68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
#pragma once
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#include "SG_algo_Export.h"
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#include <vector>
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#define _OUTPUT_DEBUG_DATA 1
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typedef struct
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{
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double lineLen; //直线段长度
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}SSX_BQworkpiecePara;
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typedef struct
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{
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int workpieceType; //1-节点1； 2-节点2； 3-节点3；4-节点4；0-未知； 其它-非法
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SVzNL3DPoint corner_L[3];
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SVzNL3DPoint corner_R[3];
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SVzNL3DPoint corner_T[3];
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SVzNL3DPoint corner_B[3];
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SVzNL3DPoint center; //工件中心点
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double len135_A1; //A1长度，从工件中心135度方向
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double len45_B1; //B1长度，从工件中心45度方向
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double len315_B2; //B2长度，从工件中心315度方向
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double len225_A2; //A2长度，从工件中心225度方向
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}SSX_BQworkpieceResult;
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typedef struct
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{
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int rgnIdx;
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SVzNL3DPoint* edge;
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int edge_size;
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SVzNL3DPoint edge_ends[2];
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SVzNL3DPoint* edgeLink_1;
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int edgeLink1_size;
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SVzNL3DPoint edge_link1_ends[2];
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SVzNL3DPoint* edgeLink_2;
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int edgeLink2_size;
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SVzNL3DPoint edge_link2_ends[2];
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}SSX_debugInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_BQWorkpieceCornerVersion(void);
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//计算一个平面调平参数。
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//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
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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 sx_BQ_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//相机姿态调平，并去除地面
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SG_APISHARED_EXPORT void sx_BQ_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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//提取工件角点及定位长度信息
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SG_APISHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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SSG_treeGrowParam growParam,
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SSG_planeCalibPara groundCalibPara,
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SSX_BQworkpiecePara workpieceParam,
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#if _OUTPUT_DEBUG_DATA
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SSX_debugInfo* debug_conturs,
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#endif
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int* errCode);
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