160 lines
3.3 KiB
C
160 lines
3.3 KiB
C
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#ifndef CALIBDATAWIDGET_H
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#define CALIBDATAWIDGET_H
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#include <QWidget>
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#include <QTableWidget>
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#include <QPushButton>
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#include <QComboBox>
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#include <QGroupBox>
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#include <QSpinBox>
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#include <QDoubleSpinBox>
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#include <QLabel>
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#include <vector>
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#include "HandEyeCalibTypes.h"
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/**
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* @brief 标定数据输入控件
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* 支持 Eye-To-Hand 和 Eye-In-Hand 两种模式的数据输入
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*/
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class CalibDataWidget : public QWidget
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{
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Q_OBJECT
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public:
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explicit CalibDataWidget(QWidget* parent = nullptr);
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~CalibDataWidget() override;
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/**
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* @brief 获取 Eye-To-Hand 标定数据
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*/
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void getEyeToHandData(std::vector<HECPoint3D>& eyePoints,
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std::vector<HECPoint3D>& robotPoints) const;
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/**
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* @brief 获取 Eye-In-Hand 标定数据
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*/
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void getEyeInHandData(std::vector<HECEyeInHandData>& calibData) const;
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/**
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* @brief 获取当前标定模式
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*/
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HECCalibrationType getCalibType() const;
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/**
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* @brief 获取欧拉角顺序
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*/
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HECEulerOrder getEulerOrder() const;
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/**
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* @brief 清除所有数据
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*/
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void clearAll();
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/**
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* @brief 加载测试数据
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*/
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void loadTestData();
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/**
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* @brief 设置待变换的点
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*/
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void setTransformPoint(const HECPoint3D& point);
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/**
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* @brief 获取待变换的点
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*/
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HECPoint3D getTransformPoint() const;
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/**
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* @brief 设置欧拉角
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*/
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void setEulerAngles(const HECEulerAngles& angles);
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/**
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* @brief 获取欧拉角
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*/
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HECEulerAngles getEulerAngles() const;
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signals:
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/**
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* @brief 标定模式改变信号
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*/
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void calibTypeChanged(HECCalibrationType type);
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private slots:
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/**
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* @brief 添加一行数据
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*/
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void onAddRow();
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/**
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* @brief 删除选中行
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*/
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void onDeleteRow();
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/**
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* @brief 标定模式切换
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*/
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void onCalibTypeChanged(int index);
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private:
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/**
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* @brief 初始化界面
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*/
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void setupUI();
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/**
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* @brief 创建 Eye-To-Hand 数据表格
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*/
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QGroupBox* createEyeToHandGroup();
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/**
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* @brief 创建 Eye-In-Hand 数据表格
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*/
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QGroupBox* createEyeInHandGroup();
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/**
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* @brief 创建变换测试组
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*/
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QGroupBox* createTransformGroup();
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/**
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* @brief 创建欧拉角测试组
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*/
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QGroupBox* createEulerGroup();
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/**
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* @brief 更新表格显示
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*/
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void updateTableVisibility();
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// 标定模式选择
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QComboBox* m_cbCalibType;
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// Eye-To-Hand 数据表格
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QTableWidget* m_tableEyeToHand;
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QGroupBox* m_groupEyeToHand;
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// Eye-In-Hand 数据表格
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QTableWidget* m_tableEyeInHand;
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QGroupBox* m_groupEyeInHand;
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// 变换测试输入
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QDoubleSpinBox* m_sbTransformX;
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QDoubleSpinBox* m_sbTransformY;
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QDoubleSpinBox* m_sbTransformZ;
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// 欧拉角测试输入
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QDoubleSpinBox* m_sbRoll;
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QDoubleSpinBox* m_sbPitch;
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QDoubleSpinBox* m_sbYaw;
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QComboBox* m_cbEulerOrder;
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// 按钮
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QPushButton* m_btnAddRow;
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QPushButton* m_btnDeleteRow;
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};
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#endif // CALIBDATAWIDGET_H
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