92 lines
2.1 KiB
C++
92 lines
2.1 KiB
C++
/**
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******************************************************************************
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* @file SG_fireBrickAlgo.h
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* @author 上古软件
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* @version V1.0.0
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* @date 2024-10-30
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* @brief This file contains all the functions prototypes for the fireBrick
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* positioning algorithm.
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******************************************************************************
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*/
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#pragma once
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#include <VZNL_Types.h>
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#include <vector>
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#include <string>
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#include "SG_fireBrick_Export.h"
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#include "SG_baseDataType.h"
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#define Z_HIST_MAX_SIZE 100000
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#define ENABLE_OUTPUT_DEBUG_IMAGE 1 //输出中间调试结果
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typedef struct
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{
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int start;
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int len;
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int value;
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}SSG_RunData;
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typedef struct
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{
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SVzNL2DPoint gridPos;
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SSG_meanVar meanVar;
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}SSG_meanVarAbnormalPt;
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typedef struct
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{
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uchar isClosed;
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std::vector<SVzNL2DPoint> contourPtList;
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}SSG_RgnContour2D;
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typedef struct
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{
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SVzNL2DPoint gridPos;
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SVzNL3DPoint pt3D;
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}SSG_gridPt3D;
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typedef struct
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{
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uchar isClosed;
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std::vector<SSG_gridPt3D> contourPtList;
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}SSG_RgnContour3D;
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class CSGFireBrick : public ISGFireBrick
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{
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public:
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CSGFireBrick();
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~CSGFireBrick() final = default;
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/// @brief
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/// 创建实例
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static bool CreateInstance(double dHistScale, ISGFireBrick** ppFireBrick);
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const char* GetVersion() final;
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void sgSegHistScale(double) final;
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void sgCalibCamPose() final;
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void sgSetPoseSortingMode(ESG_poseSortingMode mode) final;
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ESG_poseSortingMode sgGetPoseSortingMode() final;
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void sgScanLineProc(SVzNL3DLaserLine* a_line, double* camPoseR, int* errCode) final;
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void sgGetBrickPose(SVzNL3DLaserLine* scanData, int nLines, std::vector<SSG_6AxisAttitude>& brickPoses, int* errCode) final;
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void sgSortBrickPoses(std::vector<SSG_6AxisAttitude>& brickPoses, ESG_poseSortingMode sortingMode) final;
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protected:
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/// @brief
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/// 初始化
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bool _Init(double dHistScale);
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private:
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int m_nFrameWidth = -1;
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int m_nFrameHeight = 0;
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double m_histScale = 0.5;
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double m_planeThick = 6.0;
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std::vector<int> m_zHist;
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ESG_poseSortingMode m_sortingMode = keSG_PoseSorting_Uknown;
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SVzNLRange m_zIdxRange = { -1, -1 };
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//
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static std::string m_strVersion;
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};
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