512 lines
19 KiB
C++
512 lines
19 KiB
C++
#include "CommonDialogCameraLevel.h"
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#include "ui_CommonDialogCameraLevel.h"
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#include "IVrUtils.h"
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#include "PathManager.h"
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#include <QThread>
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#include <QApplication>
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#include <cmath>
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#include <mutex>
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#include <vector>
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#include "LaserDataLoader.h"
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#include <QCoreApplication>
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#include <QFileInfo>
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#include <QTimer>
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#include "StyledMessageBox.h"
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CommonDialogCameraLevel::CommonDialogCameraLevel(QWidget *parent)
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: QDialog(parent)
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, ui(new Ui::CommonDialogCameraLevel)
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{
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ui->setupUi(this);
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// 隐藏标题栏
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setWindowFlags(Qt::FramelessWindowHint);
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// 初始化界面
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initializeCameraCombo();
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// 初始化结果显示区域
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ui->label_level_result->setText("请选择相机并点击调平按钮\n开始相机调平操作");
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ui->label_level_result->setAlignment(Qt::AlignCenter);
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}
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CommonDialogCameraLevel::~CommonDialogCameraLevel()
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{
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// 清理扫描数据缓存
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clearScanDataCache();
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// 确保恢复Presenter的状态回调
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restorePresenterStatusCallback();
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delete ui;
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}
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void CommonDialogCameraLevel::SetCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList,
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BasePresenter* presenter,
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ICameraLevelCalculator* calculator,
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ICameraLevelResultSaver* resultSaver)
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{
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m_cameraList = cameraList;
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m_presenter = presenter;
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m_calculator = calculator;
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m_resultSaver = resultSaver;
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// 重新初始化相机选择框
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initializeCameraCombo();
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}
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void CommonDialogCameraLevel::initializeCameraCombo()
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{
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ui->combo_camera->clear();
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if (m_cameraList.empty()) {
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ui->combo_camera->setEnabled(false);
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ui->label_level_result->setText("无可用相机设备");
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ui->label_level_result->setAlignment(Qt::AlignCenter);
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} else {
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for (const auto& camera : m_cameraList) {
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ui->combo_camera->addItem(QString::fromStdString(camera.first));
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}
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ui->combo_camera->setEnabled(true);
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// 检查并显示当前选中相机的标定状态
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checkAndDisplayCalibrationStatus(0); // 默认选中第一个相机
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}
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}
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void CommonDialogCameraLevel::on_btn_apply_clicked()
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{
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ui->label_level_result->setAlignment(Qt::AlignLeft);
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// 检查是否有可用的相机
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if (m_cameraList.empty()) {
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StyledMessageBox::warning(this, "错误", "无可用相机设备！");
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return;
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}
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// 获取选中的相机
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int selectedIndex = ui->combo_camera->currentIndex();
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if (selectedIndex < 0 || selectedIndex >= static_cast<int>(m_cameraList.size())) {
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StyledMessageBox::warning(this, "错误", "请选择有效的相机！");
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return;
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}
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// 清空之前的结果显示
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ui->label_level_result->setText("调平计算中，请稍候...");
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// 显示进度提示
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ui->btn_apply->setEnabled(false);
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QApplication::processEvents();
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try {
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// 执行相机调平
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if (!performCameraLeveling()) {
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// 显示失败信息到界面
