78 lines
2.1 KiB
C++
78 lines
2.1 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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#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; //和现场环境有关，为托盘的孔洞的Z跳变
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double baseHoleLen; //和现场有关，托盘孔洞的长度
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double baseHoleDist; //托盘两个孔洞的距离
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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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//获取编织袋中心抓取点姿态，从顶部抓取
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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 //垛的托盘的中心位置和角度
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);
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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 sg_getBagBaseCalibPara(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum); |