轮胎检测增加TCP协议
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App/WheelMeasure/Doc/TCP_Protocol.md
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App/WheelMeasure/Doc/TCP_Protocol.md
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# 轮眉测量 TCP/IP 通信协议
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## 概述
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- **协议类型**: TCP/IP 文本协议
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- **默认端口**: 5000（可在配置文件中修改）
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- **数据格式**: 纯文本，UTF-8编码
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- **通信模式**: 客户端-服务器模式（视觉系统作为服务器）
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## 协议格式
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### 1. 触发检测命令（客户端 → 服务器）
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```
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start,100
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```
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**格式说明**：
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- `start`: 命令关键字
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- `100`: 参数（当前未使用，保留用于扩展）
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**示例**：
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```
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start,100
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```
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### 2. 检测结果响应（服务器 → 客户端）
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#### 成功情况（所有相机检测成功）
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```
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1,100,200;2,100,200;3,100,200;4,100,200
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```
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**格式说明**：
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- 多个相机结果用分号 `;` 分隔
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- 每个相机结果格式：`相机ID,中心点到地面距离,轮眉到地面距离`
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- `相机ID`: 1-4（对应4个相机）
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- `中心点到地面距离`: 整数，单位mm
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- `轮眉到地面距离`: 整数，单位mm
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**示例**：
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```
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1,150,250;2,148,252;3,151,249;4,149,251
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```
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表示：
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- 相机1：中心距离150mm，轮眉距离250mm
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- 相机2：中心距离148mm，轮眉距离252mm
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- 相机3：中心距离151mm，轮眉距离249mm
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- 相机4：中心距离149mm，轮眉距离251mm
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#### 失败情况（部分相机检测失败）
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```
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1,400;2,100,200;3,100,200;4,100,200
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```
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**错误码说明**：
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- `400`: 扫描/匹配失败
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- `401`: 工件为空
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**格式说明**：
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- 失败的相机只返回：`相机ID,错误码`
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- 成功的相机返回：`相机ID,中心距离,轮眉距离`
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**示例**：
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```
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1,400;2,150,250;3,401;4,149,251
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```
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表示：
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- 相机1：扫描失败（错误码400）
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- 相机2：成功，中心距离150mm，轮眉距离250mm
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- 相机3：工件为空（错误码401）
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- 相机4：成功，中心距离149mm，轮眉距离251mm
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## 通信流程
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```
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客户端 服务器（视觉系统）
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| |
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|-------- start,100 ------------------------>|
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| |
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| | 触发所有相机顺序检测
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| | （相机1 → 相机2 → 相机3 → 相机4）
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| |
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|<------- 1,150,250;2,148,252;... -----------|
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| |
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```
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**时序说明**：
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1. 客户端发送 `start,100` 命令
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2. 服务器收到命令后，依次触发所有启用的相机进行检测
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3. 所有相机检测完成后，服务器发送汇总结果
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4. 客户端接收结果并处理
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## 错误处理
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### 连接错误
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- 如果TCP连接断开，服务器会清除当前客户端的请求状态
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- 客户端需要重新连接并发送命令
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### 超时处理
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- 建议客户端设置接收超时（推荐60秒）
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- 如果超时未收到响应，可以重新发送命令
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### 数据解析
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- 客户端应验证返回数据格式
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- 检查相机ID是否在1-4范围内
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- 检查是否包含错误码（400/401）
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## 配置说明
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TCP服务器端口可在配置文件中修改：
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```xml
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<ServerList>
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<Server>
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<Name>TCPServer</Name>
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<IP>0.0.0.0</IP>
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<Port>5000</Port>
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</Server>
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</ServerList>
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```
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## 注意事项
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1. **数据单位**：所有距离值单位为毫米（mm）
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2. **相机顺序**：相机ID固定为1-4，对应配置文件中的相机顺序
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3. **检测时间**：完整检测所有相机通常需要30-50秒，请设置合理的超时时间
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4. **并发限制**：服务器同时只处理一个检测请求，多个客户端连接时按先后顺序处理
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5. **数据精度**：返回的距离值已四舍五入为整数
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@ -73,8 +73,11 @@ int WheelMeasurePresenter::InitApp()
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}
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}
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// 初始化TCP服务器
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int tcpPort = 6800; // 默认端口
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// 初始化TCP服务器（从配置读取端口）
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int tcpPort = 5000; // 默认端口
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if (!m_configResult.servers.empty()) {
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tcpPort = m_configResult.servers[0].port;
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}
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int tcpResult = m_tcpProtocol.Initialize(tcpPort);
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if (tcpResult != 0) {
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LOG_ERROR("Failed to initialize TCP server on port %d, error code: %d\n", tcpPort, tcpResult);
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@ -306,6 +309,9 @@ void WheelMeasurePresenter::StartAllDetection()
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LOG_INFO("Sequential detection started, total cameras: %d\n", m_sequentialTotalCount);
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m_statusUpdate->OnStatusUpdate(QString("开始所有设备的检测"));
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// 开始检测第一个设备
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continueSequentialDetection();
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}
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@ -517,7 +523,7 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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SSG_lineSegParam lineSegParam;
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lineSegParam.segGapTh_y = m_configResult.algorithmParams.lineSegParam.segGapTh_y;
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lineSegParam.segGapTh_z = m_configResult.algorithmParams.lineSegParam.segGapTh_z;
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lineSegParam.maxDist = m_configResult.algorithmParams.lineSegParam.maxDist;
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lineSegParam.distScale = m_configResult.algorithmParams.lineSegParam.maxDist;
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SSG_outlierFilterParam filterParam;
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filterParam.continuityTh = m_configResult.algorithmParams.filterParam.continuityTh;
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@ -531,7 +537,79 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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growParam.minLTypeTreeLen = m_configResult.algorithmParams.growParam.minLTypeTreeLen;
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growParam.minVTypeTreeLen = m_configResult.algorithmParams.growParam.minVTypeTreeLen;
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// 3. 准备调平参数（使用当前相机的调平参数）
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// 3. 查找当前相机的调平参数（用于后续的ROI检测和调平处理）
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WheelCameraPlaneCalibParam* calibParam = getPlaneCalibParam(m_currentCameraIndex);
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// 3.5. 调用轮胎存在检测（使用ROI范围过滤）- 在调平处理之前
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SVzNL3DRangeD wheelRoi3d;
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if (calibParam) {
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// 使用当前相机配置的ROI范围
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wheelRoi3d.xRange.min = calibParam->wheelRoi3d_xMin;
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wheelRoi3d.xRange.max = calibParam->wheelRoi3d_xMax;
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wheelRoi3d.yRange.min = calibParam->wheelRoi3d_yMin;
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wheelRoi3d.yRange.max = calibParam->wheelRoi3d_yMax;
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wheelRoi3d.zRange.min = calibParam->wheelRoi3d_zMin;
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wheelRoi3d.zRange.max = calibParam->wheelRoi3d_zMax;
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LOG_INFO("Using ROI range for wheel presence detection:\n");
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LOG_INFO(" X: [%.1f, %.1f], Y: [%.1f, %.1f], Z: [%.1f, %.1f]\n",
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wheelRoi3d.xRange.min, wheelRoi3d.xRange.max,
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wheelRoi3d.yRange.min, wheelRoi3d.yRange.max,
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wheelRoi3d.zRange.min, wheelRoi3d.zRange.max);
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} else {
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// 使用默认ROI范围
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wheelRoi3d.xRange.min = -1000.0;
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wheelRoi3d.xRange.max = 1000.0;
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wheelRoi3d.yRange.min = -1000.0;
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wheelRoi3d.yRange.max = 1000.0;
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wheelRoi3d.zRange.min = -1000.0;
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wheelRoi3d.zRange.max = 1000.0;
