreshold, QStringLiteral("识别置信度阈值"), model.confidenceThreshold)) return false;
|
||
if (!GetInt(m_maxRecognitionAttempts, QStringLiteral("最大识别次数"), model.maxRecognitionAttempts)) return false;
|
||
if (model.roiX + model.roiWidth > 1.0 ||
|
||
model.roiY + model.roiHeight > 1.0) {
|
||
StyledMessageBox::warning(this,
|
||
QStringLiteral("参数错误"),
|
||
QStringLiteral("飞机检测区域必须完整位于归一化图像范围 0~1 内"));
|
||
return false;
|
||
}
|
||
VrPersonDetectionParam& person = params.personDetectionParam;
|
||
person.enabled = m_personDetectionEnabled->isChecked();
|
||
if (!GetDouble(m_personRoiX, QStringLiteral("轮挡区域 X"), person.roiX)) return false;
|
||
if (!GetDouble(m_personRoiY, QStringLiteral("轮挡区域 Y"), person.roiY)) return false;
|
||
if (!GetDouble(m_personRoiWidth, QStringLiteral("轮挡区域宽度"), person.roiWidth)) return false;
|
||
if (!GetDouble(m_personRoiHeight, QStringLiteral("轮挡区域高度"), person.roiHeight)) return false;
|
||
if (!GetDouble(m_personConfidenceThreshold, QStringLiteral("人员置信度阈值"), person.confidenceThreshold)) return false;
|
||
if (!GetInt(m_personStableFrames, QStringLiteral("连续有效检测次数"), person.stableFrames)) return false;
|
||
if (!GetInt(m_personDetectionIntervalMs, QStringLiteral("人员检测周期"), person.detectionIntervalMs)) return false;
|
||
if (person.roiX + person.roiWidth > 1.0 ||
|
||
person.roiY + person.roiHeight > 1.0) {
|
||
StyledMessageBox::warning(this,
|
||
QStringLiteral("参数错误"),
|
||
QStringLiteral("轮挡区域必须完整位于归一化图像范围 0~1 内"));
|
||
return false;
|
||
}
|
||
|
||
config.mvsCamera.serialNumber = m_mvsSerialNumber->text().trimmed().toStdString();
|
||
if (!GetInt(m_mvsDeviceIndex, QStringLiteral("相机设备序号"), config.mvsCamera.deviceIndex)) return false;
|
||
config.mvsCamera.enabled = m_mvsEnabled->isChecked();
|
||
config.lidarConfig.lidarType = m_lidarType->text().trimmed().toStdString();
|
||
config.lidarConfig.hostAddress = m_lidarHost->text().trimmed().toStdString();
|
||
int intValue = 0;
|
||
if (!GetInt(m_lidarMsopPort, QStringLiteral("雷达数据端口"), intValue)) return false;
|
||
config.lidarConfig.msopPort = static_cast<unsigned short>(intValue);
|
||
if (!GetInt(m_lidarDifopPort, QStringLiteral("雷达设备端口"), intValue)) return false;
|
||
config.lidarConfig.difopPort = static_cast<unsigned short>(intValue);
|
||
if (!GetFloat(m_lidarMinDistance, QStringLiteral("雷达最小距离"), config.lidarConfig.minDistance)) return false;
|
||
if (!GetFloat(m_lidarMaxDistance, QStringLiteral("雷达最大距离"), config.lidarConfig.maxDistance)) return false;
|
||
if (!GetFloat(m_lidarStartAngle, QStringLiteral("雷达起始角度"), config.lidarConfig.startAngle)) return false;
|
||
if (!GetFloat(m_lidarEndAngle, QStringLiteral("雷达结束角度"), config.lidarConfig.endAngle)) return false;
|
||
config.udpBroadcastConfig.address = m_udpAddress->text().trimmed().toStdString();
|
||
if (!GetInt(m_udpPort, QStringLiteral("组播端口"), config.udpBroadcastConfig.port)) return false;
|
||
config.udpBroadcastConfig.targetId = m_udpTargetId->text().trimmed().toStdString();
|
||
config.udpBroadcastConfig.parkId = m_udpParkId->text().trimmed().toStdString();
|
||
config.udpBroadcastConfig.enabled = m_udpEnabled->isChecked();
|
||
|
||
config.Normalize();
|
||
if (!m_presenter->GetConfigManager()->UpdateFullConfig(systemConfig)) {
|
||
StyledMessageBox::warning(this, QStringLiteral("失败"), QStringLiteral("更新配置缓存失败"));
|
||
return false;
|
||
}
|
||
const QString configPath = PathManager::GetInstance().GetConfigFilePath();
|
||
if (!m_presenter->GetConfigManager()->SaveConfigToFile(configPath.toStdString())) {
|
||
StyledMessageBox::warning(this, QStringLiteral("失败"), QStringLiteral("保存配置文件失败"));
|
||
return false;
|
||
}
|
||
m_presenter->OnConfigChanged(config);
