2025-06-08 10:46:41 +08:00
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include <vector>
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typedef struct
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{
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double statorOuterD; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD><D6B1>
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double statorInnerD; //<2F><><EFBFBD><EFBFBD><EFBFBD>ڿ<EFBFBD>ֱ<EFBFBD><D6B1>
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2025-12-05 18:41:05 +08:00
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double statorHeight;
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2025-06-08 10:46:41 +08:00
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double gripperR;//<2F><>צ<EFBFBD>뾶
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2025-12-05 18:41:05 +08:00
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}SWD_statorParam;
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typedef struct
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{
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SSG_outlierFilterParam filterParam;
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SSG_cornerParam cornerParam;
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SSG_treeGrowParam growParam;
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}SWD_statorPositonParam;
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typedef struct
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{
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SVzNL3DPoint refPos;
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double cuttingZ; //z<>ض<EFBFBD>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD><EFBFBD>ڷָ<D6B8><EEB6A8><EFBFBD>ϰ벿<CFB0>͵<EFBFBD><CDB5><EFBFBD>
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}SWD_nextOpParam;
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//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
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SG_APISHARED_EXPORT const char* wd_particleSegVersion(void);
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//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD><D0BF><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD>Ͳο<CDB2><CEBF><EFBFBD>ƽƽ<C6BD>棬<EFBFBD><E6A3AC><EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD>ƽ
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//<2F><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>淨<EFBFBD><E6B7A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>
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SG_APISHARED_EXPORT SSG_planeCalibPara wd_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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SG_APISHARED_EXPORT void wd_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH);
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2025-06-08 10:46:41 +08:00
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///<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>grid<69><64>ʽ<EFBFBD><CABD><EFBFBD>Խ<EFBFBD><D4BD><EFBFBD>ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
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2025-12-05 18:41:05 +08:00
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SG_APISHARED_EXPORT void wd_motorStatorPosition(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SWD_statorParam positionParam,
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const SSG_planeCalibPara groundCalibPara,
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const SWD_statorPositonParam algoParam,
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SWD_nextOpParam* refPos, //<2F><>һ<EFBFBD>θ<EFBFBD><CEB8><EFBFBD><EFBFBD>IJο<C4B2>λ<EFBFBD>ã<EFBFBD>ͬʱ<CDAC><CAB1><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD>εIJο<C4B2>λ<EFBFBD><CEBB>
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2025-06-08 10:46:41 +08:00
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int* errCode,
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2025-12-05 18:41:05 +08:00
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std::vector<SWD_motorStatorPosition>& resultObjPositions,
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SWD_statorOuterGrasper& resultGraspPos
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2025-06-08 10:46:41 +08:00
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);
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