121 lines
3.8 KiB
C++
121 lines
3.8 KiB
C++
#pragma once
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#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
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# define Q_DECL_EXPORT __declspec(dllexport)
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# define Q_DECL_IMPORT __declspec(dllimport)
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#else
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# define Q_DECL_EXPORT __attribute__((visibility("default")))
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# define Q_DECL_IMPORT __attribute__((visibility("default")))
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#endif
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#if defined(SG_API_LIBRARY)
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# define SG_BAGSHARED_EXPORT Q_DECL_EXPORT
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#else
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# define SG_BAGSHARED_EXPORT Q_DECL_IMPORT
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#endif
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#define OUTPUT_DEBUG 0
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#define BAG_ALGO_USE_CORNER_FEATURE 1
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#define RGN_HIST_SIZE 16 //目标颜色统计的数目
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#include "SG_baseDataType.h"
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#include <vector>
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typedef struct
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{
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SSG_bagParam bagParam;
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SSG_outlierFilterParam filterParam;
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#if BAG_ALGO_USE_CORNER_FEATURE
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SSG_cornerParam cornerParam;
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#else
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SSG_slopeParam slopeParam;
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SSG_VFeatureParam valleyPara;
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#endif
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SSG_treeGrowParam growParam;
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//SSG_objSortParam sortParam;
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//SSG_polarScanParam polarScanParam;
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}SG_bagPositionParam;
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typedef struct
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{
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double hueTh;
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double saturateTh;
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double FBVldPtRatioTh; //正反两面有效颜色点的比例门限
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bool frontVldPtGreater; //true：有效颜色比例高的点的是正面；false：有效颜色比例高的点的是反面
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bool front_upVldPtGreater;//true：有效颜色比例高的点的是正面朝上；false：有效颜色比例高的点的是正面朝下
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bool back_upVldPtGreater; //true：有效颜色比例高的点的是反面朝上；false：有效颜色比例高的点的是反面朝下
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}SSG_hsvCmpParam;
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typedef struct
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{
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double jumpTh; //和现场环境有关，为托盘的孔洞的Z跳变
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double baseHoleLen; //和现场有关，托盘孔洞的长度
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double baseHoleDist; //托盘两个孔洞的距离
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}SSG_stackBaseParam;
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//数据调平
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SG_BAGSHARED_EXPORT void sg_lineDataR(
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SVzNL3DLaserLine* a_line,
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const double* camPoseR,
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double groundH);
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SG_BAGSHARED_EXPORT void sg_lineDataR_RGBD(
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SVzNLXYZRGBDLaserLine* a_line,
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const double* camPoseR,
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double groundH);
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SG_BAGSHARED_EXPORT void sg_bagPositioning_lineProc(
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SVzNL3DLaserLine* a_line,
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int lineIdx,
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int* errCode,
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std::vector<SSG_lineFeature>& all_vLineFeatures,
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std::vector<std::vector<int>>& noisePts,
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const SG_bagPositionParam algoParam);
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//获取编织袋中心抓取点姿态，从顶部抓取
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SG_BAGSHARED_EXPORT void sg_getBagPosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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//std::vector<SSG_lineFeature>& all_vLineFeatures,
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//std::vector<std::vector<int>>& noisePts,
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const SG_bagPositionParam algoParam,
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const SSG_planeCalibPara poseCalibPara,
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std::vector<SSG_peakRgnInfo>& objOps);
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SG_BAGSHARED_EXPORT void sg_getBagPositionAndOrientation(
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SVzNLXYZRGBDLaserLine* laser3DPoints,
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int lineNum,
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//std::vector<SSG_lineFeature>& all_vLineFeatures,
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//std::vector<std::vector<int>>& noisePts,
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const SG_bagPositionParam algoParam,
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const SSG_planeCalibPara poseCalibPara,
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const SSG_hsvCmpParam colorCmpParam,
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const RGB rgbColorPattern, //用于区分袋子方向的颜色
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const double frontColorTemplate[RGN_HIST_SIZE],
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const double backColorTemplate[RGN_HIST_SIZE],
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std::vector<SSG_peakOrienRgnInfo>& objOps,
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#if OUTPUT_DEBUG
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std::vector<std::vector< SVzNL3DPosition>>& bagPositionCloudPts,
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#endif
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int* errCode);
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SG_BAGSHARED_EXPORT void sg_sideBagPosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SG_bagPositionParam algoParam,
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std::vector<SSG_sideBagInfo>& objOps);
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SG_BAGSHARED_EXPORT void sg_getSideBagStackBasePosition(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum,
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const SSG_stackBaseParam stackBaseParam,
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const SSG_treeGrowParam growParam,
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SSG_6DOF* stackBasePosition //垛的托盘的中心位置和角度
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);
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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_BAGSHARED_EXPORT SSG_planeCalibPara sg_getBagBaseCalibPara(
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum); |