554 lines
18 KiB
C++
554 lines
18 KiB
C++
#include "VrEyeViewWidget.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 <QLabel>
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#include <QLineEdit>
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#include <QMessageBox>
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#include <QFileDialog>
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#include <QFileInfo>
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#include <QPainter>
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#include <QScrollArea>
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#include <cmath>
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VrEyeViewWidget::VrEyeViewWidget(QWidget* parent)
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: QWidget(parent)
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, m_eyeDevice(nullptr)
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, m_detector(nullptr)
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, m_leftImageLabel(nullptr)
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, m_rightImageLabel(nullptr)
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, m_isConnected(false)
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, m_isCapturing(false)
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, m_imageWidth(0)
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, m_imageHeight(0)
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, m_hasNewImage(false)
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{
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// 创建设备和检测器
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IVrEyeDevice::CreateObject(&m_eyeDevice);
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m_detector = CreateChessboardDetectorInstance();
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setupUI();
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// 初始化设备
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if (m_eyeDevice) {
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m_eyeDevice->InitDevice();
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}
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// 创建显示定时器
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m_displayTimer = new QTimer(this);
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connect(m_displayTimer, &QTimer::timeout, this, &VrEyeViewWidget::onUpdateDisplay);
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m_displayTimer->start(33); // 约30fps
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}
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VrEyeViewWidget::~VrEyeViewWidget()
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{
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if (m_isCapturing) {
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onStopCapture();
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}
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if (m_isConnected) {
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onDisconnectCamera();
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}
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if (m_detector) {
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DestroyChessboardDetectorInstance(m_detector);
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m_detector = nullptr;
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}
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if (m_eyeDevice) {
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delete m_eyeDevice;
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m_eyeDevice = nullptr;
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}
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}
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void VrEyeViewWidget::setupUI()
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{
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QVBoxLayout* mainLayout = new QVBoxLayout(this);
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// 左右目图像并排显示区域
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QHBoxLayout* imageLayout = new QHBoxLayout();
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// 左目图像
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QVBoxLayout* leftLayout = new QVBoxLayout();
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leftLayout->addWidget(new QLabel("左目", this));
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m_leftImageLabel = new QLabel(this);
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m_leftImageLabel->setMinimumSize(320, 240);
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m_leftImageLabel->setAlignment(Qt::AlignCenter);
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m_leftImageLabel->setStyleSheet("QLabel { background-color: black; }");
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leftLayout->addWidget(m_leftImageLabel);
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imageLayout->addLayout(leftLayout);
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// 右目图像
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QVBoxLayout* rightLayout = new QVBoxLayout();
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rightLayout->addWidget(new QLabel("右目", this));
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m_rightImageLabel = new QLabel(this);
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m_rightImageLabel->setMinimumSize(320, 240);
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m_rightImageLabel->setAlignment(Qt::AlignCenter);
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m_rightImageLabel->setStyleSheet("QLabel { background-color: black; }");
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rightLayout->addWidget(m_rightImageLabel);
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imageLayout->addLayout(rightLayout);
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mainLayout->addLayout(imageLayout, 1);
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// 控制面板
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QHBoxLayout* controlLayout = new QHBoxLayout();
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// 相机连接组
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QGroupBox* cameraGroup = new QGroupBox("相机连接", this);
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QVBoxLayout* cameraLayout = new QVBoxLayout(cameraGroup);
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QHBoxLayout* ipLayout = new QHBoxLayout();
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ipLayout->addWidget(new QLabel("相机IP:", this));
