撕裂编译导出符号，编译
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commit
e8460a1415
@ -36,6 +36,9 @@ ADD_LIBRARY(bagPositioning SHARED sourceCode/SG_bagPositioning.cpp)
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ADD_LIBRARY(lapWeldDetection SHARED sourceCode/SX_lapWeldDetection.cpp)
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ADD_LIBRARY(beltTearingDetection SHARED sourceCode/beltTearingDetection.cpp)
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#add executable file
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# ADD_EXECUTABLE(bagPositioning_test bagPositioning_test/bagPositioning_test.cpp)
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@ -78,12 +78,12 @@
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<LinkIncremental>true</LinkIncremental>
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<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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<LinkIncremental>false</LinkIncremental>
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<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
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</PropertyGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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@ -124,7 +124,7 @@
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>SG_API_LIBRARY;_DEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<PreprocessorDefinitions>SG_API_LIBRARY;_DEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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<PrecompiledHeader>NotUsing</PrecompiledHeader>
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<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
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@ -134,8 +134,8 @@
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<SubSystem>Windows</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<EnableUAC>false</EnableUAC>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world480d.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world320d.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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@ -144,7 +144,7 @@
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>SG_API_LIBRARY;NDEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<PreprocessorDefinitions>SG_API_LIBRARY;NDEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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<PrecompiledHeader>NotUsing</PrecompiledHeader>
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<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
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@ -156,7 +156,7 @@
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<EnableUAC>false</EnableUAC>
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<AdditionalLibraryDirectories>..\..\thirdParty\OpenCV320\Windows\vc14\Release;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world320.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
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</Link>
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</ItemDefinitionGroup>
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@ -718,6 +718,21 @@ SSG_planeCalibPara _readCalibPara(char* fileName)
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return planePara;
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}
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void _outputObjResult(char* fileName, std::vector<SSG_peakRgnInfo>& objOps)
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{
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std::ofstream sw(fileName);
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char dataStr[250];
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int objSize = (int)objOps.size();
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for (int i = 0; i < objSize; i++)
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{
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sw << "obj_" << i << std::endl;
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sprintf_s(dataStr, 250, " %g, %g, %g, %g", objOps[i].centerPos.x, objOps[i].centerPos.y, objOps[i].centerPos.z, objOps[i].centerPos.z_yaw);
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sw << dataStr << std::endl;
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}
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sw.close();
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}
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void _outputScanDataFile_self(char* fileName, SVzNL3DLaserLine* scanData, int lineNum,
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float lineV, int maxTimeStamp, int clockPerSecond)
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{
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@ -2514,7 +2529,7 @@ void _outputScanDataFile_removeZeros(char* fileName, SVzNL3DLaserLine* scanData,
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#define TEST_COMPUTE_GRASP_POINT 1
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#define TEST_COMPUTE_CALIB_PARA 0
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#define TEST_GROUP 27
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#define TEST_GROUP 28
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#define TEST_TOP_VIEW_GROUP (TEST_GROUP - 8)
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#define TEST_TOP_ORIEN_GROUP (TEST_GROUP - 6)
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int main()
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@ -2658,22 +2673,23 @@ int main()
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"F:\\ShangGu\\纸箱拆垛数据\\380×480mm纸箱RGB点云及2D图像\\", //16
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"F:\\ShangGu\\纸箱拆垛数据\\380×580mm纸箱RGB点云及2d图像\\", //17
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"F:\\ShangGu\\纸箱拆垛数据\\480×580mm纸箱rgb点云及2d图像\\", //18
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"F:\\ShangGu\\编织袋数据\\科一现场\\", //19
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //19
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //20
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"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //21
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //22
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //23
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //24
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //25
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //26
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\", //20
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"F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\", //21
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"F:\\ShangGu\\编织袋数据\\侧抓数据\\", //22
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250419\\", //23
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-1\\", //24
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-2\\", //25
