406 lines
21 KiB
C++
406 lines
21 KiB
C++
#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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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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ConfigResult CVrConfig::LoadConfig(const std::string& filePath)
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{
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ConfigResult result;
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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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std::cerr << "open config file failed: " << filePath << std::endl;
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return result;
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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()) != "VrConfig")
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{
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std::cerr << "config file format error: root element is not VrConfig" << std::endl;
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return result;
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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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result.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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result.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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// 解析编织袋参数
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XMLElement* bagParamElement = algoParamsElement->FirstChildElement("BagParam");
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if (bagParamElement)
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{
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if (bagParamElement->Attribute("bagL"))
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result.algorithmParams.bagParam.bagL = bagParamElement->DoubleAttribute("bagL");
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if (bagParamElement->Attribute("bagW"))
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result.algorithmParams.bagParam.bagW = bagParamElement->DoubleAttribute("bagW");
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if (bagParamElement->Attribute("bagH"))
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result.algorithmParams.bagParam.bagH = bagParamElement->DoubleAttribute("bagH");
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}
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// 解析垛参数
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XMLElement* pileParamElement = algoParamsElement->FirstChildElement("PileParam");
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if (pileParamElement)
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{
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if (pileParamElement->Attribute("pileL"))
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result.algorithmParams.pileParam.pileL = pileParamElement->DoubleAttribute("pileL");
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if (pileParamElement->Attribute("pileW"))
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result.algorithmParams.pileParam.pileW = pileParamElement->DoubleAttribute("pileW");
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if (pileParamElement->Attribute("pileH"))
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result.algorithmParams.pileParam.pileH = pileParamElement->DoubleAttribute("pileH");
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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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result.algorithmParams.filterParam.continuityTh = filterParamElement->DoubleAttribute("continuityTh");
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if (filterParamElement->Attribute("outlierTh"))
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result.algorithmParams.filterParam.outlierTh = filterParamElement->IntAttribute("outlierTh");
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}
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// 解析角点特征参数
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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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result.algorithmParams.cornerParam.minEndingGap = cornerParamElement->DoubleAttribute("minEndingGap");
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if (cornerParamElement->Attribute("scale"))
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result.algorithmParams.cornerParam.scale = cornerParamElement->DoubleAttribute("scale");
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if (cornerParamElement->Attribute("cornerTh"))
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result.algorithmParams.cornerParam.cornerTh = cornerParamElement->DoubleAttribute("cornerTh");
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if (cornerParamElement->Attribute("jumpCornerTh_1"))
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result.algorithmParams.cornerParam.jumpCornerTh_1 = cornerParamElement->DoubleAttribute("jumpCornerTh_1");
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if (cornerParamElement->Attribute("jumpCornerTh_2"))
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result.algorithmParams.cornerParam.jumpCornerTh_2 = cornerParamElement->DoubleAttribute("jumpCornerTh_2");
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}
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// 解析斜率参数
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XMLElement* slopeParamElement = algoParamsElement->FirstChildElement("SlopeParam");
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if (slopeParamElement)
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{
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if (slopeParamElement->Attribute("LSlopeZWin"))
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result.algorithmParams.slopeParam.LSlopeZWin = slopeParamElement->DoubleAttribute("LSlopeZWin");
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if (slopeParamElement->Attribute("validSlopeH"))