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m_editCameraIP = new QLineEdit("192.168.1.100", this);
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ipLayout->addWidget(m_editCameraIP);
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cameraLayout->addLayout(ipLayout);
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m_btnConnect = new QPushButton("连接", this);
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m_btnDisconnect = new QPushButton("断开", this);
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m_btnDisconnect->setEnabled(false);
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connect(m_btnConnect, &QPushButton::clicked, this, &VrEyeViewWidget::onConnectCamera);
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connect(m_btnDisconnect, &QPushButton::clicked, this, &VrEyeViewWidget::onDisconnectCamera);
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QHBoxLayout* connectLayout = new QHBoxLayout();
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connectLayout->addWidget(m_btnConnect);
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connectLayout->addWidget(m_btnDisconnect);
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cameraLayout->addLayout(connectLayout);
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controlLayout->addWidget(cameraGroup);
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// 相机参数组
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QGroupBox* paramGroup = new QGroupBox("相机参数", this);
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QGridLayout* paramLayout = new QGridLayout(paramGroup);
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paramLayout->addWidget(new QLabel("曝光:", this), 0, 0);
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m_sbExposure = new QSpinBox(this);
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m_sbExposure->setRange(100, 10000);
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m_sbExposure->setValue(1000);
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paramLayout->addWidget(m_sbExposure, 0, 1);
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paramLayout->addWidget(new QLabel("增益:", this), 1, 0);
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m_sbGain = new QSpinBox(this);
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m_sbGain->setRange(0, 255);
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m_sbGain->setValue(100);
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paramLayout->addWidget(m_sbGain, 1, 1);
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controlLayout->addWidget(paramGroup);
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// 采集控制组
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QGroupBox* captureGroup = new QGroupBox("采集控制", this);
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QVBoxLayout* captureLayout = new QVBoxLayout(captureGroup);
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m_btnStartCapture = new QPushButton("开始采集", this);
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m_btnStopCapture = new QPushButton("停止采集", this);
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QPushButton* btnLoadImage = new QPushButton("加载图片", this);
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m_btnStartCapture->setEnabled(false);
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m_btnStopCapture->setEnabled(false);
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connect(m_btnStartCapture, &QPushButton::clicked, this, &VrEyeViewWidget::onStartCapture);
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connect(m_btnStopCapture, &QPushButton::clicked, this, &VrEyeViewWidget::onStopCapture);
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connect(btnLoadImage, &QPushButton::clicked, this, &VrEyeViewWidget::onLoadImage);
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captureLayout->addWidget(m_btnStartCapture);
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captureLayout->addWidget(m_btnStopCapture);
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captureLayout->addWidget(btnLoadImage);
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controlLayout->addWidget(captureGroup);
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mainLayout->addLayout(controlLayout);
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// 标定板检测参数
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QGroupBox* detectionGroup = new QGroupBox("标定板检测", this);
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QGridLayout* detectionLayout = new QGridLayout(detectionGroup);
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detectionLayout->addWidget(new QLabel("内角点宽度:", this), 0, 0);
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m_sbPatternWidth = new QSpinBox(this);
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m_sbPatternWidth->setRange(2, 20);
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m_sbPatternWidth->setValue(8);
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detectionLayout->addWidget(m_sbPatternWidth, 0, 1);
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detectionLayout->addWidget(new QLabel("内角点高度:", this), 0, 2);
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m_sbPatternHeight = new QSpinBox(this);
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m_sbPatternHeight->setRange(2, 20);
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m_sbPatternHeight->setValue(11);
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detectionLayout->addWidget(m_sbPatternHeight, 0, 3);
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detectionLayout->addWidget(new QLabel("格子大小(mm):", this), 1, 0);
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m_sbSquareSize = new QDoubleSpinBox(this);
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m_sbSquareSize->setRange(1.0, 100.0);
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m_sbSquareSize->setValue(30.0);
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m_sbSquareSize->setDecimals(2);
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detectionLayout->addWidget(m_sbSquareSize, 1, 1);
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m_cbAutoDetect = new QCheckBox("自动检测", this);
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detectionLayout->addWidget(m_cbAutoDetect, 1, 2);
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m_btnDetect = new QPushButton("检测标定板", this);
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m_btnDetect->setEnabled(false);
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connect(m_btnDetect, &QPushButton::clicked, this, &VrEyeViewWidget::onDetectChessboard);
