【Opencv+QT】棋盘格标定助手

#include "MainForm.h" #include "ui_MainForm.h" #include <QDebug> #include <opencv2/imgproc.hpp> MainForm::MainForm(QWidget* parent) : QMainWindow(parent), ui(new Ui::MainForm) { m_ImageWidget = nullptr; p_CalibMethod = new Calibration(); ui->setupUi(this); // 循环连接 valueChanged() 信号到槽函数 for (QSpinBox* spinBox : findChildren<QSpinBox*>()) { connect(spinBox, QOverload<int>::of(&QSpinBox::valueChanged), this, &MainForm::SpinBoxValueChanged); } ui->imageBox->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff); ui->imageBox->setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff); ui->spinBox_CB_Cols->setValue(9); ui->spinBox_CB_Rows->setValue(6); QRegExpValidator* validator = new QRegExpValidator(QRegExp("[0-9]*"), ui->lineEdit_SquareSize); ui->lineEdit_SquareSize->setValidator(validator); ui->lineEdit_SquareSize->setText("1.0"); m_ResultTable = new QStandardItemModel(4, 10);//总计8列数据，2行间隔 m_ResultTable->setData(m_ResultTable->index(0, 0), QStringLiteral("相机内参：")); m_ResultTable->setData(m_ResultTable->index(0, 4), QStringLiteral("畸变系数：")); m_ResultTable->setData(m_ResultTable->index(0, 8), QStringLiteral("相机位姿：")); // 隐藏列头 QHeaderView* headerView = ui->tableView_Results->horizontalHeader(); headerView->setVisible(false); // 隐藏行头 QHeaderView* verticalHeaderView = ui->tableView_Results->verticalHeader(); verticalHeaderView->setVisible(false); ui->tableView_Results->setModel(m_ResultTable); ui->tableView_Results->show(); } MainForm::~MainForm() { delete ui; } void MainForm::RecvShowImageSignal(QImage image) { if (image == QImage()) { return; } QPixmap ConvertPixmap = QPixmap::fromImage(image); QGraphicsScene* qgraphicsScene = new QGraphicsScene; m_ImageWidget = new ImageWidget(&ConvertPixmap); m_ImageWidget->setQGraphicsViewWH(ui->imageBox->width(), ui->imageBox->height()); qgraphicsScene->addItem(m_ImageWidget); ui->imageBox->setSceneRect(QRectF(-(ui->imageBox->width() / 2), -(ui->imageBox->height() / 2), ui->imageBox->width(), ui->imageBox->height())); ui->imageBox->setScene(qgraphicsScene); ui->imageBox->setFocus(); } void MainForm::on_browseButton_clicked() { QString directory = QFileDialog::getExistingDirectory(this, tr("Select Image Directory")); if (!directory.isEmpty()) { try { QDir dir(directory); ui->imagePathLineEdit->setText(directory); QStringList imageFilter; imageFilter << "*.png" << "*.jpg" << "*.jpeg" << "*.bmp"; QStringList files = dir.entryList(imageFilter, QDir::Files); m_ImageMatList.clear(); m_ImageNameList.clear(); foreach(QString file, files) { QString imagePath = directory + "/" + file; cv::Mat image = cv::imread(imagePath.toStdString()); m_ImageNameList.push_back(file); m_ImageMatList.push_back(image); } m_CvImage = m_ImageMatList[0].clone(); ShowImage(m_CvImage); UpdateImageListWidget(); } catch (const std::exception& Err) { QMessageBox::information(this, QStringLiteral("错误"), Err.what()); return; } } } void MainForm::ShowImage(const cv::Mat& image) { //三通道RGB if (image.type() == CV_8UC3) m_QImage = QImage((const unsigned char*)image.data, image.cols, image.rows, QImage::Format::Format_RGB888); //四通道RGBA else if (image.type() == CV_8UC4) m_QImage = QImage((const unsigned char*)image.data, image.cols, image.rows, QImage::Format::Format_RGBA8888_Premultiplied); //单通道Gray else if (image.type() == CV_8UC1) m_QImage = QImage((const unsigned char*)image.data, image.cols, image.rows, QImage::Format::Format_Grayscale8); else return; RecvShowImageSignal(m_QImage); //更新显示 ui->imageBox->show(); } void MainForm::resizeEvent(QResizeEvent* event) { QMainWindow::resizeEvent(event); ShowImage(m_CvImage); } void MainForm::SpinBoxValueChanged(int value) { // 