69 lines
1.6 KiB
C++
69 lines
1.6 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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#include "SG_baseDataType.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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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;
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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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}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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//提取搭接焊缝
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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); |