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ui->label_level_result->setText("调平失败！\n\n请检查：\n1. 相机连接是否正常\n2. 地面扫描数据是否充足\n3. 扫描区域是否有足够的地面");
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}
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} catch (const std::exception& e) {
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LOG_ERROR("Camera leveling failed with exception: %s\n", e.what());
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StyledMessageBox::critical(this, "错误", QString("调平过程发生异常：%1").arg(e.what()));
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}
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// 恢复按钮状态
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ui->btn_apply->setEnabled(true);
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}
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void CommonDialogCameraLevel::on_btn_cancel_clicked()
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{
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// 直接关闭窗口，不保存任何更改
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reject();
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}
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bool CommonDialogCameraLevel::performCameraLeveling()
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{
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try {
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// 获取选中的相机索引
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int selectedIndex = ui->combo_camera->currentIndex();
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if (selectedIndex < 0 || selectedIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_ERROR("Invalid camera index: %d\n", selectedIndex);
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return false;
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}
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LOG_INFO("Performing camera leveling with camera %d (index %d)\n", selectedIndex + 1, selectedIndex);
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// 1. 设置调平状态回调
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setLevelingStatusCallback();
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// 2. 清空之前的扫描数据
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clearScanDataCache();
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// 3. 启动相机扫描地面数据
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if (!startCameraScan(selectedIndex)) {
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LOG_ERROR("Failed to start camera scan for leveling\n");
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return false;
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}
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// 4. 等待扫描完成（使用状态回调判断）
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LOG_INFO("Collecting ground scan data, waiting for swing finish signal...\n");
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int waitTime = 0;
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const int maxWaitTime = 30000; // 最大等待30秒
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const int checkInterval = 100; // 每100ms检查一次
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while (!m_swingFinished && waitTime < maxWaitTime) {
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QThread::msleep(checkInterval);
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QApplication::processEvents(); // 处理UI事件
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waitTime += checkInterval;
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}
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// 5. 停止扫描
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stopCameraScan(selectedIndex);
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// 检查是否通过状态回调收到了扫描完成信号
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if (m_swingFinished) {
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LOG_INFO("Camera swing finished signal received, scan completed\n");
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} else if (waitTime >= maxWaitTime) {
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LOG_WARNING("Timeout waiting for camera swing finish signal\n");
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}
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// 6. 调用调平算法计算
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double planeCalib[9];
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double planeHeight;
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double invRMatrix[9];
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if (!calculatePlaneCalibration(planeCalib, planeHeight, invRMatrix)) {
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LOG_ERROR("Failed to calculate plane calibration\n");
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return false;
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}
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LOG_INFO("Camera leveling calculation completed\n");
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// 7. 更新界面显示
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updateLevelingResults(planeCalib, planeHeight, invRMatrix);
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// 8. 保存结果到配置
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if (m_resultSaver) {
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int cameraIndex = selectedIndex + 1; // 转换为1-based索引
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QString cameraName = QString::fromStdString(m_cameraList[selectedIndex].first);
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if (!m_resultSaver->SaveLevelingResults(planeCalib, planeHeight, invRMatrix, cameraIndex, cameraName)) {
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LOG_ERROR("Failed to save leveling results\n");
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return false;
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}
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} else {
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LOG_WARNING("No result saver provided, leveling results not saved\n");
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}
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clearScanDataCache();
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LOG_INFO("Camera leveling completed successfully\n");
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return true;
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} catch (const std::exception& e) {
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LOG_ERROR("Exception in performCameraLeveling: %s\n", e.what());
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return false;
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}
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}
