53 lines
1.9 KiB
C++
53 lines
1.9 KiB
C++
#pragma once
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#include <iostream>
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#include <vector>
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#include <memory>
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#include <QString>
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#include "hybridPosePositioning_Export.h"
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#include "VZNL_Types.h"
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#include "VrTimeUtils.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include "IVrConfig.h"
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#include "LaserDataLoader.h"
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#include "IYStatorWorkpiecePositionStatus.h"
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#include "WorkpiecePositionModelAdapter.h"
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class DetectPresenter
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{
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private:
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WorkpiecePositionModelAdapter m_workpieceModel;
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public:
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DetectPresenter(/* args */);
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~DetectPresenter();
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static QString GetAlgoVersion();
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/// 同步执行左目二维定位；返回后 detections 完全由应用持有。
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int LocateWorkpiece2D(const SVzNLImageData& leftImage,
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const VrWorkpieceModelParam& modelParam,
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const VrDebugParam& debugParam,
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std::vector<WorkpiecePositionModelAdapter::Detection>& detections);
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/// 使用已经深拷贝的二维定位结果执行定子工件三维定位。
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int DetectStatorWorkpiecePosition(int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const std::vector<WorkpiecePositionModelAdapter::Detection>& detections,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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int eulerOrder,
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int dirVectorInvert,
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const WD_HRM_BinInfo* binInfo,
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StatorWorkpiecePositionDetectionResult& detectionResult);
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int DetectBin(int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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WD_HRM_BinInfo& binInfo);
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};
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