49 lines
1.4 KiB
C++
49 lines
1.4 KiB
C++
#pragma once
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#if defined(VZ_API_LIBRARY)
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# define VZ_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define VZ_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include <VZNL_Types.h>
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#include "SG_baseDataType.h"
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//以工作轴为X轴(扫描方向），平行地面与Z轴垂直的轴为Y轴，垂直地面的轴为Z轴
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typedef struct
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{
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bool validFlag; //指示结果是否有效
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double x;
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double y;
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double z;
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double pitchAngle; //俯仰角：绕Y轴的偏转, 弧度
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double rollAngle; //滚转角：绕X轴的偏转, 弧度
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double yawAngle; //偏转角：绕Z轴的偏转, 弧度
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}SSG_6AxisAttitude;
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typedef struct
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{
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bool validFlag; //指示结果是否有效
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double x;
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double y;
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double z;
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}SSG_3AxisAttitude;
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class ISGFireBrick
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{
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public:
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ISGFireBrick() = default;
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virtual ~ISGFireBrick() = default;
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virtual const char* GetVersion() = 0;
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virtual void sgSegHistScale(double) = 0;
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virtual void sgCalibCamPose() = 0;
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virtual void sgSetPoseSortingMode(ESG_poseSortingMode mode) = 0;
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virtual ESG_poseSortingMode sgGetPoseSortingMode() = 0;
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virtual void sgScanLineProc(SVzNL3DLaserLine* a_line, double* camPoseR, int* errCode) = 0;
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virtual void sgGetBrickPose(SVzNL3DLaserLine* scanData, int nLines, std::vector<SSG_6AxisAttitude>& brickPoses, int* errCode) = 0;
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virtual void sgSortBrickPoses(std::vector<SSG_6AxisAttitude>& brickPoses, ESG_poseSortingMode sortingMode) = 0;
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};
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VZ_APISHARED_EXPORT bool SGCreateFireBrick(double dHistScale, ISGFireBrick** ppFireBrick); |