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LOG_INFO("Using default ROI range for wheel presence detection: ±1000.0 mm\n");
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}
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// 调用轮胎存在检测
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bool wheelPresent = wd_wheelPresenseDetection(scanLines, wheelRoi3d);
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LOG_INFO("Wheel presence detection result: %s\n", wheelPresent ? "PRESENT" : "NOT PRESENT");
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if (!wheelPresent) {
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LOG_WARNING("No wheel detected in ROI range, skipping measurement\n");
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if (m_statusUpdate) {
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m_statusUpdate->OnStatusUpdate(QString("未检测到轮胎，请检查ROI范围配置"));
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}
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// 如果是TCP触发的检测，缓存401错误结果
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if (m_tcpDetectionMode) {
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WheelMeasureTCPProtocol::CameraMeasureResult tcpResult;
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tcpResult.cameraId = m_currentCameraIndex;
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tcpResult.errorCode = 401; // 工件为空
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tcpResult.centerDistance = 0.0;
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tcpResult.archDistance = 0.0;
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m_tcpResults[m_currentCameraIndex] = tcpResult;
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LOG_INFO("TCP检测结果已缓存: 相机%d, 错误码=401 (未检测到轮胎)\n", m_currentCameraIndex);
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}
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// 如果正在进行顺序检测，继续检测下一个设备
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if (m_sequentialDetecting) {
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m_sequentialCurrentIndex++;
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// TCP模式下，检查是否所有相机都检测完成
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if (m_tcpDetectionMode && m_tcpResults.size() >= m_sequentialTotalCount) {
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LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
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m_sequentialDetecting = false;
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sendTCPMeasureResults();
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} else {
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// 继续检测下一个设备
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QMetaObject::invokeMethod(this, [this]() {
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continueSequentialDetection();
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}, Qt::QueuedConnection);
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}
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}
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return;
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}
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// 4. 准备调平参数并执行调平处理（使用当前相机的调平参数）
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SSG_planeCalibPara groundCalibPara;
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memset(&groundCalibPara, 0, sizeof(groundCalibPara));
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@ -544,8 +622,6 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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groundCalibPara.invRMatrix[8] = 1.0;
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groundCalibPara.planeHeight = 0.0;
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// 查找当前相机的调平参数
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WheelCameraPlaneCalibParam* calibParam = getPlaneCalibParam(m_currentCameraIndex);
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if (calibParam && calibParam->isCalibrated) {
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for (int i = 0; i < 9; ++i) {
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groundCalibPara.planeCalib[i] = calibParam->planeCalib[i];
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@ -568,8 +644,7 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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LOG_WARN("No calibration data for camera %d, using default parameters\n", m_currentCameraIndex);
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}
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// 4. 调用算法
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// 5. 调用算法
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int errCode = 0;
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LOG_INFO("Calling wd_wheelArchHeigthMeasure...\n");
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@ -756,13 +831,19 @@ void WheelMeasurePresenter::processScanData(std::vector<std::pair<EVzResultDataT
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// 如果正在进行顺序检测，继续检测下一个设备
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if (m_sequentialDetecting) {
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m_sequentialCurrentIndex++;
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QMetaObject::invokeMethod(this, [this]() {
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continueSequentialDetection();
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}, Qt::QueuedConnection);
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} else if (m_tcpDetectionMode) {
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// TCP模式下，检查是否所有相机都检测完成
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if (m_tcpResults.size() >= m_sequentialTotalCount) {
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if (m_tcpDetectionMode && m_tcpResults.size() >= m_sequentialTotalCount) {
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LOG_INFO("TCP模式：所有相机检测完成，准备发送结果\n");
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// 先结束顺序检测
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m_sequentialDetecting = false;
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// 发送TCP结果
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sendTCPMeasureResults();
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} else {
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// 继续检测下一个设备
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QMetaObject::invokeMethod(this, [this]() {
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continueSequentialDetection();
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}, Qt::QueuedConnection);
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}
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}
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}
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@ -1,22 +1,22 @@
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#ifndef VERSION_H
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#define VERSION_H
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#define WHEELMEASURE_VERSION_STRING "1.0.1"
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#define WHEELMEASURE_BUILD_STRING "5"
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#define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING
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// 获取版本信息的便捷函数
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inline const char* GetWheelMeasureVersion() {
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return WHEELMEASURE_VERSION_STRING;
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}
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inline const char* GetWheelMeasureBuild() {
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return WHEELMEASURE_BUILD_STRING;
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}
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inline const char* GetWheelMeasureFullVersion() {
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return WHEELMEASURE_FULL_VERSION_STRING;
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}
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#endif // VERSION_H
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#ifndef VERSION_H
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#define VERSION_H
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#define WHEELMEASURE_VERSION_STRING "1.0.1"
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#define WHEELMEASURE_BUILD_STRING "6"
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#define WHEELMEASURE_FULL_VERSION_STRING "V" WHEELMEASURE_VERSION_STRING "_" WHEELMEASURE_BUILD_STRING
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// 获取版本信息的便捷函数
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inline const char* GetWheelMeasureVersion() {
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return WHEELMEASURE_VERSION_STRING;
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}
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inline const char* GetWheelMeasureBuild() {
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return WHEELMEASURE_BUILD_STRING;
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}
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inline const char* GetWheelMeasureFullVersion() {
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return WHEELMEASURE_FULL_VERSION_STRING;
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}
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#endif // VERSION_H
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@ -27,6 +27,7 @@ INCLUDEPATH += ../../../Utils/VrCommon/Inc
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INCLUDEPATH += ../../../AppUtils/UICommon/Inc
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INCLUDEPATH += ../../../Utils/CloudUtils/Inc
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INCLUDEPATH += ../../../AppUtils/AppCommon/Inc
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INCLUDEPATH += ../../../Module/AuthModule/Inc
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INCLUDEPATH += ../../../SDK/Device/VzNLSDK/Inc
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INCLUDEPATH += ../../../AppAlgo/wheelArchHeigthMeasure/Inc
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@ -38,8 +39,9 @@ win32:CONFIG(debug, debug|release) {
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LIBS += -L../../../Utils/VrUtils/debug -lVrUtils
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LIBS += -L../../../Device/VrEyeDevice/debug -lVrEyeDevice
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LIBS += -L../../../AppUtils/UICommon/debug -lUICommon
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LIBS += -L../../../Utils/CloudUtils/debug -lCloudUtils
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LIBS += -L../../../Utils/CloudUtils/debug -lCloudUtils
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LIBS += -L../../../AppUtils/AppCommon/debug -lAppCommon
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LIBS += -L../../../Module/AuthModule/debug -lAuthModule
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LIBS += -L../../../Module/ModbusTCPServer/debug -lModbusTCPServer
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LIBS += -L../../../VrNets/debug -lVrModbus
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} else:win32:CONFIG(release, debug|release) {
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@ -48,8 +50,9 @@ win32:CONFIG(debug, debug|release) {
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LIBS += -L../../../Utils/VrUtils/release -lVrUtils
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LIBS += -L../../../Device/VrEyeDevice/release -lVrEyeDevice
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LIBS += -L../../../AppUtils/UICommon/release -lUICommon
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LIBS += -L../../../Utils/CloudUtils/release -lCloudUtils
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LIBS += -L../../../Utils/CloudUtils/release -lCloudUtils
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LIBS += -L../../../AppUtils/AppCommon/release -lAppCommon
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LIBS += -L../../../Module/AuthModule/release -lAuthModule
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LIBS += -L../../../Module/ModbusTCPServer/release -lModbusTCPServer
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LIBS += -L../../../VrNets/release -lVrModbus
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}else:unix:!macx {
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@ -57,7 +60,8 @@ win32:CONFIG(debug, debug|release) {
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LIBS += -L../WheelMeasureConfig -lWheelMeasureConfig
