357 lines
8.9 KiB
C++
357 lines
8.9 KiB
C++
#ifndef IVRCONFIG_H
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#define IVRCONFIG_H
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#include <string>
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#include <vector>
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#include <utility>
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#include <algorithm>
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// 包含公共配置结构体
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#include "VrCommonConfig.h"
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/**
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* @brief 项目类型枚举
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*/
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enum class ProjectType
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{
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GrabBag = 0, // 抓包
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DirectBag = 1, // 带方向的编织袋
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};
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/**
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* @brief 项目类型字符串转换函数
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*/
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inline std::string ProjectTypeToString(ProjectType type)
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{
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switch (type) {
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case ProjectType::GrabBag:
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return "GrabBag";
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case ProjectType::DirectBag:
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return "DirectBag";
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default:
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return "Unknown";
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}
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}
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/**
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* @brief 字符串转项目类型函数
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*/
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inline ProjectType StringToProjectType(const std::string& str)
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{
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if (str == "GrabBag" || str == "0") {
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return ProjectType::GrabBag;
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} else if (str == "DirectBag" || str == "1") {
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return ProjectType::DirectBag;
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} else {
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return ProjectType::GrabBag; // 默认返回抓包
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}
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}
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/**
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* @brief TCP服务器配置信息
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*/
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struct TcpServerConfig
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{
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std::string ipAddress = "127.0.0.1"; // 服务器IP地址
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int port = 6800; // 服务器端口
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};
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/**
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* @brief 编织袋参数
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*/
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struct VrBagParam
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{
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double bagL = 650.0;
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double bagW = 450.0;
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double bagH = 160.0;
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};
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/**
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* @brief 垛参数
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*/
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struct VrPileParam
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{
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double pileL = 1300.0;
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double pileW = 900.0;
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double pileH = 800.0;
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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 = 20.0;
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int outlierTh = 5;
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};
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/**
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* @brief 角点参数
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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 = 40.0;
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double scale = 50.0;
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double cornerTh = 45.0;
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double jumpCornerTh_1 = 60.0;
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double jumpCornerTh_2 = 15.0;
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};
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/**
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* @brief 斜率参数
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*/
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struct VrSlopeParam
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{
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double LSlopeZWin = 10.0;
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double validSlopeH = 10.0;
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double minLJumpH = 20.0;
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double minEndingGap = 20.0;
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};
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/**
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* @brief V特征参数
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*/
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struct VrVFeatureParam
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{
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double valleyMinH = 10.0;
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double valleyMaxW = 80.0;
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};
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/**
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* @brief 树生长参数
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*/
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struct VrTreeGrowParam
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{
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double yDeviation_max = 20.0;
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double zDeviation_max = 80.0;
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int maxLineSkipNum = 5;
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double maxSkipDistance = 20.0;
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double minLTypeTreeLen = 50.0;
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double minVTypeTreeLen = 50.0;
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};
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/**
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* @brief HSV颜色比较参数
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*/
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struct VrHsvCmpParam
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{
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double hueTh = 15.0;
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double saturateTh = 120.0;
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double FBVldPtRatioTh = 0.075;
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bool frontVldPtGreater = true;
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bool front_upVldPtGreater = false;
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bool back_upVldPtGreater = true;
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};
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/**
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* @brief RGB颜色模式
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*/
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struct VrRgbColorPattern
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{
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int r = 36;
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int g = 165;
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int b = 208;
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};
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/**
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* @brief 颜色模板参数
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*/
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#define RGN_HIST_SIZE 16
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struct VrColorTemplateParam
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{
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double frontColorTemplate[RGN_HIST_SIZE] = {0.0}; // 正面颜色模板
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double backColorTemplate[RGN_HIST_SIZE] = {0.0}; // 反面颜色模板
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};
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/**
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* @brief 单个相机的手眼标定参数（4x4变换矩阵）
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*/
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struct VrHandEyeCalibParam
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{
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int cameraIndex = 1; // 相机索引（1-based）
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std::string cameraName = ""; // 相机名称
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double transformMatrix[16] = { // 4x4变换矩阵（默认单位矩阵）
