360 lines
14 KiB
C++
360 lines
14 KiB
C++
#include "dialogalgoarg.h"
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#include "ui_dialogalgoarg.h"
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#include "PathManager.h"
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#include "StyledMessageBox.h"
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#include "HandEyeCalibWidget.h"
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#include "ToolExtrinsicWidget.h"
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#include "WeldSeamPresenter.h"
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#include <QDoubleValidator>
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#include <QIntValidator>
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#include <QLineEdit>
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#include <QMessageBox>
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#include <cmath>
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#include <cstring>
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namespace {
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bool IsIdentityMatrix(const double matrix[16])
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{
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for (int i = 0; i < 16; ++i) {
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const double expected = (i / 4 == i % 4) ? 1.0 : 0.0;
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if (std::fabs(matrix[i] - expected) > 1e-9) return false;
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}
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return true;
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}
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} // namespace
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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("焊缝定位 - 算法参数设置"));
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InitNumericEditors();
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InitCommunicationWidgets();
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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(WeldSeamPresenter* presenter)
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{
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m_presenter = presenter;
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Load();
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}
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void DialogAlgoArg::InitNumericEditors()
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{
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auto setupDouble = [](QLineEdit* edit, double minimum, double maximum) {
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auto* validator = new QDoubleValidator(minimum, maximum, 6, edit);
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validator->setNotation(QDoubleValidator::StandardNotation);
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edit->setValidator(validator);
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};
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setupDouble(ui->editValleyChkWinWidth, 0.0, 10000.0);
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setupDouble(ui->editValleyMaxWidth, 0.0, 10000.0);
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setupDouble(ui->editValleyMinHeight, 0.0, 10000.0);
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setupDouble(ui->editYDeviationMax, 0.0, 10000.0);
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setupDouble(ui->editMaxSkipDistance, 0.0, 100000.0);
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setupDouble(ui->editZDeviationMax, 0.0, 10000.0);
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setupDouble(ui->editMinLTypeTreeLen, 0.0, 100000.0);
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setupDouble(ui->editMinVTypeTreeLen, 0.0, 100000.0);
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ui->editMaxLineSkipNum->setValidator(new QIntValidator(0, 100000, ui->editMaxLineSkipNum));
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ui->editWeldRefPoints->setValidator(new QIntValidator(0, 1000, ui->editWeldRefPoints));
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ui->editTcpPort->setValidator(new QIntValidator(1, 65535, ui->editTcpPort));
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}
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void DialogAlgoArg::InitCommunicationWidgets()
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{
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if (!m_toolExtrinsicWidget && ui->verticalLayout_toolExtrinsicHost) {
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m_toolExtrinsicWidget = new ToolExtrinsicWidget(this);
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m_toolExtrinsicWidget->setTargetOffsetVisible(true);
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m_toolExtrinsicWidget->setAxialAngleRangeVisible(true);
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ui->verticalLayout_toolExtrinsicHost->addWidget(m_toolExtrinsicWidget);
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}
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if (!m_handEyeCalibWidget && ui->verticalLayout_handEyeCalibHost) {
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m_handEyeCalibWidget = new HandEyeCalibWidget(this);
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m_handEyeCalibWidget->setMatrixEditable(true);
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m_handEyeCalibWidget->setExtrinsicControlsVisible(false);
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m_handEyeCalibWidget->setTargetOffsetVisible(false);
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m_handEyeCalibWidget->setApproachOffsetVisible(false);
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m_handEyeCalibWidget->setDefaultFilePath(
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PathManager::GetInstance().GetAppConfigDirectory());
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ui->verticalLayout_handEyeCalibHost->addWidget(m_handEyeCalibWidget);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::calibMatrixLoaded,
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this, &DialogAlgoArg::onCalibMatrixLoaded);
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connect(m_handEyeCalibWidget, &HandEyeCalibWidget::saveCalibRequested,
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this, &DialogAlgoArg::onSaveCalibRequested);
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}
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}
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void DialogAlgoArg::SetDoubleText(QLineEdit* edit, double value)
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{