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LIBS += -L../../../AppUtils/AppCommon -lAppCommon
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LIBS += -L../../../AppUtils/UICommon -lUICommon
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LIBS += -L../../../Utils/CloudUtils -lCloudUtils
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LIBS += -L../../../Module/AuthModule -lAuthModule
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LIBS += -L../../../Utils/CloudUtils -lCloudUtils
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LIBS += -L../../../Device/VrEyeDevice -lVrEyeDevice
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LIBS += -L../../../VrNets -lVrTcpClient -lVrTcpServer
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LIBS += -L../../../Utils/VrUtils -lVrUtils
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File diff suppressed because it is too large
Load Diff
@ -1,118 +1,123 @@
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#ifndef DIALOGCAMERALEVEL_H
|
||||
#define DIALOGCAMERALEVEL_H
|
||||
|
||||
#include <QDialog>
|
||||
#include <QWidget>
|
||||
#include <QComboBox>
|
||||
#include <QLineEdit>
|
||||
#include <QMessageBox>
|
||||
#include <QThread>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
#include <atomic>
|
||||
#include "IVrEyeDevice.h"
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
#include "VZNL_Types.h"
|
||||
|
||||
// 前向声明
|
||||
class WheelMeasurePresenter;
|
||||
|
||||
namespace Ui {
|
||||
class DialogCameraLevel;
|
||||
}
|
||||
|
||||
class DialogCameraLevel : public QDialog
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit DialogCameraLevel(QWidget *parent = nullptr);
|
||||
~DialogCameraLevel();
|
||||
|
||||
/**
|
||||
* @brief 设置相机列表和presenter
|
||||
* @param cameraList 相机列表
|
||||
* @param presenter Presenter指针
|
||||
*/
|
||||
void setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList,
|
||||
WheelMeasurePresenter* presenter);
|
||||
|
||||
/**
|
||||
* @brief 设置配置对象
|
||||
* @param config 配置接口
|
||||
* @param configResult 配置结果
|
||||
*/
|
||||
void setConfig(IVrWheelMeasureConfig* config, WheelMeasureConfigResult* configResult);
|
||||
|
||||
private slots:
|
||||
void on_btn_apply_clicked();
|
||||
void on_btn_cancel_clicked();
|
||||
void on_combo_camera_currentIndexChanged(int index);
|
||||
void on_btn_save_compensation_clicked();
|
||||
|
||||
private:
|
||||
Ui::DialogCameraLevel *ui;
|
||||
|
||||
// 相机列表和名称
|
||||
std::vector<std::pair<std::string, IVrEyeDevice*>> m_cameraList;
|
||||
WheelMeasurePresenter* m_presenter = nullptr;
|
||||
|
||||
// 配置对象
|
||||
IVrWheelMeasureConfig* m_pConfig = nullptr;
|
||||
WheelMeasureConfigResult* m_pConfigResult = nullptr;
|
||||
|
||||
// 当前选中的相机索引
|
||||
int m_currentCameraIndex = -1;
|
||||
|
||||
// 扫描数据缓存
|
||||
std::vector<std::vector<SVzNL3DPosition>> m_scanDataCache;
|
||||
std::mutex m_scanDataMutex;
|
||||
|
||||
// 状态回调相关
|
||||
std::atomic<bool> m_swingFinished{false};
|
||||
std::atomic<bool> m_callbackRestored{false};
|
||||
|
||||
// 初始化相机选择框
|
||||
void initializeCameraCombo();
|
||||
|
||||
// 执行相机调平
|
||||
bool performCameraLeveling();
|
||||
|
||||
// 直接使用相机接口进行扫描
|
||||
bool startCameraScan(int cameraIndex);
|
||||
bool stopCameraScan(int cameraIndex);
|
||||
|
||||
// 检测数据回调函数
|
||||
static void StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData);
|
||||
void DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint);
|
||||
|
||||
// 状态回调函数
|
||||
static void StaticStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
|
||||
void StatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
|
||||
|
||||
// 设置和恢复状态回调
|
||||
void setLevelingStatusCallback();
|
||||
void restorePresenterStatusCallback();
|
||||
|
||||
// 处理扫描到的地面数据进行调平计算
|
||||
bool calculatePlaneCalibration(double planeCalib[9], double& planeHeight, double invRMatrix[9]);
|
||||
|
||||
// 清空扫描数据缓存
|
||||
void clearScanDataCache();
|
||||
|
||||
// 更新调平结果显示
|
||||
void updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9]);
|
||||
|
||||
// 保存调平结果到配置
|
||||
bool saveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
|
||||
int cameraIndex, const QString& cameraName);
|
||||
|
||||
// 加载相机标定数据
|
||||
bool loadCameraCalibrationData(int cameraIndex, const QString& cameraName,
|
||||
double planeCalib[9], double& planeHeight, double invRMatrix[9]);
|
||||
|
||||
// 检查并显示相机标定状态
|
||||
void checkAndDisplayCalibrationStatus(int cameraIndex);
|
||||
};
|
||||
|
||||
#endif // DIALOGCAMERALEVEL_H
|
||||
#ifndef DIALOGCAMERALEVEL_H
|
||||
#define DIALOGCAMERALEVEL_H
|
||||
|
||||
#include <QDialog>
|
||||
#include <QWidget>
|
||||
#include <QComboBox>
|
||||
#include <QLineEdit>
|
||||
#include <QMessageBox>
|
||||
#include <QThread>
|
||||
#include <vector>
|
||||
#include <mutex>
|
||||
#include <atomic>
|
||||
#include "IVrEyeDevice.h"
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
#include "VZNL_Types.h"
|
||||
|
||||
// 前向声明
|
||||
class WheelMeasurePresenter;
|
||||
|
||||
namespace Ui {
|
||||
class DialogCameraLevel;
|
||||
}
|
||||
|
||||
class DialogCameraLevel : public QDialog
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
explicit DialogCameraLevel(QWidget *parent = nullptr);
|
||||
~DialogCameraLevel();
|
||||
|
||||
/**
|
||||
* @brief 设置相机列表和presenter
|
||||
* @param cameraList 相机列表
|
||||
* @param presenter Presenter指针
|
||||
*/
|
||||
void setCameraList(const std::vector<std::pair<std::string, IVrEyeDevice*>>& cameraList,
|
||||
WheelMeasurePresenter* presenter);
|
||||
|
||||
/**
|
||||
* @brief 设置配置对象
|
||||
* @param config 配置接口
|
||||
* @param configResult 配置结果
|
||||
*/
|
||||
void setConfig(IVrWheelMeasureConfig* config, WheelMeasureConfigResult* configResult);
|
||||
|
||||
private slots:
|
||||
void on_btn_apply_clicked();
|
||||
void on_btn_cancel_clicked();
|
||||
void on_combo_camera_currentIndexChanged(int index);
|
||||
void on_btn_save_compensation_clicked();
|
||||
void on_btn_save_roi_clicked();
|
||||
|
||||
private:
|
||||
Ui::DialogCameraLevel *ui;
|
||||
|
||||
// 相机列表和名称
|
||||
std::vector<std::pair<std::string, IVrEyeDevice*>> m_cameraList;
|
||||
WheelMeasurePresenter* m_presenter = nullptr;
|
||||
|
||||
// 配置对象
|
||||
IVrWheelMeasureConfig* m_pConfig = nullptr;
|
||||
WheelMeasureConfigResult* m_pConfigResult = nullptr;
|
||||
|
||||
// 当前选中的相机索引
|
||||
int m_currentCameraIndex = -1;
|
||||
|
||||
// 扫描数据缓存
|
||||
std::vector<std::vector<SVzNL3DPosition>> m_scanDataCache;
|
||||
std::mutex m_scanDataMutex;
|
||||
|
||||
// 状态回调相关
|
||||
std::atomic<bool> m_swingFinished{false};
|
||||
std::atomic<bool> m_callbackRestored{false};
|
||||
|
||||
// 初始化相机选择框
|
||||
void initializeCameraCombo();
|
||||
|
||||
// 执行相机调平
|
||||
bool performCameraLeveling();
|
||||
|
||||
// 直接使用相机接口进行扫描
|
||||
bool startCameraScan(int cameraIndex);
|
||||
bool stopCameraScan(int cameraIndex);
|
||||
|
||||
// 检测数据回调函数
|
||||
static void StaticDetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint, void* pUserData);
|
||||
void DetectionCallback(EVzResultDataType eDataType, SVzLaserLineData* pLaserLinePoint);
|
||||
|
||||
// 状态回调函数
|
||||
static void StaticStatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
|
||||
void StatusCallback(EVzDeviceWorkStatus eStatus, void* pExtData, unsigned int nDataLength, void* pInfoParam);
|
||||
|
||||
// 设置和恢复状态回调
|
||||
void setLevelingStatusCallback();
|
||||
void restorePresenterStatusCallback();
|
||||
|
||||
// 处理扫描到的地面数据进行调平计算
|
||||
bool calculatePlaneCalibration(double planeCalib[9], double& planeHeight, double invRMatrix[9]);
|
||||
|
||||
// 清空扫描数据缓存
|
||||
void clearScanDataCache();
|
||||
|
||||
// 更新调平结果显示
|
||||
void updateLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9]);
|
||||
|
||||
// 保存调平结果到配置
|
||||
bool saveLevelingResults(double planeCalib[9], double planeHeight, double invRMatrix[9],
|
||||
int cameraIndex, const QString& cameraName);
|
||||
|
||||
// 加载相机标定数据
|
||||
bool loadCameraCalibrationData(int cameraIndex, const QString& cameraName,
|
||||
double planeCalib[9], double& planeHeight, double invRMatrix[9]);
|
||||
|
||||
// 检查并显示相机标定状态
|
||||
void checkAndDisplayCalibrationStatus(int cameraIndex);
|
||||
|
||||
// 加载和保存ROI范围
|
||||
void loadCameraRoiRange(int cameraIndex);
|
||||
void saveCameraRoiRange();
|
||||
};
|
||||
|
||||
#endif // DIALOGCAMERALEVEL_H
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,75 +1,82 @@
|
||||
#include "mainwindow.h"
|
||||
#include "IWheelMeasureStatus.h"
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
#include "CrashHandler.h"
|
||||
|
||||
#include <QApplication>
|
||||
#include <QMetaType>
|
||||
#include <QVector>
|
||||
#include <QList>
|
||||
#include <QPersistentModelIndex>
|
||||
#include <QAbstractItemModel>
|
||||
#include <QSharedMemory>
|
||||
#include <QSystemSemaphore>
|
||||
#include <QMessageBox>
|
||||
#include <QStandardPaths>
|
||||
#include <QDir>
|
||||
#include <QDebug>
|
||||
|
||||
#include "Version.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication a(argc, argv);
|
||||
|
||||
// 设置应用程序信息
|
||||
a.setApplicationName("WheelMeasureApp");
|
||||
a.setApplicationVersion(GetWheelMeasureFullVersion());
|
||||
a.setOrganizationName("VisionRobot");
|
||||
|
||||
// 注册Qt元类型
|
||||
qRegisterMetaType<QVector<int>>("QVector<int>");
|
||||
qRegisterMetaType<QList<QPersistentModelIndex>>("QList<QPersistentModelIndex>");
|
||||
qRegisterMetaType<QAbstractItemModel::LayoutChangeHint>("QAbstractItemModel::LayoutChangeHint");
|
||||
qRegisterMetaType<Qt::SortOrder>("Qt::SortOrder");
|
||||
|
||||
// 注册自定义元类型
|
||||
qRegisterMetaType<WheelCameraParam>("WheelCameraParam");
|
||||
qRegisterMetaType<WheelCameraPlaneCalibParam>("WheelCameraPlaneCalibParam");
|
||||
qRegisterMetaType<WheelMeasureConfigResult>("WheelMeasureConfigResult");
|
||||
qRegisterMetaType<WheelMeasureData>("WheelMeasureData");
|
||||
qRegisterMetaType<WheelMeasureResult>("WheelMeasureResult");
|
||||
|
||||
// 单实例检查
|
||||
const QString appKey = "WheelMeasureApp_SingleInstance_Key";
|
||||
|
||||
QSystemSemaphore semaphore(appKey + "_semaphore", 1);
|
||||
semaphore.acquire();
|
||||
|
||||
QSharedMemory sharedMemory(appKey + "_memory");
|
||||
|
||||
bool isRunning = false;
|
||||
|
||||
if (sharedMemory.attach()) {
|
||||
isRunning = true;
|
||||
} else {
|
||||
if (!sharedMemory.create(1)) {
|
||||
qDebug() << "Unable to create shared memory segment:" << sharedMemory.errorString();
|
||||
isRunning = true;
|
||||
}
|
||||
}
|
||||
|
||||
semaphore.release();
|
||||
|
||||
if (isRunning) {
|
||||
QMessageBox::information(nullptr,
|
||||
QObject::tr("应用程序已运行"),
|
||||
QObject::tr("车轮拱高测量应用程序已经在运行中，请勿重复启动！"),
|
||||
QMessageBox::Ok);
|
||||
return 0;
|
||||
}
|
||||
|
||||
MainWindow w;
|
||||
w.show();
|
||||
return a.exec();
|
||||
}
|
||||
#include "mainwindow.h"
|
||||
#include "IWheelMeasureStatus.h"
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
#include "CrashHandler.h"
|
||||
#include "AuthView.h"
|
||||
|
||||
#include <QApplication>
|
||||
#include <QMetaType>
|
||||
#include <QVector>
|
||||
#include <QList>
|
||||
#include <QPersistentModelIndex>
|
||||
#include <QAbstractItemModel>
|
||||
#include <QSharedMemory>
|
||||
#include <QSystemSemaphore>
|
||||
#include <QMessageBox>
|
||||
#include <QStandardPaths>
|
||||
#include <QDir>
|
||||
#include <QDebug>
|
||||
|
||||
#include "Version.h"
|
||||
|
||||
int main(int argc, char *argv[])
|
||||
{
|
||||
QApplication a(argc, argv);
|
||||
|
||||
// 设置应用程序信息
|
||||
a.setApplicationName("WheelMeasureApp");
|
||||
a.setApplicationVersion(GetWheelMeasureFullVersion());
|
||||
a.setOrganizationName("VisionRobot");
|
||||
|
||||
// 注册Qt元类型
|
||||
qRegisterMetaType<QVector<int>>("QVector<int>");
|
||||
qRegisterMetaType<QList<QPersistentModelIndex>>("QList<QPersistentModelIndex>");
|
||||
qRegisterMetaType<QAbstractItemModel::LayoutChangeHint>("QAbstractItemModel::LayoutChangeHint");
|
||||
qRegisterMetaType<Qt::SortOrder>("Qt::SortOrder");
|
||||
|
||||
// 注册自定义元类型
|
||||
qRegisterMetaType<WheelCameraParam>("WheelCameraParam");
|
||||
qRegisterMetaType<WheelCameraPlaneCalibParam>("WheelCameraPlaneCalibParam");
|
||||
qRegisterMetaType<WheelMeasureConfigResult>("WheelMeasureConfigResult");
|
||||
qRegisterMetaType<WheelMeasureData>("WheelMeasureData");
|
||||
qRegisterMetaType<WheelMeasureResult>("WheelMeasureResult");
|
||||
|
||||
// 单实例检查
|
||||
const QString appKey = "WheelMeasureApp_SingleInstance_Key";
|
||||
|
||||
QSystemSemaphore semaphore(appKey + "_semaphore", 1);
|
||||
semaphore.acquire();
|
||||
|
||||
QSharedMemory sharedMemory(appKey + "_memory");
|
||||
|
||||
bool isRunning = false;
|
||||
|
||||
if (sharedMemory.attach()) {
|
||||
isRunning = true;
|
||||
} else {
|
||||
if (!sharedMemory.create(1)) {
|
||||
