提取export

sourceCode/BQ_workpieceCornerExtraction_Export.h

@@ -1,10 +1,8 @@
 #pragma once
 
-#include "SG_baseAlgo_Export.h"
+#include "SG_algo_Export.h"
-#include "SG_baseDataType.h"
 #include <vector>
 
-
 #define _OUTPUT_DEBUG_DATA	1
 
 typedef struct
@@ -55,11 +53,7 @@ SG_APISHARED_EXPORT void sx_BQ_lineDataR(
 	const double* camPoseR,
 	double groundH);
 
-<<<<<<< HEAD
-//瓊혤댈쌈보룹
-=======
 //提取工件角点及定位长度信息
->>>>>>> 19b51a73a7f69f892049985dacce8d76724f405c
 SG_APISHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
 	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
 	const SSG_cornerParam cornerPara,
@@ -70,8 +64,4 @@ SG_APISHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
 #if _OUTPUT_DEBUG_DATA
 	SSX_debugInfo* debug_conturs,
 #endif
-<<<<<<< HEAD
 	int* errCode);
-=======
-	int* errCode);
->>>>>>> 19b51a73a7f69f892049985dacce8d76724f405c

sourceCode/SG_algo_Export.h

@@ -0,0 +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

sourceCode/SG_bagPositioning_Export.h

@@ -4,8 +4,7 @@
 #define BAG_ALGO_USE_CORNER_FEATURE	1
 #define RGN_HIST_SIZE	16 //目标颜色统计的数目
 
-#include "SG_baseAlgo_Export.h"
+#include "SG_algo_Export.h"
-#include "SG_baseDataType.h"
 #include <vector>
 
 typedef struct

sourceCode/SG_baseAlgo_Export.h

@@ -1,12 +1,5 @@
 #pragma once
-
+#include "SG_algo_Export.h"
-#if defined(SG_API_LIBRARY)
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
 #include <opencv2/opencv.hpp>
 

sourceCode/SG_baseFunc.cpp

@@ -1,12 +1,16 @@
 #include "SG_baseDataType.h"
 #include "SG_baseAlgo_Export.h"
 #include <vector>
+#ifdef  __WIN32
 #include <corecrt_math_defines.h>
+#endif //  __WIN32
+
 #include <cmath>
 #include <unordered_map>
 
-//¼ئثمة¨أèROI
+
 SVzNL3DRangeD sg_getScanDataROI(
+//¼ÆËãɨÃèROI
 	SVzNL3DLaserLine* laser3DPoints,
 	int lineNum)
 {

sourceCode/SX_lapWeldDetection_Export.h

@@ -1,9 +1,7 @@
 #pragma once
 
-#include "SG_baseAlgo_Export.h"
+#include "SG_algo_Export.h"
-#include "SG_baseDataType.h"
 #include <vector>
-#include <opencv2/opencv.hpp>
 
 typedef enum
 {

sourceCode/WD_noiseFilter.cpp

@@ -0,0 +1,62 @@
+#include "SG_baseDataType.h"
+#include "SG_baseAlgo_Export.h"
+#include <vector>
+
+void wd_noiseFilter(
+	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
+	const SSG_outlierFilterParam filterParam,
+	int* errCode)
+{
+	*errCode = 0;
+	int lineNum = (int)scanLines.size();
+	int nPointCnt = (int)scanLines[0].size();
+	bool vldGrid = true;
+	//垂直方向过滤
+	for (int i = 0; i < lineNum; i++)
+	{
+		if (nPointCnt != (int)scanLines[i].size())
+			vldGrid = false;
+		wd_vectorDataRemoveOutlier_overwrite(
+			scanLines[i],
+			filterParam);
+	}
+	if (false == vldGrid)
+	{
+		*errCode = SG_ERR_3D_DATA_INVLD;
+		return;
+	}
+	//水平方向过滤
+	int hLineNum = nPointCnt;  //Grid格式，所有扫描线的点数是一样的
+	//生成水平扫描数据
+	std::vector<std::vector<SVzNL3DPosition>> filterHLines;
+	filterHLines.resize(hLineNum);
+	for (int i = 0; i < hLineNum; i++)
+		filterHLines[i].resize(lineNum);
+	for (int line = 0; line < lineNum; line++)
+	{
+		for (int j = 0; j < hLineNum; j++)
+		{
+			filterHLines[j][line] = scanLines[line][j];
+			filterHLines[j][line].pt3D.x = scanLines[line][j].pt3D.y;
+			filterHLines[j][line].pt3D.y = scanLines[line][j].pt3D.x;
+		}
+	}
+	for (int hLine = 0; hLine < hLineNum; hLine++)
+	{
+		//滤波，滤除异常点
+		std::vector<SVzNL3DPosition> filterData;
+		std::vector<int> lineNoise;
+		sg_lineDataRemoveOutlier(
+			(SVzNL3DPosition*)filterHLines[hLine].data(),
+			(int)filterHLines[hLine].size(),
+			filterParam,
+			filterData,
+			lineNoise);
+		for (int j = 0; j < lineNoise.size(); j++)
+		{
+			int lineIdx = lineNoise[j];
+			scanLines[lineIdx][hLine].pt3D.z = 0;
+		}
+	}
+	return;
+}

sourceCode/WD_particleSizeMeasure_Export.h

@@ -1,9 +1,7 @@
 #pragma once
 
-#include "SG_baseAlgo_Export.h"
+#include "SG_algo_Export.h"
-#include "SG_baseDataType.h"
 #include <vector>
-#include <opencv2/opencv.hpp>
 
