403 lines
21 KiB
C++
403 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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#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("Failed to open config file: %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()) != "BagThreadPositionConfig")
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{
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LOG_ERR("Config file format error: root element is not BagThreadPositionConfig\n");
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return LOAD_CONFIG_INVALID_FORMAT;
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}
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// 1. 解析相机设备列表
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XMLElement* camerasElement = root->FirstChildElement("Cameras");
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if (camerasElement)
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{
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configResult.cameraList.clear();
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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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cameraElement->QueryIntAttribute("index", &camera.index);
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configResult.cameraList.push_back(camera);
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LOG_INFO("Camera: name=%s, ip=%s, index=%d\n",
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camera.name.c_str(), camera.ip.c_str(), camera.index);
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cameraElement = cameraElement->NextSiblingElement("Camera");
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}
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}
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// 2. 解析算法参数
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XMLElement* algoElement = root->FirstChildElement("AlgorithmParams");
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if (algoElement)
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{
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// 2.1 解析线头参数 (ThreadParam)
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XMLElement* threadElement = algoElement->FirstChildElement("ThreadParam");
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if (threadElement)
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{
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threadElement->QueryBoolAttribute("isHorizonScan", &configResult.algorithmParams.threadParam.isHorizonScan);
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threadElement->QueryBoolAttribute("scanFromThreadHead", &configResult.algorithmParams.threadParam.scanFromThreadHead);
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threadElement->QueryDoubleAttribute("stitchWidth", &configResult.algorithmParams.threadParam.stitchWidth);
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threadElement->QueryDoubleAttribute("operateDist", &configResult.algorithmParams.threadParam.operateDist);
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LOG_INFO("ThreadParam: isHorizonScan=%d, stitchWidth=%.1f, operateDist=%.1f\n",
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configResult.algorithmParams.threadParam.isHorizonScan,
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configResult.algorithmParams.threadParam.stitchWidth,
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configResult.algorithmParams.threadParam.operateDist);
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}
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// 2.2 解析离群点滤波参数 (FilterParam)
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XMLElement* filterElement = algoElement->FirstChildElement("FilterParam");
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if (filterElement)
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{
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filterElement->QueryDoubleAttribute("continuityTh", &configResult.algorithmParams.filterParam.continuityTh);
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filterElement->QueryDoubleAttribute("outlierTh", &configResult.algorithmParams.filterParam.outlierTh);
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LOG_INFO("FilterParam: continuityTh=%.1f, outlierTh=%.1f\n",
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configResult.algorithmParams.filterParam.continuityTh,
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configResult.algorithmParams.filterParam.outlierTh);
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}
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// 2.3 解析角点检测参数 (CornerParam)
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XMLElement* cornerElement = algoElement->FirstChildElement("CornerParam");
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if (cornerElement)
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{
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cornerElement->QueryDoubleAttribute("minEndingGap", &configResult.algorithmParams.cornerParam.minEndingGap);
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cornerElement->QueryDoubleAttribute("minEndingGap_z", &configResult.algorithmParams.cornerParam.minEndingGap_z);
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cornerElement->QueryDoubleAttribute("scale", &configResult.algorithmParams.cornerParam.scale);
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cornerElement->QueryDoubleAttribute("cornerTh", &configResult.algorithmParams.cornerParam.cornerTh);
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cornerElement->QueryDoubleAttribute("jumpCornerTh_1", &configResult.algorithmParams.cornerParam.jumpCornerTh_1);
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cornerElement->QueryDoubleAttribute("jumpCornerTh_2", &configResult.algorithmParams.cornerParam.jumpCornerTh_2);
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LOG_INFO("CornerParam: minEndingGap=%.1f, cornerTh=%.1f\n",
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configResult.algorithmParams.cornerParam.minEndingGap,
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configResult.algorithmParams.cornerParam.cornerTh);
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}
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// 2.4 解析凸起特征参数 (RaisedFeatureParam)