qDebug() << "Unable to create shared memory segment:" << sharedMemory.errorString();
|
||||
isRunning = true;
|
||||
}
|
||||
}
|
||||
|
||||
semaphore.release();
|
||||
|
||||
if (isRunning) {
|
||||
QMessageBox::information(nullptr,
|
||||
QObject::tr("应用程序已运行"),
|
||||
QObject::tr("车轮拱高测量应用程序已经在运行中，请勿重复启动！"),
|
||||
QMessageBox::Ok);
|
||||
return 0;
|
||||
}
|
||||
|
||||
// 检查授权，无授权则显示授权对话框
|
||||
if (!AuthView::CheckAndShow(nullptr)) {
|
||||
// 用户取消授权或授权失败，退出程序
|
||||
return 0;
|
||||
}
|
||||
|
||||
MainWindow w;
|
||||
w.show();
|
||||
return a.exec();
|
||||
}
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,236 +1,246 @@
|
||||
#ifndef IVRWHEELMEASURECONFIG_H
|
||||
#define IVRWHEELMEASURECONFIG_H
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
#include <algorithm>
|
||||
#include <QtCore/QMetaType>
|
||||
#include <QtCore/QString>
|
||||
#include <QtGui/QImage>
|
||||
#include "VrCommonConfig.h" // 包含公共配置结构体
|
||||
|
||||
/**
|
||||
* @brief 数据类型枚举
|
||||
*/
|
||||
enum class WheelMeasureDataType {
|
||||
Text = 0x01,
|
||||
Image = 0x02,
|
||||
ReadConfig = 0x03,
|
||||
WriteConfig = 0x04,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 服务器信息结构
|
||||
*/
|
||||
struct WheelServerInfo
|
||||
{
|
||||
std::string name; // 服务器名称
|
||||
std::string ip; // 服务器IP地址
|
||||
int port = 5800; // 服务器端口
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 相机配置参数
|
||||
*/
|
||||
struct WheelCameraParam
|
||||
{
|
||||
int cameraIndex = 0; // 相机索引（1-based）
|
||||
std::string name = ""; // 相机名称
|
||||
std::string cameraIP = ""; // 相机IP地址
|
||||
bool enabled = true; // 是否启用
|
||||
|
||||
// 相机工作参数（参考 GrabBag）
|
||||
double exposure = 100.0; // 曝光时间 (微秒)
|
||||
double gain = 1.0; // 增益值
|
||||
double frameRate = 500.0; // 帧率
|
||||
double swingSpeed = 30.0; // 摆动速度
|
||||
double swingStartAngle = 0.0; // 开始角度
|
||||
double swingStopAngle = 76.0; // 结束角度
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 相机调平参数
|
||||
*/
|
||||
struct WheelCameraPlaneCalibParam
|
||||
{
|
||||
int cameraIndex = 0; // 相机索引
|
||||
std::string cameraName = ""; // 相机名称
|
||||
double planeCalib[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // 旋转矩阵（将点云旋转到水平）
|
||||
double planeHeight = -1; // 地面高度
|
||||
double invRMatrix[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // 逆旋转矩阵（回到原坐标系）
|
||||
bool isCalibrated = false; // 是否已标定
|
||||
double errorCompensation = -5.0; // 误差补偿（mm）
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 角点参数
|
||||
*/
|
||||
struct WheelCornerParam
|
||||
{
|
||||
double minEndingGap = 20.0; // y方向，最短结束间隙
|
||||
double minEndingGap_z = 20.0; // z方向，最短结束间隙
|
||||
double scale = 50.0; // 计算方向角的窗口比例
|
||||
double cornerTh = 45.0; // 空角阈值，大于此阈值为有效空点
|
||||
double jumpCornerTh_1 = 10.0; // 判断空角是否为跳变的阈值
|
||||
double jumpCornerTh_2 = 60.0; // 判断空角是否为跳变的阈值
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 线段参数
|
||||
*/
|
||||
struct WheelLineSegParam
|
||||
{
|
||||
double segGapTh_y = 5.0; // y方向，最短段间隙阈值
|
||||
double segGapTh_z = 10.0; // z方向，最短段间隙阈值
|
||||
double maxDist = 1.0; // 最大距离
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 离群点过滤参数
|
||||
*/
|
||||
struct WheelOutlierFilterParam
|
||||
{
|
||||
double continuityTh = 20.0; // 连续性阈值
|
||||
double outlierTh = 5.0; // 离群点阈值
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 树生长参数
|
||||
*/
|
||||
struct WheelTreeGrowParam
|
||||
{
|
||||
double yDeviation_max = 5.0; // 生长时允许的最大Y偏差
|
||||
double zDeviation_max = 2.0; // 生长时允许的最大Z偏差
|
||||
int maxLineSkipNum = 10; // 生长时允许的最大跳线数
|
||||
double maxSkipDistance = 5.0; // 当maxLineSkipNum为-1时使用
|
||||
double minLTypeTreeLen = 100.0; // 最少的L型节点数目
|
||||
double minVTypeTreeLen = 100.0; // 最少的V型节点数目
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 车轮拱高测量算法参数
|
||||
*/
|
||||
struct WheelMeasureAlgorithmParams
|
||||
{
|
||||
WheelCornerParam cornerParam; // 角点参数
|
||||
WheelLineSegParam lineSegParam; // 线段参数
|
||||
WheelOutlierFilterParam filterParam; // 离群点过滤参数
|
||||
WheelTreeGrowParam growParam; // 树生长参数
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 配置加载结果
|
||||
*/
|
||||
struct WheelMeasureConfigResult
|
||||
{
|
||||
std::vector<WheelCameraParam> cameras; // 相机列表
|
||||
std::vector<WheelCameraPlaneCalibParam> planeCalibParams; // 相机调平参数列表
|
||||
std::vector<WheelServerInfo> servers; // 服务器列表
|
||||
WheelMeasureAlgorithmParams algorithmParams; // 算法参数
|
||||
VrDebugParam debugParam; // 调试参数（使用公共VrDebugParam）
|
||||
|
||||
int serverPort = 5900; // 服务器端口
|
||||
int tcpPort = 5800; // TCP协议端口
|
||||
|
||||
// 构造函数
|
||||
WheelMeasureConfigResult() {}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 测量结果数据
|
||||
*/
|
||||
struct WheelMeasureData
|
||||
{
|
||||
int id = 0; // 测量ID
|
||||
double archToCenterHeight = 0.0; // 拱高到中心的高度
|
||||
double archToGroundHeight = 0.0; // 拱高到地面的高度
|
||||
double wheelArchPosX = 0.0; // 拱点X坐标
|
||||
double wheelArchPosY = 0.0; // 拱点Y坐标
|
||||
double wheelArchPosZ = 0.0; // 拱点Z坐标
|
||||
double wheelUpPosX = 0.0; // 上点X坐标
|
||||
double wheelUpPosY = 0.0; // 上点Y坐标
|
||||
double wheelUpPosZ = 0.0; // 上点Z坐标
|
||||
double wheelDownPosX = 0.0; // 下点X坐标
|
||||
double wheelDownPosY = 0.0; // 下点Y坐标
|
||||
double wheelDownPosZ = 0.0; // 下点Z坐标
|
||||
QString timestamp = ""; // 时间戳
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 测量结果
|
||||
*/
|
||||
struct WheelMeasureResult
|
||||
{
|
||||
QString cameraName = ""; // 相机名称
|
||||
QString aliasName = ""; // 别名
|
||||
QImage image; // 图像
|
||||
bool bImageValid = false; // 图像是否有效
|
||||
bool bResultValid = false; // 结果是否有效
|
||||
std::vector<WheelMeasureData> result; // 测量结果列表
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 配置改变通知接口
|
||||
*/
|
||||
class IVrWheelMeasureConfigChangeNotify
|
||||
{
|
||||
public:
|
||||
virtual ~IVrWheelMeasureConfigChangeNotify() {}
|
||||
|
||||
/**
|
||||
* @brief 配置数据改变通知
|
||||
* @param configResult 新的配置数据
|
||||
*/
|
||||
virtual void OnConfigChanged(const WheelMeasureConfigResult& configResult) = 0;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief WheelMeasureConfig接口类
|
||||
*/
|
||||
class IVrWheelMeasureConfig
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief 虚析构函数
|
||||
*/
|
||||
virtual ~IVrWheelMeasureConfig() = default;
|
||||
|
||||
/**
|
||||
* @brief 创建实例
|
||||
* @return 实例
|
||||
*/
|
||||
static bool CreateInstance(IVrWheelMeasureConfig** ppVrConfig);
|
||||
|
||||
/**
|
||||
* @brief 加载配置文件
|
||||
* @param filePath 配置文件路径
|
||||
* @return 加载的配置结果
|
||||
*/
|
||||
virtual WheelMeasureConfigResult LoadConfig(const std::string& filePath) = 0;
|
||||
|
||||
/**
|
||||
* @brief 保存配置文件
|
||||
* @param filePath 配置文件路径
|
||||
* @param configResult 配置结果
|
||||
* @return 是否保存成功
|
||||
*/
|
||||
virtual bool SaveConfig(const std::string& filePath, WheelMeasureConfigResult& configResult) = 0;
|
||||
|
||||
/**
|
||||
* @brief 设置配置改变通知回调
|
||||
* @param notify 通知接口指针
|
||||
*/
|
||||
virtual void SetConfigChangeNotify(IVrWheelMeasureConfigChangeNotify* notify) = 0;
|
||||
};
|
||||
|
||||
// 声明元类型，以便在QVariant中使用
|
||||
Q_DECLARE_METATYPE(WheelServerInfo)
|
||||
Q_DECLARE_METATYPE(WheelCameraParam)
|
||||
Q_DECLARE_METATYPE(WheelCameraPlaneCalibParam)
|
||||
Q_DECLARE_METATYPE(WheelMeasureConfigResult)
|
||||
Q_DECLARE_METATYPE(WheelMeasureData)
|
||||
Q_DECLARE_METATYPE(WheelMeasureResult)
|
||||
|
||||
#endif // IVRWHEELMEASURECONFIG_H
|
||||
#ifndef IVRWHEELMEASURECONFIG_H
|
||||
#define IVRWHEELMEASURECONFIG_H
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
#include <utility>
|
||||
#include <algorithm>
|
||||
#include <QtCore/QMetaType>
|
||||
#include <QtCore/QString>
|
||||
#include <QtGui/QImage>
|
||||
#include "VrCommonConfig.h" // 包含公共配置结构体
|
||||
|
||||
/**
|
||||
* @brief 数据类型枚举
|
||||
*/
|
||||
enum class WheelMeasureDataType {
|
||||
Text = 0x01,
|
||||
Image = 0x02,
|
||||
ReadConfig = 0x03,
|
||||
WriteConfig = 0x04,
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 服务器信息结构
|
||||
*/
|
||||
struct WheelServerInfo
|
||||
{
|
||||
std::string name; // 服务器名称
|
||||
std::string ip; // 服务器IP地址
|
||||
int port = 5000; // 服务器端口
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 相机配置参数
|
||||
*/
|
||||
struct WheelCameraParam
|
||||
{
|
||||
int cameraIndex = 0; // 相机索引（1-based）
|
||||
std::string name = ""; // 相机名称
|
||||
std::string cameraIP = ""; // 相机IP地址
|
||||
bool enabled = true; // 是否启用
|
||||
|
||||
// 相机工作参数（参考 GrabBag）
|
||||
double exposure = 100.0; // 曝光时间 (微秒)
|
||||
double gain = 1.0; // 增益值
|
||||
double frameRate = 500.0; // 帧率
|
||||
double swingSpeed = 30.0; // 摆动速度
|
||||
double swingStartAngle = 0.0; // 开始角度
|
||||
double swingStopAngle = 76.0; // 结束角度
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 相机调平参数
|
||||
*/
|
||||
struct WheelCameraPlaneCalibParam
|
||||
{
|
||||
int cameraIndex = 0; // 相机索引
|
||||
std::string cameraName = ""; // 相机名称
|
||||
double planeCalib[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // 旋转矩阵（将点云旋转到水平）
|
||||
double planeHeight = -1; // 地面高度
|
||||
double invRMatrix[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // 逆旋转矩阵（回到原坐标系）
|
||||
bool isCalibrated = false; // 是否已标定
|
||||
double errorCompensation = -5.0; // 误差补偿（mm）
|
||||
|
||||
// 轮胎存在检测的3D ROI范围
|
||||
double wheelRoi3d_xMin = -1000.0; // X方向最小值（mm）
|
||||
double wheelRoi3d_xMax = 1000.0; // X方向最大值（mm）
|
||||
double wheelRoi3d_yMin = -1000.0; // Y方向最小值（mm）
|
||||
double wheelRoi3d_yMax = 1000.0; // Y方向最大值（mm）
|
||||
double wheelRoi3d_zMin = -1000.0; // Z方向最小值（mm）
|
||||
double wheelRoi3d_zMax = 1000.0; // Z方向最大值（mm）
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 角点参数
|
||||
*/
|
||||
struct WheelCornerParam
|
||||
{
|
||||
double minEndingGap = 20.0; // y方向，最短结束间隙
|
||||
double minEndingGap_z = 20.0; // z方向，最短结束间隙
|
||||
double scale = 50.0; // 计算方向角的窗口比例
|
||||
double cornerTh = 45.0; // 空角阈值，大于此阈值为有效空点
|
||||
double jumpCornerTh_1 = 10.0; // 判断空角是否为跳变的阈值
|
||||
double jumpCornerTh_2 = 60.0; // 判断空角是否为跳变的阈值
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 线段参数
|
||||
*/
|
||||
struct WheelLineSegParam
|
||||
{
|
||||
double segGapTh_y = 5.0; // y方向，最短段间隙阈值
|
||||
double segGapTh_z = 10.0; // z方向，最短段间隙阈值
|
||||
double maxDist = 1.0; // 最大距离
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 离群点过滤参数
|
||||
*/
|
||||
struct WheelOutlierFilterParam
|
||||
{
|
||||
double continuityTh = 20.0; // 连续性阈值
|
||||
double outlierTh = 5.0; // 离群点阈值
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 树生长参数
|
||||
*/
|
||||
struct WheelTreeGrowParam
|
||||
{
|
||||
double yDeviation_max = 5.0; // 生长时允许的最大Y偏差
|
||||
double zDeviation_max = 2.0; // 生长时允许的最大Z偏差
|
||||
int maxLineSkipNum = 10; // 生长时允许的最大跳线数
|
||||
double maxSkipDistance = 5.0; // 当maxLineSkipNum为-1时使用
|
||||
double minLTypeTreeLen = 100.0; // 最少的L型节点数目
|
||||
double minVTypeTreeLen = 100.0; // 最少的V型节点数目
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 车轮拱高测量算法参数
|
||||
*/
|
||||
struct WheelMeasureAlgorithmParams
|
||||
{
|
||||
WheelCornerParam cornerParam; // 角点参数
|
||||
WheelLineSegParam lineSegParam; // 线段参数
|
||||
WheelOutlierFilterParam filterParam; // 离群点过滤参数
|
||||
WheelTreeGrowParam growParam; // 树生长参数
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 配置加载结果
|
||||
*/
|
||||
struct WheelMeasureConfigResult
|
||||
{
|
||||
std::vector<WheelCameraParam> cameras; // 相机列表
|
||||
std::vector<WheelCameraPlaneCalibParam> planeCalibParams; // 相机调平参数列表
|
||||
std::vector<WheelServerInfo> servers; // 服务器列表
|
||||
WheelMeasureAlgorithmParams algorithmParams; // 算法参数
|
||||
VrDebugParam debugParam; // 调试参数（使用公共VrDebugParam）
|
||||
|
||||
int serverPort = 5900; // 服务器端口
|
||||
int tcpPort = 5800; // TCP协议端口
|
||||
|
||||
// 构造函数
|
||||
WheelMeasureConfigResult() {}
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 测量结果数据
|
||||
*/
|
||||
struct WheelMeasureData
|
||||
{
|
||||
int id = 0; // 测量ID
|
||||
double archToCenterHeight = 0.0; // 拱高到中心的高度
|
||||
double archToGroundHeight = 0.0; // 拱高到地面的高度
|
||||
double wheelArchPosX = 0.0; // 拱点X坐标
|
||||
double wheelArchPosY = 0.0; // 拱点Y坐标
|
||||
double wheelArchPosZ = 0.0; // 拱点Z坐标
|
||||
double wheelUpPosX = 0.0; // 上点X坐标
|
||||
double wheelUpPosY = 0.0; // 上点Y坐标
|
||||
double wheelUpPosZ = 0.0; // 上点Z坐标
|
||||
double wheelDownPosX = 0.0; // 下点X坐标
|
||||
double wheelDownPosY = 0.0; // 下点Y坐标
|
||||
double wheelDownPosZ = 0.0; // 下点Z坐标
|
||||
QString timestamp = ""; // 时间戳
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 测量结果
|
||||
*/
|
||||
struct WheelMeasureResult
|
||||
{
|
||||
QString cameraName = ""; // 相机名称
|
||||
QString aliasName = ""; // 别名
|
||||
QImage image; // 图像
|
||||
bool bImageValid = false; // 图像是否有效
|
||||
bool bResultValid = false; // 结果是否有效
|
||||
int errorCode = 0; // 错误码（0表示成功，401表示工件为空）
|
||||
QString errorMessage = ""; // 错误信息
|
||||
std::vector<WheelMeasureData> result; // 测量结果列表
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief 配置改变通知接口
