557 lines
18 KiB
C++
557 lines
18 KiB
C++
#include "BatchVerifyDialog.h"
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#include "IChessboardDetector.h"
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#include "IHandEyeCalib.h"
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#include <QVBoxLayout>
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#include <QHBoxLayout>
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#include <QGridLayout>
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#include <QGroupBox>
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#include <QFileDialog>
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#include <QMessageBox>
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#include <QHeaderView>
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#include <QDir>
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#include <QFileInfo>
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#include <QSettings>
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#include <QDateTime>
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#include <QApplication>
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#include <QImage>
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#include <QJsonDocument>
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#include <QJsonObject>
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#include <QJsonArray>
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#include <cmath>
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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BatchVerifyDialog::BatchVerifyDialog(IChessboardDetector* detector,
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IHandEyeCalib* calib,
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QWidget* parent)
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: QDialog(parent)
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, m_detector(detector)
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, m_calib(calib)
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, m_lblDirectory(nullptr)
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, m_btnSelectDir(nullptr)
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, m_btnStartVerify(nullptr)
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, m_btnStopVerify(nullptr)
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, m_btnExport(nullptr)
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, m_progressBar(nullptr)
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, m_tableResults(nullptr)
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, m_logEdit(nullptr)
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, m_sbPatternWidth(nullptr)
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, m_sbPatternHeight(nullptr)
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, m_sbSquareSize(nullptr)
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, m_sbFx(nullptr)
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, m_sbFy(nullptr)
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, m_sbCx(nullptr)
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, m_sbCy(nullptr)
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, m_isVerifying(false)
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{
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setupUI();
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setWindowTitle("批量验证工具");
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resize(1000, 700);
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}
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BatchVerifyDialog::~BatchVerifyDialog()
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{
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}
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void BatchVerifyDialog::setupUI()
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{
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QVBoxLayout* mainLayout = new QVBoxLayout(this);
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// 目录选择区域
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QGroupBox* dirGroup = new QGroupBox("数据目录", this);
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QHBoxLayout* dirLayout = new QHBoxLayout(dirGroup);
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m_lblDirectory = new QLabel("未选择目录", this);
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m_btnSelectDir = new QPushButton("选择目录...", this);
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connect(m_btnSelectDir, &QPushButton::clicked, this, &BatchVerifyDialog::onSelectDirectory);
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dirLayout->addWidget(m_lblDirectory, 1);
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dirLayout->addWidget(m_btnSelectDir);
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mainLayout->addWidget(dirGroup);
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// 参数设置区域
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QGroupBox* paramGroup = new QGroupBox("检测参数", this);
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QGridLayout* paramLayout = new QGridLayout(paramGroup);
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// 标定板参数
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paramLayout->addWidget(new QLabel("标定板宽度:", this), 0, 0);
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m_sbPatternWidth = new QSpinBox(this);
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m_sbPatternWidth->setRange(3, 20);
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m_sbPatternWidth->setValue(11);
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paramLayout->addWidget(m_sbPatternWidth, 0, 1);
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paramLayout->addWidget(new QLabel("标定板高度:", this), 0, 2);
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m_sbPatternHeight = new QSpinBox(this);
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m_sbPatternHeight->setRange(3, 20);
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m_sbPatternHeight->setValue(8);
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paramLayout->addWidget(m_sbPatternHeight, 0, 3);
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paramLayout->addWidget(new QLabel("方格尺寸(mm):", this), 0, 4);
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m_sbSquareSize = new QDoubleSpinBox(this);
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m_sbSquareSize->setRange(1, 100);
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m_sbSquareSize->setDecimals(2);
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m_sbSquareSize->setValue(15.0);
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paramLayout->addWidget(m_sbSquareSize, 0, 5);
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// 相机内参
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paramLayout->addWidget(new QLabel("fx:", this), 1, 0);
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m_sbFx = new QDoubleSpinBox(this);
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m_sbFx->setRange(0, 10000);
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m_sbFx->setDecimals(3);