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detectionLayout->addWidget(m_btnDetect, 1, 3);
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mainLayout->addWidget(detectionGroup);
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// 相机内参
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QGroupBox* intrinsicsGroup = new QGroupBox("相机内参", this);
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QGridLayout* intrinsicsLayout = new QGridLayout(intrinsicsGroup);
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intrinsicsLayout->addWidget(new QLabel("fx:", this), 0, 0);
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m_sbFx = new QDoubleSpinBox(this);
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m_sbFx->setRange(100, 5000);
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m_sbFx->setValue(1000.0);
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m_sbFx->setDecimals(2);
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intrinsicsLayout->addWidget(m_sbFx, 0, 1);
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intrinsicsLayout->addWidget(new QLabel("fy:", this), 0, 2);
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m_sbFy = new QDoubleSpinBox(this);
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m_sbFy->setRange(100, 5000);
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m_sbFy->setValue(1000.0);
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m_sbFy->setDecimals(2);
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intrinsicsLayout->addWidget(m_sbFy, 0, 3);
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intrinsicsLayout->addWidget(new QLabel("cx:", this), 1, 0);
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m_sbCx = new QDoubleSpinBox(this);
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m_sbCx->setRange(0, 2000);
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m_sbCx->setValue(640.0);
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m_sbCx->setDecimals(2);
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intrinsicsLayout->addWidget(m_sbCx, 1, 1);
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intrinsicsLayout->addWidget(new QLabel("cy:", this), 1, 2);
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m_sbCy = new QDoubleSpinBox(this);
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m_sbCy->setRange(0, 2000);
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m_sbCy->setValue(480.0);
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m_sbCy->setDecimals(2);
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intrinsicsLayout->addWidget(m_sbCy, 1, 3);
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mainLayout->addWidget(intrinsicsGroup);
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// 检测选项
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QHBoxLayout* optionsLayout = new QHBoxLayout();
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m_cbAdaptiveThresh = new QCheckBox("自适应阈值", this);
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m_cbAdaptiveThresh->setChecked(true);
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m_cbNormalizeImage = new QCheckBox("归一化图像", this);
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m_cbNormalizeImage->setChecked(true);
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optionsLayout->addWidget(m_cbAdaptiveThresh);
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optionsLayout->addWidget(m_cbNormalizeImage);
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optionsLayout->addStretch();
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mainLayout->addLayout(optionsLayout);
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// 状态显示
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m_lblStatus = new QLabel("状态: 未连接", this);
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m_lblDetectionResult = new QLabel("检测结果: 无", this);
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mainLayout->addWidget(m_lblStatus);
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mainLayout->addWidget(m_lblDetectionResult);
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}
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void VrEyeViewWidget::SetDetectionCallback(DetectionCallback callback)
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{
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m_detectionCallback = callback;
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}
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void VrEyeViewWidget::onConnectCamera()
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{
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if (!m_eyeDevice) return;
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QString ip = m_editCameraIP->text();
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int ret = m_eyeDevice->OpenDevice(ip.toStdString().c_str(), false, false, false);
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if (ret == 0) {
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m_isConnected = true;
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m_btnConnect->setEnabled(false);
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m_btnDisconnect->setEnabled(true);
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m_btnStartCapture->setEnabled(true);
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m_lblStatus->setText("状态: 已连接");
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// 设置相机参数
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unsigned int exposure = m_sbExposure->value();
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unsigned int gain = m_sbGain->value();
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m_eyeDevice->SetEyeExpose(exposure);
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m_eyeDevice->SetEyeGain(gain);
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} else {
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QMessageBox::warning(this, "错误", QString("连接相机失败，错误码: %1").arg(ret));
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}
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}
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void VrEyeViewWidget::onDisconnectCamera()
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{
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if (!m_eyeDevice) return;
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if (m_isCapturing) {
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onStopCapture();
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}