|
||||
*/
|
||||
class IVrWheelMeasureConfigChangeNotify
|
||||
{
|
||||
public:
|
||||
virtual ~IVrWheelMeasureConfigChangeNotify() {}
|
||||
|
||||
/**
|
||||
* @brief 配置数据改变通知
|
||||
* @param configResult 新的配置数据
|
||||
*/
|
||||
virtual void OnConfigChanged(const WheelMeasureConfigResult& configResult) = 0;
|
||||
};
|
||||
|
||||
/**
|
||||
* @brief WheelMeasureConfig接口类
|
||||
*/
|
||||
class IVrWheelMeasureConfig
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* @brief 虚析构函数
|
||||
*/
|
||||
virtual ~IVrWheelMeasureConfig() = default;
|
||||
|
||||
/**
|
||||
* @brief 创建实例
|
||||
* @return 实例
|
||||
*/
|
||||
static bool CreateInstance(IVrWheelMeasureConfig** ppVrConfig);
|
||||
|
||||
/**
|
||||
* @brief 加载配置文件
|
||||
* @param filePath 配置文件路径
|
||||
* @return 加载的配置结果
|
||||
*/
|
||||
virtual WheelMeasureConfigResult LoadConfig(const std::string& filePath) = 0;
|
||||
|
||||
/**
|
||||
* @brief 保存配置文件
|
||||
* @param filePath 配置文件路径
|
||||
* @param configResult 配置结果
|
||||
* @return 是否保存成功
|
||||
*/
|
||||
virtual bool SaveConfig(const std::string& filePath, WheelMeasureConfigResult& configResult) = 0;
|
||||
|
||||
/**
|
||||
* @brief 设置配置改变通知回调
|
||||
* @param notify 通知接口指针
|
||||
*/
|
||||
virtual void SetConfigChangeNotify(IVrWheelMeasureConfigChangeNotify* notify) = 0;
|
||||
};
|
||||
|
||||
// 声明元类型，以便在QVariant中使用
|
||||
Q_DECLARE_METATYPE(WheelServerInfo)
|
||||
Q_DECLARE_METATYPE(WheelCameraParam)
|
||||
Q_DECLARE_METATYPE(WheelCameraPlaneCalibParam)
|
||||
Q_DECLARE_METATYPE(WheelMeasureConfigResult)
|
||||
Q_DECLARE_METATYPE(WheelMeasureData)
|
||||
Q_DECLARE_METATYPE(WheelMeasureResult)
|
||||
|
||||
#endif // IVRWHEELMEASURECONFIG_H
|
||||
|
||||
@ -1,435 +1,461 @@
|
||||
#include "VrWheelMeasureConfig.h"
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
#include <algorithm>
|
||||
#include <sstream>
|
||||
#include "VrLog.h"
|
||||
#include <QFile>
|
||||
#include <QTextStream>
|
||||
#include <QString>
|
||||
#include <QTextCodec>
|
||||
#include <QXmlStreamReader>
|
||||
#include <QXmlStreamWriter>
|
||||
|
||||
VrWheelMeasureConfig::VrWheelMeasureConfig()
|
||||
: m_notify(nullptr)
|
||||
{
|
||||
}
|
||||
|
||||
VrWheelMeasureConfig::~VrWheelMeasureConfig()
|
||||
{
|
||||
}
|
||||
|
||||
// 静态工厂方法
|
||||
bool IVrWheelMeasureConfig::CreateInstance(IVrWheelMeasureConfig** ppVrConfig)
|
||||
{
|
||||
if (!ppVrConfig) {
|
||||
return false;
|
||||
}
|
||||
|
||||
*ppVrConfig = new VrWheelMeasureConfig();
|
||||
return true;
|
||||
}
|
||||
|
||||
WheelMeasureConfigResult VrWheelMeasureConfig::LoadConfig(const std::string& filePath)
|
||||
{
|
||||
WheelMeasureConfigResult result;
|
||||
|
||||
// 使用QString处理可能包含中文的路径
|
||||
QString qFilePath = QString::fromStdString(filePath);
|
||||
QFile file(qFilePath);
|
||||
|
||||
// 检查文件是否存在并可读
|
||||
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||||
LOG_DEBUG("Failed to open file: %s\n", filePath.c_str());
|
||||
return result;
|
||||
}
|
||||
|
||||
// 使用QXmlStreamReader解析XML内容
|
||||
QXmlStreamReader xml(&file);
|
||||
|
||||
// 读取到根元素
|
||||
if (xml.readNextStartElement()) {
|
||||
if (xml.name() != "WheelMeasureConfig") {
|
||||
xml.raiseError(QObject::tr("Not a WheelMeasureConfig file"));
|
||||
}
|
||||
} else {
|
||||
xml.raiseError(QObject::tr("Failed to read root element"));
|
||||
}
|
||||
|
||||
// 解析XML内容
|
||||
while (!xml.atEnd() && !xml.hasError()) {
|
||||
xml.readNext();
|
||||
|
||||
// 解析相机配置
|
||||
if (xml.isStartElement() && xml.name() == "Cameras") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "Camera") {
|
||||
WheelCameraParam camera;
|
||||
camera.cameraIndex = xml.attributes().value("index").toInt();
|
||||
camera.name = xml.attributes().value("name").toString().toStdString();
|
||||
camera.cameraIP = xml.attributes().value("ip").toString().toStdString();
|
||||
camera.enabled = xml.attributes().value("enabled").toInt() != 0;
|
||||
result.cameras.push_back(camera);
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析相机调平参数
|
||||
else if (xml.isStartElement() && xml.name() == "PlaneCalibParams") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "CameraCalib") {
|
||||
WheelCameraPlaneCalibParam calibParam;
|
||||
calibParam.cameraIndex = xml.attributes().value("index").toInt();
|
||||
calibParam.cameraName = xml.attributes().value("name").toString().toStdString();
|
||||
calibParam.planeHeight = xml.attributes().value("planeHeight").toDouble();
|
||||
calibParam.isCalibrated = xml.attributes().value("isCalibrated").toInt() != 0;
|
||||
// 读取误差补偿参数，默认值为-5.0
|
||||
if (xml.attributes().hasAttribute("errorCompensation")) {
|
||||
calibParam.errorCompensation = xml.attributes().value("errorCompensation").toDouble();
|
||||
} else {
|
||||
calibParam.errorCompensation = -5.0;
|
||||
}
|
||||
|
||||
// 读取planeCalib矩阵
|
||||
QString planeCalibStr = xml.attributes().value("planeCalib").toString();
|
||||
QStringList planeCalibList = planeCalibStr.split(",");
|
||||
for (int i = 0; i < 9 && i < planeCalibList.size(); ++i) {
|
||||
calibParam.planeCalib[i] = planeCalibList[i].toDouble();
|
||||
}
|
||||
|
||||
// 读取invRMatrix矩阵
|
||||
QString invRMatrixStr = xml.attributes().value("invRMatrix").toString();
|
||||
QStringList invRMatrixList = invRMatrixStr.split(",");
|
||||
for (int i = 0; i < 9 && i < invRMatrixList.size(); ++i) {
|
||||
calibParam.invRMatrix[i] = invRMatrixList[i].toDouble();
|
||||
}
|
||||
|
||||
result.planeCalibParams.push_back(calibParam);
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析算法参数
|
||||
else if (xml.isStartElement() && xml.name() == "AlgorithmParams") {
|
||||
while (xml.readNextStartElement()) {
|
||||
// 角点参数
|
||||
if (xml.name() == "CornerParam") {
|
||||
result.algorithmParams.cornerParam.minEndingGap =
|
||||
xml.attributes().value("minEndingGap").toDouble();
|
||||
result.algorithmParams.cornerParam.minEndingGap_z =
|
||||
xml.attributes().value("minEndingGap_z").toDouble();
|
||||
result.algorithmParams.cornerParam.scale =
|
||||
xml.attributes().value("scale").toDouble();
|
||||
result.algorithmParams.cornerParam.cornerTh =
|
||||
xml.attributes().value("cornerTh").toDouble();
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_1 =
|
||||
xml.attributes().value("jumpCornerTh_1").toDouble();
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_2 =
|
||||
xml.attributes().value("jumpCornerTh_2").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.cornerParam.minEndingGap == 0.0) {
|
||||
result.algorithmParams.cornerParam.minEndingGap = 3.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.minEndingGap_z == 0.0) {
|
||||
result.algorithmParams.cornerParam.minEndingGap_z = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.scale == 0.0) {
|
||||
result.algorithmParams.cornerParam.scale = 10.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.cornerTh == 0.0) {
|
||||
result.algorithmParams.cornerParam.cornerTh = 130.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.jumpCornerTh_1 == 0.0) {
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_1 = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.jumpCornerTh_2 == 0.0) {
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_2 = 2.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
// 线段参数
|
||||
else if (xml.name() == "LineSegParam") {
|
||||
result.algorithmParams.lineSegParam.segGapTh_y =
|
||||
xml.attributes().value("segGapTh_y").toDouble();
|
||||
result.algorithmParams.lineSegParam.segGapTh_z =
|
||||
xml.attributes().value("segGapTh_z").toDouble();
|
||||
result.algorithmParams.lineSegParam.maxDist =
|
||||
xml.attributes().value("maxDist").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.lineSegParam.segGapTh_y == 0.0) {
|
||||
result.algorithmParams.lineSegParam.segGapTh_y = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.lineSegParam.segGapTh_z == 0.0) {
|
||||
result.algorithmParams.lineSegParam.segGapTh_z = 10.0;
|
||||
}
|
||||
if (result.algorithmParams.lineSegParam.maxDist == 0.0) {
|
||||
result.algorithmParams.lineSegParam.maxDist = 50.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
// 离群点过滤参数
|
||||
else if (xml.name() == "OutlierFilterParam") {
|
||||
result.algorithmParams.filterParam.continuityTh =
|
||||
xml.attributes().value("continuityTh").toDouble();
|
||||
result.algorithmParams.filterParam.outlierTh =
|
||||
xml.attributes().value("outlierTh").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.filterParam.continuityTh == 0.0) {
|
||||
result.algorithmParams.filterParam.continuityTh = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.filterParam.outlierTh == 0.0) {
|
||||
result.algorithmParams.filterParam.outlierTh = 3.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
// 树生长参数
|
||||
else if (xml.name() == "TreeGrowParam") {
|
||||
result.algorithmParams.growParam.yDeviation_max =
|
||||
xml.attributes().value("yDeviation_max").toDouble();
|
||||
result.algorithmParams.growParam.zDeviation_max =
|
||||
xml.attributes().value("zDeviation_max").toDouble();
|
||||
result.algorithmParams.growParam.maxLineSkipNum =
|
||||
xml.attributes().value("maxLineSkipNum").toInt();
|
||||
result.algorithmParams.growParam.maxSkipDistance =
|
||||
xml.attributes().value("maxSkipDistance").toDouble();
|
||||
result.algorithmParams.growParam.minLTypeTreeLen =
|
||||
xml.attributes().value("minLTypeTreeLen").toDouble();
|
||||
result.algorithmParams.growParam.minVTypeTreeLen =
|
||||
xml.attributes().value("minVTypeTreeLen").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.growParam.yDeviation_max == 0.0) {
|
||||
result.algorithmParams.growParam.yDeviation_max = 20.0;
|
||||
}
|
||||
if (result.algorithmParams.growParam.zDeviation_max == 0.0) {
|
||||
result.algorithmParams.growParam.zDeviation_max = 30.0;
|
||||
}
|
||||
if (result.algorithmParams.growParam.maxLineSkipNum == 0) {
|
||||
result.algorithmParams.growParam.maxLineSkipNum = 5;
|
||||
}
|
||||
if (result.algorithmParams.growParam.minLTypeTreeLen == 0.0) {
|
||||
result.algorithmParams.growParam.minLTypeTreeLen = 10.0;
|
||||
}
|
||||
if (result.algorithmParams.growParam.minVTypeTreeLen == 0.0) {
|
||||
result.algorithmParams.growParam.minVTypeTreeLen = 10.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
else {
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析调试参数
|
||||
else if (xml.isStartElement() && xml.name() == "DebugParam") {
|
||||
result.debugParam.enableDebug = xml.attributes().value("enableDebug").toInt();
|
||||
result.debugParam.savePointCloud = xml.attributes().value("savePointCloud").toInt();
|
||||
result.debugParam.saveDebugImage = xml.attributes().value("saveDebugImage").toInt();
|
||||
result.debugParam.printDetailLog = xml.attributes().value("printDetailLog").toInt();
|
||||
result.debugParam.debugOutputPath = xml.attributes().value("debugOutputPath").toString().toStdString();
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
|
||||
// 解析服务端配置
|
||||
else if (xml.isStartElement() && xml.name() == "LocalServerConfig") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "ServerPort") {
|
||||
result.serverPort = xml.attributes().value("port").toInt();
|
||||
xml.skipCurrentElement();
|
||||
} else if (xml.name() == "TcpPort") {
|
||||
result.tcpPort = xml.attributes().value("port").toInt();
|
||||
if (result.tcpPort == 0) {
|
||||
result.tcpPort = 5800; // 默认值
|
||||
}
|
||||
xml.skipCurrentElement();
|
||||
} else {
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析服务器列表
|
||||
else if (xml.isStartElement() && xml.name() == "Servers") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "Server") {
|
||||
WheelServerInfo server;
|
||||
server.name = xml.attributes().value("name").toString().toStdString();
|
||||
server.ip = xml.attributes().value("ip").toString().toStdString();
|
||||
server.port = xml.attributes().value("port").toInt();
|
||||
if (server.port == 0) {
|
||||
server.port = 5800; // 默认端口
|
||||
}
|
||||
result.servers.push_back(server);
|
||||
xml.skipCurrentElement();
|
||||
} else {
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
file.close();
|
||||
|
||||
// 检查解析错误
|
||||
if (xml.hasError()) {
|
||||
LOG_ERROR("XML parsing error: %s\n", xml.errorString().toStdString().c_str());
|
||||
return WheelMeasureConfigResult(); // 返回空结果
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
bool VrWheelMeasureConfig::SaveConfig(const std::string& filePath, WheelMeasureConfigResult& configResult)
|
||||
{
|
||||
// 使用QString处理可能包含中文的路径
|
||||
QString qFilePath = QString::fromStdString(filePath);
|
||||
QFile file(qFilePath);
|
||||
|
||||
// 打开文件进行写入
|
||||
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
|
||||
LOG_DEBUG("Failed to open file for writing: %s\n", filePath.c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
// 使用QXmlStreamWriter写入XML内容
|
||||
QXmlStreamWriter xml(&file);
|
||||