|
||
return true;
|
||
}
|
||
|
||
void DialogAlgoArg::ResetParams()
|
||
{
|
||
ConfigResult config;
|
||
config.Normalize();
|
||
const VrAlgorithmParams& params = config.algorithmParams;
|
||
const VrPlaneParkingParam& parking = params.planeParkingParam;
|
||
SetDouble(m_parkingPointX, parking.parkingPointX);
|
||
SetDouble(m_parkingPointY, parking.parkingPointY);
|
||
SetDouble(m_parkingPointZ, parking.parkingPointZ);
|
||
SetDouble(m_guideLinePointX, parking.guideLinePointX);
|
||
SetDouble(m_guideLinePointY, parking.guideLinePointY);
|
||
SetDouble(m_guideLinePointZ, parking.guideLinePointZ);
|
||
SetDouble(m_guidingRange, parking.guidingRange);
|
||
SetDouble(m_parkingRange, parking.parkingRange);
|
||
SetDouble(m_distFromNoseToWheel, parking.distFromNoseToWheel);
|
||
const VrPlaneGroundCalibrationParam& ground = params.groundCalibrationParam;
|
||
SetMatrix(m_planeCalib, ground.planeCalib);
|
||
SetDouble(m_planeHeight, ground.planeHeight);
|
||
SetMatrix(m_invRMatrix, ground.invRMatrix);
|
||
const VrPlaneTreeGrowParam& tree = params.treeGrowParam;
|
||
SetDouble(m_yDeviationMax, tree.yDeviationMax);
|
||
SetDouble(m_zDeviationMax, tree.zDeviationMax);
|
||
SetInt(m_maxLineSkipNum, tree.maxLineSkipNum);
|
||
SetDouble(m_maxSkipDistance, tree.maxSkipDistance);
|
||
SetDouble(m_minLTypeTreeLen, tree.minLTypeTreeLen);
|
||
SetDouble(m_minVTypeTreeLen, tree.minVTypeTreeLen);
|
||
const VrGuideDecisionParam& guide = params.guideDecisionParam;
|
||
SetDouble(m_lateralTolerance, guide.lateralTolerance);
|
||
SetDouble(m_angleTolerance, guide.angleTolerance);
|
||
const VrParkingProcessParam& process = params.processParam;
|
||
SetDouble(m_dockingStartDistance, process.dockingStartDistance);
|
||
SetDouble(m_captureStartDistance, process.captureStartDistance);
|
||
SetDouble(m_approachStartDistance, process.approachStartDistance);
|
||
SetDouble(m_slowDistance, process.slowDistance);
|
||
SetDouble(m_stopDistanceTolerance, process.stopDistanceTolerance);
|
||
SetDouble(m_overshootDistance, process.overshootDistance);
|
||
SetDouble(m_stoppedShortMinDistance, process.stoppedShortMinDistance);
|
||
SetDouble(m_maxApproachSpeed, process.maxApproachSpeed);
|
||
SetDouble(m_stoppedSpeedThreshold, process.stoppedSpeedThreshold);
|
||
SetDouble(m_speedFilterAlpha, process.speedFilterAlpha);
|
||
SetDouble(m_distanceChangeThreshold, process.distanceChangeThreshold);
|
||
SetDouble(m_lateralOffsetChangeThreshold, process.lateralOffsetChangeThreshold);
|
||
SetInt(m_stopStableFrames, process.stopStableFrames);
|
||
SetInt(m_stoppedShortStableFrames, process.stoppedShortStableFrames);
|
||
SetInt(m_errorFrameThreshold, process.errorFrameThreshold);
|
||
SetInt(m_lostFrameThreshold, process.lostFrameThreshold);
|
||
SetInt(m_completedHoldFrames, process.completedHoldFrames);
|
||
const VrModelRecognitionParam& model = params.modelRecognitionParam;
|
||
SetDouble(m_modelVerifyDistance, model.modelVerifyDistance);
|
||
SetDouble(m_modelRoiX, model.roiX);
|
||
SetDouble(m_modelRoiY, model.roiY);
|
||
SetDouble(m_modelRoiWidth, model.roiWidth);
|
||
SetDouble(m_modelRoiHeight, model.roiHeight);
|
||
SetDouble(m_confidenceThreshold, model.confidenceThreshold);
|
||
SetInt(m_maxRecognitionAttempts, model.maxRecognitionAttempts);
|
||
|
||
const VrPersonDetectionParam& person = params.personDetectionParam;
|
||
m_personDetectionEnabled->setChecked(person.enabled);
|
||
SetDouble(m_personRoiX, person.roiX);
|
||
SetDouble(m_personRoiY, person.roiY);
|
||
SetDouble(m_personRoiWidth, person.roiWidth);
|
||
SetDouble(m_personRoiHeight, person.roiHeight);
|
||
SetDouble(m_personConfidenceThreshold, person.confidenceThreshold);
