108 lines
3.7 KiB
C++
108 lines
3.7 KiB
C++
#ifndef DialogCameraLevel_H
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#define DialogCameraLevel_H
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#include <QDialog>
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#include <QWidget>
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#include <QComboBox>
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#include <QLineEdit>
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#include <QMessageBox>
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#include <QThread>
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#include <vector>
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#include <mutex>
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#include "IVrEyeDevice.h"
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#include "WorkpiecePresenter.h"
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#include "VZNL_Types.h"
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// #define LEVEL_DEBUG_MODE
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namespace Ui {
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class DialogCameraLevel;
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}
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class DialogCameraLevel : public QDialog
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{
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Q_OBJECT
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public:
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explicit DialogCameraLevel(QWidget *parent = nullptr);
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~DialogCameraLevel();
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// Delete copy constructor and assignment operator due to atomic members
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DialogCameraLevel(const DialogCameraLevel&) = delete;
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DialogCameraLevel& operator=(const DialogCameraLevel&) = delete;
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// 设置相机列表和presenter
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void setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList,
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WorkpiecePresenter* presenter);
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private slots:
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void on_btn_apply_clicked();
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void on_btn_cancel_clicked();
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void on_combo_camera_currentIndexChanged(int index);
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private:
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Ui::DialogCameraLevel *ui;
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// 相机列表和名称
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std::vector<std::pair<std::string, IVrEyeDevice*>> m_cameraList;
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WorkpiecePresenter* m_presenter = nullptr;
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// 扫描数据缓存（与WorkpiecePresenter保持一致）
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>> m_scanDataCache;
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std::mutex m_scanDataMutex;
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LaserDataLoader m_dataLoader; // 数据加载器，用于释放内存
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// 状态回调相关
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std::atomic<bool> m_swingFinished = false; // 摆动完成标志，同时表示扫描完成
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std::atomic<bool> m_callbackRestored = false;
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// 初始化相机选择框
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void initializeCameraCombo();
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// 执行相机调平
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bool performCameraLeveling();
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// 直接使用相机接口进行扫描
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bool startCameraScan(int cameraIndex);
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bool stopCameraScan(int cameraIndex);
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// 检测数据回调函数
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static void StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData);
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void DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint);
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// 状态回调函数
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static void StaticStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
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void StatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
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// 设置和恢复状态回调
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void setLevelingStatusCallback();
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void restorePresenterStatusCallback();
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// 处理扫描到的地面数据进行调平计算
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bool calculatePlaneCalibration(double planeCalib[9], double& planeHeight, double invRMatrix[9]);
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// 清空扫描数据缓存
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void clearScanDataCache();
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// Debug模式方法
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QString selectDebugDataFile();
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bool loadDebugDataAndSimulateScan(const QString& filePath);
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void simulateScanProcess();
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// 更新调平结果显示
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void updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9]);
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// 保存调平结果到配置
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bool saveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9], int cameraIndex, const QString& cameraName);
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// 加载相机标定数据
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bool loadCameraCalibrationData(int cameraIndex, const QString& cameraName,
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double planeCalib[9], double& planeHeight, double invRMatrix[9]);
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// 检查并显示相机标定状态
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void checkAndDisplayCalibrationStatus(int cameraIndex);
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};
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#endif // DialogCameraLevel_H
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