 #define OUTPUT_DEBUG	0
 

sourceCode/aruco.hpp

@@ -0,0 +1,103 @@
+// This file is part of OpenCV project.
+// It is subject to the license terms in the LICENSE file found in the top-level directory
+// of this distribution and at http://opencv.org/license.html
+#ifndef OPENCV_ARUCO_HPP
+#define OPENCV_ARUCO_HPP
+
+#include "opencv2/objdetect/aruco_detector.hpp"
+#include "aruco/aruco_calib.hpp"
+
+namespace cv {
+namespace aruco {
+
+/**
+ * @defgroup aruco Aruco markers, module functionality was moved to objdetect module
+ * @{
+ * ArUco Marker Detection, module functionality was moved to objdetect module
+ * @sa ArucoDetector, CharucoDetector, Board, GridBoard, CharucoBoard
+ * @}
+ */
+
+//! @addtogroup aruco
+//! @{
+
+/** @brief detect markers
+@deprecated Use class ArucoDetector::detectMarkers
+*/
+CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
+                                OutputArray ids, const Ptr<DetectorParameters> &parameters = makePtr<DetectorParameters>(),
+                                OutputArrayOfArrays rejectedImgPoints = noArray());
+
+/** @brief refine detected markers
+@deprecated Use class ArucoDetector::refineDetectedMarkers
+*/
+CV_EXPORTS_W void refineDetectedMarkers(InputArray image,const  Ptr<Board> &board,
+                                        InputOutputArrayOfArrays detectedCorners,
+                                        InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners,
+                                        InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
+                                        float minRepDistance = 10.f, float errorCorrectionRate = 3.f,
+                                        bool checkAllOrders = true, OutputArray recoveredIdxs = noArray(),
+                                        const Ptr<DetectorParameters> &parameters = makePtr<DetectorParameters>());
+
+/** @brief draw planar board
+@deprecated Use Board::generateImage
+*/
+CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img, int marginSize,
+                                  int borderBits);
+
+/** @brief get board object and image points
+@deprecated Use Board::matchImagePoints
+*/
+CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
+                                               InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
+
+
+/** @deprecated Use Board::matchImagePoints and cv::solvePnP
+ */
+CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
+                                   InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
+                                   InputOutputArray tvec, bool useExtrinsicGuess = false);
+
+/**
+ * @brief Pose estimation for a ChArUco board given some of their corners
+ * @param charucoCorners vector of detected charuco corners
+ * @param charucoIds list of identifiers for each corner in charucoCorners
+ * @param board layout of ChArUco board.
+ * @param cameraMatrix input 3x3 floating-point camera matrix
+ * \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
+ * @param distCoeffs vector of distortion coefficients
+ * \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
+ * @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
+ * (see cv::Rodrigues).
+ * @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
+ * @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not.
+ *
+ * This function estimates a Charuco board pose from some detected corners.
+ * The function checks if the input corners are enough and valid to perform pose estimation.
+ * If pose estimation is valid, returns true, else returns false.
+ * @deprecated Use CharucoBoard::matchImagePoints and cv::solvePnP
+ * @sa use cv::drawFrameAxes to get world coordinate system axis for object points
+ */
+CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
+                                           const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
+                                           InputArray distCoeffs, InputOutputArray rvec,
+                                           InputOutputArray tvec, bool useExtrinsicGuess = false);
+
+/** @deprecated Use cv::solvePnP
+ */
+CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
+                                            InputArray cameraMatrix, InputArray distCoeffs,
+                                            OutputArray rvecs, OutputArray tvecs, OutputArray objPoints = noArray(),
+                                            const Ptr<EstimateParameters>& estimateParameters = makePtr<EstimateParameters>());
+
+
+/** @deprecated Use CharucoBoard::checkCharucoCornersCollinear
+ */
+CV_EXPORTS_W bool testCharucoCornersCollinear(const Ptr<CharucoBoard> &board, InputArray charucoIds);
+
+//! @}
+
+}
+}
+
+#endif

sourceCode/beltTearingDetection_Export.h

@@ -1,22 +1,6 @@
 #pragma once
 
-
+#include "SG_algo_Export.h"
-#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_BELTSHARED_EXPORT Q_DECL_EXPORT
-#else
-#  define SG_BELTSHARED_EXPORT Q_DECL_IMPORT
-#endif
-
-
-#include "SG_baseDataType.h"
 #include <vector>
 
 #define ENABLE_CROSS_WISE_TEAR	0
@@ -91,7 +75,7 @@ typedef struct
 }SSG_hLineProInfo;
 
 
-SG_BELTSHARED_EXPORT void sg_detectBeltTearing(
+SG_APISHARED_EXPORT void sg_detectBeltTearing(
 	SVzNL3DLaserLine* laser3DPoints,  //一条扫描线
 	int lineIdx,
 	int nPointCount,  //每条扫描线的点数量。当采用Grid数据格式时，每条扫描线的点的数量是相同的。必须使用Grid格式

sourceCode/binocularMarkCam_Export.h

@@ -1,16 +1,9 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#include "SG_algo_Export.h"
-#  define WD_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define WD_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
 #include <opencv2/opencv.hpp>
 
-
 typedef struct
 {
 	cv::Size patternSize;  //3x3 mark
@@ -26,10 +19,10 @@ typedef struct
 	int boardChaucoIDNum; //每块Mark的charuco码的数量。对于3x3的charuco, 二维码的个数为4
 }SWD_BQ_MarkBoardInfo;
 //读版本号
-WD_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
+SG_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
 
 //提取查科Mark3D信息
-WD_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
+SG_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
     cv::Mat& leftImage,
     cv::Mat& rightImage,
     cv::Mat& cameraMatrixL,