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result.algorithmParams.slopeParam.validSlopeH = slopeParamElement->DoubleAttribute("validSlopeH");
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if (slopeParamElement->Attribute("minLJumpH"))
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result.algorithmParams.slopeParam.minLJumpH = slopeParamElement->DoubleAttribute("minLJumpH");
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if (slopeParamElement->Attribute("minEndingGap"))
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result.algorithmParams.slopeParam.minEndingGap = slopeParamElement->DoubleAttribute("minEndingGap");
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}
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// 解析山谷参数
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XMLElement* valleyParamElement = algoParamsElement->FirstChildElement("ValleyParam");
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if (valleyParamElement)
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{
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if (valleyParamElement->Attribute("valleyMinH"))
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result.algorithmParams.valleyParam.valleyMinH = valleyParamElement->DoubleAttribute("valleyMinH");
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if (valleyParamElement->Attribute("valleyMaxW"))
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result.algorithmParams.valleyParam.valleyMaxW = valleyParamElement->DoubleAttribute("valleyMaxW");
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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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result.algorithmParams.growParam.maxLineSkipNum = growParamElement->IntAttribute("maxLineSkipNum");
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if (growParamElement->Attribute("yDeviation_max"))
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result.algorithmParams.growParam.yDeviation_max = growParamElement->DoubleAttribute("yDeviation_max");
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if (growParamElement->Attribute("maxSkipDistance"))
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result.algorithmParams.growParam.maxSkipDistance = growParamElement->DoubleAttribute("maxSkipDistance");
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if (growParamElement->Attribute("zDeviation_max"))
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result.algorithmParams.growParam.zDeviation_max = growParamElement->DoubleAttribute("zDeviation_max");
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if (growParamElement->Attribute("minLTypeTreeLen"))
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result.algorithmParams.growParam.minLTypeTreeLen = growParamElement->DoubleAttribute("minLTypeTreeLen");
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if (growParamElement->Attribute("minVTypeTreeLen"))
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result.algorithmParams.growParam.minVTypeTreeLen = growParamElement->DoubleAttribute("minVTypeTreeLen");
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}
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// 解析平面校准参数
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XMLElement* planeCalibParamElement = algoParamsElement->FirstChildElement("PlaneCalibParam");
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if (planeCalibParamElement)
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{
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if (planeCalibParamElement->Attribute("planeHeight"))
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result.algorithmParams.planeCalibParam.planeHeight = planeCalibParamElement->DoubleAttribute("planeHeight");
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// 读取旋转矩阵planeCalib[9] (3x3矩阵)
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if (planeCalibParamElement->Attribute("planeCalib_00"))
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result.algorithmParams.planeCalibParam.planeCalib[0] = planeCalibParamElement->DoubleAttribute("planeCalib_00");
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if (planeCalibParamElement->Attribute("planeCalib_01"))
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result.algorithmParams.planeCalibParam.planeCalib[1] = planeCalibParamElement->DoubleAttribute("planeCalib_01");
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if (planeCalibParamElement->Attribute("planeCalib_02"))
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result.algorithmParams.planeCalibParam.planeCalib[2] = planeCalibParamElement->DoubleAttribute("planeCalib_02");
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if (planeCalibParamElement->Attribute("planeCalib_10"))
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result.algorithmParams.planeCalibParam.planeCalib[3] = planeCalibParamElement->DoubleAttribute("planeCalib_10");
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if (planeCalibParamElement->Attribute("planeCalib_11"))
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result.algorithmParams.planeCalibParam.planeCalib[4] = planeCalibParamElement->DoubleAttribute("planeCalib_11");
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if (planeCalibParamElement->Attribute("planeCalib_12"))
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result.algorithmParams.planeCalibParam.planeCalib[5] = planeCalibParamElement->DoubleAttribute("planeCalib_12");
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if (planeCalibParamElement->Attribute("planeCalib_20"))
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result.algorithmParams.planeCalibParam.planeCalib[6] = planeCalibParamElement->DoubleAttribute("planeCalib_20");
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if (planeCalibParamElement->Attribute("planeCalib_21"))
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result.algorithmParams.planeCalibParam.planeCalib[7] = planeCalibParamElement->DoubleAttribute("planeCalib_21");
