317 lines
14 KiB
C++
317 lines
14 KiB
C++
#include "VrConfig.h"
|
|
#include <iostream>
|
|
#include <vector>
|
|
#include <string>
|
|
|
|
using namespace tinyxml2;
|
|
|
|
CVrConfig::CVrConfig() : m_pNotify(nullptr)
|
|
{
|
|
// 构造函数
|
|
}
|
|
|
|
CVrConfig::~CVrConfig()
|
|
{
|
|
// 析构函数
|
|
}
|
|
|
|
ConfigResult CVrConfig::LoadConfig(const std::string& filePath)
|
|
{
|
|
ConfigResult result;
|
|
|
|
// 使用tinyxml2库加载XML文件
|
|
XMLDocument doc;
|
|
XMLError err = doc.LoadFile(filePath.c_str());
|
|
if (err != XML_SUCCESS)
|
|
{
|
|
std::cerr << "open config file failed: " << filePath << std::endl;
|
|
return result;
|
|
}
|
|
|
|
// 获取根元素
|
|
XMLElement* root = doc.RootElement();
|
|
if (!root || std::string(root->Name()) != "VrConfig")
|
|
{
|
|
std::cerr << "config file format error: root element is not VrConfig" << std::endl;
|
|
return result;
|
|
}
|
|
|
|
// 解析摄像头列表
|
|
XMLElement* camerasElement = root->FirstChildElement("Cameras");
|
|
if (camerasElement)
|
|
{
|
|
XMLElement* cameraElement = camerasElement->FirstChildElement("Camera");
|
|
while (cameraElement)
|
|
{
|
|
DeviceInfo camera;
|
|
if (cameraElement->Attribute("name"))
|
|
camera.name = cameraElement->Attribute("name");
|
|
|
|
if (cameraElement->Attribute("ip"))
|
|
camera.ip = cameraElement->Attribute("ip");
|
|
|
|
result.cameraList.push_back(camera);
|
|
cameraElement = cameraElement->NextSiblingElement("Camera");
|
|
}
|
|
}
|
|
|
|
// 解析设备列表
|
|
XMLElement* devicesElement = root->FirstChildElement("Devices");
|
|
if (devicesElement)
|
|
{
|
|
XMLElement* deviceElement = devicesElement->FirstChildElement("Device");
|
|
while (deviceElement)
|
|
{
|
|
DeviceInfo device;
|
|
if (deviceElement->Attribute("name"))
|
|
device.name = deviceElement->Attribute("name");
|
|
|
|
if (deviceElement->Attribute("ip"))
|
|
device.ip = deviceElement->Attribute("ip");
|
|
|
|
result.deviceList.push_back(device);
|
|
deviceElement = deviceElement->NextSiblingElement("Device");
|
|
}
|
|
}
|
|
|
|
// 解析算法参数
|
|
XMLElement* algoParamsElement = root->FirstChildElement("AlgorithmParams");
|
|
if (algoParamsElement)
|
|
{
|
|
// 解析编织袋参数
|
|
XMLElement* bagParamElement = algoParamsElement->FirstChildElement("BagParam");
|
|
if (bagParamElement)
|
|
{
|
|
if (bagParamElement->Attribute("bagL"))
|
|
result.algorithmParams.bagParam.bagL = bagParamElement->DoubleAttribute("bagL");
|
|
if (bagParamElement->Attribute("bagW"))
|
|
result.algorithmParams.bagParam.bagW = bagParamElement->DoubleAttribute("bagW");
|
|
if (bagParamElement->Attribute("bagH"))
|
|
result.algorithmParams.bagParam.bagH = bagParamElement->DoubleAttribute("bagH");
|
|
}
|
|
|
|
// 解析垛参数
|
|
XMLElement* pileParamElement = algoParamsElement->FirstChildElement("PileParam");
|
|
if (pileParamElement)
|
|
{
|
|
if (pileParamElement->Attribute("pileL"))
|
|
result.algorithmParams.pileParam.pileL = pileParamElement->DoubleAttribute("pileL");
|
|
if (pileParamElement->Attribute("pileW"))
|
|
result.algorithmParams.pileParam.pileW = pileParamElement->DoubleAttribute("pileW");
|
|
if (pileParamElement->Attribute("pileH"))
|
|
result.algorithmParams.pileParam.pileH = pileParamElement->DoubleAttribute("pileH");
|
|
}
|
|
|
|
// 解析滤波参数
|
|
XMLElement* filterParamElement = algoParamsElement->FirstChildElement("FilterParam");
|
|