|
||
SetInt(m_personStableFrames, person.stableFrames);
|
||
SetInt(m_personDetectionIntervalMs, person.detectionIntervalMs);
|
||
|
||
m_mvsSerialNumber->setText(QString::fromStdString(config.mvsCamera.serialNumber));
|
||
SetInt(m_mvsDeviceIndex, config.mvsCamera.deviceIndex);
|
||
m_mvsEnabled->setChecked(config.mvsCamera.enabled);
|
||
m_lidarType->setText(QString::fromStdString(config.lidarConfig.lidarType));
|
||
m_lidarHost->setText(QString::fromStdString(config.lidarConfig.hostAddress));
|
||
SetInt(m_lidarMsopPort, config.lidarConfig.msopPort);
|
||
SetInt(m_lidarDifopPort, config.lidarConfig.difopPort);
|
||
SetDouble(m_lidarMinDistance, config.lidarConfig.minDistance);
|
||
SetDouble(m_lidarMaxDistance, config.lidarConfig.maxDistance);
|
||
SetDouble(m_lidarStartAngle, config.lidarConfig.startAngle);
|
||
SetDouble(m_lidarEndAngle, config.lidarConfig.endAngle);
|
||
m_udpAddress->setText(QString::fromStdString(config.udpBroadcastConfig.address));
|
||
SetInt(m_udpPort, config.udpBroadcastConfig.port);
|
||
m_udpTargetId->setText(QString::fromStdString(config.udpBroadcastConfig.targetId));
|
||
m_udpParkId->setText(QString::fromStdString(config.udpBroadcastConfig.parkId));
|
||
m_udpEnabled->setChecked(config.udpBroadcastConfig.enabled);
|
||
}
|
||
|
||
void DialogAlgoArg::SetDouble(QLineEdit* edit, double value)
|
||
{
|
||
if (edit) edit->setText(QString::number(value, 'g', 12));
|
||
}
|
||
|
||
void DialogAlgoArg::SetInt(QLineEdit* edit, int value)
|
||
{
|
||
if (edit) edit->setText(QString::number(value));
|
||
}
|
||
|
||
bool DialogAlgoArg::GetDouble(QLineEdit* edit, const QString& label, double& value)
|
||
{
|
||
bool ok = false;
|
||
value = edit ? edit->text().trimmed().toDouble(&ok) : 0.0;
|
||
if (!edit || !edit->hasAcceptableInput() || !ok || !std::isfinite(value)) {
|
||
StyledMessageBox::warning(this, QStringLiteral("参数错误"), QStringLiteral("%1无效").arg(label));
|
||
if (edit) edit->setFocus();
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
bool DialogAlgoArg::GetFloat(QLineEdit* edit, const QString& label, float& value)
|
||
{
|
||
double doubleValue = 0.0;
|
||
if (!GetDouble(edit, label, doubleValue)) return false;
|
||
value = static_cast<float>(doubleValue);
|
||
return true;
|
||
}
|
||
|
||
bool DialogAlgoArg::GetInt(QLineEdit* edit, const QString& label, int& value)
|
||
{
|
||
bool ok = false;
|
||
value = edit ? edit->text().trimmed().toInt(&ok) : 0;
|
||
if (!edit || !edit->hasAcceptableInput() || !ok) {
|
||
StyledMessageBox::warning(this, QStringLiteral("参数错误"), QStringLiteral("%1无效").arg(label));
|
||
if (edit) edit->setFocus();
|
||
return false;
|
||
}
|
||
return true;
|
||
}
|
||
|
||
void DialogAlgoArg::SetMatrix(QLineEdit* const edits[9], const double values[9])
|
||
{
|
||
for (int i = 0; i < 9; ++i) SetDouble(edits[i], values[i]);
|
||
}
|
||
|
||
bool DialogAlgoArg::GetMatrix(QLineEdit* const edits[9], const QString& label, double values[9])
|
||
{
|
||
for (int i = 0; i < 9; ++i) {
|
||
if (!GetDouble(edits[i], QStringLiteral("%1 R%2%3").arg(label).arg(i / 3).arg(i % 3), values[i])) {
|
||
return false;
|
||
}
|
||
}
|
||
return true;
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnOK_clicked()
|
||
{
|
||
if (SaveParams()) accept();
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnCancel_clicked()
|
||
{
|
||
reject();
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnApply_clicked()
|
||
{
|
||
if (SaveParams()) {
|
||
StyledMessageBox::information(this, QStringLiteral("提示"), QStringLiteral("参数已应用"));
|
||
}
|
||
}
|
||
|
||
void DialogAlgoArg::on_btnReset_clicked()
|
||
{
|
||
ResetParams();
|
||
}
|