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if (planeCalibParamElement->Attribute("planeCalib_22"))
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result.algorithmParams.planeCalibParam.planeCalib[8] = planeCalibParamElement->DoubleAttribute("planeCalib_22");
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// 读取逆旋转矩阵invRMatrix[9] (3x3矩阵)
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if (planeCalibParamElement->Attribute("invRMatrix_00"))
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result.algorithmParams.planeCalibParam.invRMatrix[0] = planeCalibParamElement->DoubleAttribute("invRMatrix_00");
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if (planeCalibParamElement->Attribute("invRMatrix_01"))
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result.algorithmParams.planeCalibParam.invRMatrix[1] = planeCalibParamElement->DoubleAttribute("invRMatrix_01");
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if (planeCalibParamElement->Attribute("invRMatrix_02"))
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result.algorithmParams.planeCalibParam.invRMatrix[2] = planeCalibParamElement->DoubleAttribute("invRMatrix_02");
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if (planeCalibParamElement->Attribute("invRMatrix_10"))
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result.algorithmParams.planeCalibParam.invRMatrix[3] = planeCalibParamElement->DoubleAttribute("invRMatrix_10");
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if (planeCalibParamElement->Attribute("invRMatrix_11"))
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result.algorithmParams.planeCalibParam.invRMatrix[4] = planeCalibParamElement->DoubleAttribute("invRMatrix_11");
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if (planeCalibParamElement->Attribute("invRMatrix_12"))
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result.algorithmParams.planeCalibParam.invRMatrix[5] = planeCalibParamElement->DoubleAttribute("invRMatrix_12");
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if (planeCalibParamElement->Attribute("invRMatrix_20"))
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result.algorithmParams.planeCalibParam.invRMatrix[6] = planeCalibParamElement->DoubleAttribute("invRMatrix_20");
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if (planeCalibParamElement->Attribute("invRMatrix_21"))
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result.algorithmParams.planeCalibParam.invRMatrix[7] = planeCalibParamElement->DoubleAttribute("invRMatrix_21");
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if (planeCalibParamElement->Attribute("invRMatrix_22"))
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result.algorithmParams.planeCalibParam.invRMatrix[8] = planeCalibParamElement->DoubleAttribute("invRMatrix_22");
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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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result.debugParam.enableDebug = debugParamElement->BoolAttribute("enableDebug");
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if (debugParamElement->Attribute("savePointCloud"))
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result.debugParam.savePointCloud = debugParamElement->BoolAttribute("savePointCloud");
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if (debugParamElement->Attribute("saveDebugImage"))
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result.debugParam.saveDebugImage = debugParamElement->BoolAttribute("saveDebugImage");
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if (debugParamElement->Attribute("printDetailLog"))
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result.debugParam.printDetailLog = debugParamElement->BoolAttribute("printDetailLog");
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if (debugParamElement->Attribute("debugOutputPath"))
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result.debugParam.debugOutputPath = debugParamElement->Attribute("debugOutputPath");
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}
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return result;
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}
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bool CVrConfig::SaveConfig(const std::string& filePath, ConfigResult& configResult)
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{
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// 创建XML文档
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XMLDocument doc;
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// 添加声明
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XMLDeclaration* declaration = doc.NewDeclaration("xml version=\"1.0\" encoding=\"UTF-8\"");
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doc.InsertFirstChild(declaration);
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// 创建根元素
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XMLElement* root = doc.NewElement("VrConfig");
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doc.InsertEndChild(root);
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// 添加摄像头列表
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XMLElement* camerasElement = doc.NewElement("Cameras");
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root->InsertEndChild(camerasElement);
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for (const auto& camera : configResult.cameraList)
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{
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XMLElement* cameraElement = doc.NewElement("Camera");
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cameraElement->SetAttribute("name", camera.name.c_str());
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cameraElement->SetAttribute("ip", camera.ip.c_str());
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camerasElement->InsertEndChild(cameraElement);
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}
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// 添加设备列表
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XMLElement* devicesElement = doc.NewElement("Devices");