if (filterParamElement)
|
|
{
|
|
if (filterParamElement->Attribute("continuityTh"))
|
|
result.algorithmParams.filterParam.continuityTh = filterParamElement->DoubleAttribute("continuityTh");
|
|
if (filterParamElement->Attribute("outlierTh"))
|
|
result.algorithmParams.filterParam.outlierTh = filterParamElement->IntAttribute("outlierTh");
|
|
}
|
|
|
|
// 解析角点特征参数
|
|
XMLElement* cornerParamElement = algoParamsElement->FirstChildElement("CornerParam");
|
|
if (cornerParamElement)
|
|
{
|
|
if (cornerParamElement->Attribute("minEndingGap"))
|
|
result.algorithmParams.cornerParam.minEndingGap = cornerParamElement->DoubleAttribute("minEndingGap");
|
|
if (cornerParamElement->Attribute("scale"))
|
|
result.algorithmParams.cornerParam.scale = cornerParamElement->DoubleAttribute("scale");
|
|
if (cornerParamElement->Attribute("cornerTh"))
|
|
result.algorithmParams.cornerParam.cornerTh = cornerParamElement->DoubleAttribute("cornerTh");
|
|
if (cornerParamElement->Attribute("jumpCornerTh_1"))
|
|
result.algorithmParams.cornerParam.jumpCornerTh_1 = cornerParamElement->DoubleAttribute("jumpCornerTh_1");
|
|
if (cornerParamElement->Attribute("jumpCornerTh_2"))
|
|
result.algorithmParams.cornerParam.jumpCornerTh_2 = cornerParamElement->DoubleAttribute("jumpCornerTh_2");
|
|
}
|
|
|
|
// 解析斜率参数
|
|
XMLElement* slopeParamElement = algoParamsElement->FirstChildElement("SlopeParam");
|
|
if (slopeParamElement)
|
|
{
|
|
if (slopeParamElement->Attribute("LSlopeZWin"))
|
|
result.algorithmParams.slopeParam.LSlopeZWin = slopeParamElement->DoubleAttribute("LSlopeZWin");
|
|
if (slopeParamElement->Attribute("validSlopeH"))
|
|
result.algorithmParams.slopeParam.validSlopeH = slopeParamElement->DoubleAttribute("validSlopeH");
|
|
if (slopeParamElement->Attribute("minLJumpH"))
|
|
result.algorithmParams.slopeParam.minLJumpH = slopeParamElement->DoubleAttribute("minLJumpH");
|
|
if (slopeParamElement->Attribute("minEndingGap"))
|
|
result.algorithmParams.slopeParam.minEndingGap = slopeParamElement->DoubleAttribute("minEndingGap");
|
|
}
|
|
|
|
// 解析山谷参数
|
|
XMLElement* valleyParamElement = algoParamsElement->FirstChildElement("ValleyParam");
|
|
if (valleyParamElement)
|
|
{
|
|
if (valleyParamElement->Attribute("valleyMinH"))
|
|
result.algorithmParams.valleyParam.valleyMinH = valleyParamElement->DoubleAttribute("valleyMinH");
|
|
if (valleyParamElement->Attribute("valleyMaxW"))
|
|
result.algorithmParams.valleyParam.valleyMaxW = valleyParamElement->DoubleAttribute("valleyMaxW");
|
|
}
|
|
|
|
// 解析增长参数
|
|
XMLElement* growParamElement = algoParamsElement->FirstChildElement("GrowParam");
|
|
if (growParamElement)
|
|
{
|
|
if (growParamElement->Attribute("maxLineSkipNum"))
|
|
result.algorithmParams.growParam.maxLineSkipNum = growParamElement->IntAttribute("maxLineSkipNum");
|
|
if (growParamElement->Attribute("yDeviation_max"))
|
|
result.algorithmParams.growParam.yDeviation_max = growParamElement->DoubleAttribute("yDeviation_max");
|
|
if (growParamElement->Attribute("maxSkipDistance"))
|
|
result.algorithmParams.growParam.maxSkipDistance = growParamElement->DoubleAttribute("maxSkipDistance");
|
|
if (growParamElement->Attribute("zDeviation_max"))
|
|
result.algorithmParams.growParam.zDeviation_max = growParamElement->DoubleAttribute("zDeviation_max");
|