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XMLElement* raisedElement = algoElement->FirstChildElement("RaisedFeatureParam");
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if (raisedElement)
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{
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raisedElement->QueryDoubleAttribute("minJumpZ", &configResult.algorithmParams.raisedFeatureParam.minJumpZ);
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raisedElement->QueryDoubleAttribute("minK", &configResult.algorithmParams.raisedFeatureParam.minK);
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raisedElement->QueryDoubleAttribute("widthMin", &configResult.algorithmParams.raisedFeatureParam.widthMin);
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raisedElement->QueryDoubleAttribute("widthMax", &configResult.algorithmParams.raisedFeatureParam.widthMax);
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LOG_INFO("RaisedFeatureParam: minJumpZ=%.1f, minK=%.2f\n",
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configResult.algorithmParams.raisedFeatureParam.minJumpZ,
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configResult.algorithmParams.raisedFeatureParam.minK);
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}
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// 2.5 解析树生长参数 (GrowParam)
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XMLElement* growElement = algoElement->FirstChildElement("GrowParam");
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if (growElement)
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{
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growElement->QueryDoubleAttribute("yDeviation_max", &configResult.algorithmParams.growParam.yDeviation_max);
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growElement->QueryDoubleAttribute("zDeviation_max", &configResult.algorithmParams.growParam.zDeviation_max);
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growElement->QueryIntAttribute("maxLineSkipNum", &configResult.algorithmParams.growParam.maxLineSkipNum);
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growElement->QueryDoubleAttribute("maxSkipDistance", &configResult.algorithmParams.growParam.maxSkipDistance);
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growElement->QueryDoubleAttribute("minLTypeTreeLen", &configResult.algorithmParams.growParam.minLTypeTreeLen);
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growElement->QueryDoubleAttribute("minVTypeTreeLen", &configResult.algorithmParams.growParam.minVTypeTreeLen);
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LOG_INFO("GrowParam: yDeviation_max=%.1f, zDeviation_max=%.1f\n",
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configResult.algorithmParams.growParam.yDeviation_max,
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configResult.algorithmParams.growParam.zDeviation_max);
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}
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// 2.6 解析平面标定参数 (PlaneCalibParams)
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XMLElement* calibElement = algoElement->FirstChildElement("PlaneCalibParams");
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if (calibElement)
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{
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XMLElement* cameraCalibElement = calibElement->FirstChildElement("CameraCalibParam");
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while (cameraCalibElement)
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{
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VrCameraPlaneCalibParam cameraParam;
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cameraCalibElement->QueryIntAttribute("cameraIndex", &cameraParam.cameraIndex);
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if (cameraCalibElement->Attribute("cameraName"))
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cameraParam.cameraName = cameraCalibElement->Attribute("cameraName");
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cameraCalibElement->QueryBoolAttribute("isCalibrated", &cameraParam.isCalibrated);
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cameraCalibElement->QueryDoubleAttribute("planeHeight", &cameraParam.planeHeight);
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// 解析校准矩阵（展开的属性格式）
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cameraCalibElement->QueryDoubleAttribute("planeCalib_00", &cameraParam.planeCalib[0]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_01", &cameraParam.planeCalib[1]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_02", &cameraParam.planeCalib[2]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_10", &cameraParam.planeCalib[3]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_11", &cameraParam.planeCalib[4]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_12", &cameraParam.planeCalib[5]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_20", &cameraParam.planeCalib[6]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_21", &cameraParam.planeCalib[7]);
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cameraCalibElement->QueryDoubleAttribute("planeCalib_22", &cameraParam.planeCalib[8]);
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// 解析逆矩阵（展开的属性格式）
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_00", &cameraParam.invRMatrix[0]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_01", &cameraParam.invRMatrix[1]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_02", &cameraParam.invRMatrix[2]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_10", &cameraParam.invRMatrix[3]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_11", &cameraParam.invRMatrix[4]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_12", &cameraParam.invRMatrix[5]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_20", &cameraParam.invRMatrix[6]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_21", &cameraParam.invRMatrix[7]);
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cameraCalibElement->QueryDoubleAttribute("invRMatrix_22", &cameraParam.invRMatrix[8]);
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configResult.algorithmParams.planeCalibParam.SetCameraCalibParam(cameraParam);
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LOG_INFO("PlaneCalibParam: camera %d, isCalibrated=%d, planeHeight=%.3f\n",