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-3\\", //26
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"F:\\ShangGu\\编织袋数据\\侧抓数据_现场\\20250420-4\\", //27
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};
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SVzNLRange fileIdx[TEST_GROUP] = {
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{0,176},{1,200},{1,166},{122,141},{1,65},
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{1,29},{108,135},{0,200}, {1,200}, {1,12},
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{2,4}, {1,5}, {1,1}, {1,3}, {11,11},
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{5,22},{1, 15},{1,15}, {1, 15},
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{5,22},{1, 15},{1,15}, {1, 15},{1,2},
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{1,21},{1,28},
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{3,3}, {1,51}, {4,83}, {1,74}, {1,61}, {1,84}
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};
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@ -2697,7 +2713,7 @@ int main()
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SG_bagPositionParam algoParam;
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int endGroup = TEST_GROUP - 1;
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for (int grp = 17; grp <= 18; grp++)
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for (int grp = 19; grp <= 19; grp++)
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{
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if (grp < 10)
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{
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@ -2795,7 +2811,19 @@ int main()
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algoParam.growParam.minLTypeTreeLen = 50.0; //mm
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algoParam.growParam.minVTypeTreeLen = 50.0; //mm
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}
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else if ( (grp >= 19) && (grp <= 20))
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else if (grp == 19) //纸箱拆垛数据\vizum数据
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{
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algoParam.bagParam.bagL = 420; //袋子长65cm
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algoParam.bagParam.bagW = 320; //袋子宽40cm
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algoParam.bagParam.bagH = 70; //袋子高16cm
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algoParam.growParam.maxLineSkipNum = 5;
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algoParam.growParam.yDeviation_max = 20.0;
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algoParam.growParam.maxSkipDistance = 20.0;
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algoParam.growParam.zDeviation_max = 80;// algoParam.bagParam.bagH / 2; //袋子高度1/2
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algoParam.growParam.minLTypeTreeLen = 50.0; //mm
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algoParam.growParam.minVTypeTreeLen = 50.0; //mm
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}
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else if ( (grp >= 20) && (grp <= 21))
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{
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algoParam.bagParam.bagL = 750; //袋子长65cm
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algoParam.bagParam.bagW = 450; //袋子宽40cm
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@ -2918,13 +2946,26 @@ int main()
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algoParam.cornerParam.jumpCornerTh_1 = 60;
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algoParam.cornerParam.jumpCornerTh_2 = 15;
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}
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else if ( grp == 19)
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else if (grp == 19)
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{
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\科一现场\\ground_calib_para.txt");
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poseCalibPara = _readCalibPara(calibFile);
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algoParam.cornerParam.cornerTh = 45; //45度角
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algoParam.cornerParam.scale = 50; // algoParam.bagParam.bagH / 8; // 15; // algoParam.bagParam.bagH / 8;
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algoParam.cornerParam.minEndingGap = 20;// algoParam.bagParam.bagW / 4;
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algoParam.cornerParam.minEndingGap_z = 40; // algoParam.bagParam.bagH / 4;
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algoParam.cornerParam.jumpCornerTh_1 = 60;
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algoParam.cornerParam.jumpCornerTh_2 = 15;
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}
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else if ( grp == 20)
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{
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向\\ground_calib_para.txt");
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poseCalibPara = _readCalibPara(calibFile);
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}
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else if (grp == 20)
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else if (grp == 21)
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{
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char calibFile[250];
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sprintf_s(calibFile, "F:\\ShangGu\\编织袋数据\\编织袋RGBD识别方向_2\\ground_calib_para.txt");
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@ -3000,7 +3041,8 @@ int main()
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sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result.txt", dataPath[grp], fidx);
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_outputScanDataFile_RGBD_obj(_dbg_file, laser3DPoints, lineNum, lineV, maxTimeStamp, clockPerSecond, objOps);
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sprintf_s(_dbg_file, "%sresult\\obj%d_result.txt", dataPath[grp], fidx);
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_outputObjResult(_dbg_file, objOps);
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sprintf_s(_dbg_file, "%sresult\\LaserLine%d_result_img.png", dataPath[grp], fidx);
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cv::String imgName(_dbg_file);
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double rpy[3] = { -30, 15, 0 }; //{ 0,-45, 0 }; //
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@ -120,13 +120,14 @@
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>_DEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;</AdditionalIncludeDirectories>
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<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;</AdditionalIncludeDirectories>
