GrabBag/SDK/bagPosition/Inc/SG_bagPositioning_Export.h

#pragma once

#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
#  define Q_DECL_EXPORT __declspec(dllexport)
#  define Q_DECL_IMPORT __declspec(dllimport)
#else
#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
#endif

#if defined(SG_API_LIBRARY)
#  define SG_BAGSHARED_EXPORT Q_DECL_EXPORT
#else
#  define SG_BAGSHARED_EXPORT Q_DECL_IMPORT
#endif

#define OUTPUT_DEBUG	0
#define BAG_ALGO_USE_CORNER_FEATURE	1
#define RGN_HIST_SIZE	16 //Ŀ<><C4BF><EFBFBD><EFBFBD>ɫͳ<C9AB>Ƶ<EFBFBD><C6B5><EFBFBD>Ŀ

#include "SG_baseDataType.h"
#include <vector>

typedef struct
{
	SSG_bagParam bagParam;
	SSG_outlierFilterParam filterParam;
#if BAG_ALGO_USE_CORNER_FEATURE
	SSG_cornerParam cornerParam;
#else
	SSG_slopeParam slopeParam;
	SSG_VFeatureParam valleyPara;
#endif
	SSG_treeGrowParam growParam;
	//SSG_objSortParam sortParam;
	//SSG_polarScanParam polarScanParam;
}SG_bagPositionParam;

typedef struct
{
	double hueTh;
	double saturateTh;
	double FBVldPtRatioTh; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD>ı<EFBFBD><C4B1><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	bool frontVldPtGreater; //true<75><65><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>ߵĵ<DFB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>棻false<73><65><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>ߵĵ<DFB5><C4B5><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7><EFBFBD>
	bool front_upVldPtGreater;//true<75><65><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>ߵĵ<DFB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>泯<EFBFBD>ϣ<EFBFBD>false<73><65><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>ߵĵ<DFB5><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>泯<EFBFBD><E6B3AF>
	bool back_upVldPtGreater; //true<75><65><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>ߵĵ<DFB5><C4B5><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>泯<EFBFBD>ϣ<EFBFBD>false<73><65><EFBFBD><EFBFBD>Ч<EFBFBD><D0A7>ɫ<EFBFBD><C9AB><EFBFBD><EFBFBD><EFBFBD>ߵĵ<DFB5><C4B5><EFBFBD><EFBFBD>Ƿ<EFBFBD><C7B7>泯<EFBFBD><E6B3AF>
}SSG_hsvCmpParam;

typedef struct
{
	double jumpTh;  //<2F><><EFBFBD>ֳ<EFBFBD><D6B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD>йأ<D0B9>Ϊ<EFBFBD><CEAA><EFBFBD>̵Ŀ׶<C4BF><D7B6><EFBFBD>Z<EFBFBD><5A><EFBFBD><EFBFBD>
	double baseHoleLen; //<2F><><EFBFBD>ֳ<EFBFBD><D6B3>йأ<D0B9><D8A3><EFBFBD><EFBFBD>̿׶<CCBF><D7B6>ij<EFBFBD><C4B3><EFBFBD>
	double baseHoleDist; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׶<EFBFBD><D7B6>ľ<EFBFBD><C4BE><EFBFBD>
}SSG_stackBaseParam;

//<2F><><EFBFBD>ݵ<EFBFBD>ƽ
SG_BAGSHARED_EXPORT void sg_lineDataR(
	SVzNL3DLaserLine* a_line,
	const double* camPoseR,
	double groundH);

SG_BAGSHARED_EXPORT void sg_lineDataR_RGBD(
	SVzNLXYZRGBDLaserLine* a_line,
	const double* camPoseR,
	double groundH);

SG_BAGSHARED_EXPORT void sg_bagPositioning_lineProc(
	SVzNL3DLaserLine* a_line, 
	int lineIdx, 
	int* errCode, 
	std::vector<SSG_lineFeature>& all_vLineFeatures, 
	std::vector<std::vector<int>>& noisePts, 
	const SG_bagPositionParam algoParam);

//<2F><>ȡ<EFBFBD><C8A1>֯<EFBFBD><D6AF><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ץȡ<D7A5><C8A1><EFBFBD><EFBFBD>̬<EFBFBD><CCAC><EFBFBD>Ӷ<EFBFBD><D3B6><EFBFBD>ץȡ
SG_BAGSHARED_EXPORT void sg_getBagPosition(
	SVzNL3DLaserLine* laser3DPoints, 
	int lineNum, 
	//std::vector<SSG_lineFeature>& all_vLineFeatures, 
	//std::vector<std::vector<int>>& noisePts, 
	const SG_bagPositionParam algoParam, 
	const SSG_planeCalibPara poseCalibPara,
	std::vector<SSG_peakRgnInfo>& objOps);

SG_BAGSHARED_EXPORT void sg_getBagPositionAndOrientation(
	SVzNLXYZRGBDLaserLine* laser3DPoints,
	int lineNum,
	//std::vector<SSG_lineFeature>& all_vLineFeatures, 
	//std::vector<std::vector<int>>& noisePts, 
	const SG_bagPositionParam algoParam,
	const SSG_planeCalibPara poseCalibPara,
	const SSG_hsvCmpParam colorCmpParam,
	const RGB rgbColorPattern,  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ִ<EFBFBD><D6B4>ӷ<EFBFBD><D3B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɫ
	const double frontColorTemplate[RGN_HIST_SIZE],
	const double backColorTemplate[RGN_HIST_SIZE],
	std::vector<SSG_peakOrienRgnInfo>& objOps,
#if OUTPUT_DEBUG
	std::vector<std::vector< SVzNL3DPosition>>& bagPositionCloudPts,
#endif
	int* errCode);

SG_BAGSHARED_EXPORT void sg_sideBagPosition(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum,
	const SG_bagPositionParam algoParam,
	std::vector<SSG_sideBagInfo>& objOps);

SG_BAGSHARED_EXPORT void sg_getSideBagStackBasePosition(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum,
	const SSG_stackBaseParam stackBaseParam,
	const SSG_treeGrowParam growParam,
	SSG_6DOF* stackBasePosition  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̵<EFBFBD><CCB5><EFBFBD><EFBFBD><EFBFBD>λ<EFBFBD>úͽǶ<CDBD>
);

//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>п<EFBFBD><D0BF><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD>Ͳο<CDB2><CEBF><EFBFBD>ƽƽ<C6BD>棬<EFBFBD><E6A3AC><EFBFBD><EFBFBD><EFBFBD>ߵ<EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD>е<EFBFBD>ƽ
//<2F><>ת<EFBFBD><D7AA><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>淨<EFBFBD><E6B7A8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>IJ<EFBFBD><C4B2><EFBFBD>
SG_BAGSHARED_EXPORT SSG_planeCalibPara sg_getBagBaseCalibPara(
	SVzNL3DLaserLine* laser3DPoints,
	int lineNum);