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m_eyeDevice->CloseDevice();
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m_isConnected = false;
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m_btnConnect->setEnabled(true);
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m_btnDisconnect->setEnabled(false);
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m_btnStartCapture->setEnabled(false);
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m_lblStatus->setText("状态: 未连接");
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}
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void VrEyeViewWidget::onStartCapture()
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{
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if (!m_eyeDevice || !m_isConnected) return;
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int ret = m_eyeDevice->StartDetect(OnLaserDataCallback, keResultDataType_PointXYZ, this);
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if (ret == 0) {
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m_isCapturing = true;
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m_btnStartCapture->setEnabled(false);
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m_btnStopCapture->setEnabled(true);
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m_btnDetect->setEnabled(true);
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m_lblStatus->setText("状态: 采集中");
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} else {
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QMessageBox::warning(this, "错误", QString("开始采集失败，错误码: %1").arg(ret));
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}
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}
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void VrEyeViewWidget::onStopCapture()
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{
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if (!m_eyeDevice) return;
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m_eyeDevice->StopDetect();
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m_isCapturing = false;
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m_btnStartCapture->setEnabled(true);
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m_btnStopCapture->setEnabled(false);
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m_btnDetect->setEnabled(false);
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m_lblStatus->setText("状态: 已连接");
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}
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void VrEyeViewWidget::OnLaserDataCallback(EVzResultDataType eDataType,
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SVzLaserLineData* pLaserData,
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void* pUserData)
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{
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VrEyeViewWidget* pThis = static_cast<VrEyeViewWidget*>(pUserData);
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if (pThis) {
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pThis->ProcessLaserData(eDataType, pLaserData);
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}
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}
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void VrEyeViewWidget::ProcessLaserData(EVzResultDataType eDataType, SVzLaserLineData* pLaserData)
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{
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if (!pLaserData) return;
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m_hasNewImage = true;
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}
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void VrEyeViewWidget::onUpdateDisplay()
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{
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// 暂时禁用实时图像显示，VzNLSDK 不支持 RGB
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}
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void VrEyeViewWidget::onDetectChessboard()
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{
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if (!m_detector) return;
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if (m_leftImage.isNull() || m_rightImage.isNull()) {
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m_lblDetectionResult->setText("检测结果: 请先加载左右目图片");
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return;
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}
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// 设置检测参数
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m_detector->SetDetectionFlags(
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m_cbAdaptiveThresh->isChecked(),
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m_cbNormalizeImage->isChecked(),
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false);
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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 = m_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 = m_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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// 在两张图上绘制角点并显示
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if (ret == 0 && leftResult.detected) {
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m_lastLeftCorners = leftResult.corners;
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} else {
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m_lastLeftCorners.clear();
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}
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if (retRight == 0 && rightResult.detected) {
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m_lastRightCorners = rightResult.corners;
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} else {
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m_lastRightCorners.clear();
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}
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// 在副本上绘制角点并显示（不修改原图）
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QImage leftDisplay = m_leftImage.copy();
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QImage rightDisplay = m_rightImage.copy();
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DrawCorners(leftDisplay, m_lastLeftCorners);
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DrawCorners(rightDisplay, m_lastRightCorners);
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QPixmap leftPm = QPixmap::fromImage(leftDisplay);
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m_leftImageLabel->setPixmap(