xml.setAutoFormatting(true);
|
||||
xml.setCodec("UTF-8");
|
||||
xml.writeStartDocument();
|
||||
xml.writeStartElement("WheelMeasureConfig");
|
||||
|
||||
// 保存相机配置
|
||||
xml.writeStartElement("Cameras");
|
||||
for (const auto& camera : configResult.cameras) {
|
||||
xml.writeStartElement("Camera");
|
||||
xml.writeAttribute("index", QString::number(camera.cameraIndex));
|
||||
xml.writeAttribute("name", QString::fromStdString(camera.name));
|
||||
xml.writeAttribute("ip", QString::fromStdString(camera.cameraIP));
|
||||
xml.writeAttribute("enabled", QString::number(camera.enabled ? 1 : 0));
|
||||
xml.writeEndElement(); // Camera
|
||||
}
|
||||
xml.writeEndElement(); // Cameras
|
||||
|
||||
// 保存相机调平参数
|
||||
xml.writeStartElement("PlaneCalibParams");
|
||||
for (const auto& calibParam : configResult.planeCalibParams) {
|
||||
xml.writeStartElement("CameraCalib");
|
||||
xml.writeAttribute("index", QString::number(calibParam.cameraIndex));
|
||||
xml.writeAttribute("name", QString::fromStdString(calibParam.cameraName));
|
||||
xml.writeAttribute("planeHeight", QString::number(calibParam.planeHeight, 'f', 6));
|
||||
xml.writeAttribute("isCalibrated", QString::number(calibParam.isCalibrated ? 1 : 0));
|
||||
xml.writeAttribute("errorCompensation", QString::number(calibParam.errorCompensation, 'f', 2));
|
||||
|
||||
// 保存planeCalib矩阵
|
||||
QStringList planeCalibList;
|
||||
for (int i = 0; i < 9; ++i) {
|
||||
planeCalibList.append(QString::number(calibParam.planeCalib[i], 'f', 8));
|
||||
}
|
||||
xml.writeAttribute("planeCalib", planeCalibList.join(","));
|
||||
|
||||
// 保存invRMatrix矩阵
|
||||
QStringList invRMatrixList;
|
||||
for (int i = 0; i < 9; ++i) {
|
||||
invRMatrixList.append(QString::number(calibParam.invRMatrix[i], 'f', 8));
|
||||
}
|
||||
xml.writeAttribute("invRMatrix", invRMatrixList.join(","));
|
||||
|
||||
xml.writeEndElement(); // CameraCalib
|
||||
}
|
||||
xml.writeEndElement(); // PlaneCalibParams
|
||||
|
||||
// 保存算法参数
|
||||
xml.writeStartElement("AlgorithmParams");
|
||||
|
||||
// 角点参数
|
||||
xml.writeStartElement("CornerParam");
|
||||
xml.writeAttribute("minEndingGap", QString::number(configResult.algorithmParams.cornerParam.minEndingGap));
|
||||
xml.writeAttribute("minEndingGap_z", QString::number(configResult.algorithmParams.cornerParam.minEndingGap_z));
|
||||
xml.writeAttribute("scale", QString::number(configResult.algorithmParams.cornerParam.scale));
|
||||
xml.writeAttribute("cornerTh", QString::number(configResult.algorithmParams.cornerParam.cornerTh));
|
||||
xml.writeAttribute("jumpCornerTh_1", QString::number(configResult.algorithmParams.cornerParam.jumpCornerTh_1));
|
||||
xml.writeAttribute("jumpCornerTh_2", QString::number(configResult.algorithmParams.cornerParam.jumpCornerTh_2));
|
||||
xml.writeEndElement(); // CornerParam
|
||||
|
||||
// 线段参数
|
||||
xml.writeStartElement("LineSegParam");
|
||||
xml.writeAttribute("segGapTh_y", QString::number(configResult.algorithmParams.lineSegParam.segGapTh_y));
|
||||
xml.writeAttribute("segGapTh_z", QString::number(configResult.algorithmParams.lineSegParam.segGapTh_z));
|
||||
xml.writeAttribute("maxDist", QString::number(configResult.algorithmParams.lineSegParam.maxDist));
|
||||
xml.writeEndElement(); // LineSegParam
|
||||
|
||||
// 离群点过滤参数
|
||||
xml.writeStartElement("OutlierFilterParam");
|
||||
xml.writeAttribute("continuityTh", QString::number(configResult.algorithmParams.filterParam.continuityTh));
|
||||
xml.writeAttribute("outlierTh", QString::number(configResult.algorithmParams.filterParam.outlierTh));
|
||||
xml.writeEndElement(); // OutlierFilterParam
|
||||
|
||||
// 树生长参数
|
||||
xml.writeStartElement("TreeGrowParam");
|
||||
xml.writeAttribute("yDeviation_max", QString::number(configResult.algorithmParams.growParam.yDeviation_max));
|
||||
xml.writeAttribute("zDeviation_max", QString::number(configResult.algorithmParams.growParam.zDeviation_max));
|
||||
xml.writeAttribute("maxLineSkipNum", QString::number(configResult.algorithmParams.growParam.maxLineSkipNum));
|
||||
xml.writeAttribute("maxSkipDistance", QString::number(configResult.algorithmParams.growParam.maxSkipDistance));
|
||||
xml.writeAttribute("minLTypeTreeLen", QString::number(configResult.algorithmParams.growParam.minLTypeTreeLen));
|
||||
xml.writeAttribute("minVTypeTreeLen", QString::number(configResult.algorithmParams.growParam.minVTypeTreeLen));
|
||||
xml.writeEndElement(); // TreeGrowParam
|
||||
|
||||
xml.writeEndElement(); // AlgorithmParams
|
||||
|
||||
// 保存调试参数
|
||||
xml.writeStartElement("DebugParam");
|
||||
xml.writeAttribute("enableDebug", QString::number(configResult.debugParam.enableDebug));
|
||||
xml.writeAttribute("savePointCloud", QString::number(configResult.debugParam.savePointCloud));
|
||||
xml.writeAttribute("saveDebugImage", QString::number(configResult.debugParam.saveDebugImage));
|
||||
xml.writeAttribute("printDetailLog", QString::number(configResult.debugParam.printDetailLog));
|
||||
xml.writeAttribute("debugOutputPath", QString::fromStdString(configResult.debugParam.debugOutputPath));
|
||||
xml.writeEndElement(); // DebugParam
|
||||
|
||||
// 保存服务端配置
|
||||
xml.writeStartElement("LocalServerConfig");
|
||||
xml.writeStartElement("ServerPort");
|
||||
xml.writeAttribute("port", QString::number(configResult.serverPort));
|
||||
xml.writeEndElement(); // ServerPort
|
||||
xml.writeStartElement("TcpPort");
|
||||
xml.writeAttribute("port", QString::number(configResult.tcpPort));
|
||||
xml.writeEndElement(); // TcpPort
|
||||
xml.writeEndElement(); // LocalServerConfig
|
||||
|
||||
// 保存服务器列表
|
||||
xml.writeStartElement("Servers");
|
||||
for (const auto& server : configResult.servers) {
|
||||
xml.writeStartElement("Server");
|
||||
xml.writeAttribute("name", QString::fromStdString(server.name));
|
||||
xml.writeAttribute("ip", QString::fromStdString(server.ip));
|
||||
xml.writeAttribute("port", QString::number(server.port));
|
||||
xml.writeEndElement(); // Server
|
||||
}
|
||||
xml.writeEndElement(); // Servers
|
||||
|
||||
xml.writeEndElement(); // WheelMeasureConfig
|
||||
xml.writeEndDocument();
|
||||
|
||||
file.close();
|
||||
|
||||
// 通知配置改变
|
||||
if (m_notify) {
|
||||
m_notify->OnConfigChanged(configResult);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void VrWheelMeasureConfig::SetConfigChangeNotify(IVrWheelMeasureConfigChangeNotify* notify)
|
||||
{
|
||||
m_notify = notify;
|
||||
}
|
||||
#include "VrWheelMeasureConfig.h"
|
||||
#include "IVrWheelMeasureConfig.h"
|
||||
#include <algorithm>
|
||||
#include <sstream>
|
||||
#include "VrLog.h"
|
||||
#include <QFile>
|
||||
#include <QTextStream>
|
||||
#include <QString>
|
||||
#include <QTextCodec>
|
||||
#include <QXmlStreamReader>
|
||||
#include <QXmlStreamWriter>
|
||||
|
||||
VrWheelMeasureConfig::VrWheelMeasureConfig()
|
||||
: m_notify(nullptr)
|
||||
{
|
||||
}
|
||||
|
||||
VrWheelMeasureConfig::~VrWheelMeasureConfig()
|
||||
{
|
||||
}
|
||||
|
||||
// 静态工厂方法
|
||||
bool IVrWheelMeasureConfig::CreateInstance(IVrWheelMeasureConfig** ppVrConfig)
|
||||
{
|
||||
if (!ppVrConfig) {
|
||||
return false;
|
||||
}
|
||||
|
||||
*ppVrConfig = new VrWheelMeasureConfig();
|
||||
return true;
|
||||
}
|
||||
|
||||
WheelMeasureConfigResult VrWheelMeasureConfig::LoadConfig(const std::string& filePath)
|
||||
{
|
||||
WheelMeasureConfigResult result;
|
||||
|
||||
// 使用QString处理可能包含中文的路径
|
||||
QString qFilePath = QString::fromStdString(filePath);
|
||||
QFile file(qFilePath);
|
||||
|
||||
// 检查文件是否存在并可读
|
||||
if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||||
LOG_DEBUG("Failed to open file: %s\n", filePath.c_str());
|
||||
return result;
|
||||
}
|
||||
|
||||
// 使用QXmlStreamReader解析XML内容
|
||||
QXmlStreamReader xml(&file);
|
||||
|
||||
// 读取到根元素
|
||||
if (xml.readNextStartElement()) {
|
||||
if (xml.name() != "WheelMeasureConfig") {
|
||||
xml.raiseError(QObject::tr("Not a WheelMeasureConfig file"));
|
||||
}
|
||||
} else {
|
||||
xml.raiseError(QObject::tr("Failed to read root element"));
|
||||
}
|
||||
|
||||
// 解析XML内容
|
||||
while (!xml.atEnd() && !xml.hasError()) {
|
||||
xml.readNext();
|
||||
|
||||
// 解析相机配置
|
||||
if (xml.isStartElement() && xml.name() == "Cameras") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "Camera") {
|
||||
WheelCameraParam camera;
|
||||
camera.cameraIndex = xml.attributes().value("index").toInt();
|
||||
camera.name = xml.attributes().value("name").toString().toStdString();
|
||||
camera.cameraIP = xml.attributes().value("ip").toString().toStdString();
|
||||
camera.enabled = xml.attributes().value("enabled").toInt() != 0;
|
||||
result.cameras.push_back(camera);
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析相机调平参数
|
||||
else if (xml.isStartElement() && xml.name() == "PlaneCalibParams") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "CameraCalib") {
|
||||
WheelCameraPlaneCalibParam calibParam;
|
||||
calibParam.cameraIndex = xml.attributes().value("index").toInt();
|
||||
calibParam.cameraName = xml.attributes().value("name").toString().toStdString();
|
||||
calibParam.planeHeight = xml.attributes().value("planeHeight").toDouble();
|
||||
calibParam.isCalibrated = xml.attributes().value("isCalibrated").toInt() != 0;
|
||||
// 读取误差补偿参数，默认值为-5.0
|
||||
if (xml.attributes().hasAttribute("errorCompensation")) {
|
||||
calibParam.errorCompensation = xml.attributes().value("errorCompensation").toDouble();
|
||||
} else {
|
||||
calibParam.errorCompensation = -5.0;
|
||||
}
|
||||
|
||||
// 读取轮胎存在检测的3D ROI范围
|
||||
if (xml.attributes().hasAttribute("wheelRoi3d_xMin")) {
|
||||
calibParam.wheelRoi3d_xMin = xml.attributes().value("wheelRoi3d_xMin").toDouble();
|
||||
calibParam.wheelRoi3d_xMax = xml.attributes().value("wheelRoi3d_xMax").toDouble();
|
||||
calibParam.wheelRoi3d_yMin = xml.attributes().value("wheelRoi3d_yMin").toDouble();
|
||||
calibParam.wheelRoi3d_yMax = xml.attributes().value("wheelRoi3d_yMax").toDouble();
|
||||
calibParam.wheelRoi3d_zMin = xml.attributes().value("wheelRoi3d_zMin").toDouble();
|
||||
calibParam.wheelRoi3d_zMax = xml.attributes().value("wheelRoi3d_zMax").toDouble();
|
||||
} else {
|
||||
// 默认值
|
||||
calibParam.wheelRoi3d_xMin = -1000.0;
|
||||
calibParam.wheelRoi3d_xMax = 1000.0;
|
||||
calibParam.wheelRoi3d_yMin = -1000.0;
|
||||
calibParam.wheelRoi3d_yMax = 1000.0;
|
||||
calibParam.wheelRoi3d_zMin = -1000.0;
|
||||
calibParam.wheelRoi3d_zMax = 1000.0;
|
||||
}
|
||||
|
||||
// 读取planeCalib矩阵
|
||||
QString planeCalibStr = xml.attributes().value("planeCalib").toString();
|
||||
QStringList planeCalibList = planeCalibStr.split(",");
|
||||
for (int i = 0; i < 9 && i < planeCalibList.size(); ++i) {
|
||||
calibParam.planeCalib[i] = planeCalibList[i].toDouble();
|
||||
}
|
||||
|
||||
// 读取invRMatrix矩阵
|
||||
QString invRMatrixStr = xml.attributes().value("invRMatrix").toString();
|
||||
QStringList invRMatrixList = invRMatrixStr.split(",");
|
||||
for (int i = 0; i < 9 && i < invRMatrixList.size(); ++i) {
|
||||
calibParam.invRMatrix[i] = invRMatrixList[i].toDouble();
|
||||
}
|
||||
|
||||
result.planeCalibParams.push_back(calibParam);
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析算法参数
|
||||
else if (xml.isStartElement() && xml.name() == "AlgorithmParams") {
|
||||
while (xml.readNextStartElement()) {
|
||||
// 角点参数
|
||||
if (xml.name() == "CornerParam") {
|
||||
result.algorithmParams.cornerParam.minEndingGap =
|
||||
xml.attributes().value("minEndingGap").toDouble();
|
||||
result.algorithmParams.cornerParam.minEndingGap_z =
|
||||
xml.attributes().value("minEndingGap_z").toDouble();
|
||||
result.algorithmParams.cornerParam.scale =
|
||||
xml.attributes().value("scale").toDouble();
|
||||
result.algorithmParams.cornerParam.cornerTh =
|
||||
xml.attributes().value("cornerTh").toDouble();
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_1 =
|
||||
xml.attributes().value("jumpCornerTh_1").toDouble();
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_2 =
|
||||
xml.attributes().value("jumpCornerTh_2").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.cornerParam.minEndingGap == 0.0) {
|
||||
result.algorithmParams.cornerParam.minEndingGap = 3.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.minEndingGap_z == 0.0) {
|
||||
result.algorithmParams.cornerParam.minEndingGap_z = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.scale == 0.0) {
|
||||
result.algorithmParams.cornerParam.scale = 10.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.cornerTh == 0.0) {
|
||||
result.algorithmParams.cornerParam.cornerTh = 130.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.jumpCornerTh_1 == 0.0) {
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_1 = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.cornerParam.jumpCornerTh_2 == 0.0) {
|
||||