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1.0, 0.0, 0.0, 0.0,
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0.0, 1.0, 0.0, 0.0,
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0.0, 0.0, 1.0, 0.0,
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0.0, 0.0, 0.0, 1.0
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};
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bool isCalibrated = false; // 是否已经校准
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};
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/**
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* @brief 手眼标定参数集合（支持多相机）
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*/
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struct VrHandEyeCalibParams
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{
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std::vector<VrHandEyeCalibParam> cameraHandEyeParams;
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VrHandEyeCalibParam* GetCameraHandEyeParam(int cameraIndex);
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const VrHandEyeCalibParam* GetCameraHandEyeParam(int cameraIndex) const;
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void SetCameraHandEyeParam(const VrHandEyeCalibParam& param);
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void RemoveCameraHandEyeParam(int cameraIndex);
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};
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/**
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* @brief 相机参数（用于工作点和包裹类型）
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*/
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struct VrCameraParams
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{
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int cameraIndex = 1; // 相机索引
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double exposure = 100.0; // 曝光时间 (微秒)
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double gain = 1.0; // 增益值
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double frameRate = 500.0; // 帧率
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double swingSpeed = 30.0; // 摆动速度
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double swingStartAngle = 0.0; // 开始角度
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double swingStopAngle = 76.0; // 结束角度
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};
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// 前向声明
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struct PackageTypeConfig;
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struct CameraConfig;
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struct WorkPositionConfig;
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/**
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* @brief 相机配置（工作点下的相机）
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*/
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struct CameraConfig
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{
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std::string id;
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std::string cameraName;
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int cameraIndex = 1;
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VrCameraPlaneCalibParam planeCalibParam;
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VrHandEyeCalibParam handEyeCalibParam;
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std::vector<PackageTypeConfig> packages;
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std::string defaultPackageId;
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PackageTypeConfig* GetPackage(const std::string& packageId);
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const PackageTypeConfig* GetPackage(const std::string& packageId) const;
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PackageTypeConfig* GetDefaultPackage();
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const PackageTypeConfig* GetDefaultPackage() const;
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};
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/**
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* @brief 工作点配置
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*/
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struct WorkPositionConfig
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{
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std::string id;
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std::string name;
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std::vector<CameraConfig> cameras;
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std::string defaultCameraId;
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CameraConfig* GetCamera(const std::string& cameraId);
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const CameraConfig* GetCamera(const std::string& cameraId) const;
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CameraConfig* GetCameraByIndex(int cameraIndex);
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const CameraConfig* GetCameraByIndex(int cameraIndex) const;
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CameraConfig* GetDefaultCamera();
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const CameraConfig* GetDefaultCamera() const;
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};
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/**
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* @brief 包裹类型配置
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*/
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struct PackageTypeConfig
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{
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std::string id;
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std::string name;
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VrBagParam bagParam;
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VrPileParam pileParam;
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std::vector<VrCameraParams> cameraParams;
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VrCameraParams* GetCameraParam(int cameraIndex);
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const VrCameraParams* GetCameraParam(int cameraIndex) const;
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void SetCameraParam(const VrCameraParams& param);
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};
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// 成员函数声明在 VrConfig.cpp 中实现
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/**
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* @brief 算法参数配置结构
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*/
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struct VrAlgorithmParams
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{
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VrBagParam bagParam;
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VrPileParam pileParam;
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VrOutlierFilterParam filterParam;
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VrCornerParam cornerParam;
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VrSlopeParam slopeParam;
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VrVFeatureParam valleyParam;
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VrTreeGrowParam growParam;
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VrPlaneCalibParam planeCalibParam;
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VrHsvCmpParam hsvCmpParam;
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VrRgbColorPattern rgbColorPattern;
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VrColorTemplateParam colorTemplateParam;
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int supportRotate = 1;
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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;
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std::vector<DeviceInfo> deviceList;
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VrAlgorithmParams algorithmParams;
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VrDebugParam debugParam;
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SerialConfig serialConfig;
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TcpServerConfig tcpServerConfig;
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ProjectType projectType = ProjectType::GrabBag;
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std::vector<WorkPositionConfig> workPositions;
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std::string defaultWorkPositionId;
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std::string defaultCameraId;
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std::string defaultPackageId;
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CameraConfig* GetDefaultCamera();
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const CameraConfig* GetDefaultCamera() const;
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PackageTypeConfig* GetDefaultPackage();
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const PackageTypeConfig* GetDefaultPackage() const;
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VrCameraParams GetEffectiveCameraParam(int cameraIndex) const;
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VrBagParam GetEffectiveBagParam() const;
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VrPileParam GetEffectivePileParam() const;
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const VrCameraPlaneCalibParam* GetEffectivePlaneCalibParam(int cameraIndex) const;
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const VrHandEyeCalibParam* GetEffectiveHandEyeCalibParam(int cameraIndex) const;
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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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* @return 加载的配置结果
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*/
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virtual ConfigResult LoadConfig(const std::string& filePath) = 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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