478 lines
26 KiB
C++
478 lines
26 KiB
C++
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#include "VrConfig.h"
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#include <iostream>
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#include <vector>
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#include <string>
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#include "VrLog.h"
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using namespace tinyxml2;
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CVrConfig::CVrConfig() : m_pNotify(nullptr)
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{
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// 构造函数
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}
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CVrConfig::~CVrConfig()
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{
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// 析构函数
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}
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int CVrConfig::LoadConfig(const std::string& filePath, ConfigResult& configResult)
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{
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// 使用tinyxml2库加载XML文件
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XMLDocument doc;
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XMLError err = doc.LoadFile(filePath.c_str());
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if (err != XML_SUCCESS)
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{
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LOG_ERR("open config file failed: %s\n", filePath.c_str());
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return LOAD_CONFIG_FILE_NOT_FOUND;
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}
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// 获取根元素
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XMLElement* root = doc.RootElement();
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if (!root || std::string(root->Name()) != "WorkpieceConfig")
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{
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std::cerr << "config file format error: root element is not WorkpieceConfig" << std::endl;
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return LOAD_CONFIG_INVALID_FORMAT;
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}
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// 解析摄像头列表
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XMLElement* camerasElement = root->FirstChildElement("Cameras");
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if (camerasElement)
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{
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XMLElement* cameraElement = camerasElement->FirstChildElement("Camera");
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while (cameraElement)
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{
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DeviceInfo camera;
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if (cameraElement->Attribute("name"))
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camera.name = cameraElement->Attribute("name");
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if (cameraElement->Attribute("ip"))
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camera.ip = cameraElement->Attribute("ip");
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configResult.cameraList.push_back(camera);
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cameraElement = cameraElement->NextSiblingElement("Camera");
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}
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}
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// 解析设备列表
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XMLElement* devicesElement = root->FirstChildElement("Devices");
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if (devicesElement)
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{
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XMLElement* deviceElement = devicesElement->FirstChildElement("Device");
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while (deviceElement)
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{
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DeviceInfo device;
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if (deviceElement->Attribute("name"))
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device.name = deviceElement->Attribute("name");
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if (deviceElement->Attribute("ip"))
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device.ip = deviceElement->Attribute("ip");
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configResult.deviceList.push_back(device);
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deviceElement = deviceElement->NextSiblingElement("Device");
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}
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}
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// 解析算法参数