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m_sbFx->setValue(1000.0);
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paramLayout->addWidget(m_sbFx, 1, 1);
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paramLayout->addWidget(new QLabel("fy:", this), 1, 2);
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m_sbFy = new QDoubleSpinBox(this);
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m_sbFy->setRange(0, 10000);
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m_sbFy->setDecimals(3);
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m_sbFy->setValue(1000.0);
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paramLayout->addWidget(m_sbFy, 1, 3);
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paramLayout->addWidget(new QLabel("cx:", this), 1, 4);
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m_sbCx = new QDoubleSpinBox(this);
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m_sbCx->setRange(0, 5000);
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m_sbCx->setDecimals(3);
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m_sbCx->setValue(640.0);
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paramLayout->addWidget(m_sbCx, 1, 5);
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paramLayout->addWidget(new QLabel("cy:", this), 2, 0);
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m_sbCy = new QDoubleSpinBox(this);
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m_sbCy->setRange(0, 5000);
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m_sbCy->setDecimals(3);
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m_sbCy->setValue(512.0);
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paramLayout->addWidget(m_sbCy, 2, 1);
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mainLayout->addWidget(paramGroup);
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// 控制按钮
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QHBoxLayout* btnLayout = new QHBoxLayout();
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m_btnStartVerify = new QPushButton("开始验证", this);
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m_btnStopVerify = new QPushButton("停止", this);
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m_btnExport = new QPushButton("导出结果", this);
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m_btnStartVerify->setEnabled(false);
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m_btnStopVerify->setEnabled(false);
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m_btnExport->setEnabled(false);
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connect(m_btnStartVerify, &QPushButton::clicked, this, &BatchVerifyDialog::onStartVerify);
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connect(m_btnStopVerify, &QPushButton::clicked, this, &BatchVerifyDialog::onStopVerify);
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connect(m_btnExport, &QPushButton::clicked, this, &BatchVerifyDialog::onExportResults);
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btnLayout->addWidget(m_btnStartVerify);
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btnLayout->addWidget(m_btnStopVerify);
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btnLayout->addWidget(m_btnExport);
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btnLayout->addStretch();
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mainLayout->addLayout(btnLayout);
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// 进度条
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m_progressBar = new QProgressBar(this);
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m_progressBar->setRange(0, 100);
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m_progressBar->setValue(0);
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mainLayout->addWidget(m_progressBar);
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// 结果表格
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m_tableResults = new QTableWidget(this);
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m_tableResults->setColumnCount(13);
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m_tableResults->setHorizontalHeaderLabels({
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"序号", "左目图像", "右目图像",
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"机械臂X", "机械臂Y", "机械臂Z",
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"检测X", "检测Y", "检测Z",
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"误差X", "误差Y", "误差Z", "总误差"
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});
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m_tableResults->horizontalHeader()->setStretchLastSection(true);
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m_tableResults->setEditTriggers(QAbstractItemView::NoEditTriggers);
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m_tableResults->setSelectionBehavior(QAbstractItemView::SelectRows);
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mainLayout->addWidget(m_tableResults, 2);
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// 日志区域
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QGroupBox* logGroup = new QGroupBox("日志", this);
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QVBoxLayout* logLayout = new QVBoxLayout(logGroup);
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m_logEdit = new QTextEdit(this);
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m_logEdit->setReadOnly(true);
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m_logEdit->setMaximumHeight(150);
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logLayout->addWidget(m_logEdit);
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mainLayout->addWidget(logGroup);
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}
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void BatchVerifyDialog::onSelectDirectory()
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{
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QString dirPath = QFileDialog::getExistingDirectory(
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this, "选择数据目录", m_currentDirectory);
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if (dirPath.isEmpty()) {
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return;
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}
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m_currentDirectory = dirPath;
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m_lblDirectory->setText(dirPath);
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// 扫描目录
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if (scanDirectory(dirPath)) {
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m_btnStartVerify->setEnabled(true);
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appendLog(QString("成功加载 %1 组数据").arg(m_items.size()));
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} else {
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m_btnStartVerify->setEnabled(false);
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appendLog("加载数据失败");
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}
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}
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bool BatchVerifyDialog::scanDirectory(const QString& dirPath)
