232 lines
7.4 KiB
C
232 lines
7.4 KiB
C
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#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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//滤除离群点:z跳变门限方法（大于门限视为不连续，根据连续段点数量判断噪声）
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void sg_lineDataRemoveOutlier(
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SVzNL3DPosition* lineData,
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int dataSize,
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SSG_outlierFilterParam filterParam,
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std::vector<SVzNL3DPosition>& filerData,
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std::vector<int>& noisePts);
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//滤除离群点：z跳变门限方法,改变原始数据
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void sg_lineDataRemoveOutlier_changeOriginData(
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SVzNL3DPosition* lineData,
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int dataSize,
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SSG_outlierFilterParam filterParam);
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//滤除离群点：点距离门限方法（大于门限视为不连续，根据连续段点数量判断噪声）
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void sg_lineDataRemoveOutlier_ptDistMethod(
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SVzNL3DPosition* lineData,
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int dataSize,
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SSG_outlierFilterParam filterParam,
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std::vector<SVzNL3DPosition>& filerData,
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std::vector<int>& noisePts);
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//平滑
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void sg_lineDataSmoothing(
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std::vector<SVzNL3DPosition>& input,
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int smoothWin,
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std::vector<SVzNL3DPosition>& output);
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//VZ_APISHARED_EXPORT void sg_getLineMeanVar();
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void sg_getLineLVFeature(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const SSG_slopeParam slopeParam,
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const SSG_VFeatureParam valleyPara,
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SSG_lineFeature* line_features);
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//获取扫描线拐点特征
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void sg_getLineCornerFeature(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const SSG_cornerParam cornerPara, //scale通常取bagH的1/4
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SSG_lineFeature* line_features);
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/// <summary>
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/// 提取激光线上的极值点（极大值点和极小值点）
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///
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/// </summary>
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void sg_getLineLocalPeaks(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const double scaleWin,
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std::vector< SSG_basicFeature1D>& localMax,
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std::vector< SSG_basicFeature1D>& localMin);
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void sg_getLineDownJumps(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const double jumpTh,
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std::vector< SSG_basicFeature1D>& downJumps);
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//对feature进行生长
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void sg_getFeatureGrowingTrees(
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std::vector<SSG_lineFeature>& lineFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//对ending进行生长
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void sg_getEndingGrowingTrees(
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std::vector<SSG_2DValueI>& lineEndings,
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SVzNL3DLaserLine* laser3DPoints,
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bool isVScan,
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int featureType,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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//对扫描线上的
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void sg_LVFeatureGrowing(
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std::vector<SSG_lineFeature>& lineFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_bagParam bagParam,
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SSG_treeGrowParam growParam,
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std::vector<SSG_2DValueI>& edgePts_0,
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std::vector<SSG_2DValueI>& edgePts_1);
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void sg_peakFeatureGrowing(
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std::vector<std::vector< SSG_basicFeature1D>>& lineFeatures,
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std::vector<SSG_featureTree>& trees,
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SSG_treeGrowParam growParam);
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SSG_meanVar _computeMeanVar(double* data, int size);
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///搜索局部最高点（z最小点）。
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///搜索方法：每次步进搜索窗口长度的一半。对局部最高点进行标记，防止被重复记录。
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void sg_getLocalPeaks(
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SVzNL3DLaserLine* scanLines,
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int lineNum,
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std::vector<SSG_2DValueI>& peaks,
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SSG_localPkParam searchWin);
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/// <summary>
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/// 区域生长法：以局部最高点作为生长种子进行生长
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/// 生长方法与一般的区域生长不同：以种子点为圆心作圆周扫描，记录扫描到的边界
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/// </summary>
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//void sg_peakPolarScan(cv::Mat& edgeMask, SVzNL2DPoint a_peak, SSG_polarScanParam polarScanParam, std::vector< SSG_2DValueI>& rgnContour);
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//从Peak点进行水平垂直扫描得到区域边界
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void sg_peakXYScan(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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cv::Mat& featureEdgeMask,
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SSG_2DValueI a_peak,
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SSG_treeGrowParam growParam,
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SSG_bagParam bagParam,
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bool rgnPtAsEdge,