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XMLElement* algoParamsElement = root->FirstChildElement("AlgorithmParams");
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if (algoParamsElement)
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{
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// 解析工件参数
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XMLElement* workpieceParamElement = algoParamsElement->FirstChildElement("WorkpieceParam");
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if (workpieceParamElement)
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{
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if (workpieceParamElement->Attribute("lineLen"))
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configResult.algorithmParams.workpieceParam.lineLen = workpieceParamElement->DoubleAttribute("lineLen");
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}
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// 解析滤波参数
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XMLElement* filterParamElement = algoParamsElement->FirstChildElement("FilterParam");
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if (filterParamElement)
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{
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if (filterParamElement->Attribute("continuityTh"))
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configResult.algorithmParams.filterParam.continuityTh = filterParamElement->DoubleAttribute("continuityTh");
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if (filterParamElement->Attribute("outlierTh"))
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configResult.algorithmParams.filterParam.outlierTh = filterParamElement->DoubleAttribute("outlierTh");
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}
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// 解析角点参数
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XMLElement* cornerParamElement = algoParamsElement->FirstChildElement("CornerParam");
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if (cornerParamElement)
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{
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if (cornerParamElement->Attribute("minEndingGap"))
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configResult.algorithmParams.cornerParam.minEndingGap = cornerParamElement->DoubleAttribute("minEndingGap");
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if (cornerParamElement->Attribute("minEndingGap_z"))
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configResult.algorithmParams.cornerParam.minEndingGap_z = cornerParamElement->DoubleAttribute("minEndingGap_z");
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if (cornerParamElement->Attribute("scale"))
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configResult.algorithmParams.cornerParam.scale = cornerParamElement->DoubleAttribute("scale");
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if (cornerParamElement->Attribute("cornerTh"))
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configResult.algorithmParams.cornerParam.cornerTh = cornerParamElement->DoubleAttribute("cornerTh");
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if (cornerParamElement->Attribute("jumpCornerTh_1"))
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configResult.algorithmParams.cornerParam.jumpCornerTh_1 = cornerParamElement->DoubleAttribute("jumpCornerTh_1");
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if (cornerParamElement->Attribute("jumpCornerTh_2"))
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configResult.algorithmParams.cornerParam.jumpCornerTh_2 = cornerParamElement->DoubleAttribute("jumpCornerTh_2");
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}
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// 解析增长参数
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XMLElement* growParamElement = algoParamsElement->FirstChildElement("GrowParam");
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if (growParamElement)
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{
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if (growParamElement->Attribute("maxLineSkipNum"))
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configResult.algorithmParams.growParam.maxLineSkipNum = growParamElement->IntAttribute("maxLineSkipNum");
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if (growParamElement->Attribute("yDeviation_max"))
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configResult.algorithmParams.growParam.yDeviation_max = growParamElement->DoubleAttribute("yDeviation_max");
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if (growParamElement->Attribute("maxSkipDistance"))
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configResult.algorithmParams.growParam.maxSkipDistance = growParamElement->DoubleAttribute("maxSkipDistance");
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if (growParamElement->Attribute("zDeviation_max"))
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configResult.algorithmParams.growParam.zDeviation_max = growParamElement->DoubleAttribute("zDeviation_max");
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if (growParamElement->Attribute("minLTypeTreeLen"))
