166 lines
4.4 KiB
C++
166 lines
4.4 KiB
C++
#ifndef IVRCONFIG_H
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#define IVRCONFIG_H
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#include <iostream>
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#include <string>
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#include <vector>
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// 包含公共配置结构体
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#include "VrCommonConfig.h"
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#include "VrHandEyeCalibConfig.h"
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/**
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* @brief 棒材检测参数
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*/
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struct VrRodParam
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{
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double rodDiameter = 52.0; // 棒材直径 (mm)
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double rodLen = 290.0; // 棒材长度 (mm)
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};
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/**
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* @brief 角点检测参数
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*/
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struct VrCornerParam
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{
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double minEndingGap = 20.0;
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double minEndingGap_z = 5.0;
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double scale = 13.0;
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double cornerTh = 60.0;
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double jumpCornerTh_1 = 15.0;
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double jumpCornerTh_2 = 60.0;
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};
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/**
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* @brief 离群点滤波参数
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*/
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struct VrOutlierFilterParam
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{
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double continuityTh = 5.0; // meanK
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double outlierTh = 5.0; // stddevMul
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};
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/**
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* @brief 区域生长参数
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*/
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struct VrTreeGrowParam
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{
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double yDeviation_max = 10.0;
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double zDeviation_max = 10.0;
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int maxLineSkipNum = 5;
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double maxSkipDistance = 10.0;
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double minLTypeTreeLen = 100.0;
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double minVTypeTreeLen = 100.0;
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};
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/**
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* @brief 算法参数配置结构（RodAndBarPosition 专用）
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*/
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struct VrAlgorithmParams
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{
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VrRodParam rodParam;
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VrCornerParam cornerParam;
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VrOutlierFilterParam filterParam;
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VrTreeGrowParam growParam;
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VrPlaneCalibParam planeCalibParam;
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};
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/**
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* @brief 配置加载结果
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*/
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struct ConfigResult
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{
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std::vector<DeviceInfo> cameraList; // 相机设备列表
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VrDebugParam debugParam; // 调试参数
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SerialConfig serialConfig; // 串口配置
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VrAlgorithmParams algorithmParams; // 算法参数
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std::vector<VrHandEyeCalibMatrix> handEyeCalibMatrixList; // 多相机手眼标定矩阵列表
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int eulerOrder = 11; // 欧拉角旋转顺序，默认11=外旋ZYX
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int dirVectorInvert = 0; // 方向向量反向，默认0=不反向
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int byteOrder = 0; // 数据字节序，默认0=大端序
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// 显式赋值构造函数，确保正确的深拷贝
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ConfigResult& operator=(const ConfigResult& other) {
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if (this != &other) {
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cameraList = other.cameraList;
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debugParam = other.debugParam;
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serialConfig = other.serialConfig;
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algorithmParams = other.algorithmParams;
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handEyeCalibMatrixList = other.handEyeCalibMatrixList;
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eulerOrder = other.eulerOrder;
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dirVectorInvert = other.dirVectorInvert;
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byteOrder = other.byteOrder;
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}
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return *this;
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}
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// 显式复制构造函数
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ConfigResult(const ConfigResult& other)
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: cameraList(other.cameraList)
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, debugParam(other.debugParam)
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, serialConfig(other.serialConfig)
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, algorithmParams(other.algorithmParams)
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, handEyeCalibMatrixList(other.handEyeCalibMatrixList)
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, eulerOrder(other.eulerOrder)
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, dirVectorInvert(other.dirVectorInvert)
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, byteOrder(other.byteOrder) {
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}
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// 默认构造函数
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ConfigResult() = default;
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};
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/**
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* @brief 配置加载错误代码
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*/
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enum LoadConfigErrorCode
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{
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LOAD_CONFIG_SUCCESS = 0, // 加载成功
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LOAD_CONFIG_FILE_NOT_FOUND = -1, // 配置文件不存在
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LOAD_CONFIG_PARSE_ERROR = -2, // 配置文件解析错误
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LOAD_CONFIG_INVALID_FORMAT = -3, // 配置文件格式无效
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LOAD_CONFIG_UNKNOWN_ERROR = -99 // 未知错误
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};
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/**
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* @brief VrConfig接口类
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*/
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class IVrConfig
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{
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public:
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/**
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* @brief 虚析构函数
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*/
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virtual ~IVrConfig() {}
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/**
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* @brief 创建实例
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* @return 实例
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*/
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static bool CreateInstance(IVrConfig** ppVrConfig);
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/**
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* @brief 加载配置文件
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* @param filePath 配置文件路径
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* @param configResult 输出参数，加载的配置结果
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* @return 错误代码 (LoadConfigErrorCode): 0=成功, 负值表示错误
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*/
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virtual int LoadConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 保存配置文件
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* @param filePath 配置文件路径
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* @param configResult 配置结果
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* @return 是否保存成功
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*/
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virtual bool SaveConfig(const std::string& filePath, ConfigResult& configResult) = 0;
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/**
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* @brief 设置配置改变通知回调
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* @param notify 通知接口指针
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*/
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virtual void SetConfigChangeNotify(IVrConfigChangeNotify* notify) = 0;
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};
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#endif // IVRCONFIG_H
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