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root->InsertEndChild(devicesElement);
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for (const auto& device : configResult.deviceList)
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{
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XMLElement* deviceElement = doc.NewElement("Device");
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deviceElement->SetAttribute("name", device.name.c_str());
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deviceElement->SetAttribute("ip", device.ip.c_str());
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devicesElement->InsertEndChild(deviceElement);
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}
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// 添加算法参数
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XMLElement* algoParamsElement = doc.NewElement("AlgorithmParams");
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root->InsertEndChild(algoParamsElement);
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// 添加编织袋参数
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XMLElement* bagParamElement = doc.NewElement("BagParam");
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bagParamElement->SetAttribute("bagL", configResult.algorithmParams.bagParam.bagL);
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bagParamElement->SetAttribute("bagW", configResult.algorithmParams.bagParam.bagW);
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bagParamElement->SetAttribute("bagH", configResult.algorithmParams.bagParam.bagH);
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algoParamsElement->InsertEndChild(bagParamElement);
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// 添加垛参数
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XMLElement* pileParamElement = doc.NewElement("PileParam");
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pileParamElement->SetAttribute("pileL", configResult.algorithmParams.pileParam.pileL);
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pileParamElement->SetAttribute("pileW", configResult.algorithmParams.pileParam.pileW);
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pileParamElement->SetAttribute("pileH", configResult.algorithmParams.pileParam.pileH);
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algoParamsElement->InsertEndChild(pileParamElement);
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// 添加滤波参数
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XMLElement* filterParamElement = doc.NewElement("FilterParam");
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filterParamElement->SetAttribute("continuityTh", configResult.algorithmParams.filterParam.continuityTh);
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filterParamElement->SetAttribute("outlierTh", configResult.algorithmParams.filterParam.outlierTh);
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algoParamsElement->InsertEndChild(filterParamElement);
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// 添加角点特征参数
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XMLElement* cornerParamElement = doc.NewElement("CornerParam");
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cornerParamElement->SetAttribute("minEndingGap", configResult.algorithmParams.cornerParam.minEndingGap);
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cornerParamElement->SetAttribute("scale", configResult.algorithmParams.cornerParam.scale);
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cornerParamElement->SetAttribute("cornerTh", configResult.algorithmParams.cornerParam.cornerTh);
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cornerParamElement->SetAttribute("jumpCornerTh_1", configResult.algorithmParams.cornerParam.jumpCornerTh_1);
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cornerParamElement->SetAttribute("jumpCornerTh_2", configResult.algorithmParams.cornerParam.jumpCornerTh_2);
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algoParamsElement->InsertEndChild(cornerParamElement);
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// 添加斜率参数
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XMLElement* slopeParamElement = doc.NewElement("SlopeParam");
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slopeParamElement->SetAttribute("LSlopeZWin", configResult.algorithmParams.slopeParam.LSlopeZWin);
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slopeParamElement->SetAttribute("validSlopeH", configResult.algorithmParams.slopeParam.validSlopeH);
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slopeParamElement->SetAttribute("minLJumpH", configResult.algorithmParams.slopeParam.minLJumpH);
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slopeParamElement->SetAttribute("minEndingGap", configResult.algorithmParams.slopeParam.minEndingGap);
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algoParamsElement->InsertEndChild(slopeParamElement);
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// 添加山谷参数
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XMLElement* valleyParamElement = doc.NewElement("ValleyParam");
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valleyParamElement->SetAttribute("valleyMinH", configResult.algorithmParams.valleyParam.valleyMinH);
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valleyParamElement->SetAttribute("valleyMaxW", configResult.algorithmParams.valleyParam.valleyMaxW);
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algoParamsElement->InsertEndChild(valleyParamElement);
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// 添加增长参数
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XMLElement* growParamElement = doc.NewElement("GrowParam");
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growParamElement->SetAttribute("maxLineSkipNum", configResult.algorithmParams.growParam.maxLineSkipNum);
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growParamElement->SetAttribute("yDeviation_max", configResult.algorithmParams.growParam.yDeviation_max);
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growParamElement->SetAttribute("maxSkipDistance", configResult.algorithmParams.growParam.maxSkipDistance);