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configResult.algorithmParams.growParam.minLTypeTreeLen = growParamElement->DoubleAttribute("minLTypeTreeLen");
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if (growParamElement->Attribute("minVTypeTreeLen"))
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configResult.algorithmParams.growParam.minVTypeTreeLen = growParamElement->DoubleAttribute("minVTypeTreeLen");
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}
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// 解析多相机平面校准参数
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XMLElement* planeCalibParamsElement = algoParamsElement->FirstChildElement("PlaneCalibParams");
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if (planeCalibParamsElement)
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{
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XMLElement* cameraCalibParamElement = planeCalibParamsElement->FirstChildElement("CameraCalibParam");
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while (cameraCalibParamElement)
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{
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VrCameraPlaneCalibParam cameraParam;
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// 读取相机基础信息
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if (cameraCalibParamElement->Attribute("cameraIndex"))
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cameraParam.cameraIndex = cameraCalibParamElement->IntAttribute("cameraIndex");
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if (cameraCalibParamElement->Attribute("cameraName"))
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cameraParam.cameraName = cameraCalibParamElement->Attribute("cameraName");
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if (cameraCalibParamElement->Attribute("isCalibrated"))
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cameraParam.isCalibrated = cameraCalibParamElement->BoolAttribute("isCalibrated");
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if (cameraCalibParamElement->Attribute("planeHeight"))
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cameraParam.planeHeight = cameraCalibParamElement->DoubleAttribute("planeHeight");
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// 读取旋转矩阵planeCalib[9] (3x3矩阵)
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if (cameraCalibParamElement->Attribute("planeCalib_00"))
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cameraParam.planeCalib[0] = cameraCalibParamElement->DoubleAttribute("planeCalib_00");
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if (cameraCalibParamElement->Attribute("planeCalib_01"))
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cameraParam.planeCalib[1] = cameraCalibParamElement->DoubleAttribute("planeCalib_01");
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if (cameraCalibParamElement->Attribute("planeCalib_02"))
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cameraParam.planeCalib[2] = cameraCalibParamElement->DoubleAttribute("planeCalib_02");
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if (cameraCalibParamElement->Attribute("planeCalib_10"))
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cameraParam.planeCalib[3] = cameraCalibParamElement->DoubleAttribute("planeCalib_10");
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if (cameraCalibParamElement->Attribute("planeCalib_11"))
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cameraParam.planeCalib[4] = cameraCalibParamElement->DoubleAttribute("planeCalib_11");
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if (cameraCalibParamElement->Attribute("planeCalib_12"))
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cameraParam.planeCalib[5] = cameraCalibParamElement->DoubleAttribute("planeCalib_12");
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if (cameraCalibParamElement->Attribute("planeCalib_20"))
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cameraParam.planeCalib[6] = cameraCalibParamElement->DoubleAttribute("planeCalib_20");
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if (cameraCalibParamElement->Attribute("planeCalib_21"))
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cameraParam.planeCalib[7] = cameraCalibParamElement->DoubleAttribute("planeCalib_21");
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if (cameraCalibParamElement->Attribute("planeCalib_22"))
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cameraParam.planeCalib[8] = cameraCalibParamElement->DoubleAttribute("planeCalib_22");
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// 读取逆旋转矩阵invRMatrix[9] (3x3矩阵)
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if (cameraCalibParamElement->Attribute("invRMatrix_00"))
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cameraParam.invRMatrix[0] = cameraCalibParamElement->DoubleAttribute("invRMatrix_00");
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if (cameraCalibParamElement->Attribute("invRMatrix_01"))
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cameraParam.invRMatrix[1] = cameraCalibParamElement->DoubleAttribute("invRMatrix_01");