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{
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m_items.clear();
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m_tableResults->setRowCount(0);
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QDir dir(dirPath);
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if (!dir.exists()) {
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QMessageBox::warning(this, "错误", "目录不存在");
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return false;
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}
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// 查找 images 和 poses 子目录
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QDir imagesDir(dir.filePath("images"));
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QDir posesDir(dir.filePath("poses"));
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if (!imagesDir.exists() || !posesDir.exists()) {
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QMessageBox::warning(this, "错误",
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"目录结构不正确\n请确保包含 images/ 和 poses/ 子目录");
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return false;
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}
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// 查找所有 JSON 文件
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QStringList jsonFiles = posesDir.entryList(QStringList() << "s-*.json", QDir::Files, QDir::Name);
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if (jsonFiles.isEmpty()) {
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QMessageBox::warning(this, "错误", "未找到位姿数据文件 (s-*.json)");
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return false;
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}
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appendLog(QString("找到 %1 个位姿文件").arg(jsonFiles.size()));
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// 遍历每个 JSON 文件
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for (const QString& jsonFile : jsonFiles) {
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// 提取样本 ID (例如 s-1.json -> s-1)
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QString sampleId = QFileInfo(jsonFile).baseName();
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// 构建图像路径
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QString leftImagePath = imagesDir.filePath(sampleId + "_L.png");
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QString rightImagePath = imagesDir.filePath(sampleId + "_R.png");
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// 检查图像是否存在
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if (!QFile::exists(leftImagePath) || !QFile::exists(rightImagePath)) {
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appendLog(QString("警告: 样本 %1 缺少图像文件").arg(sampleId));
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continue;
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}
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// 加载 JSON 文件获取机械臂坐标
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QString jsonPath = posesDir.filePath(jsonFile);
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QFile file(jsonPath);
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if (!file.open(QIODevice::ReadOnly)) {
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appendLog(QString("警告: 无法打开 %1").arg(jsonFile));
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continue;
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}
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QByteArray jsonData = file.readAll();
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file.close();
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QJsonDocument doc = QJsonDocument::fromJson(jsonData);
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if (doc.isNull() || !doc.isObject()) {
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appendLog(QString("警告: %1 不是有效的 JSON 文件").arg(jsonFile));
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continue;
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}
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QJsonObject obj = doc.object();
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// 读取 t_cp (机械臂末端位姿)
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if (!obj.contains("t_cp")) {
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appendLog(QString("警告: %1 缺少 t_cp 字段").arg(jsonFile));
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continue;
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}
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QJsonObject tcpObj = obj["t_cp"].toObject();
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QJsonObject translation = tcpObj["translation_mm"].toObject();
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QJsonObject rotation = tcpObj["rotation_quat"].toObject();
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// 创建验证项
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BatchVerifyItem item;
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item.leftImagePath = leftImagePath;
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item.rightImagePath = rightImagePath;
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item.detected = false;
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item.errorTotal = 0;
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// 读取位置 (mm)
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item.robotX = translation["x"].toDouble();
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item.robotY = translation["y"].toDouble();
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item.robotZ = translation["z"].toDouble();
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// 读取四元数
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double qw = rotation["w"].toDouble();
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double qx = rotation["x"].toDouble();
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double qy = rotation["y"].toDouble();
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double qz = rotation["z"].toDouble();
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// 四元数转欧拉角 (ZYX顺序，单位：度)
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// Roll (X轴旋转)
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double sinr_cosp = 2.0 * (qw * qx + qy * qz);
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double cosr_cosp = 1.0 - 2.0 * (qx * qx + qy * qy);
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item.robotRx = std::atan2(sinr_cosp, cosr_cosp) * 180.0 / M_PI;
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// Pitch (Y轴旋转)
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double sinp = 2.0 * (qw * qy - qz * qx);
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if (std::abs(sinp) >= 1)
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item.robotRy = std::copysign(M_PI / 2, sinp) * 180.0 / M_PI;
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else
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item.robotRy = std::asin(sinp) * 180.0 / M_PI;
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// Yaw (Z轴旋转)