|
if (growParamElement->Attribute("minLTypeTreeLen"))
|
|
result.algorithmParams.growParam.minLTypeTreeLen = growParamElement->DoubleAttribute("minLTypeTreeLen");
|
|
if (growParamElement->Attribute("minVTypeTreeLen"))
|
|
result.algorithmParams.growParam.minVTypeTreeLen = growParamElement->DoubleAttribute("minVTypeTreeLen");
|
|
}
|
|
|
|
// 解析平面校准参数
|
|
XMLElement* planeCalibParamElement = algoParamsElement->FirstChildElement("PlaneCalibParam");
|
|
if (planeCalibParamElement)
|
|
{
|
|
if (planeCalibParamElement->Attribute("planeHeight"))
|
|
result.algorithmParams.planeCalibParam.planeHeight = planeCalibParamElement->DoubleAttribute("planeHeight");
|
|
}
|
|
}
|
|
|
|
return result;
|
|
}
|
|
|
|
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("VrConfig");
|
|
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);
|
|
|
|
// 添加编织袋参数
|
|
XMLElement* bagParamElement = doc.NewElement("BagParam");
|
|
bagParamElement->SetAttribute("bagL", configResult.algorithmParams.bagParam.bagL);
|
|
bagParamElement->SetAttribute("bagW", configResult.algorithmParams.bagParam.bagW);
|
|
bagParamElement->SetAttribute("bagH", configResult.algorithmParams.bagParam.bagH);
|
|
algoParamsElement->InsertEndChild(bagParamElement);
|
|
|
|
// 添加垛参数
|
|
XMLElement* pileParamElement = doc.NewElement("PileParam");
|
|
pileParamElement->SetAttribute("pileL", configResult.algorithmParams.pileParam.pileL);
|
|
pileParamElement->SetAttribute("pileW", configResult.algorithmParams.pileParam.pileW);
|
|
pileParamElement->SetAttribute("pileH", configResult.algorithmParams.pileParam.pileH);
|
|
algoParamsElement->InsertEndChild(pileParamElement);
|
|
|
|
// 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);
|
|
|
|
// 添加角点特征参数
|
|
XMLElement* cornerParamElement = doc.NewElement("CornerParam");
|
|
cornerParamElement->SetAttribute("minEndingGap", configResult.algorithmParams.cornerParam.minEndingGap);
|
|
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);
|
|
|
|
// 添加斜率参数
|
|
XMLElement* slopeParamElement = doc.NewElement("SlopeParam");
|
|
slopeParamElement->SetAttribute("LSlopeZWin", configResult.algorithmParams.slopeParam.LSlopeZWin);
|
|
slopeParamElement->SetAttribute("validSlopeH", configResult.algorithmParams.slopeParam.validSlopeH);
|
|
slopeParamElement->SetAttribute("minLJumpH", configResult.algorithmParams.slopeParam.minLJumpH);
|
|
slopeParamElement->SetAttribute("minEndingGap", configResult.algorithmParams.slopeParam.minEndingGap);
|
|
algoParamsElement->InsertEndChild(slopeParamElement);
|
|
|
|
// 添加山谷参数
|
|
XMLElement* valleyParamElement = doc.NewElement("ValleyParam");
|
|
valleyParamElement->SetAttribute("valleyMinH", configResult.algorithmParams.valleyParam.valleyMinH);
|
|
valleyParamElement->SetAttribute("valleyMaxW", configResult.algorithmParams.valleyParam.valleyMaxW);
|
|
algoParamsElement->InsertEndChild(valleyParamElement);
|
|
|
|
// 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);
|
|
|
|
// 添加平面校准参数
|
|
XMLElement* planeCalibParamElement = doc.NewElement("PlaneCalibParam");
|
|
planeCalibParamElement->SetAttribute("planeHeight", configResult.algorithmParams.planeCalibParam.planeHeight);
|
|
algoParamsElement->InsertEndChild(planeCalibParamElement);
|
|
|
|
// 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;
|
|
}
|