45 lines
1.4 KiB
C
45 lines
1.4 KiB
C
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#pragma once
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#include "SG_algo_Export.h"
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#include <vector>
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#define _OUTPUT_DEBUG_DATA 1
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typedef struct
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{
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double distance; //<2F><><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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double deviation; //ƫ<><C6AB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߾<EFBFBD><DFBE><EFBFBD>
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double dirAngle_deg; //ǰ<><C7B0><EFBFBD>ǣ<EFBFBD> <20>Զ<EFBFBD>Ϊ<EFBFBD><CEAA>λ
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SVzNL3DPoint nosePoint;
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SVzNL3DPoint axis;
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}SSX_planeInfo;
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typedef struct
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{
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SVzNL3DPoint parkingPoint; //ͣ<><CDA3><EFBFBD>㣨<EFBFBD>辭<EFBFBD><E8BEAD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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SVzNL3DPoint guideLinePoint; //ͣ<><CDA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ㣨<CFB5>辭<EFBFBD><E8BEAD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ȷ<EFBFBD><C8B7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߷<EFBFBD><DFB7><EFBFBD><F2A1A3B7><EFBFBD>Ϊ<EFBFBD><CEAA>ͣ<EFBFBD><CDA3><EFBFBD>㵽<EFBFBD><E3B5BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ߡ<EFBFBD><DFA1><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD>20m<30><6D><EFBFBD><EFBFBD>
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double guidingRange; //<2F>ɻ<EFBFBD><C9BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Χ<EFBFBD><CEA7> <20><>ͣ<EFBFBD><CDA3><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD><D7BC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˷<EFBFBD>Χ<EFBFBD><CEA7>Ŀ<EFBFBD>겻<EFBFBD><EAB2BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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double parkingRange; //<2F>ɻ<EFBFBD><C9BB><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>߾<EFBFBD><DFBE>룬<EFBFBD><EBA3AC><EFBFBD>ڹ<EFBFBD><DAB9><EFBFBD><EFBFBD><EFBFBD>ЧĿ<D0A7>꣬ <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA>
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double distFromNoseToWheel; //ͣ<><CDA3><EFBFBD><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>ӵص㣬<D8B5>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ڼ<EFBFBD><DABC><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͣ<EFBFBD><CDA3>λ<EFBFBD><CEBB>
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}SSX_planeParkingParam;
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//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
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SG_APISHARED_EXPORT const char* wd_PlaneLocalizationVersion(void);
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//<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>
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//<2F><><EFBFBD><EFBFBD>Z<EFBFBD><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>е<EFBFBD><D0B5><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>Ҫ<EFBFBD>Ե<EFBFBD><D4B5><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>գ<EFBFBD><D5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˮƽ
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//<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>
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SG_APISHARED_EXPORT SSG_planeCalibPara wd_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//<2F>ɻ<EFBFBD><C9BB><EFBFBD>̬<EFBFBD><CCAC><EFBFBD><EFBFBD>
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SG_APISHARED_EXPORT SSX_planeInfo wd_planeLocalization(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara groundCalibParam,
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const SSX_planeParkingParam parkingParam,
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const SSG_treeGrowParam growParam,
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#if _OUTPUT_DEBUG_DATA
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std::vector< std::vector<SVzNL3DPosition>>& debugData,
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#endif
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int* errCode);
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