67 lines
1.8 KiB
C
67 lines
1.8 KiB
C
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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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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double holeDiameter; //<2F><>Ƭ<EFBFBD><C6AC><EFBFBD>˿<EFBFBD>ֱ<EFBFBD><D6B1>
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double holeDistance; //<2F><>Ƭ<EFBFBD><C6AC><EFBFBD>˿<CBBF><D7BE><EFBFBD>
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double sheetThickness; //<2F><>Ƭ<EFBFBD><C6AC><EFBFBD><EFBFBD>
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double centerBossHeight; //<2F><>Ƭ<EFBFBD><C6AC><EFBFBD><EFBFBD><EFBFBD><CDB9><EFBFBD>߶<EFBFBD>
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}SWD_sheetTemplateParam;
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typedef struct
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{
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SSG_outlierFilterParam filterParam;
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SSG_cornerParam cornerParam;
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SSG_treeGrowParam growParam;
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}SWD_sheetAlgoParam;
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typedef struct
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{
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SVzNL3DPoint refPos;
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}SWD_gripState;
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typedef struct
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{
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bool isUpDownDir; //<2F><><EFBFBD>ϵ<EFBFBD><CFB5><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>·<EFBFBD><C2B7><EFBFBD>
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bool isFrontSide; //<2F>м<EFBFBD><EFBFBD><CDB9>Ϊ<EFBFBD><CEAA><EFBFBD><EFBFBD>
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SSG_6DOF opCenter; //ץȡ<D7A5><C8A1><EFBFBD><EFBFBD>λ<EFBFBD><CEBB>
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}SWD_sheetGrasper;
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//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
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SG_APISHARED_EXPORT const char* wd_sheetPositionVersion(void);
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//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//<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
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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_sheetPosition_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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SG_APISHARED_EXPORT void wd_sheetPosition_lineDataR(
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std::vector< SVzNL3DPosition>& a_line,
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const double* camPoseR,
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double groundH);
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///<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>grid<69><64>ʽ<EFBFBD><CABD><EFBFBD>Խ<EFBFBD><D4BD><EFBFBD>ˮƽ<CBAE><C6BD><EFBFBD><EFBFBD><EFBFBD>ʹ<EFBFBD>ֱ<EFBFBD><D6B1><EFBFBD><EFBFBD><EFBFBD>Ĵ<EFBFBD><C4B4><EFBFBD>
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ӷ<EFBFBD>λ<EFBFBD><CEBB>
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//<2F>㷨<EFBFBD><EFBFBD><DFBC><EFBFBD><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD>ӵĸ߶<C4B8>-><3E><><EFBFBD>ý<EFBFBD>ȡZȥ<5A><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>->
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// ͶӰ<CDB6><D3B0>ע<EFBFBD><D7A2><EFBFBD><EFBFBD>ʱ<EFBFBD>߿<EFBFBD>ҲͬʱͶӰ<CDB6><D3B0>-><3E><><EFBFBD><EFBFBD><EFBFBD>任-><3E><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD>Ŀ<EFBFBD><C4BF>->
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// <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ںͱ߿<CDB1>Ѱ<EFBFBD><D1B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ץȡĿ<C8A1><C4BF><EFBFBD><EFBFBD>ץȡ<D7A5><C8A1>
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SG_APISHARED_EXPORT void wd_YouJiang_getSheetPosition(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SWD_sheetTemplateParam statorParam,
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const SSG_planeCalibPara groundCalibPara,
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const SWD_sheetAlgoParam algoParam,
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SWD_gripState* opState, //<2F><><EFBFBD><EFBFBD>״̬<D7B4><CCAC><EFBFBD><EFBFBD>ָʾ<D6B8><CABE>ǰ״̬
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int* errCode,
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std::vector<SWD_sheetGrasper>& resultObjPositions);
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