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cameraParam.cameraIndex, cameraParam.isCalibrated, cameraParam.planeHeight);
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cameraCalibElement = cameraCalibElement->NextSiblingElement("CameraCalibParam");
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}
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}
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}
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// 3. 解析调试参数
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XMLElement* debugElement = root->FirstChildElement("DebugParam");
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if (debugElement)
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{
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debugElement->QueryBoolAttribute("enableDebug", &configResult.debugParam.enableDebug);
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debugElement->QueryBoolAttribute("saveDebugImage", &configResult.debugParam.saveDebugImage);
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debugElement->QueryBoolAttribute("savePointCloud", &configResult.debugParam.savePointCloud);
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debugElement->QueryBoolAttribute("printDetailLog", &configResult.debugParam.printDetailLog);
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if (debugElement->Attribute("debugOutputPath"))
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configResult.debugParam.debugOutputPath = debugElement->Attribute("debugOutputPath");
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LOG_INFO("Debug config: enableDebug=%d, saveDebugImage=%d, savePointCloud=%d, debugOutputPath=%s\n",
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configResult.debugParam.enableDebug,
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configResult.debugParam.saveDebugImage,
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configResult.debugParam.savePointCloud,
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configResult.debugParam.debugOutputPath.c_str());
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}
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// 4. 解析串口配置
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XMLElement* serialElement = root->FirstChildElement("SerialConfig");
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if (serialElement)
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{
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if (serialElement->Attribute("portName"))
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configResult.serialConfig.portName = serialElement->Attribute("portName");
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serialElement->QueryIntAttribute("baudRate", &configResult.serialConfig.baudRate);
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serialElement->QueryIntAttribute("dataBits", &configResult.serialConfig.dataBits);
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serialElement->QueryIntAttribute("stopBits", &configResult.serialConfig.stopBits);
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serialElement->QueryIntAttribute("parity", &configResult.serialConfig.parity);
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serialElement->QueryIntAttribute("flowControl", &configResult.serialConfig.flowControl);
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serialElement->QueryBoolAttribute("enabled", &configResult.serialConfig.enabled);
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LOG_INFO("Serial config: port=%s, baudRate=%d, enabled=%d\n",
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configResult.serialConfig.portName.c_str(),
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configResult.serialConfig.baudRate,
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configResult.serialConfig.enabled);
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}
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// 5. 解析TCP端口
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XMLElement* tcpElement = root->FirstChildElement("TCP");
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if (tcpElement)
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{
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int port = 5020;
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tcpElement->QueryIntAttribute("port", &port);
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configResult.tcpPort = static_cast<uint16_t>(port);
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LOG_INFO("TCP port: %d\n", configResult.tcpPort);
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}
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LOG_INFO("Config loaded successfully from: %s\n", filePath.c_str());
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return LOAD_CONFIG_SUCCESS;
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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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XMLDocument doc;
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// 创建 XML 声明
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XMLDeclaration* declaration = doc.NewDeclaration();
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doc.InsertFirstChild(declaration);
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// 创建根元素
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XMLElement* root = doc.NewElement("BagThreadPositionConfig");
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doc.InsertEndChild(root);
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// 1. 保存相机设备列表
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if (!configResult.cameraList.empty())
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{
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XMLElement* camerasElement = doc.NewElement("Cameras");
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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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cameraElement->SetAttribute("index", camera.index);
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camerasElement->InsertEndChild(cameraElement);
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}
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root->InsertEndChild(camerasElement);
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}
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// 2. 保存算法参数