result.algorithmParams.cornerParam.jumpCornerTh_2 = 2.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
// 线段参数
|
||||
else if (xml.name() == "LineSegParam") {
|
||||
result.algorithmParams.lineSegParam.segGapTh_y =
|
||||
xml.attributes().value("segGapTh_y").toDouble();
|
||||
result.algorithmParams.lineSegParam.segGapTh_z =
|
||||
xml.attributes().value("segGapTh_z").toDouble();
|
||||
result.algorithmParams.lineSegParam.maxDist =
|
||||
xml.attributes().value("maxDist").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.lineSegParam.segGapTh_y == 0.0) {
|
||||
result.algorithmParams.lineSegParam.segGapTh_y = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.lineSegParam.segGapTh_z == 0.0) {
|
||||
result.algorithmParams.lineSegParam.segGapTh_z = 10.0;
|
||||
}
|
||||
if (result.algorithmParams.lineSegParam.maxDist == 0.0) {
|
||||
result.algorithmParams.lineSegParam.maxDist = 50.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
// 离群点过滤参数
|
||||
else if (xml.name() == "OutlierFilterParam") {
|
||||
result.algorithmParams.filterParam.continuityTh =
|
||||
xml.attributes().value("continuityTh").toDouble();
|
||||
result.algorithmParams.filterParam.outlierTh =
|
||||
xml.attributes().value("outlierTh").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.filterParam.continuityTh == 0.0) {
|
||||
result.algorithmParams.filterParam.continuityTh = 5.0;
|
||||
}
|
||||
if (result.algorithmParams.filterParam.outlierTh == 0.0) {
|
||||
result.algorithmParams.filterParam.outlierTh = 3.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
// 树生长参数
|
||||
else if (xml.name() == "TreeGrowParam") {
|
||||
result.algorithmParams.growParam.yDeviation_max =
|
||||
xml.attributes().value("yDeviation_max").toDouble();
|
||||
result.algorithmParams.growParam.zDeviation_max =
|
||||
xml.attributes().value("zDeviation_max").toDouble();
|
||||
result.algorithmParams.growParam.maxLineSkipNum =
|
||||
xml.attributes().value("maxLineSkipNum").toInt();
|
||||
result.algorithmParams.growParam.maxSkipDistance =
|
||||
xml.attributes().value("maxSkipDistance").toDouble();
|
||||
result.algorithmParams.growParam.minLTypeTreeLen =
|
||||
xml.attributes().value("minLTypeTreeLen").toDouble();
|
||||
result.algorithmParams.growParam.minVTypeTreeLen =
|
||||
xml.attributes().value("minVTypeTreeLen").toDouble();
|
||||
|
||||
// 设置默认值
|
||||
if (result.algorithmParams.growParam.yDeviation_max == 0.0) {
|
||||
result.algorithmParams.growParam.yDeviation_max = 20.0;
|
||||
}
|
||||
if (result.algorithmParams.growParam.zDeviation_max == 0.0) {
|
||||
result.algorithmParams.growParam.zDeviation_max = 30.0;
|
||||
}
|
||||
if (result.algorithmParams.growParam.maxLineSkipNum == 0) {
|
||||
result.algorithmParams.growParam.maxLineSkipNum = 5;
|
||||
}
|
||||
if (result.algorithmParams.growParam.minLTypeTreeLen == 0.0) {
|
||||
result.algorithmParams.growParam.minLTypeTreeLen = 10.0;
|
||||
}
|
||||
if (result.algorithmParams.growParam.minVTypeTreeLen == 0.0) {
|
||||
result.algorithmParams.growParam.minVTypeTreeLen = 10.0;
|
||||
}
|
||||
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
else {
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析调试参数
|
||||
else if (xml.isStartElement() && xml.name() == "DebugParam") {
|
||||
result.debugParam.enableDebug = xml.attributes().value("enableDebug").toInt();
|
||||
result.debugParam.savePointCloud = xml.attributes().value("savePointCloud").toInt();
|
||||
result.debugParam.saveDebugImage = xml.attributes().value("saveDebugImage").toInt();
|
||||
result.debugParam.printDetailLog = xml.attributes().value("printDetailLog").toInt();
|
||||
result.debugParam.debugOutputPath = xml.attributes().value("debugOutputPath").toString().toStdString();
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
|
||||
// 解析服务端配置
|
||||
else if (xml.isStartElement() && xml.name() == "LocalServerConfig") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "ServerPort") {
|
||||
result.serverPort = xml.attributes().value("port").toInt();
|
||||
xml.skipCurrentElement();
|
||||
} else if (xml.name() == "TcpPort") {
|
||||
result.tcpPort = xml.attributes().value("port").toInt();
|
||||
if (result.tcpPort == 0) {
|
||||
result.tcpPort = 5800; // 默认值
|
||||
}
|
||||
xml.skipCurrentElement();
|
||||
} else {
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// 解析服务器列表
|
||||
else if (xml.isStartElement() && xml.name() == "Servers") {
|
||||
while (xml.readNextStartElement()) {
|
||||
if (xml.name() == "Server") {
|
||||
WheelServerInfo server;
|
||||
server.name = xml.attributes().value("name").toString().toStdString();
|
||||
server.ip = xml.attributes().value("ip").toString().toStdString();
|
||||
server.port = xml.attributes().value("port").toInt();
|
||||
if (server.port == 0) {
|
||||
server.port = 5800; // 默认端口
|
||||
}
|
||||
result.servers.push_back(server);
|
||||
xml.skipCurrentElement();
|
||||
} else {
|
||||
xml.skipCurrentElement();
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
file.close();
|
||||
|
||||
// 检查解析错误
|
||||
if (xml.hasError()) {
|
||||
LOG_ERROR("XML parsing error: %s\n", xml.errorString().toStdString().c_str());
|
||||
return WheelMeasureConfigResult(); // 返回空结果
|
||||
}
|
||||
|
||||
return result;
|
||||
}
|
||||
|
||||
bool VrWheelMeasureConfig::SaveConfig(const std::string& filePath, WheelMeasureConfigResult& configResult)
|
||||
{
|
||||
// 使用QString处理可能包含中文的路径
|
||||
QString qFilePath = QString::fromStdString(filePath);
|
||||
QFile file(qFilePath);
|
||||
|
||||
// 打开文件进行写入
|
||||
if (!file.open(QIODevice::WriteOnly | QIODevice::Text)) {
|
||||
LOG_DEBUG("Failed to open file for writing: %s\n", filePath.c_str());
|
||||
return false;
|
||||
}
|
||||
|
||||
// 使用QXmlStreamWriter写入XML内容
|
||||
QXmlStreamWriter xml(&file);
|
||||
xml.setAutoFormatting(true);
|
||||
xml.setCodec("UTF-8");
|
||||
xml.writeStartDocument();
|
||||
xml.writeStartElement("WheelMeasureConfig");
|
||||
|
||||
// 保存相机配置
|
||||
xml.writeStartElement("Cameras");
|
||||
for (const auto& camera : configResult.cameras) {
|
||||
xml.writeStartElement("Camera");
|
||||
xml.writeAttribute("index", QString::number(camera.cameraIndex));
|
||||
xml.writeAttribute("name", QString::fromStdString(camera.name));
|
||||
xml.writeAttribute("ip", QString::fromStdString(camera.cameraIP));
|
||||
xml.writeAttribute("enabled", QString::number(camera.enabled ? 1 : 0));
|
||||
xml.writeEndElement(); // Camera
|
||||
}
|
||||
xml.writeEndElement(); // Cameras
|
||||
|
||||
// 保存相机调平参数
|
||||
xml.writeStartElement("PlaneCalibParams");
|
||||
for (const auto& calibParam : configResult.planeCalibParams) {
|
||||
xml.writeStartElement("CameraCalib");
|
||||
xml.writeAttribute("index", QString::number(calibParam.cameraIndex));
|
||||
xml.writeAttribute("name", QString::fromStdString(calibParam.cameraName));
|
||||
xml.writeAttribute("planeHeight", QString::number(calibParam.planeHeight, 'f', 6));
|
||||
xml.writeAttribute("isCalibrated", QString::number(calibParam.isCalibrated ? 1 : 0));
|
||||
xml.writeAttribute("errorCompensation", QString::number(calibParam.errorCompensation, 'f', 2));
|
||||
|
||||
// 保存轮胎存在检测的3D ROI范围
|
||||
xml.writeAttribute("wheelRoi3d_xMin", QString::number(calibParam.wheelRoi3d_xMin, 'f', 2));
|
||||
xml.writeAttribute("wheelRoi3d_xMax", QString::number(calibParam.wheelRoi3d_xMax, 'f', 2));
|
||||
xml.writeAttribute("wheelRoi3d_yMin", QString::number(calibParam.wheelRoi3d_yMin, 'f', 2));
|
||||
xml.writeAttribute("wheelRoi3d_yMax", QString::number(calibParam.wheelRoi3d_yMax, 'f', 2));
|
||||
xml.writeAttribute("wheelRoi3d_zMin", QString::number(calibParam.wheelRoi3d_zMin, 'f', 2));
|
||||
xml.writeAttribute("wheelRoi3d_zMax", QString::number(calibParam.wheelRoi3d_zMax, 'f', 2));
|
||||
|
||||
// 保存planeCalib矩阵
|
||||
QStringList planeCalibList;
|
||||
for (int i = 0; i < 9; ++i) {
|
||||
planeCalibList.append(QString::number(calibParam.planeCalib[i], 'f', 8));
|
||||
}
|
||||
xml.writeAttribute("planeCalib", planeCalibList.join(","));
|
||||
|
||||
// 保存invRMatrix矩阵
|
||||
QStringList invRMatrixList;
|
||||
for (int i = 0; i < 9; ++i) {
|
||||
invRMatrixList.append(QString::number(calibParam.invRMatrix[i], 'f', 8));
|
||||
}
|
||||
xml.writeAttribute("invRMatrix", invRMatrixList.join(","));
|
||||
|
||||
xml.writeEndElement(); // CameraCalib
|
||||
}
|
||||
xml.writeEndElement(); // PlaneCalibParams
|
||||
|
||||
// 保存算法参数
|
||||
xml.writeStartElement("AlgorithmParams");
|
||||
|
||||
// 角点参数
|
||||
xml.writeStartElement("CornerParam");
|
||||
xml.writeAttribute("minEndingGap", QString::number(configResult.algorithmParams.cornerParam.minEndingGap));
|
||||
xml.writeAttribute("minEndingGap_z", QString::number(configResult.algorithmParams.cornerParam.minEndingGap_z));
|
||||
xml.writeAttribute("scale", QString::number(configResult.algorithmParams.cornerParam.scale));
|
||||
xml.writeAttribute("cornerTh", QString::number(configResult.algorithmParams.cornerParam.cornerTh));
|
||||
xml.writeAttribute("jumpCornerTh_1", QString::number(configResult.algorithmParams.cornerParam.jumpCornerTh_1));
|
||||
xml.writeAttribute("jumpCornerTh_2", QString::number(configResult.algorithmParams.cornerParam.jumpCornerTh_2));
|
||||
xml.writeEndElement(); // CornerParam
|
||||
|
||||
// 线段参数
|
||||
xml.writeStartElement("LineSegParam");
|
||||
xml.writeAttribute("segGapTh_y", QString::number(configResult.algorithmParams.lineSegParam.segGapTh_y));
|
||||
xml.writeAttribute("segGapTh_z", QString::number(configResult.algorithmParams.lineSegParam.segGapTh_z));
|
||||
xml.writeAttribute("maxDist", QString::number(configResult.algorithmParams.lineSegParam.maxDist));
|
||||
xml.writeEndElement(); // LineSegParam
|
||||
|
||||
// 离群点过滤参数
|
||||
xml.writeStartElement("OutlierFilterParam");
|
||||
xml.writeAttribute("continuityTh", QString::number(configResult.algorithmParams.filterParam.continuityTh));
|
||||
xml.writeAttribute("outlierTh", QString::number(configResult.algorithmParams.filterParam.outlierTh));
|
||||
xml.writeEndElement(); // OutlierFilterParam
|
||||
|
||||
// 树生长参数
|
||||
xml.writeStartElement("TreeGrowParam");
|
||||
xml.writeAttribute("yDeviation_max", QString::number(configResult.algorithmParams.growParam.yDeviation_max));
|
||||
xml.writeAttribute("zDeviation_max", QString::number(configResult.algorithmParams.growParam.zDeviation_max));
|
||||
xml.writeAttribute("maxLineSkipNum", QString::number(configResult.algorithmParams.growParam.maxLineSkipNum));
|
||||
xml.writeAttribute("maxSkipDistance", QString::number(configResult.algorithmParams.growParam.maxSkipDistance));
|
||||
xml.writeAttribute("minLTypeTreeLen", QString::number(configResult.algorithmParams.growParam.minLTypeTreeLen));
|
||||
xml.writeAttribute("minVTypeTreeLen", QString::number(configResult.algorithmParams.growParam.minVTypeTreeLen));
|
||||
xml.writeEndElement(); // TreeGrowParam
|
||||
|
||||
xml.writeEndElement(); // AlgorithmParams
|
||||
|
||||
// 保存调试参数
|
||||
xml.writeStartElement("DebugParam");
|
||||
xml.writeAttribute("enableDebug", QString::number(configResult.debugParam.enableDebug));
|
||||
xml.writeAttribute("savePointCloud", QString::number(configResult.debugParam.savePointCloud));
|
||||
xml.writeAttribute("saveDebugImage", QString::number(configResult.debugParam.saveDebugImage));
|
||||
xml.writeAttribute("printDetailLog", QString::number(configResult.debugParam.printDetailLog));
|
||||
xml.writeAttribute("debugOutputPath", QString::fromStdString(configResult.debugParam.debugOutputPath));
|
||||
xml.writeEndElement(); // DebugParam
|
||||
|
||||
// 保存服务端配置
|
||||
xml.writeStartElement("LocalServerConfig");
|
||||
xml.writeStartElement("ServerPort");
|
||||
xml.writeAttribute("port", QString::number(configResult.serverPort));
|
||||
xml.writeEndElement(); // ServerPort
|
||||
xml.writeStartElement("TcpPort");
|
||||
xml.writeAttribute("port", QString::number(configResult.tcpPort));
|
||||
xml.writeEndElement(); // TcpPort
|
||||
xml.writeEndElement(); // LocalServerConfig
|
||||
|
||||
// 保存服务器列表
|
||||
xml.writeStartElement("Servers");
|
||||
for (const auto& server : configResult.servers) {
|
||||
xml.writeStartElement("Server");
|
||||
xml.writeAttribute("name", QString::fromStdString(server.name));
|
||||
xml.writeAttribute("ip", QString::fromStdString(server.ip));
|
||||
xml.writeAttribute("port", QString::number(server.port));
|
||||
xml.writeEndElement(); // Server
|
||||
}
|
||||
xml.writeEndElement(); // Servers
|
||||
|
||||
xml.writeEndElement(); // WheelMeasureConfig
|
||||
xml.writeEndDocument();
|
||||
|
||||
file.close();
|
||||
|
||||
// 通知配置改变
|
||||
if (m_notify) {
|
||||
m_notify->OnConfigChanged(configResult);
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void VrWheelMeasureConfig::SetConfigChangeNotify(IVrWheelMeasureConfigChangeNotify* notify)
|
||||
{
|
||||
m_notify = notify;
|
||||
}
|
||||
|
||||
Binary file not shown.