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if (cameraCalibParamElement->Attribute("invRMatrix_02"))
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cameraParam.invRMatrix[2] = cameraCalibParamElement->DoubleAttribute("invRMatrix_02");
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if (cameraCalibParamElement->Attribute("invRMatrix_10"))
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cameraParam.invRMatrix[3] = cameraCalibParamElement->DoubleAttribute("invRMatrix_10");
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if (cameraCalibParamElement->Attribute("invRMatrix_11"))
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cameraParam.invRMatrix[4] = cameraCalibParamElement->DoubleAttribute("invRMatrix_11");
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if (cameraCalibParamElement->Attribute("invRMatrix_12"))
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cameraParam.invRMatrix[5] = cameraCalibParamElement->DoubleAttribute("invRMatrix_12");
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if (cameraCalibParamElement->Attribute("invRMatrix_20"))
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cameraParam.invRMatrix[6] = cameraCalibParamElement->DoubleAttribute("invRMatrix_20");
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if (cameraCalibParamElement->Attribute("invRMatrix_21"))
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cameraParam.invRMatrix[7] = cameraCalibParamElement->DoubleAttribute("invRMatrix_21");
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if (cameraCalibParamElement->Attribute("invRMatrix_22"))
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cameraParam.invRMatrix[8] = cameraCalibParamElement->DoubleAttribute("invRMatrix_22");
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// 添加到结果中
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configResult.algorithmParams.planeCalibParam.cameraCalibParams.push_back(cameraParam);
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// 移动到下一个相机配置
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cameraCalibParamElement = cameraCalibParamElement->NextSiblingElement("CameraCalibParam");
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}
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}
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// 兼容性处理：如果存在旧格式的PlaneCalibParam，转换为新格式
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XMLElement* oldPlaneCalibParamElement = algoParamsElement->FirstChildElement("PlaneCalibParam");
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if (oldPlaneCalibParamElement && configResult.algorithmParams.planeCalibParam.cameraCalibParams.empty())
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{
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VrCameraPlaneCalibParam cameraParam;
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cameraParam.cameraIndex = 1; // 默认为第一个相机
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cameraParam.cameraName = "默认相机";
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cameraParam.isCalibrated = false;
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if (oldPlaneCalibParamElement->Attribute("planeHeight"))
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cameraParam.planeHeight = oldPlaneCalibParamElement->DoubleAttribute("planeHeight");
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// 读取旋转矩阵
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if (oldPlaneCalibParamElement->Attribute("planeCalib_00"))
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cameraParam.planeCalib[0] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_00");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_01"))
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cameraParam.planeCalib[1] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_01");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_02"))
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cameraParam.planeCalib[2] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_02");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_10"))
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cameraParam.planeCalib[3] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_10");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_11"))
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cameraParam.planeCalib[4] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_11");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_12"))
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cameraParam.planeCalib[5] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_12");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_20"))
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cameraParam.planeCalib[6] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_20");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_21"))
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cameraParam.planeCalib[7] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_21");
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if (oldPlaneCalibParamElement->Attribute("planeCalib_22"))