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XMLElement* algoElement = doc.NewElement("AlgorithmParams");
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// 2.1 保存线头参数
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XMLElement* threadElement = doc.NewElement("ThreadParam");
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threadElement->SetAttribute("isHorizonScan", configResult.algorithmParams.threadParam.isHorizonScan);
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threadElement->SetAttribute("scanFromThreadHead", configResult.algorithmParams.threadParam.scanFromThreadHead);
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threadElement->SetAttribute("stitchWidth", configResult.algorithmParams.threadParam.stitchWidth);
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threadElement->SetAttribute("operateDist", configResult.algorithmParams.threadParam.operateDist);
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algoElement->InsertEndChild(threadElement);
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// 2.2 保存离群点滤波参数
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XMLElement* filterElement = doc.NewElement("FilterParam");
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filterElement->SetAttribute("continuityTh", configResult.algorithmParams.filterParam.continuityTh);
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filterElement->SetAttribute("outlierTh", configResult.algorithmParams.filterParam.outlierTh);
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algoElement->InsertEndChild(filterElement);
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// 2.3 保存角点检测参数
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XMLElement* cornerElement = doc.NewElement("CornerParam");
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cornerElement->SetAttribute("cornerTh", configResult.algorithmParams.cornerParam.cornerTh);
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cornerElement->SetAttribute("scale", configResult.algorithmParams.cornerParam.scale);
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cornerElement->SetAttribute("minEndingGap", configResult.algorithmParams.cornerParam.minEndingGap);
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cornerElement->SetAttribute("minEndingGap_z", configResult.algorithmParams.cornerParam.minEndingGap_z);
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cornerElement->SetAttribute("jumpCornerTh_1", configResult.algorithmParams.cornerParam.jumpCornerTh_1);
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cornerElement->SetAttribute("jumpCornerTh_2", configResult.algorithmParams.cornerParam.jumpCornerTh_2);
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algoElement->InsertEndChild(cornerElement);
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// 2.4 保存凸起特征参数
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XMLElement* raisedElement = doc.NewElement("RaisedFeatureParam");
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raisedElement->SetAttribute("minJumpZ", configResult.algorithmParams.raisedFeatureParam.minJumpZ);
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raisedElement->SetAttribute("minK", configResult.algorithmParams.raisedFeatureParam.minK);
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raisedElement->SetAttribute("widthMin", configResult.algorithmParams.raisedFeatureParam.widthMin);
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raisedElement->SetAttribute("widthMax", configResult.algorithmParams.raisedFeatureParam.widthMax);
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algoElement->InsertEndChild(raisedElement);
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// 2.5 保存树生长参数
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XMLElement* growElement = doc.NewElement("GrowParam");
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growElement->SetAttribute("maxLineSkipNum", configResult.algorithmParams.growParam.maxLineSkipNum);
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growElement->SetAttribute("yDeviation_max", configResult.algorithmParams.growParam.yDeviation_max);
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growElement->SetAttribute("maxSkipDistance", configResult.algorithmParams.growParam.maxSkipDistance);
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growElement->SetAttribute("zDeviation_max", configResult.algorithmParams.growParam.zDeviation_max);
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growElement->SetAttribute("minLTypeTreeLen", configResult.algorithmParams.growParam.minLTypeTreeLen);
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growElement->SetAttribute("minVTypeTreeLen", configResult.algorithmParams.growParam.minVTypeTreeLen);
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algoElement->InsertEndChild(growElement);
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// 2.6 保存平面标定参数
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if (!configResult.algorithmParams.planeCalibParam.cameraCalibParams.empty())
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{
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XMLElement* calibElement = doc.NewElement("PlaneCalibParams");
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for (const auto& cameraParam : configResult.algorithmParams.planeCalibParam.cameraCalibParams)
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{
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XMLElement* cameraCalibElement = doc.NewElement("CameraCalibParam");
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cameraCalibElement->SetAttribute("cameraIndex", cameraParam.cameraIndex);
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cameraCalibElement->SetAttribute("cameraName", cameraParam.cameraName.c_str());
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cameraCalibElement->SetAttribute("isCalibrated", cameraParam.isCalibrated);
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cameraCalibElement->SetAttribute("planeHeight", cameraParam.planeHeight);
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// 保存校准矩阵（展开的属性格式）
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cameraCalibElement->SetAttribute("planeCalib_00", cameraParam.planeCalib[0]);
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cameraCalibElement->SetAttribute("planeCalib_01", cameraParam.planeCalib[1]);