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leftPm.scaled(m_leftImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
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QPixmap rightPm = QPixmap::fromImage(rightDisplay);
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m_rightImageLabel->setPixmap(
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rightPm.scaled(m_rightImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
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if (ret == 0 && leftResult.detected && retRight == 0 && rightResult.detected) {
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m_lastDetection.detected = true;
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if (leftResult.hasPose) {
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m_lastDetection.x = leftResult.center.x;
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m_lastDetection.y = leftResult.center.y;
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m_lastDetection.z = leftResult.center.z;
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m_lastDetection.nx = leftResult.normal.x;
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m_lastDetection.ny = leftResult.normal.y;
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m_lastDetection.nz = leftResult.normal.z;
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m_lastDetection.rx = leftResult.eulerAngles[0];
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m_lastDetection.ry = leftResult.eulerAngles[1];
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m_lastDetection.rz = leftResult.eulerAngles[2];
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QString resultText = QString("检测结果: "
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"左目 %1 个角点, 右目 %2 个角点 | "
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"位置: (%.2f, %.2f, %.2f)mm | "
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"法向量: (%.3f, %.3f, %.3f) | "
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"姿态: (%.2f, %.2f, %.2f)")
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.arg(m_lastLeftCorners.size())
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.arg(m_lastRightCorners.size())
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.arg(m_lastDetection.x).arg(m_lastDetection.y).arg(m_lastDetection.z)
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.arg(m_lastDetection.nx).arg(m_lastDetection.ny).arg(m_lastDetection.nz)
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.arg(m_lastDetection.rx).arg(m_lastDetection.ry).arg(m_lastDetection.rz);
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m_lblDetectionResult->setText(resultText);
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if (m_detectionCallback) {
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m_detectionCallback(m_lastDetection);
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}
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emit chessboardDetected(m_lastDetection);
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}
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} else {
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m_lastDetection.detected = false;
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QString errorMsg = "检测结果: ";
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if (ret != 0 || !leftResult.detected) {
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errorMsg += "左目未检测到标定板 ";
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}
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if (retRight != 0 || !rightResult.detected) {
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errorMsg += "右目未检测到标定板";
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}
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m_lblDetectionResult->setText(errorMsg);
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}
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}
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void VrEyeViewWidget::onLoadImage()
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{
|
||
// 选择一张图片，自动根据 _LeftImg / _RightImg 配对
|
||
QString fileName = QFileDialog::getOpenFileName(
|
||
this,
|
||
"选择左目或右目图片",
|
||
"",
|
||
"图片文件 (*.png *.jpg *.jpeg *.bmp);;所有文件 (*.*)");
|
||
|
||
if (fileName.isEmpty()) {
|
||
return;
|
||
}
|
||
|
||
QString leftPath, rightPath;
|
||
|
||
// 根据文件名中的 _LeftImg / _RightImg 自动匹配配对
|
||
if (fileName.contains("_LeftImg", Qt::CaseInsensitive)) {
|
||
leftPath = fileName;
|
||
rightPath = fileName;
|
||
rightPath.replace("_LeftImg", "_RightImg", Qt::CaseInsensitive);
|
||
} else if (fileName.contains("_RightImg", Qt::CaseInsensitive)) {
|
||
rightPath = fileName;
|
||
leftPath = fileName;
|
||
leftPath.replace("_RightImg", "_LeftImg", Qt::CaseInsensitive);
|
||
} else {
|
||
QMessageBox::warning(this, "错误",
|
||
"文件名中未找到 _LeftImg 或 _RightImg 标识，\n"
|
||
"无法自动配对左右目图像。\n"
|
||
"请选择包含 _LeftImg 或 _RightImg 的文件。");
|
||
return;
|
||
}
|
||
|
||
// 加载左目
|
||
QImage leftImage(leftPath);
|
||
if (leftImage.isNull()) {
|
||
QMessageBox::warning(this, "错误",
|
||
QString("无法加载左目图片:\n%1").arg(leftPath));
|
||
return;
|
||
}
|
||
|
||
// 加载右目
|
||
QImage rightImage(rightPath);
|
||
if (rightImage.isNull()) {
|
||
QMessageBox::warning(this, "错误",
|
||
QString("无法加载右目图片:\n%1").arg(rightPath));
|
||
return;
|
||
}
|
||
|
||
m_leftImage = leftImage;
|
||
m_rightImage = rightImage;
|
||
|
||
UpdateImageDisplay();
|
||
|
||
QFileInfo fi(leftPath);
|
||
m_lblStatus->setText(QString("状态: 已加载 %1 (%2x%3)")
|
||
.arg(fi.dir().dirName())
|
||
.arg(leftImage.width()).arg(leftImage.height()));
|
||
m_btnDetect->setEnabled(true);
|
||
|
||
// 自动检测
|
||
if (m_cbAutoDetect->isChecked()) {
|
||
onDetectChessboard();
|
||
}
|
||
}
|
||
|
||
void VrEyeViewWidget::UpdateImageDisplay()
|
||
{
|
||
// 左目：保持比例缩放到 label 大小，不拉伸
|
||
if (!m_leftImage.isNull()) {
|
||
QPixmap pm = QPixmap::fromImage(m_leftImage);
|
||
m_leftImageLabel->setPixmap(
|
||
pm.scaled(m_leftImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||
}
|
||
|
||
// 右目
|
||
if (!m_rightImage.isNull()) {
|
||
QPixmap pm = QPixmap::fromImage(m_rightImage);
|
||
m_rightImageLabel->setPixmap(
|
||
pm.scaled(m_rightImageLabel->size(), Qt::KeepAspectRatio, Qt::SmoothTransformation));
|
||
}
|
||
}
|
||
|
||
void VrEyeViewWidget::DrawCorners(QImage& image, const std::vector<Point2D>& corners)
|
||
{
|
||
if (corners.empty()) return;
|
||
|
||
QPainter painter(&image);
|
||
painter.setPen(QPen(Qt::green, 3));
|
||
|
||
for (const auto& pt : corners) {
|
||
painter.drawEllipse(QPointF(pt.x, pt.y), 5, 5);
|
||
}
|
||
}
|