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cameraParam.planeCalib[8] = oldPlaneCalibParamElement->DoubleAttribute("planeCalib_22");
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// 读取逆旋转矩阵
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_00"))
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cameraParam.invRMatrix[0] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_00");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_01"))
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cameraParam.invRMatrix[1] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_01");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_02"))
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cameraParam.invRMatrix[2] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_02");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_10"))
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cameraParam.invRMatrix[3] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_10");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_11"))
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cameraParam.invRMatrix[4] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_11");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_12"))
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cameraParam.invRMatrix[5] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_12");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_20"))
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cameraParam.invRMatrix[6] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_20");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_21"))
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cameraParam.invRMatrix[7] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_21");
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if (oldPlaneCalibParamElement->Attribute("invRMatrix_22"))
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cameraParam.invRMatrix[8] = oldPlaneCalibParamElement->DoubleAttribute("invRMatrix_22");
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configResult.algorithmParams.planeCalibParam.cameraCalibParams.push_back(cameraParam);
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}
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}
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// 解析调试参数（在AlgorithmParams外面）
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XMLElement* debugParamElement = root->FirstChildElement("DebugParam");
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if (debugParamElement)
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{
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if (debugParamElement->Attribute("enableDebug"))
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configResult.debugParam.enableDebug = debugParamElement->BoolAttribute("enableDebug");
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if (debugParamElement->Attribute("savePointCloud"))
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configResult.debugParam.savePointCloud = debugParamElement->BoolAttribute("savePointCloud");
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if (debugParamElement->Attribute("saveDebugImage"))
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configResult.debugParam.saveDebugImage = debugParamElement->BoolAttribute("saveDebugImage");
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if (debugParamElement->Attribute("printDetailLog"))
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configResult.debugParam.printDetailLog = debugParamElement->BoolAttribute("printDetailLog");
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if (debugParamElement->Attribute("debugOutputPath"))
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configResult.debugParam.debugOutputPath = debugParamElement->Attribute("debugOutputPath");
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}
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// 解析项目类型（默认为拆包）
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configResult.projectType = ProjectType::Workpiece; // 设置默认值
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XMLElement* projectTypeElement = root->FirstChildElement("ProjectType");
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if (projectTypeElement)
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{
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if (projectTypeElement->Attribute("type"))
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{
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std::string typeStr = projectTypeElement->Attribute("type");
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configResult.projectType = StringToProjectType(typeStr);
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}
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}
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// 解析串口配置
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XMLElement* serialConfigElement = root->FirstChildElement("SerialConfig");
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if (serialConfigElement)
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{
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if (serialConfigElement->Attribute("portName"))