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<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world480d.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world320d.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
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</Link>
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</ItemDefinitionGroup>
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<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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@ -137,15 +138,16 @@
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>NDEBUG;_CONSOLE;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;</AdditionalIncludeDirectories>
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<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;</AdditionalIncludeDirectories>
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<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
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</ClCompile>
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<Link>
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<SubSystem>Console</SubSystem>
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<EnableCOMDATFolding>true</EnableCOMDATFolding>
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world480.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world320.lib;bagPositioning.lib;%(AdditionalDependencies)</AdditionalDependencies>
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</Link>
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</ItemDefinitionGroup>
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<ItemGroup>
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@ -78,12 +78,12 @@
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</PropertyGroup>
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<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
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<LinkIncremental>true</LinkIncremental>
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<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
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</PropertyGroup>
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||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
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||||
<LinkIncremental>false</LinkIncremental>
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||||
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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||||
<IncludePath>..\..\thirdParty\VzNLSDK\Inc;..\..\thirdParty\opencv320\build\include;..\sourceCode;..\sourceCode\inc;$(IncludePath)</IncludePath>
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<OutDir>$(SolutionDir)build\$(Platform)\$(Configuration)\</OutDir>
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||||
</PropertyGroup>
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||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
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||||
@ -128,14 +128,15 @@
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<ConformanceMode>true</ConformanceMode>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
|
||||
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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||||
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<SubSystem>Windows</SubSystem>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<EnableUAC>false</EnableUAC>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv\build\x64\vc16\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalDependencies>opencv_world480d.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalDependencies>opencv_world320d.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
@ -148,7 +149,8 @@
|
||||
<ConformanceMode>true</ConformanceMode>
|
||||
<PrecompiledHeader>NotUsing</PrecompiledHeader>
|
||||
<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
|
||||
<AdditionalIncludeDirectories>..\..\thirdParty\opencv\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<SubSystem>Windows</SubSystem>
|
||||
@ -156,7 +158,7 @@
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<EnableUAC>false</EnableUAC>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\OpenCV320\Windows\vc14\Release;..\..\thirdParty\opencv\build\x64\vc16\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\..\thirdParty\opencv\build\x64\vc16\lib;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalDependencies>opencv_world320.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
|
||||
@ -141,7 +141,7 @@
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<EnableUAC>false</EnableUAC>
|
||||
<AdditionalDependencies>opencv_world320d.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\OpenCV320\Windows\vc14\Debug;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Debug;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
|
||||
@ -163,7 +163,7 @@
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<EnableUAC>false</EnableUAC>
|
||||
<AdditionalDependencies>opencv_world320.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\OpenCV320\Windows\vc14\Release;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
|
||||
@ -591,16 +591,33 @@ SSG_peakRgnInfo _getRgnObjInfo(
|
||||
double dist_v0v3 = sqrt(pow(vertices[0].x - vertices[3].x, 2) + pow(vertices[0].y - vertices[3].y, 2));
|
||||
double width_diff = abs(dist_v0v3 - width);
|
||||
double pose_yaw;
|
||||
if (width_diff < 10.0)
|
||||
if (CV_VERSION == "3.2.0")
|
||||
{
|
||||
if (width_diff < 10.0)//width方向
|
||||
{
|
||||
pose_yaw = -rect.angle;
|
||||
}
|
||||
else
|
||||
else //长度方向
|
||||
{
|
||||
pose_yaw = -rect.angle - 90;
|
||||
if (pose_yaw < -90)
|
||||
pose_yaw = 180 + pose_yaw;
|
||||
}
|
||||
}
|
||||
else //if (CV_VERSION == "4.8.0")
|
||||
{
|
||||
if (width_diff < 10.0) //width方向
|
||||
{
|
||||
pose_yaw = -rect.angle;
|
||||
}
|
||||
else//长度方向
|
||||
{
|
||||
pose_yaw = -rect.angle + 90;
|
||||
if (pose_yaw > 90)
|
||||
pose_yaw = 180 - pose_yaw;
|
||||
pose_yaw = pose_yaw - 180;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
//计算vertices[0]-vertices[3]的距离，
|
||||
|
||||
|
||||
@ -5,6 +5,7 @@
|
||||
#include <corecrt_math_defines.h>
|
||||
#endif
|
||||
#include <cmath>
|
||||
#include <unordered_map>
|
||||
|
||||
SVzNL3DRangeD sg_getScanDataROI(
|
||||
SVzNL3DLaserLine* laser3DPoints,
|
||||
|
||||
@ -1,11 +1,21 @@
|
||||
#pragma once
|
||||
|
||||
#if defined(SG_API_LIBRARY)
|
||||
# define SG_APISHARED_EXPORT __declspec(dllexport)
|
||||
|
||||
#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 SG_APISHARED_EXPORT __declspec(dllimport)
|
||||
# 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>
|
||||
|
||||
@ -81,7 +91,7 @@ typedef struct
|
||||
}SSG_hLineProInfo;
|
||||
|
||||
|
||||
SG_APISHARED_EXPORT void sg_detectBeltTearing(
|
||||
SG_BELTSHARED_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
|
||||
|
||||
Loading…
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Reference in New Issue
Block a user