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growParamElement->SetAttribute("zDeviation_max", configResult.algorithmParams.growParam.zDeviation_max);
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growParamElement->SetAttribute("minLTypeTreeLen", configResult.algorithmParams.growParam.minLTypeTreeLen);
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growParamElement->SetAttribute("minVTypeTreeLen", configResult.algorithmParams.growParam.minVTypeTreeLen);
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algoParamsElement->InsertEndChild(growParamElement);
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// 添加平面校准参数
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XMLElement* planeCalibParamElement = doc.NewElement("PlaneCalibParam");
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planeCalibParamElement->SetAttribute("planeHeight", configResult.algorithmParams.planeCalibParam.planeHeight);
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// 保存旋转矩阵planeCalib[9] (3x3矩阵)
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planeCalibParamElement->SetAttribute("planeCalib_00", configResult.algorithmParams.planeCalibParam.planeCalib[0]);
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planeCalibParamElement->SetAttribute("planeCalib_01", configResult.algorithmParams.planeCalibParam.planeCalib[1]);
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planeCalibParamElement->SetAttribute("planeCalib_02", configResult.algorithmParams.planeCalibParam.planeCalib[2]);
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planeCalibParamElement->SetAttribute("planeCalib_10", configResult.algorithmParams.planeCalibParam.planeCalib[3]);
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planeCalibParamElement->SetAttribute("planeCalib_11", configResult.algorithmParams.planeCalibParam.planeCalib[4]);
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planeCalibParamElement->SetAttribute("planeCalib_12", configResult.algorithmParams.planeCalibParam.planeCalib[5]);
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planeCalibParamElement->SetAttribute("planeCalib_20", configResult.algorithmParams.planeCalibParam.planeCalib[6]);
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planeCalibParamElement->SetAttribute("planeCalib_21", configResult.algorithmParams.planeCalibParam.planeCalib[7]);
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planeCalibParamElement->SetAttribute("planeCalib_22", configResult.algorithmParams.planeCalibParam.planeCalib[8]);
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// 保存逆旋转矩阵invRMatrix[9] (3x3矩阵)
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planeCalibParamElement->SetAttribute("invRMatrix_00", configResult.algorithmParams.planeCalibParam.invRMatrix[0]);
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planeCalibParamElement->SetAttribute("invRMatrix_01", configResult.algorithmParams.planeCalibParam.invRMatrix[1]);
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planeCalibParamElement->SetAttribute("invRMatrix_02", configResult.algorithmParams.planeCalibParam.invRMatrix[2]);
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planeCalibParamElement->SetAttribute("invRMatrix_10", configResult.algorithmParams.planeCalibParam.invRMatrix[3]);
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planeCalibParamElement->SetAttribute("invRMatrix_11", configResult.algorithmParams.planeCalibParam.invRMatrix[4]);
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planeCalibParamElement->SetAttribute("invRMatrix_12", configResult.algorithmParams.planeCalibParam.invRMatrix[5]);
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planeCalibParamElement->SetAttribute("invRMatrix_20", configResult.algorithmParams.planeCalibParam.invRMatrix[6]);
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planeCalibParamElement->SetAttribute("invRMatrix_21", configResult.algorithmParams.planeCalibParam.invRMatrix[7]);
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planeCalibParamElement->SetAttribute("invRMatrix_22", configResult.algorithmParams.planeCalibParam.invRMatrix[8]);
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algoParamsElement->InsertEndChild(planeCalibParamElement);
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// 添加调试参数（在AlgorithmParams外面）
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XMLElement* debugParamElement = doc.NewElement("DebugParam");
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debugParamElement->SetAttribute("enableDebug", configResult.debugParam.enableDebug);
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debugParamElement->SetAttribute("savePointCloud", configResult.debugParam.savePointCloud);
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debugParamElement->SetAttribute("saveDebugImage", configResult.debugParam.saveDebugImage);
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debugParamElement->SetAttribute("printDetailLog", configResult.debugParam.printDetailLog);
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debugParamElement->SetAttribute("debugOutputPath", configResult.debugParam.debugOutputPath.c_str());
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root->InsertEndChild(debugParamElement);
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// 保存到文件
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XMLError err = doc.SaveFile(filePath.c_str());
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if (err != XML_SUCCESS)
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{
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std::cerr << "无法保存配置文件: " << filePath << std::endl;
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return false;
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}
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// 触发配置改变通知
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if (m_pNotify)
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{
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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;
|
||
}
|