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double siny_cosp = 2.0 * (qw * qz + qx * qy);
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double cosy_cosp = 1.0 - 2.0 * (qy * qy + qz * qz);
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item.robotRz = std::atan2(siny_cosp, cosy_cosp) * 180.0 / M_PI;
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m_items.push_back(item);
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}
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if (m_items.empty()) {
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QMessageBox::warning(this, "错误", "未找到有效的数据");
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return false;
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}
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updateTable();
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appendLog(QString("成功加载 %1 组数据").arg(m_items.size()));
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return true;
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}
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bool BatchVerifyDialog::loadRobotCoordinates(const QString& filePath)
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{
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// 此函数已不再使用，因为坐标直接从 JSON 读取
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return true;
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}
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void BatchVerifyDialog::onStartVerify()
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{
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if (!m_detector) {
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QMessageBox::warning(this, "错误", "检测器未初始化");
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return;
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}
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m_isVerifying = true;
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m_btnStartVerify->setEnabled(false);
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m_btnStopVerify->setEnabled(true);
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m_btnExport->setEnabled(false);
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appendLog("开始批量验证...");
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// 设置检测参数
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m_detector->SetDetectionFlags(true, true, false);
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int successCount = 0;
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int totalCount = m_items.size();
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for (size_t i = 0; i < m_items.size(); ++i) {
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if (!m_isVerifying) {
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appendLog("验证已停止");
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break;
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}
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appendLog(QString("正在验证第 %1/%2 组数据...").arg(i + 1).arg(totalCount));
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if (detectImagePair(m_items[i])) {
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calculateError(m_items[i]);
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successCount++;
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}
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// 更新进度
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m_progressBar->setValue((i + 1) * 100 / totalCount);
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updateTable();
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// 处理事件，保持界面响应
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QApplication::processEvents();
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}
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m_isVerifying = false;
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m_btnStartVerify->setEnabled(true);
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m_btnStopVerify->setEnabled(false);
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m_btnExport->setEnabled(true);
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appendLog(QString("验证完成: 成功 %1/%2").arg(successCount).arg(totalCount));
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}
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void BatchVerifyDialog::onStopVerify()
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{
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m_isVerifying = false;
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appendLog("正在停止验证...");
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}
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bool BatchVerifyDialog::detectImagePair(BatchVerifyItem& item)
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{
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// 加载左目图像
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QImage leftImage(item.leftImagePath);
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if (leftImage.isNull()) {
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appendLog(QString("错误: 无法加载左目图像 %1").arg(item.leftImagePath));
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return false;
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}
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// 加载右目图像
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QImage rightImage(item.rightImagePath);
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if (rightImage.isNull()) {
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appendLog(QString("错误: 无法加载右目图像 %1").arg(item.rightImagePath));
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return false;
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}
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// 准备相机内参
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CameraIntrinsics intrinsics;
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intrinsics.fx = m_sbFx->value();
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intrinsics.fy = m_sbFy->value();
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intrinsics.cx = m_sbCx->value();
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intrinsics.cy = m_sbCy->value();
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// 检测左目标定板
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QImage leftRgb = leftImage.convertToFormat(QImage::Format_RGB888);
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ChessboardDetectResult leftResult;
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int ret = m_detector->DetectChessboardWithPose(
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leftRgb.bits(),
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leftRgb.width(),
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leftRgb.height(),
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3,
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m_sbPatternWidth->value(),
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m_sbPatternHeight->value(),
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m_sbSquareSize->value(),
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intrinsics,