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cameraCalibElement->SetAttribute("planeCalib_02", cameraParam.planeCalib[2]);
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cameraCalibElement->SetAttribute("planeCalib_10", cameraParam.planeCalib[3]);
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cameraCalibElement->SetAttribute("planeCalib_11", cameraParam.planeCalib[4]);
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cameraCalibElement->SetAttribute("planeCalib_12", cameraParam.planeCalib[5]);
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cameraCalibElement->SetAttribute("planeCalib_20", cameraParam.planeCalib[6]);
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cameraCalibElement->SetAttribute("planeCalib_21", cameraParam.planeCalib[7]);
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cameraCalibElement->SetAttribute("planeCalib_22", cameraParam.planeCalib[8]);
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// 保存逆矩阵（展开的属性格式）
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cameraCalibElement->SetAttribute("invRMatrix_00", cameraParam.invRMatrix[0]);
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cameraCalibElement->SetAttribute("invRMatrix_01", cameraParam.invRMatrix[1]);
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cameraCalibElement->SetAttribute("invRMatrix_02", cameraParam.invRMatrix[2]);
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cameraCalibElement->SetAttribute("invRMatrix_10", cameraParam.invRMatrix[3]);
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cameraCalibElement->SetAttribute("invRMatrix_11", cameraParam.invRMatrix[4]);
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cameraCalibElement->SetAttribute("invRMatrix_12", cameraParam.invRMatrix[5]);
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cameraCalibElement->SetAttribute("invRMatrix_20", cameraParam.invRMatrix[6]);
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cameraCalibElement->SetAttribute("invRMatrix_21", cameraParam.invRMatrix[7]);
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cameraCalibElement->SetAttribute("invRMatrix_22", cameraParam.invRMatrix[8]);
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calibElement->InsertEndChild(cameraCalibElement);
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}
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algoElement->InsertEndChild(calibElement);
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}
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root->InsertEndChild(algoElement);
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// 3. 保存调试参数
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XMLElement* debugElement = doc.NewElement("DebugParam");
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debugElement->SetAttribute("enableDebug", configResult.debugParam.enableDebug);
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debugElement->SetAttribute("savePointCloud", configResult.debugParam.savePointCloud);
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debugElement->SetAttribute("saveDebugImage", configResult.debugParam.saveDebugImage);
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debugElement->SetAttribute("printDetailLog", configResult.debugParam.printDetailLog);
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debugElement->SetAttribute("debugOutputPath", configResult.debugParam.debugOutputPath.c_str());
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root->InsertEndChild(debugElement);
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// 4. 保存串口配置
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XMLElement* serialElement = doc.NewElement("SerialConfig");
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serialElement->SetAttribute("portName", configResult.serialConfig.portName.c_str());
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serialElement->SetAttribute("baudRate", configResult.serialConfig.baudRate);
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serialElement->SetAttribute("dataBits", configResult.serialConfig.dataBits);
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serialElement->SetAttribute("stopBits", configResult.serialConfig.stopBits);
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serialElement->SetAttribute("parity", configResult.serialConfig.parity);
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serialElement->SetAttribute("flowControl", configResult.serialConfig.flowControl);
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serialElement->SetAttribute("enabled", configResult.serialConfig.enabled);
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root->InsertEndChild(serialElement);
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// 5. 保存TCP端口
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XMLElement* tcpElement = doc.NewElement("TCP");
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tcpElement->SetAttribute("port", configResult.tcpPort);
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root->InsertEndChild(tcpElement);
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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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LOG_ERR("Failed to save config file: %s\n", filePath.c_str());
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return false;
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}
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LOG_INFO("Config saved successfully to: %s\n", filePath.c_str());
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return true;
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}
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// 设置配置改变通知回调
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void CVrConfig::SetConfigChangeNotify(IVrConfigChangeNotify* notify)
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{
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m_pNotify = notify;
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}
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/**
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* @brief 创建实例
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* @return 实例
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*/
|
|
bool IVrConfig::CreateInstance(IVrConfig** ppVrConfig)
|
|
{
|
|
*ppVrConfig = new CVrConfig() ;
|
|
return *ppVrConfig != nullptr;
|
|
}
|