41 lines
1.1 KiB
C++
41 lines
1.1 KiB
C++
#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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#include "SG_baseDataType.h"
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#include <vector>
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#define _OUTPUT_LINE_PROC_RESULT 1
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typedef struct
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{
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double sieveDiameter; //筛网铁丝直径
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double sieveHoleSize; //筛网孔径，孔的边长
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SSG_outlierFilterParam filterParam;
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SSG_slopeParam slopeParam;
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SSG_treeGrowParam growParam;
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}SSG_sieveNodeDetectionParam;
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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_getSieveNodes(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SSG_sieveNodeDetectionParam sieveDetectParam,
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std::vector<std::vector<SVzNL3DPoint>>& nodePos);
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//计算一个平面调平参数。
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//以数据输入中ROI以内的点进行平面拟合，计算调平参数
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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SG_APISHARED_EXPORT SSG_planeCalibPara sg_getSieveBaseCalibPara(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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std::vector<SVzNL3DRangeD>& ROIs); |