238 lines
7.5 KiB
C++
238 lines
7.5 KiB
C++
#ifndef VRCOMMONCONFIG_H
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#define VRCOMMONCONFIG_H
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#include <string>
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#include <vector>
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#include <algorithm>
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#include <cstring>
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/**
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* @brief 设备信息结构体（通用版本）
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*
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* 用于描述相机等设备的基本信息
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*/
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struct DeviceInfo
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{
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int index = 0; // 设备序号（1-based，可选）
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std::string name; // 设备名称
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std::string ip; // 设备IP地址
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// 显式赋值构造函数
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DeviceInfo& operator=(const DeviceInfo& other) {
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if (this != &other) {
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index = other.index;
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name = other.name;
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ip = other.ip;
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}
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return *this;
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}
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// 显式复制构造函数
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DeviceInfo(const DeviceInfo& other)
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: index(other.index)
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, name(other.name)
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, ip(other.ip) {
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}
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// 默认构造函数
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DeviceInfo() = default;
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};
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/**
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* @brief 串口配置信息
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*/
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struct SerialConfig
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{
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#ifdef _WIN32
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std::string portName = "COM6"; // 串口名称
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#else
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std::string portName = "/dev/ttyS3"; // 串口名称
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#endif
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int baudRate = 115200; // 波特率
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int dataBits = 8; // 数据位
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int stopBits = 1; // 停止位
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int parity = 0; // 校验位 (0-无校验, 1-奇校验, 2-偶校验)
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int flowControl = 0; // 流控制 (0-无, 1-硬件, 2-软件)
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bool enabled = true; // 是否启用串口通信
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// 显式赋值构造函数
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SerialConfig& operator=(const SerialConfig& other) {
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if (this != &other) {
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portName = other.portName;
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baudRate = other.baudRate;
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dataBits = other.dataBits;
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stopBits = other.stopBits;
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parity = other.parity;
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flowControl = other.flowControl;
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enabled = other.enabled;
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}
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return *this;
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}
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// 显式复制构造函数
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SerialConfig(const SerialConfig& other)
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: portName(other.portName)
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, baudRate(other.baudRate)
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, dataBits(other.dataBits)
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, stopBits(other.stopBits)
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, parity(other.parity)
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, flowControl(other.flowControl)
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, enabled(other.enabled) {
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}
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// 默认构造函数
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SerialConfig() = default;
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};
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/**
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* @brief 单个相机的平面校准参数
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*/
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struct VrCameraPlaneCalibParam
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{
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int cameraIndex = 1; // 相机索引（1-based）
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std::string cameraName = ""; // 相机名称
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double planeCalib[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; // 旋转矩阵（默认单位矩阵）
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double planeHeight = -1.0; // 参考平面的高度，用于去除地面数据
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double invRMatrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; // 逆旋转矩阵（默认单位矩阵）
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bool isCalibrated = false; // 是否已经校准
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// 显式赋值构造函数
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VrCameraPlaneCalibParam& operator=(const VrCameraPlaneCalibParam& other) {
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if (this != &other) {
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cameraIndex = other.cameraIndex;
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cameraName = other.cameraName;
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memcpy(planeCalib, other.planeCalib, sizeof(planeCalib));
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planeHeight = other.planeHeight;
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memcpy(invRMatrix, other.invRMatrix, sizeof(invRMatrix));
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isCalibrated = other.isCalibrated;
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}
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return *this;
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}
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// 显式复制构造函数
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VrCameraPlaneCalibParam(const VrCameraPlaneCalibParam& other)
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: cameraIndex(other.cameraIndex)
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, cameraName(other.cameraName)
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, planeHeight(other.planeHeight)
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, isCalibrated(other.isCalibrated) {
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memcpy(planeCalib, other.planeCalib, sizeof(planeCalib));
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memcpy(invRMatrix, other.invRMatrix, sizeof(invRMatrix));
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}
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// 默认构造函数
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VrCameraPlaneCalibParam() = default;
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};
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/**
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* @brief 平面校准参数（支持多相机）
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*/
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struct VrPlaneCalibParam
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{
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std::vector<VrCameraPlaneCalibParam> cameraCalibParams; // 各个相机的校准参数
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// 获取指定相机的校准参数（C++11兼容方式，返回bool，通过引用参数传出结果）
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// 返回true表示找到该相机的参数，false表示未找到
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bool GetCameraCalibParam(int cameraIndex, VrCameraPlaneCalibParam& outParam) const {
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for (const auto& param : cameraCalibParams) {
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if (param.cameraIndex == cameraIndex) {
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outParam = param; // 返回一个副本
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return true;
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}
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}
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return false;
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}
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// 设置或更新指定相机的校准参数
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void SetCameraCalibParam(const VrCameraPlaneCalibParam& param) {
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for (auto& existingParam : cameraCalibParams) {
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if (existingParam.cameraIndex == param.cameraIndex) {
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existingParam = param;
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return;
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}
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}
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// 如果不存在，则添加新的
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cameraCalibParams.push_back(param);
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}
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// 移除指定相机的校准参数
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void RemoveCameraCalibParam(int cameraIndex) {
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cameraCalibParams.erase(
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std::remove_if(cameraCalibParams.begin(), cameraCalibParams.end(),
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[cameraIndex](const VrCameraPlaneCalibParam& param) {
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return param.cameraIndex == cameraIndex;
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}),
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cameraCalibParams.end());
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}
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// 显式赋值构造函数
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VrPlaneCalibParam& operator=(const VrPlaneCalibParam& other) {
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if (this != &other) {
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cameraCalibParams = other.cameraCalibParams;
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}
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return *this;
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}
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// 显式复制构造函数
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VrPlaneCalibParam(const VrPlaneCalibParam& other)
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: cameraCalibParams(other.cameraCalibParams) {
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}
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// 默认构造函数
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VrPlaneCalibParam() = default;
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};
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/**
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* @brief 调试参数
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*/
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struct VrDebugParam
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{
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bool enableDebug = true; // 是否开启调试模式
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bool savePointCloud = false; // 是否保存点云数据
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bool saveDebugImage = false; // 是否保存调试图像
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bool printDetailLog = true; // 是否打印详细日志
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std::string debugOutputPath = ""; // 调试输出路径
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// 显式赋值构造函数
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VrDebugParam& operator=(const VrDebugParam& other) {
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if (this != &other) {
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enableDebug = other.enableDebug;
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savePointCloud = other.savePointCloud;
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saveDebugImage = other.saveDebugImage;
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printDetailLog = other.printDetailLog;
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debugOutputPath = other.debugOutputPath;
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}
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return *this;
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}
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// 显式复制构造函数
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VrDebugParam(const VrDebugParam& other)
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: enableDebug(other.enableDebug)
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, savePointCloud(other.savePointCloud)
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, saveDebugImage(other.saveDebugImage)
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, printDetailLog(other.printDetailLog)
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, debugOutputPath(other.debugOutputPath) {
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}
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// 默认构造函数
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VrDebugParam() = default;
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};
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/**
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* @brief 配置改变通知接口（前向声明ConfigResult）
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*/
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struct ConfigResult;
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class IVrConfigChangeNotify
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{
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public:
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virtual ~IVrConfigChangeNotify() {}
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/**
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* @brief 配置数据改变通知
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* @param configResult 新的配置数据
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*/
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virtual void OnConfigChanged(const ConfigResult& configResult) = 0;
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};
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#endif // VRCOMMONCONFIG_H
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