使用 QObject::sender() 获取发送信号的对象 QSpinBox* spinBox = qobject_cast<QSpinBox*>(sender()); if (spinBox != nullptr) { // 根据 QSpinBox 进行相应的操作 QString spinBoxObjectName = spinBox->objectName(); if (spinBoxObjectName == "spinBox_CB_Rows") p_CalibMethod->setCornersRows(spinBox->value()); else if (spinBoxObjectName == "spinBox_CB_Cols") p_CalibMethod->setCornersCols(spinBox->value()); } } void MainForm::on_lineEdit_SquareSize_textChanged(const QString& text) { p_CalibMethod->setSquareSize(text.toFloat()); } void MainForm::UpdateImageListWidget() { ui->imageListWidget->clear(); for (size_t i = 0; i < m_ImageNameList.size(); i++) { cv::Mat image = m_ImageMatList[i]; QString imageName = m_ImageNameList[i]; QListWidgetItem* item = new QListWidgetItem(QIcon(QPixmap::fromImage(QImage(image.data, image.cols, image.rows, image.step, QImage::Format_RGB888).rgbSwapped())), imageName); ui->imageListWidget->addItem(item); } } void MainForm::on_imageListWidget_itemClicked(QListWidgetItem* item) { int currentItemIndex = ui->imageListWidget->currentRow(); if (currentItemIndex >= 0 && currentItemIndex < m_ImageMatList.size()) { m_CvImage = m_ImageMatList[currentItemIndex].clone(); ui->imageBox->resetMatrix(); if (ui->checkBox_isDrawCorners->isChecked()) { p_CalibMethod->drawCorners(m_CvImage); } else if (ui->checkBox_isUndistort->isChecked()) { cv::Mat image = p_CalibMethod->undistortImage(m_CvImage.clone()); } ShowImage(m_CvImage); ShowCameraPoseResult(m_CvImage); } } void MainForm::on_Button_Execute_clicked() { if (!m_ImageMatList.size()) { return; } bool isCalibrated = p_CalibMethod->calibrate(m_ImageMatList); if (isCalibrated) { ShowCameraParamResult(); } } void MainForm::on_Button_Export_clicked() { if (p_CalibMethod->calibrated) { try { ExportTableView(ui->tableView_Results, ui->imagePathLineEdit->text() + "/Results.csv"); } catch (const std::exception& Err) { QString strErr = Err.what(); } } } void MainForm::on_checkBox_isDrawCorners_stateChanged(int state) { if (state == Qt::Checked) { ui->imageBox->resetMatrix(); cv::Mat image = m_CvImage.clone(); p_CalibMethod->drawCorners(image); ShowImage(image); } else if (state == Qt::Unchecked) { ShowImage(m_CvImage); } } void MainForm::on_checkBox_isUndistort_stateChanged(int state) { if (state == Qt::Checked) { ui->imageBox->resetMatrix(); cv::Mat image = p_CalibMethod->undistortImage(m_CvImage.clone()); ShowImage(image); } else if (state == Qt::Unchecked) { ShowImage(m_CvImage); } } void MainForm::ShowCameraParamResult() { m_CameraMatrix = p_CalibMethod->getCameraMatrix(); m_DistortCoeffs = p_CalibMethod->getDistortionCoefficients(); //m_ResultTable->clear(); for (int row = 0; row < m_CameraMatrix.rows; ++row) { for (int col = 0; col < m_CameraMatrix.cols; ++col) { m_ResultTable->setData(m_ResultTable->index(row + 1, col), QString::number(m_CameraMatrix.at<double>(row, col))); } } int currentIndex = 0; for (int row = 0; row < 3; ++row) { for (int column = 0; column < 3; ++column) { QString data = ""; if (currentIndex < m_DistortCoeffs.rows) { data = QString::number(m_DistortCoeffs.at<double>(currentIndex, 0), 'f', 5); // 更新当前向量索引 ++currentIndex; } m_ResultTable->setData(m_ResultTable->index(row + 1, column + 4), data); } } for (int row = 0; row < m_DistortCoeffs.rows; ++row) { for (int col = 0; col < m_DistortCoeffs.cols; ++col) { m_ResultTable->setData(m_ResultTable->index(row + 1, col + 4), QString::number(m_DistortCoeffs.at<double>(row, col))); } } //ui->tableView_Results->resizeColumnsToContents(); //ui->tableView_Results->resizeRowsToContents(); ui->tableView_Results->update(); //ui->tableView_Results->show(); } void MainForm::ShowCameraPoseResult(cv::Mat I