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configResult.serialConfig.portName = serialConfigElement->Attribute("portName");
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if (serialConfigElement->Attribute("baudRate"))
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configResult.serialConfig.baudRate = serialConfigElement->IntAttribute("baudRate");
|
|||
|
|
if (serialConfigElement->Attribute("dataBits"))
|
|||
|
|
configResult.serialConfig.dataBits = serialConfigElement->IntAttribute("dataBits");
|
|||
|
|
if (serialConfigElement->Attribute("stopBits"))
|
|||
|
|
configResult.serialConfig.stopBits = serialConfigElement->IntAttribute("stopBits");
|
|||
|
|
if (serialConfigElement->Attribute("parity"))
|
|||
|
|
configResult.serialConfig.parity = serialConfigElement->IntAttribute("parity");
|
|||
|
|
if (serialConfigElement->Attribute("flowControl"))
|
|||
|
|
configResult.serialConfig.flowControl = serialConfigElement->IntAttribute("flowControl");
|
|||
|
|
if (serialConfigElement->Attribute("enabled"))
|
|||
|
|
configResult.serialConfig.enabled = serialConfigElement->BoolAttribute("enabled");
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return LOAD_CONFIG_SUCCESS;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResult)
|
|||
|
|
{
|
|||
|
|
// 创建XML文档
|
|||
|
|
XMLDocument doc;
|
|||
|
|
|
|||
|
|
// 添加声明
|
|||
|
|
XMLDeclaration* declaration = doc.NewDeclaration("xml version=\"1.0\" encoding=\"UTF-8\"");
|
|||
|
|
doc.InsertFirstChild(declaration);
|
|||
|
|
|
|||
|
|
// 创建根元素
|
|||
|
|
XMLElement* root = doc.NewElement("WorkpieceConfig");
|
|||
|
|
doc.InsertEndChild(root);
|
|||
|
|
|
|||
|
|
// 添加摄像头列表
|
|||
|
|
XMLElement* camerasElement = doc.NewElement("Cameras");
|
|||
|
|
root->InsertEndChild(camerasElement);
|
|||
|
|
|
|||
|
|
for (const auto& camera : configResult.cameraList)
|
|||
|
|
{
|
|||
|
|
XMLElement* cameraElement = doc.NewElement("Camera");
|
|||
|
|
cameraElement->SetAttribute("name", camera.name.c_str());
|
|||
|
|
cameraElement->SetAttribute("ip", camera.ip.c_str());
|
|||
|
|
camerasElement->InsertEndChild(cameraElement);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 添加设备列表
|
|||
|
|
XMLElement* devicesElement = doc.NewElement("Devices");
|
|||
|
|
root->InsertEndChild(devicesElement);
|
|||
|
|
|
|||
|
|
for (const auto& device : configResult.deviceList)
|
|||
|
|
{
|
|||
|
|
XMLElement* deviceElement = doc.NewElement("Device");
|
|||
|
|
deviceElement->SetAttribute("name", device.name.c_str());
|
|||
|
|
deviceElement->SetAttribute("ip", device.ip.c_str());
|
|||
|
|
devicesElement->InsertEndChild(deviceElement);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 添加算法参数
|
|||
|
|
XMLElement* algoParamsElement = doc.NewElement("AlgorithmParams");
|
|||
|
|
root->InsertEndChild(algoParamsElement);
|
|||
|
|
|
|||
|
|
// 添加工件参数
|
|||
|
|
XMLElement* workpieceParamElement = doc.NewElement("WorkpieceParam");
|
|||
|
|
workpieceParamElement->SetAttribute("lineLen", configResult.algorithmParams.workpieceParam.lineLen);
|
|||
|
|
algoParamsElement->InsertEndChild(workpieceParamElement);
|
|||
|
|
|
|||
|
|
// 添加滤波参数
|
|||
|
|
XMLElement* filterParamElement = doc.NewElement("FilterParam");
|
|||
|
|
filterParamElement->SetAttribute("continuityTh", configResult.algorithmParams.filterParam.continuityTh);
|
|||
|
|
filterParamElement->SetAttribute("outlierTh", configResult.algorithmParams.filterParam.outlierTh);
|
|||
|
|
algoParamsElement->InsertEndChild(filterParamElement);
|
|||
|
|
|
|||
|
|
// 添加角点参数
|
|||
|
|
XMLElement* cornerParamElement = doc.NewElement("CornerParam");
|
|||
|
|
cornerParamElement->SetAttribute("minEndingGap", configResult.algorithmParams.cornerParam.minEndingGap);
|
|||
|
|
cornerParamElement->SetAttribute("minEndingGap_z", configResult.algorithmParams.cornerParam.minEndingGap_z);
|
|||
|
|
cornerParamElement->SetAttribute("scale", configResult.algorithmParams.cornerParam.scale);
|
|||
|
|
cornerParamElement->SetAttribute("cornerTh", configResult.algorithmParams.cornerParam.cornerTh);
|
|||
|
|
cornerParamElement->SetAttribute("jumpCornerTh_1", configResult.algorithmParams.cornerParam.jumpCornerTh_1);
|
|||
|
|
cornerParamElement->SetAttribute("jumpCornerTh_2", configResult.algorithmParams.cornerParam.jumpCornerTh_2);
|
|||
|
|
algoParamsElement->InsertEndChild(cornerParamElement);
|
|||
|
|
|
|||
|
|
// 添加增长参数
|
|||
|
|
XMLElement* growParamElement = doc.NewElement("GrowParam");
|
|||
|
|
growParamElement->SetAttribute("maxLineSkipNum", configResult.algorithmParams.growParam.maxLineSkipNum);
|
|||
|
|
growParamElement->SetAttribute("yDeviation_max", configResult.algorithmParams.growParam.yDeviation_max);
|
|||
|
|
growParamElement->SetAttribute("maxSkipDistance", configResult.algorithmParams.growParam.maxSkipDistance);
|
|||
|
|
growParamElement->SetAttribute("zDeviation_max", configResult.algorithmParams.growParam.zDeviation_max);
|
|||
|
|
growParamElement->SetAttribute("minLTypeTreeLen", configResult.algorithmParams.growParam.minLTypeTreeLen);
|
|||
|
|
growParamElement->SetAttribute("minVTypeTreeLen", configResult.algorithmParams.growParam.minVTypeTreeLen);
|
|||
|
|
algoParamsElement->InsertEndChild(growParamElement);
|
|||
|
|