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if (edit) edit->setText(QString::number(value, 'g', 12));
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}
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void DialogAlgoArg::SetIntText(QLineEdit* edit, int value)
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{
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if (edit) edit->setText(QString::number(value));
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}
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bool DialogAlgoArg::TryGetDouble(QLineEdit* edit, const QString& label, double& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toDouble(&ok);
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if (ok && edit->hasAcceptableInput()) return true;
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StyledMessageBox::warning(this, QStringLiteral("参数错误"),
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QStringLiteral("“%1”输入的数值无效或超出范围。").arg(label));
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edit->setFocus();
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edit->selectAll();
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return false;
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}
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bool DialogAlgoArg::TryGetInt(QLineEdit* edit, const QString& label, int& value)
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{
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bool ok = false;
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value = edit->text().trimmed().toInt(&ok);
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if (ok && edit->hasAcceptableInput()) return true;
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StyledMessageBox::warning(this, QStringLiteral("参数错误"),
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QStringLiteral("“%1”输入的整数无效或超出范围。").arg(label));
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edit->setFocus();
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edit->selectAll();
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return false;
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}
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void DialogAlgoArg::Load()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) return;
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const ConfigResult config = m_presenter->GetConfigManager()->GetConfigResult();
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const auto& p = config.algorithmParams;
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SetDoubleText(ui->editValleyChkWinWidth, p.valleyParam.chkWinWidth);
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SetDoubleText(ui->editValleyMaxWidth, p.valleyParam.maxWidth);
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SetDoubleText(ui->editValleyMinHeight, p.valleyParam.minHeight);
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SetIntText(ui->editMaxLineSkipNum, p.treeGrowParam.maxLineSkipNum);
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SetDoubleText(ui->editYDeviationMax, p.treeGrowParam.yDeviationMax);
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SetDoubleText(ui->editMaxSkipDistance, p.treeGrowParam.maxSkipDistance);
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SetDoubleText(ui->editZDeviationMax, p.treeGrowParam.zDeviationMax);
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SetDoubleText(ui->editMinLTypeTreeLen, p.treeGrowParam.minLTypeTreeLen);
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SetDoubleText(ui->editMinVTypeTreeLen, p.treeGrowParam.minVTypeTreeLen);
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SetIntText(ui->editWeldRefPoints, p.weldSeamParam.weldRefPoints);
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SetIntText(ui->editTcpPort, config.tcpPort);
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LoadCommunicationConfig();
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}
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void DialogAlgoArg::LoadCommunicationConfig()
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{
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if (!m_presenter || !m_presenter->GetConfigManager() ||
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!m_toolExtrinsicWidget || !m_handEyeCalibWidget) return;
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const ConfigResult config = m_presenter->GetConfigManager()->GetConfigResult();
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QVector<ToolExtrinsicCameraInfo> toolCameras;
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QVector<HandEyeCalibCameraInfo> handEyeCameras;
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if (config.cameraList.empty()) {
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toolCameras.append({1, QStringLiteral("相机 1")});
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handEyeCameras.append({1, QStringLiteral("相机 1")});
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} else {
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for (size_t i = 0; i < config.cameraList.size(); ++i) {
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const int cameraIndex = static_cast<int>(i + 1);
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const QString name = QString::fromStdString(config.cameraList[i].name);
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toolCameras.append({cameraIndex, name});
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handEyeCameras.append({cameraIndex, name});
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}
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}
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m_toolExtrinsicWidget->setCameraList(toolCameras);
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m_handEyeCalibWidget->setCameraList(handEyeCameras);
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for (const auto& camera : handEyeCameras) {
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const VrHandEyeCalibMatrix* matrix = config.FindHandEyeMatrix(camera.cameraIndex);
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VrHandEyeCalibMatrix defaults;
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defaults.cameraIndex = camera.cameraIndex;
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if (!matrix) matrix = &defaults;
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m_toolExtrinsicWidget->setData(
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camera.cameraIndex, matrix->eulerOrder,
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matrix->rotX, matrix->rotY, matrix->rotZ,
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matrix->offsetX, matrix->offsetY, matrix->offsetZ,