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void CommonDialogCameraLevel::updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9])
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{
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// 构建显示文本，将矩阵直接显示到页面上
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QString resultText;
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resultText += QString("地面高度: %1 mm\n").arg(QString::number(planeHeight, 'f', 2));
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// 调平矩阵
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resultText += QString("调平矩阵:\n");
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for (int i = 0; i < 3; i++) {
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resultText += QString("[%1, %2, %3]\n")
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.arg(QString::number(planeCalib[i*3], 'f', 4))
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.arg(QString::number(planeCalib[i*3+1], 'f', 4))
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.arg(QString::number(planeCalib[i*3+2], 'f', 4));
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}
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resultText += QString("逆旋转矩阵:\n");
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for (int i = 0; i < 3; i++) {
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resultText += QString("[%1, %2, %3]\n")
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.arg(QString::number(invRMatrix[i*3], 'f', 4))
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.arg(QString::number(invRMatrix[i*3+1], 'f', 4))
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.arg(QString::number(invRMatrix[i*3+2], 'f', 4));
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}
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// 将结果显示到界面上
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ui->label_level_result->setText(resultText);
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ui->label_level_result->setAlignment(Qt::AlignLeft | Qt::AlignTop);
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}
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// 启动相机扫描
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bool CommonDialogCameraLevel::startCameraScan(int cameraIndex)
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{
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if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_ERROR("Invalid camera index for scan: %d\n", cameraIndex);
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return false;
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}
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IVrEyeDevice* camera = m_cameraList[cameraIndex].second;
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if (!camera) {
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LOG_ERROR("Camera device is null at index: %d\n", cameraIndex);
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return false;
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}
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// 启动相机检测，使用静态回调函数
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int result = camera->StartDetect(&CommonDialogCameraLevel::StaticDetectionCallback, keResultDataType_Position, this);
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if (result != 0) {
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LOG_ERROR("Failed to start camera detection: %d\n", result);
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return false;
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}
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LOG_INFO("Camera scan started successfully for camera index: %d\n", cameraIndex);
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return true;
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}
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// 停止相机扫描
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bool CommonDialogCameraLevel::stopCameraScan(int cameraIndex)
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{
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if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_ERROR("Invalid camera index for stop scan: %d\n", cameraIndex);
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return false;
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}
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IVrEyeDevice* camera = m_cameraList[cameraIndex].second;
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if (!camera) {
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LOG_ERROR("Camera device is null at index: %d\n", cameraIndex);
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return false;
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}
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int result = camera->StopDetect();
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if (result != 0) {
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LOG_WARNING("Failed to stop camera detection, error: %d\n", result);
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return false;
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}
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LOG_INFO("Camera scan stopped successfully for camera index: %d\n", cameraIndex);
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return true;
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}
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// 静态检测回调函数
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void CommonDialogCameraLevel::StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData)
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{
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CommonDialogCameraLevel* pThis = reinterpret_cast<CommonDialogCameraLevel*>(pUserData);
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if (pThis && pLaserLinePoint) {
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pThis->DetectionCallback(eDataType, pLaserLinePoint);
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}
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}
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// 静态状态回调函数
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void CommonDialogCameraLevel::StaticStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
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{
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CommonDialogCameraLevel* pThis = reinterpret_cast<CommonDialogCameraLevel*>(pInfoParam);
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if (pThis) {
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pThis->StatusCallback(eStatus, pExtData, nDataLength, pInfoParam);
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}
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}
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// 状态回调函数实例版本
