GrabBag/AppAlgo/workpieceHolePositioning/Inc/workpieceHolePositioning_Export.h

#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	int workpieceType;
	double holeDiameter; //<2F><>ֱ<EFBFBD><D6B1>
	double holeDist_L;  //<2F>׼<EFBFBD><D7BC><EFBFBD>_<EFBFBD><5F>
	double holeDist_W; //<2F>׼<EFBFBD><D7BC><EFBFBD>_<EFBFBD><5F>
	double xLen;  //x<><78><EFBFBD>򳤣<EFBFBD> <20><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	double yLen;  //y<><79><EFBFBD>򳤣<EFBFBD> <20><><EFBFBD>ڽ<EFBFBD><DABD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	double H;
}WD_workpieceHoleParam;

typedef struct
{
	int workpieceType;
	std::vector<SVzNL3DPoint> holes;
	std::vector<SVzNL3DPoint> holesDir;
	SVzNL3DPoint center;
	SVzNL3DPoint z_dir;  //z<><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	SVzNL3DPoint y_dir; //y<><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	SVzNL3DPoint x_dir; //x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
}WD_workpieceInfo;

typedef struct
{
	double diameter; //<2F><>ֱ̥<CCA5><D6B1>
	double thickness;  //<2F><>̥<EFBFBD><CCA5><EFBFBD><EFBFBD>
}WD_tireParam;

typedef struct
{
	SVzNL3DPoint center;
	SVzNL3DPoint normDir;  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
	double holeR;
}WD_HolePositionInfo;

typedef struct
{
	double rotorDiameter;
	double removeGroundHOffset; //ȥ<><C8A5>ʱ<EFBFBD>ĸ߶<C4B8>ƫ<EFBFBD>ã<EFBFBD><C3A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ü<EFBFBD><C3BC>Ӹ߶<D3B8>
	double basket_L;  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><>
	double basket_W;  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>-<2D><>
}WD_rotorAppParam;

//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
SG_APISHARED_EXPORT const char* wd_workpieceHolePositioningVersion(void);

//<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<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_APISHARED_EXPORT SSG_planeCalibPara wd_getGroundCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

//<2F><><EFBFBD><EFBFBD>ˮƽʱ<C6BD><CAB1>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SG_APISHARED_EXPORT void wd_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH);

//<2F><><EFBFBD><EFBFBD><EFBFBD>׶<EFBFBD>λ-<2D><><EFBFBD>շ<EFBFBD><D5B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD>׶<EFBFBD>λ
SG_APISHARED_EXPORT void wd_workpieceHolePositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
	const WD_workpieceHoleParam workpiecePara,
	const SSG_lineSegParam lineSegPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSG_planeCalibPara groundCalibPara,
	std::vector< WD_workpieceInfo>& workpiecePositioning,
	int* errCode);

//<2F><><EFBFBD><EFBFBD><EFBFBD>׻򰼿Ӷ<F2B0BCBF>λ-<2D><><EFBFBD><EFBFBD><EFBFBD>׶<EFBFBD>λ
SG_APISHARED_EXPORT void wd_HolePositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
	const SSG_lineSegParam lineSegPara,
	const SSG_cornerParam cornerParam,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	std::vector< WD_HolePositionInfo>& holePositioning,
	int* errCode);

//ɰ<><C9B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ŀ׶<C4BF>λ
SG_APISHARED_EXPORT WD_HolePositionInfo sx_getDiscHolePose(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	int* errCode);

//ɰ<><C9B0><EFBFBD>̼<EFBFBD><CCBC><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ķ<EFBFBD>λ
SG_APISHARED_EXPORT SSG_pointPose sx_getDiscRackCenterPosition(
	std::vector< std::vector<SVzNL3DPosition>>& src_scanLines,
	const SSG_cornerParam cornerPara,
	int* errCode);

//ɽ<><C9BD><EFBFBD><EFBFBD><EFBFBD>»<EFBFBD><C2BB><EFBFBD><EFBFBD><EFBFBD>̥<EFBFBD><CCA5><EFBFBD>Ķ<EFBFBD>λ
SG_APISHARED_EXPORT void sx_getTireHolePose(
	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
	const SSG_cornerParam cornerPara,
	const SSG_planeCalibPara groundCalibPara,
	const WD_tireParam tireParam,
	std::vector<WD_HolePositionInfo>& tirePositions,
	int* errCode);

//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>о<EFBFBD><D0BE><EFBFBD>Ķ<EFBFBD>λ
SG_APISHARED_EXPORT void sx_getRotorCorePose(
	std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
	const SSG_cornerParam cornerPara,
	const SSG_planeCalibPara groundCalibPara,
	const WD_rotorAppParam rotorParam,
	std::vector<WD_HolePositionInfo>& rotorPositions,
	int* errCode);