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matrix->axialAngleMin, matrix->axialAngleMax);
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m_handEyeCalibWidget->setCalibData(
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camera.cameraIndex, matrix->matrix, !IsIdentityMatrix(matrix->matrix));
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m_handEyeCalibWidget->setCalibType(camera.cameraIndex, matrix->calibType);
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}
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}
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bool DialogAlgoArg::Save()
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{
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if (!m_presenter || !m_presenter->GetConfigManager()) return false;
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if (m_presenter->GetScanState() != WeldSeamPresenter::ScanState::Ready) {
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StyledMessageBox::warning(this, QStringLiteral("无法保存"),
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QStringLiteral("扫描或计算期间不能修改参数。"));
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return false;
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}
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SystemConfig config = m_presenter->GetConfigManager()->GetConfig();
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auto& p = config.configResult.algorithmParams;
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if (!TryGetDouble(ui->editValleyChkWinWidth, QStringLiteral("检测窗口宽度"),
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p.valleyParam.chkWinWidth)) return false;
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if (!TryGetDouble(ui->editValleyMaxWidth, QStringLiteral("V 型缺陷最大宽度"),
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p.valleyParam.maxWidth)) return false;
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if (!TryGetDouble(ui->editValleyMinHeight, QStringLiteral("V 型缺陷最小高度"),
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p.valleyParam.minHeight)) return false;
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if (!TryGetInt(ui->editMaxLineSkipNum, QStringLiteral("最大跳过扫描线数"),
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p.treeGrowParam.maxLineSkipNum)) return false;
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if (!TryGetDouble(ui->editYDeviationMax, QStringLiteral("Y 最大偏差"),
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p.treeGrowParam.yDeviationMax)) return false;
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if (!TryGetDouble(ui->editMaxSkipDistance, QStringLiteral("最大跳过距离"),
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p.treeGrowParam.maxSkipDistance)) return false;
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if (!TryGetDouble(ui->editZDeviationMax, QStringLiteral("Z 最大偏差"),
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p.treeGrowParam.zDeviationMax)) return false;
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if (!TryGetDouble(ui->editMinLTypeTreeLen, QStringLiteral("L 型树最小长度"),
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p.treeGrowParam.minLTypeTreeLen)) return false;
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if (!TryGetDouble(ui->editMinVTypeTreeLen, QStringLiteral("V 型树最小长度"),
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p.treeGrowParam.minVTypeTreeLen)) return false;
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if (!TryGetInt(ui->editWeldRefPoints, QStringLiteral("焊缝中间参考点数"),
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p.weldSeamParam.weldRefPoints)) return false;
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int tcpPort = 0;
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if (!TryGetInt(ui->editTcpPort, QStringLiteral("TCP 服务端口"), tcpPort)) return false;
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config.configResult.tcpPort = static_cast<uint16_t>(tcpPort);
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if (!SaveCommunicationConfig(config)) return false;
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auto* manager = m_presenter->GetConfigManager();
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if (!manager->UpdateFullConfig(config) ||
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!manager->SaveConfigToFile(PathManager::GetInstance().GetConfigFilePath().toStdString())) {
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StyledMessageBox::warning(this, QStringLiteral("保存失败"),
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QStringLiteral("无法写入配置文件。"));
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return false;
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}
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m_presenter->OnConfigChanged(config.configResult);
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return true;
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}
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bool DialogAlgoArg::SaveCommunicationConfig(SystemConfig& config)
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{
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if (!m_toolExtrinsicWidget || !m_handEyeCalibWidget) return true;
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if (!m_toolExtrinsicWidget->hasAcceptableInput()) {
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StyledMessageBox::warning(this, QStringLiteral("参数错误"),
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QStringLiteral("工具外参输入无效，请检查。"));
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return false;
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}
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ConfigResult& result = config.configResult;
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const int cameraCount = result.cameraList.empty()
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? 1 : static_cast<int>(result.cameraList.size());
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for (int cameraIndex = 1; cameraIndex <= cameraCount; ++cameraIndex) {
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VrHandEyeCalibMatrix& matrix = result.EnsureHandEyeMatrix(cameraIndex);
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matrix.cameraIndex = cameraIndex;
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double values[16];
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bool isCalibrated = false;
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if (m_handEyeCalibWidget->getCalibData(cameraIndex, values, isCalibrated) &&
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isCalibrated) {
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std::memcpy(matrix.matrix, values, sizeof(values));