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void CommonDialogCameraLevel::StatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam)
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{
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LOG_DEBUG("[Leveling Status Callback] received: status=%d\n", (int)eStatus);
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switch (eStatus) {
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case EVzDeviceWorkStatus::keDeviceWorkStatus_Device_Swing_Finish:
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{
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LOG_INFO("[Leveling Status Callback] Camera swing finished, scan completed\n");
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m_swingFinished = true; // 摆动完成即表示扫描完成
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break;
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}
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default:
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LOG_DEBUG("[Leveling Status Callback] Other status: %d\n", (int)eStatus);
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break;
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}
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}
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// 检测数据回调函数实例版本
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void CommonDialogCameraLevel::DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint)
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{
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if (!pLaserLinePoint) {
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LOG_WARNING("[Leveling Callback] pLaserLinePoint is null\n");
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return;
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}
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if (pLaserLinePoint->nPointCount <= 0) {
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LOG_WARNING("[Leveling Callback] Point count is zero or negative: %d\n", pLaserLinePoint->nPointCount);
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return;
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}
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if (!pLaserLinePoint->p3DPoint) {
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LOG_WARNING("[Leveling Callback] p3DPoint is null\n");
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return;
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}
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// 使用与Presenter相同的方式存储数据
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SVzLaserLineData lineData;
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memset(&lineData, 0, sizeof(SVzLaserLineData));
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// 根据数据类型分配和复制点云数据
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if (eDataType == keResultDataType_Position) {
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// 复制SVzNL3DPosition数据
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if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
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lineData.p3DPoint = new SVzNL3DPosition[pLaserLinePoint->nPointCount];
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if (lineData.p3DPoint) {
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memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNL3DPosition) * pLaserLinePoint->nPointCount);
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}
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lineData.p2DPoint = new SVzNL2DPosition[pLaserLinePoint->nPointCount];
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if (lineData.p2DPoint) {
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memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DPosition) * pLaserLinePoint->nPointCount);
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}
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}
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} else if (eDataType == keResultDataType_PointXYZRGBA) {
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// 复制SVzNLPointXYZRGBA数据
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if (pLaserLinePoint->p3DPoint && pLaserLinePoint->nPointCount > 0) {
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lineData.p3DPoint = new SVzNLPointXYZRGBA[pLaserLinePoint->nPointCount];
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if (lineData.p3DPoint) {
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memcpy(lineData.p3DPoint, pLaserLinePoint->p3DPoint, sizeof(SVzNLPointXYZRGBA) * pLaserLinePoint->nPointCount);
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}
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lineData.p2DPoint = new SVzNL2DLRPoint[pLaserLinePoint->nPointCount];
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if (lineData.p2DPoint) {
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memcpy(lineData.p2DPoint, pLaserLinePoint->p2DPoint, sizeof(SVzNL2DLRPoint) * pLaserLinePoint->nPointCount);
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}
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}
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}
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lineData.nPointCount = pLaserLinePoint->nPointCount;
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lineData.llTimeStamp = pLaserLinePoint->llTimeStamp;
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lineData.llFrameIdx = pLaserLinePoint->llFrameIdx;
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lineData.nEncodeNo = pLaserLinePoint->nEncodeNo;
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lineData.fSwingAngle = pLaserLinePoint->fSwingAngle;
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lineData.bEndOnceScan = pLaserLinePoint->bEndOnceScan;
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// 将转换后的数据保存到缓存中
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std::lock_guard<std::mutex> lock(m_scanDataMutex);
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m_scanDataCache.push_back(std::make_pair(eDataType, lineData));
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}
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// 调平算法计算
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bool CommonDialogCameraLevel::calculatePlaneCalibration(double planeCalib[9], double& planeHeight, double invRMatrix[9])
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{
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std::lock_guard<std::mutex> lock(m_scanDataMutex);
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// 检查计算接口是否已设置
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if (!m_calculator) {