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std::vector< SSG_lineConotours>& topContour,
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std::vector< SSG_lineConotours>& bottomContour,
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std::vector< SSG_lineConotours>& leftContour,
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std::vector< SSG_lineConotours>& rightContour,
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int* maxEdgeId_top,
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int* maxEdgeId_btm,
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int* maxEdgeId_left,
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int* maxEdgeId_right);
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//取出与给定edgeId相同的边界点
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void sg_getContourPts(
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std::vector< SSG_lineConotours>& contour_all,
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int vldEdgeId,
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std::vector< SSG_2DValueI>& contourFilter,
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int* lowLevelFlag);
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//从边界点对中取出与给定edgeId相同的边界点
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void sg_getPairingContourPts(
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std::vector<SSG_conotourPair>& contourPairs,
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std::vector<SSG_intPair>& idPairs,
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std::vector< SSG_conotourPair>& contourFilter,
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SVzNLRangeD range,
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bool isTBDir,
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int* lowLevelFlag_0,
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int* lowLevelFlag_1);
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//取出最短距离的边界点
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void sg_contourPostProc(
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std::vector< SSG_contourPtInfo>& contour,
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int maxEdgeIdx,
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double sameConturDistTh,
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std::vector< SSG_2DValueI>& contourFilter,
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int sideID,
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int* blockFlag);
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//距离变换
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//input, output均为float型
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void sg_distanceTrans(const cv::Mat input, cv::Mat& output, int distType);
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/// <summary>
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/// 以5x5方式寻找localPeaks
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/// </summary>
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/// <param name="input"></param>
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/// <param name="peaks"></param>
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void sg_getLocalPeaks_distTransform(
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cv::Mat& input,
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std::vector<SSG_2DValueI>& peaks,
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SSG_localPkParam searchWin);
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/// <summary>
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/// 使用模板法提取直角特征
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/// 水平向下直角特征：拐点左侧deltaZ在一个很小的范围内；拐点右侧deltaY在一个很小的范围内
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/// </summary>
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void sg_getLineRigthAngleFeature(
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SVzNL3DPosition* lineData,
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int dataSize,
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int lineIdx,
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const SSG_lineRightAngleParam templatePara_HF,
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const SSG_lineRightAngleParam templatePara_FH,
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const SSG_lineRightAngleParam templatePara_HR,
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const SSG_lineRightAngleParam templatePara_RH,
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SSG_lineFeature* line_features);
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//计算扫描ROI
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SVzNL3DRangeD sg_getScanDataROI(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum);
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//XY平面直线拟合
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void lineFitting(
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std::vector< SVzNL3DPoint>& inliers,
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double* _k,
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double* _b);
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//Bresenham算法
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void drawLine(
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int x0,
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int y0,
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int x1,
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int y1,
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std::vector<SVzNL2DPoint>& pts);
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/// <summary>
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/// 两步法标注
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/// </summary>
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/// <param name="bwImg"> 目标点为“1”， 空白点为“0”</param>
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/// <param name="labImg"> 标注结果。每个点为rgnID, ID从2开始 </param>
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/// <param name="labelRgns"></param>
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void SG_TwoPassLabel(
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const cv::Mat& bwImg,
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cv::Mat& labImg,
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std::vector<SSG_Region>& labelRgns,
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int connectivity = 4);
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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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SSG_planeCalibPara sg_getPlaneCalibPara(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum);
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// 从旋转矩阵计算欧拉角（Z-Y-X顺序）
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SSG_EulerAngles rotationMatrixToEulerZYX(const double R[3][3]);
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// 从欧拉角计算旋转矩阵（Z-Y-X顺序）
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void eulerToRotationMatrixZYX(const SSG_EulerAngles& angles, double R[3][3]);
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