Binary file not shown.
@ -1,22 +1,22 @@
|
||||
#pragma once
|
||||
|
||||
#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
|
||||
# define Q_DECL_EXPORT __declspec(dllexport)
|
||||
# define Q_DECL_IMPORT __declspec(dllimport)
|
||||
#else
|
||||
# define Q_DECL_EXPORT __attribute__((visibility("default")))
|
||||
# define Q_DECL_IMPORT __attribute__((visibility("default")))
|
||||
#endif
|
||||
|
||||
#if defined(SG_API_LIBRARY)
|
||||
# define SG_APISHARED_EXPORT Q_DECL_EXPORT
|
||||
#else
|
||||
# define SG_APISHARED_EXPORT Q_DECL_IMPORT
|
||||
#endif
|
||||
|
||||
#include "SG_baseDataType.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846 // pi
|
||||
#endif // !M_PI
|
||||
#pragma once
|
||||
|
||||
#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
|
||||
# define Q_DECL_EXPORT __declspec(dllexport)
|
||||
# define Q_DECL_IMPORT __declspec(dllimport)
|
||||
#else
|
||||
# define Q_DECL_EXPORT __attribute__((visibility("default")))
|
||||
# define Q_DECL_IMPORT __attribute__((visibility("default")))
|
||||
#endif
|
||||
|
||||
#if defined(SG_API_LIBRARY)
|
||||
# define SG_APISHARED_EXPORT Q_DECL_EXPORT
|
||||
#else
|
||||
# define SG_APISHARED_EXPORT Q_DECL_IMPORT
|
||||
#endif
|
||||
|
||||
#include "SG_baseDataType.h"
|
||||
|
||||
|
||||
#ifndef M_PI
|
||||
#define M_PI 3.14159265358979323846 // pi
|
||||
#endif // !M_PI
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
@ -1,30 +1,38 @@
|
||||
#pragma once
|
||||
|
||||
#define SG_ERR_3D_DATA_INVLD -1000
|
||||
#define SG_ERR_3D_DATA_NULL -1001
|
||||
#define SG_ERR_FOUND_NO_TOP_PLANE -1002
|
||||
#define SG_ERR_NOT_GRID_FORMAT -1003
|
||||
#define SG_ERR_LABEL_INFO_ERROR -1004
|
||||
#define SG_ERR_INVLD_SORTING_MODE -1005
|
||||
#define SG_ERR_INVLD_Q_SCALE -1006
|
||||
|
||||
//BQ_workpiece
|
||||
#define SX_ERR_INVLD_VTREE_NUM -2001
|
||||
#define SX_ERR_INVLD_HTREE_NUM -2002
|
||||
#define SX_ERR_INVLD_EDGE_LINK_NUM -2003
|
||||
#define SX_ERR_INVLD_CLOSES_PT -2004
|
||||
#define SX_ERR_ZERO_CONTOUR_PT -2005
|
||||
#define SX_ERR_INVLID_RPEAK_NUM -2006
|
||||
#define SX_ERR_INVLID_RPEAK_PAIR -2007
|
||||
#define SX_ERR_INVLID_MARK_NUM -2008
|
||||
|
||||
//定子抓取
|
||||
#define SX_ERR_INVLID_CUTTING_Z -2101
|
||||
#define SX_ERR_ZERO_OBJ -2102
|
||||
|
||||
//拆包
|
||||
#define SX_BAG_TRAY_EMPTY -2201
|
||||
|
||||
//汽车轮眉高度测量
|
||||
#define SX_ERR_INVALID_ARC -2301
|
||||
|
||||
#pragma once
|
||||
|
||||
#define SG_ERR_3D_DATA_INVLD -1000
|
||||
#define SG_ERR_3D_DATA_NULL -1001
|
||||
#define SG_ERR_FOUND_NO_TOP_PLANE -1002
|
||||
#define SG_ERR_NOT_GRID_FORMAT -1003
|
||||
#define SG_ERR_LABEL_INFO_ERROR -1004
|
||||
#define SG_ERR_INVLD_SORTING_MODE -1005
|
||||
#define SG_ERR_INVLD_Q_SCALE -1006
|
||||
#define SG_ERR_ZERO_OBJECTS -1007
|
||||
#define SG_ERR_LASER_DIR_NOT_SUPPORTED -1008
|
||||
#define SG_ERR_SCAN_DIR_NOT_SUPPORTED -1009
|
||||
|
||||
//BQ_workpiece
|
||||
#define SX_ERR_INVLD_VTREE_NUM -2001
|
||||
#define SX_ERR_INVLD_HTREE_NUM -2002
|
||||
#define SX_ERR_INVLD_EDGE_LINK_NUM -2003
|
||||
#define SX_ERR_INVLD_CLOSES_PT -2004
|
||||
#define SX_ERR_ZERO_CONTOUR_PT -2005
|
||||
#define SX_ERR_INVLID_RPEAK_NUM -2006
|
||||
#define SX_ERR_INVLID_RPEAK_PAIR -2007
|
||||
#define SX_ERR_INVLID_MARK_NUM -2008
|
||||
|
||||
//¶¨×Óץȡ
|
||||
#define SX_ERR_INVLID_CUTTING_Z -2101
|
||||
#define SX_ERR_ZERO_OBJ_TOPLAYER -2102
|
||||
#define SX_ERR_ZERO_OBJ_BTMLAYER -2103
|
||||
#define SX_ERR_GET_INVALID_PALTE -2104 //¸ô°åÌáÈ¡´íÎó
|
||||
|
||||
//²ð°ü
|
||||
#define SX_BAG_TRAY_EMPTY -2201
|
||||
|
||||
//Æû³µÂÖü¸ß¶È²âÁ¿
|
||||
#define SX_ERR_INVALID_ARC -2301
|
||||
|
||||
//ÌÇ´ü×Ó²ðÏß
|
||||
#define SX_ERR_NO_MARK -2401
|
||||
|
||||
|
||||
@ -1,44 +1,49 @@
|
||||
#pragma once
|
||||
|
||||
#include "SG_algo_Export.h"
|
||||
#include <vector>
|
||||
|
||||
#define _OUTPUT_DEBUG_DATA 1
|
||||
|
||||
typedef struct
|
||||
{
|
||||
SVzNL3DPoint wheelArchPos;
|
||||
SVzNL3DPoint wheelUpPos;
|
||||
SVzNL3DPoint wheelDownPos;
|
||||
SVzNL3DPoint arcLine[2];
|
||||
SVzNL3DPoint upLine[2];
|
||||
SVzNL3DPoint downLine[2];
|
||||
SVzNL3DPoint centerLine[2];
|
||||
double archToCenterHeigth;
|
||||
double archToGroundHeigth;
|
||||
}WD_wheelArchInfo;
|
||||
|
||||
//读版本号
|
||||
SG_APISHARED_EXPORT const char* wd_wheelArchHeigthMeasureVersion(void);
|
||||
|
||||
//相机水平安装计算地面调平参数。。
|
||||
//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
|
||||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||||
SG_APISHARED_EXPORT SSG_planeCalibPara wd_horizonCamera_getGroundCalibPara(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||||
|
||||
//相机水平时姿态调平，并去除地面
|
||||
SG_APISHARED_EXPORT void wd_horizonCamera_lineDataR(
|
||||
std::vector< SVzNL3DPosition>& a_line,
|
||||
const double* camPoseR,
|
||||
double groundH);
|
||||
|
||||
//提取工件角点及定位长度信息
|
||||
SG_APISHARED_EXPORT WD_wheelArchInfo wd_wheelArchHeigthMeasure(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||||
const SSG_cornerParam cornerPara,
|
||||
const SSG_lineSegParam lineSegPara,
|
||||
const SSG_outlierFilterParam filterParam,
|
||||
const SSG_treeGrowParam growParam,
|
||||
const SSG_planeCalibPara groundCalibPara,
|
||||
int* errCode);
|
||||
#pragma once
|
||||
|
||||
#include "SG_algo_Export.h"
|
||||
#include <vector>
|
||||
|
||||
#define _OUTPUT_DEBUG_DATA 1
|
||||
|
||||
typedef struct
|
||||
{
|
||||
SVzNL3DPoint wheelArchPos;
|
||||
SVzNL3DPoint wheelUpPos;
|
||||
SVzNL3DPoint wheelDownPos;
|
||||
SVzNL3DPoint arcLine[2];
|
||||
SVzNL3DPoint upLine[2];
|
||||
SVzNL3DPoint downLine[2];
|
||||
SVzNL3DPoint centerLine[2];
|
||||
double archToCenterHeigth;
|
||||
double archToGroundHeigth;
|
||||
}WD_wheelArchInfo;
|
||||
|
||||
//读版本号
|
||||
SG_APISHARED_EXPORT const char* wd_wheelArchHeigthMeasureVersion(void);
|
||||
|
||||
//相机水平安装计算地面调平参数。。
|
||||
//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
|
||||
//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
|
||||
SG_APISHARED_EXPORT SSG_planeCalibPara wd_horizonCamera_getGroundCalibPara(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
||||
|
||||
//相机水平时姿态调平，并去除地面
|
||||
SG_APISHARED_EXPORT void wd_horizonCamera_lineDataR(
|
||||
std::vector< SVzNL3DPosition>& a_line,
|
||||
const double* camPoseR,
|
||||
double groundH);
|
||||
|
||||
//相机水平时姿态调平，并去除地面
|
||||
SG_APISHARED_EXPORT bool wd_wheelPresenseDetection(
|
||||
std::vector<std::vector< SVzNL3DPosition>>& scanLine,
|
||||
const SVzNL3DRangeD wheelRoi3d);
|
||||
|
||||
//提取工件角点及定位长度信息
|
||||
SG_APISHARED_EXPORT WD_wheelArchInfo wd_wheelArchHeigthMeasure(
|
||||
std::vector< std::vector<SVzNL3DPosition>>& scanLines,
|
||||
const SSG_cornerParam cornerPara,
|
||||
const SSG_lineSegParam lineSegPara,
|
||||
const SSG_outlierFilterParam filterParam,
|
||||
const SSG_treeGrowParam growParam,
|
||||
const SSG_planeCalibPara groundCalibPara,
|
||||
int* errCode);
|
||||
|
||||
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File diff suppressed because it is too large
Load Diff
@ -65,6 +65,12 @@ echo "复制 Qt 运行时环境..."
|
||||
cp -rfd ${QT_PKG_PATH}/ext ${PKG_PATH}/opt/firefly_qt5.15
|
||||
cp ${QT_PKG_PATH}/target_qtEnv.sh ${PKG_PATH}/etc/profile.d/
|
||||
|
||||
echo "清理不需要的 Qt WebEngine 库文件..."
|
||||
rm -f ${PKG_PATH}/opt/firefly_qt5.15/lib/libQt5WebEngine*
|
||||
rm -rf ${PKG_PATH}/opt/firefly_qt5.15/libexec/QtWebEngineProcess
|
||||
rm -rf ${PKG_PATH}/opt/firefly_qt5.15/resources/qtwebengine*
|
||||
rm -rf ${PKG_PATH}/opt/firefly_qt5.15/translations/qtwebengine*
|
||||
|
||||
# 复制 Qt 库文件
|
||||
for libfile in ${QT_LIB_PATH}/*.so*; do
|
||||
# 获取文件名用于比较
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user