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LOG_ERROR("Calculator interface is not set\n");
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return false;
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}
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// 检查是否有足够的扫描数据
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if (m_scanDataCache.empty()) {
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LOG_ERROR("No scan data available for plane calibration\n");
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return false;
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}
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LOG_INFO("Calculating plane calibration from %zu scan lines\n", m_scanDataCache.size());
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// 调用应用实现的标定计算接口
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bool result = m_calculator->CalculatePlaneCalibration(m_scanDataCache, planeCalib, planeHeight, invRMatrix);
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if (result) {
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// 计算旋转角度用于日志显示
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double rotAngleX = atan2(planeCalib[5], planeCalib[8]) * 180.0 / M_PI;
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double rotAngleY = atan2(-planeCalib[2], sqrt(planeCalib[5]*planeCalib[5] + planeCalib[8]*planeCalib[8])) * 180.0 / M_PI;
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LOG_INFO("Plane calibration calculated: height=%.3f, rotX=%.2f°, rotY=%.2f°\n", planeHeight, rotAngleX, rotAngleY);
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} else {
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LOG_ERROR("Failed to calculate plane calibration\n");
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}
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return result;
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}
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// 清空扫描数据缓存
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void CommonDialogCameraLevel::clearScanDataCache()
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{
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std::lock_guard<std::mutex> lock(m_scanDataMutex);
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LOG_DEBUG("Clearing scan data cache, current size: %zu\n", m_scanDataCache.size());
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// 使用LaserDataLoader释放缓存的内存
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m_dataLoader.FreeLaserScanData(m_scanDataCache);
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LOG_DEBUG("Scan data cache cleared successfully\n");
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}
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// 相机选择改变的槽函数
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void CommonDialogCameraLevel::on_combo_camera_currentIndexChanged(int index)
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{
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if (index >= 0 && index < static_cast<int>(m_cameraList.size())) {
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LOG_INFO("Camera selection changed to index: %d (%s)\n", index,
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QString::fromStdString(m_cameraList[index].first).toUtf8().constData());
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checkAndDisplayCalibrationStatus(index);
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} else {
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LOG_WARNING("Invalid camera index selected: %d\n", index);
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ui->label_level_result->setText("无效的相机选择");
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ui->label_level_result->setAlignment(Qt::AlignCenter);
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}
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}
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// 检查并显示相机标定状态
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void CommonDialogCameraLevel::checkAndDisplayCalibrationStatus(int cameraIndex)
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{
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if (cameraIndex < 0 || cameraIndex >= static_cast<int>(m_cameraList.size())) {
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LOG_WARNING("Invalid camera index for status check: %d\n", cameraIndex);
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ui->label_level_result->setText("无效的相机索引");
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ui->label_level_result->setAlignment(Qt::AlignCenter);
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return;
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}
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QString cameraName = QString::fromStdString(m_cameraList[cameraIndex].first);
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int configCameraIndex = cameraIndex + 1; // 转换为1-based索引
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|
|
|
// 尝试加载该相机的标定数据
|
|
double planeCalib[9];
|
|
double planeHeight;
|
|
double invRMatrix[9];
|
|
|
|
if (m_resultSaver && m_resultSaver->LoadLevelingResults(configCameraIndex, cameraName, planeCalib, planeHeight, invRMatrix)) {
|
|
// 有标定数据，显示标定结果
|
|
LOG_INFO("Displaying existing calibration data for camera %s\n", cameraName.toUtf8().constData());
|
|
updateLevelingResults(planeCalib, planeHeight, invRMatrix);
|
|
} else {
|
|
// 没有标定数据，显示提示信息
|
|
LOG_INFO("No calibration data found for camera %s, showing instruction\n", cameraName.toUtf8().constData());
|
|
ui->label_level_result->setText(QString("请选择相机 \"%1\" 并点击调平按钮\n开始相机调平操作").arg(cameraName));
|
|
ui->label_level_result->setAlignment(Qt::AlignCenter);
|
|
}
|
|
}
|
|
|
|
// 设置调平时的状态回调
|
|
void CommonDialogCameraLevel::setLevelingStatusCallback()
|
|
{
|
|
if (!m_presenter) {
|
|
LOG_ERROR("Presenter is null, cannot set leveling status callback\n");
|
|
return;
|
|
}
|
|
|
|
// 为所有相机设置调平状态回调
|
|
m_presenter->SetCameraStatusCallback(&CommonDialogCameraLevel::StaticStatusCallback, this);
|
|
|
|
// 重置状态标志
|
|
m_swingFinished = false;
|
|
m_callbackRestored = false; // 重置恢复标志，允许稍后恢复
|
|
|
|
LOG_INFO("Leveling status callback set for all cameras\n");
|
|
}
|
|
|
|
// 恢复Presenter的状态回调
|
|
void CommonDialogCameraLevel::restorePresenterStatusCallback()
|
|
{
|
|
// 检查是否已经恢复过回调，避免重复调用
|
|
if (m_callbackRestored.exchange(true)) {
|
|
LOG_DEBUG("Presenter status callback already restored, skipping\n");
|
|
return;
|
|
}
|
|
|
|
if (!m_presenter) {
|
|
LOG_ERROR("Presenter is null, cannot restore status callback\n");
|
|
return;
|
|
}
|
|
|
|
// 恢复Presenter的状态回调 - 使用BasePresenter的通用静态回调
|
|
m_presenter->SetCameraStatusCallback(&BasePresenter::_StaticCameraStatusCallback, m_presenter);
|
|
|
|
LOG_INFO("Presenter status callback restored for all cameras\n");
|
|
}
|