|
|||
|
|
// 添加多相机平面校准参数
|
|||
|
|
XMLElement* planeCalibParamsElement = doc.NewElement("PlaneCalibParams");
|
|||
|
|
|
|||
|
|
for (const auto& cameraParam : configResult.algorithmParams.planeCalibParam.cameraCalibParams)
|
|||
|
|
{
|
|||
|
|
XMLElement* cameraCalibParamElement = doc.NewElement("CameraCalibParam");
|
|||
|
|
cameraCalibParamElement->SetAttribute("cameraIndex", cameraParam.cameraIndex);
|
|||
|
|
cameraCalibParamElement->SetAttribute("cameraName", cameraParam.cameraName.c_str());
|
|||
|
|
cameraCalibParamElement->SetAttribute("isCalibrated", cameraParam.isCalibrated);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeHeight", cameraParam.planeHeight);
|
|||
|
|
|
|||
|
|
// 保存旋转矩阵planeCalib[9] (3x3矩阵)
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_00", cameraParam.planeCalib[0]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_01", cameraParam.planeCalib[1]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_02", cameraParam.planeCalib[2]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_10", cameraParam.planeCalib[3]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_11", cameraParam.planeCalib[4]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_12", cameraParam.planeCalib[5]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_20", cameraParam.planeCalib[6]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_21", cameraParam.planeCalib[7]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("planeCalib_22", cameraParam.planeCalib[8]);
|
|||
|
|
|
|||
|
|
// 保存逆旋转矩阵invRMatrix[9] (3x3矩阵)
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_00", cameraParam.invRMatrix[0]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_01", cameraParam.invRMatrix[1]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_02", cameraParam.invRMatrix[2]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_10", cameraParam.invRMatrix[3]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_11", cameraParam.invRMatrix[4]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_12", cameraParam.invRMatrix[5]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_20", cameraParam.invRMatrix[6]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_21", cameraParam.invRMatrix[7]);
|
|||
|
|
cameraCalibParamElement->SetAttribute("invRMatrix_22", cameraParam.invRMatrix[8]);
|
|||
|
|
|
|||
|
|
planeCalibParamsElement->InsertEndChild(cameraCalibParamElement);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
algoParamsElement->InsertEndChild(planeCalibParamsElement);
|
|||
|
|
|
|||
|
|
// 添加项目类型
|
|||
|
|
XMLElement* projectTypeElement = doc.NewElement("ProjectType");
|
|||
|
|
projectTypeElement->SetAttribute("type", ProjectTypeToString(configResult.projectType).c_str());
|
|||
|
|
root->InsertEndChild(projectTypeElement);
|
|||
|
|
|
|||
|
|
// 添加调试参数（在AlgorithmParams外面）
|
|||
|
|
XMLElement* debugParamElement = doc.NewElement("DebugParam");
|
|||
|
|
debugParamElement->SetAttribute("enableDebug", configResult.debugParam.enableDebug);
|
|||
|
|
debugParamElement->SetAttribute("savePointCloud", configResult.debugParam.savePointCloud);
|
|||
|
|
debugParamElement->SetAttribute("saveDebugImage", configResult.debugParam.saveDebugImage);
|
|||
|
|
debugParamElement->SetAttribute("printDetailLog", configResult.debugParam.printDetailLog);
|
|||
|
|
debugParamElement->SetAttribute("debugOutputPath", configResult.debugParam.debugOutputPath.c_str());
|
|||
|
|
root->InsertEndChild(debugParamElement);
|
|||
|
|
|
|||
|
|
// 添加串口配置
|
|||
|
|
XMLElement* serialConfigElement = doc.NewElement("SerialConfig");
|
|||
|
|
serialConfigElement->SetAttribute("portName", configResult.serialConfig.portName.c_str());
|
|||
|
|
serialConfigElement->SetAttribute("baudRate", configResult.serialConfig.baudRate);
|
|||
|
|
serialConfigElement->SetAttribute("dataBits", configResult.serialConfig.dataBits);
|
|||
|
|
serialConfigElement->SetAttribute("stopBits", configResult.serialConfig.stopBits);
|
|||
|
|
serialConfigElement->SetAttribute("parity", configResult.serialConfig.parity);
|
|||
|
|
serialConfigElement->SetAttribute("flowControl", configResult.serialConfig.flowControl);
|
|||
|
|
serialConfigElement->SetAttribute("enabled", configResult.serialConfig.enabled);
|
|||
|
|
root->InsertEndChild(serialConfigElement);
|
|||
|
|
|
|||
|
|
// 保存到文件
|
|||
|
|
XMLError err = doc.SaveFile(filePath.c_str());
|
|||
|
|
if (err != XML_SUCCESS)
|
|||
|
|
{
|
|||
|
|
std::cerr << "无法保存配置文件: " << filePath << std::endl;
|
|||
|
|
return false;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 触发配置改变通知
|
|||
|
|
if (m_pNotify)
|
|||
|
|
{
|
|||
|
|
m_pNotify->OnConfigChanged(configResult);
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
return true;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
// 设置配置改变通知回调
|
|||
|
|
void CVrConfig::SetConfigChangeNotify(IVrConfigChangeNotify* notify)
|
|||
|
|
{
|
|||
|
|
m_pNotify = notify;
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
|
|||
|
|
/**
|
|||
|
|
* @brief 创建实例
|
|||
|
|
* @return 实例
|
|||
|
|
*/
|
|||
|
|
bool IVrConfig::CreateInstance(IVrConfig** ppVrConfig)
|
|||
|
|
{
|
|||
|
|
*ppVrConfig = new CVrConfig() ;
|
|||
|
|
return *ppVrConfig != nullptr;
|
|||
|
|
}
|