78 lines
2.1 KiB
C
78 lines
2.1 KiB
C
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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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#define OUTPUT_DEBUG 0
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#define BAG_ALGO_USE_CORNER_FEATURE 1
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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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SSG_bagParam bagParam;
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SSG_outlierFilterParam filterParam;
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#if BAG_ALGO_USE_CORNER_FEATURE
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SSG_cornerParam cornerParam;
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#else
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SSG_slopeParam slopeParam;
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SSG_VFeatureParam valleyPara;
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#endif
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SSG_treeGrowParam growParam;
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//SSG_objSortParam sortParam;
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//SSG_polarScanParam polarScanParam;
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}SG_bagPositionParam;
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typedef struct
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{
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double jumpTh; //<2F><><EFBFBD>ֳ<EFBFBD><D6B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>йأ<D0B9>Ϊ<EFBFBD><CEAA><EFBFBD>̵Ŀ<C4BF><D7B6><EFBFBD>Z<EFBFBD><5A><EFBFBD><EFBFBD>
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double baseHoleLen; //<2F><><EFBFBD>ֳ<EFBFBD><D6B3>йأ<D0B9><D8A3><EFBFBD><EFBFBD>̿<CCBF><D7B6>ij<EFBFBD><C4B3><EFBFBD>
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double baseHoleDist; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><D7B6>ľ<EFBFBD><C4BE><EFBFBD>
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}SSG_stackBaseParam;
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SG_APISHARED_EXPORT void sg_lineDataR(SVzNL3DLaserLine* a_line,
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const double* camPoseR,
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double groundH);
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SG_APISHARED_EXPORT void sg_bagPositioning_lineProc(
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SVzNL3DLaserLine* a_line,
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int lineIdx,
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int* errCode,
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std::vector<SSG_lineFeature>& all_vLineFeatures,
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std::vector<std::vector<int>>& noisePts,
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const SG_bagPositionParam algoParam);
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//<2F><>ȡ<EFBFBD><C8A1>֯<EFBFBD><D6AF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ץȡ<D7A5><C8A1><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD>Ӷ<EFBFBD><D3B6><EFBFBD>ץȡ
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SG_APISHARED_EXPORT void sg_getBagPosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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//std::vector<SSG_lineFeature>& all_vLineFeatures,
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//std::vector<std::vector<int>>& noisePts,
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const SG_bagPositionParam algoParam,
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const SSG_planeCalibPara poseCalibPara,
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std::vector<SSG_peakRgnInfo>& objOps);
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SG_APISHARED_EXPORT void sg_sideBagPosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SG_bagPositionParam algoParam,
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std::vector<SSG_sideBagInfo>& objOps);
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SG_APISHARED_EXPORT void sg_getSideBagStackBasePosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SSG_stackBaseParam stackBaseParam,
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const SSG_treeGrowParam growParam,
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SSG_6DOF* stackBasePosition //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>úͽǶ<CDBD>
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);
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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 sg_getBagBaseCalibPara(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum);
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