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}
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int calibType = matrix.calibType;
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if (m_handEyeCalibWidget->getCalibType(cameraIndex, calibType)) {
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matrix.calibType = calibType;
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}
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int eulerOrder = matrix.eulerOrder;
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double rotX = matrix.rotX;
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double rotY = matrix.rotY;
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double rotZ = matrix.rotZ;
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double offsetX = matrix.offsetX;
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double offsetY = matrix.offsetY;
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double offsetZ = matrix.offsetZ;
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double axialAngleMin = matrix.axialAngleMin;
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double axialAngleMax = matrix.axialAngleMax;
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if (m_toolExtrinsicWidget->getData(
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cameraIndex, eulerOrder,
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rotX, rotY, rotZ,
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offsetX, offsetY, offsetZ,
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axialAngleMin, axialAngleMax)) {
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matrix.eulerOrder = eulerOrder;
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matrix.rotX = rotX;
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matrix.rotY = rotY;
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matrix.rotZ = rotZ;
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matrix.offsetX = offsetX;
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matrix.offsetY = offsetY;
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matrix.offsetZ = offsetZ;
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matrix.axialAngleMin = axialAngleMin;
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matrix.axialAngleMax = axialAngleMax;
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}
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}
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return true;
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}
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void DialogAlgoArg::ResetDefaults()
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{
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SetDoubleText(ui->editValleyChkWinWidth, 2.5);
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SetDoubleText(ui->editValleyMaxWidth, 20.0);
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SetDoubleText(ui->editValleyMinHeight, 1.0);
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SetIntText(ui->editMaxLineSkipNum, 50);
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SetDoubleText(ui->editYDeviationMax, 1.0);
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SetDoubleText(ui->editMaxSkipDistance, 30.0);
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SetDoubleText(ui->editZDeviationMax, 5.0);
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SetDoubleText(ui->editMinLTypeTreeLen, 50.0);
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SetDoubleText(ui->editMinVTypeTreeLen, 50.0);
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SetIntText(ui->editWeldRefPoints, 3);
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SetIntText(ui->editTcpPort, 7800);
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}
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void DialogAlgoArg::on_btnOK_clicked()
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{
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if (Save()) accept();
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}
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void DialogAlgoArg::on_btnCancel_clicked()
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{
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reject();
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}
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void DialogAlgoArg::on_btnApply_clicked()
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{
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if (Save()) {
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StyledMessageBox::information(this, QStringLiteral("提示"),
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QStringLiteral("参数已应用。"));
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}
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}
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void DialogAlgoArg::on_btnReset_clicked()
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{
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const auto result = StyledMessageBox::question(
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this, QStringLiteral("确认重置"), QStringLiteral("确定要恢复算法测试默认参数吗？"),
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QMessageBox::Yes | QMessageBox::No);
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if (result == QMessageBox::Yes) ResetDefaults();
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}
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void DialogAlgoArg::onCalibMatrixLoaded(int cameraIndex, const double* matrix)
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{
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Q_UNUSED(cameraIndex);
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Q_UNUSED(matrix);
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StyledMessageBox::information(this, QStringLiteral("提示"),
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QStringLiteral("已从文件导入手眼标定矩阵。"));
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}
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void DialogAlgoArg::onSaveCalibRequested(int cameraIndex, const double* matrix)
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{
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Q_UNUSED(cameraIndex);
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Q_UNUSED(matrix);
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if (Save()) {
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StyledMessageBox::information(this, QStringLiteral("成功"),
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QStringLiteral("手眼标定参数已保存。"));
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}
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}
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