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leftResult);
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// 检测右目标定板
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QImage rightRgb = rightImage.convertToFormat(QImage::Format_RGB888);
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ChessboardDetectResult rightResult;
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int retRight = m_detector->DetectChessboardWithPose(
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rightRgb.bits(),
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rightRgb.width(),
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rightRgb.height(),
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3,
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m_sbPatternWidth->value(),
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m_sbPatternHeight->value(),
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m_sbSquareSize->value(),
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intrinsics,
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rightResult);
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if (ret == 0 && leftResult.detected && retRight == 0 && rightResult.detected) {
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item.detected = true;
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if (leftResult.hasPose) {
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item.camX = leftResult.center.x;
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item.camY = leftResult.center.y;
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item.camZ = leftResult.center.z;
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item.camRx = leftResult.eulerAngles[0]; // Roll
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item.camRy = leftResult.eulerAngles[1]; // Pitch
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item.camRz = leftResult.eulerAngles[2]; // Yaw
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}
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return true;
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} else {
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item.detected = false;
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appendLog(QString("警告: 检测失败 - %1").arg(QFileInfo(item.leftImagePath).fileName()));
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return false;
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}
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}
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void BatchVerifyDialog::calculateError(BatchVerifyItem& item)
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{
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if (!item.detected) {
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item.errorX = item.errorY = item.errorZ = item.errorTotal = 0;
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return;
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}
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// 计算位置误差
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item.errorX = item.camX - item.robotX;
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item.errorY = item.camY - item.robotY;
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item.errorZ = item.camZ - item.robotZ;
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item.errorTotal = std::sqrt(item.errorX * item.errorX +
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item.errorY * item.errorY +
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item.errorZ * item.errorZ);
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||
}
|
||
|
||
void BatchVerifyDialog::updateTable()
|
||
{
|
||
m_tableResults->setRowCount(m_items.size());
|
||
|
||
for (size_t i = 0; i < m_items.size(); ++i) {
|
||
const BatchVerifyItem& item = m_items[i];
|
||
|
||
m_tableResults->setItem(i, 0, new QTableWidgetItem(QString::number(i + 1)));
|
||
m_tableResults->setItem(i, 1, new QTableWidgetItem(QFileInfo(item.leftImagePath).fileName()));
|
||
m_tableResults->setItem(i, 2, new QTableWidgetItem(QFileInfo(item.rightImagePath).fileName()));
|
||
|
||
m_tableResults->setItem(i, 3, new QTableWidgetItem(QString::number(item.robotX, 'f', 3)));
|
||
m_tableResults->setItem(i, 4, new QTableWidgetItem(QString::number(item.robotY, 'f', 3)));
|
||
m_tableResults->setItem(i, 5, new QTableWidgetItem(QString::number(item.robotZ, 'f', 3)));
|
||
|
||
if (item.detected) {
|
||
m_tableResults->setItem(i, 6, new QTableWidgetItem(QString::number(item.camX, 'f', 3)));
|
||
m_tableResults->setItem(i, 7, new QTableWidgetItem(QString::number(item.camY, 'f', 3)));
|
||
m_tableResults->setItem(i, 8, new QTableWidgetItem(QString::number(item.camZ, 'f', 3)));
|
||
|
||
m_tableResults->setItem(i, 9, new QTableWidgetItem(QString::number(item.errorX, 'f', 3)));
|
||
m_tableResults->setItem(i, 10, new QTableWidgetItem(QString::number(item.errorY, 'f', 3)));
|
||
m_tableResults->setItem(i, 11, new QTableWidgetItem(QString::number(item.errorZ, 'f', 3)));
|
||
m_tableResults->setItem(i, 12, new QTableWidgetItem(QString::number(item.errorTotal, 'f', 3)));
|
||
} else {
|
||
m_tableResults->setItem(i, 6, new QTableWidgetItem("未检测"));
|
||
m_tableResults->setItem(i, 7, new QTableWidgetItem("-"));
|
||
m_tableResults->setItem(i, 8, new QTableWidgetItem("-"));
|
||
m_tableResults->setItem(i, 9, new QTableWidgetItem("-"));
|
||
m_tableResults->setItem(i, 10, new QTableWidgetItem("-"));
|
||
m_tableResults->setItem(i, 11, new QTableWidgetItem("-"));
|
||
m_tableResults->setItem(i, 12, new QTableWidgetItem("-"));
|
||
}
|
||
}
|
||
|
||
m_tableResults->resizeColumnsToContents();
|
||
}
|
||
|
||
void BatchVerifyDialog::onExportResults()
|
||
{
|
||
QString fileName = QFileDialog::getSaveFileName(
|
||
this, "导出验证结果", "",
|
||
"CSV文件 (*.csv);;文本文件 (*.txt)");
|
||
|
||
if (fileName.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
QFile file(fileName);
|
||
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
|
||
QMessageBox::warning(this, "错误", "无法创建文件");
|
||
return;
|
||
}
|
||
|
||
QTextStream out(&file);
|
||
out.setCodec("UTF-8");
|
||
|
||
// 写入表头
|
||
out << "序号,左目图像,右目图像,机械臂X,机械臂Y,机械臂Z,检测X,检测Y,检测Z,误差X,误差Y,误差Z,总误差\n";
|
||
|
||
// 写入数据
|
||
for (size_t i = 0; i < m_items.size(); ++i) {
|
||
const BatchVerifyItem& item = m_items[i];
|
||
out << (i + 1) << ","
|
||
<< QFileInfo(item.leftImagePath).fileName() << ","
|
||
<< QFileInfo(item.rightImagePath).fileName() << ","
|
||
<< item.robotX << "," << item.robotY << "," << item.robotZ << ",";
|
||
|
||
if (item.detected) {
|
||
out << item.camX << "," << item.camY << "," << item.camZ << ","
|
||
<< item.errorX << "," << item.errorY << "," << item.errorZ << ","
|
||
<< item.errorTotal;
|
||
} else {
|
||
out << "未检测,-,-,-,-,-,-";
|
||
}
|
||
out << "\n";
|
||
}
|
||
|
||
file.close();
|
||
appendLog(QString("结果已导出到: %1").arg(fileName));
|
||
QMessageBox::information(this, "成功", "验证结果已导出");
|
||
}
|
||
|
||
void BatchVerifyDialog::appendLog(const QString& message)
|
||
{
|
||
QString timestamp = QDateTime::currentDateTime().toString("hh:mm:ss");
|
||
m_logEdit->append(QString("[%1] %2").arg(timestamp).arg(message));
|
||
}
|