algoLib/sourceCode/rodAndBarDetection_Export.h

#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	SVzNL3DPoint center; //<2F>ݸ˶˲<CBB6><CBB2><EFBFBD><EFBFBD>ĵ<EFBFBD>
	SVzNL3DPoint axialDir; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}SSX_rodPoseInfo;  //

typedef struct
{
	SVzNL3DPoint center; //<2F>ݸ˶˲<CBB6><CBB2><EFBFBD><EFBFBD>ĵ<EFBFBD>
	SVzNL3DPoint xDir;
	SVzNL3DPoint yDir;
	SVzNL3DPoint normalDir; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	SVzNL3DPoint holeLT;
	SVzNL3DPoint holeRB;
}SSX_platePoseInfo;  //

typedef struct
{
	double diameter;
	double len;
}SSX_rodParam;   //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ

typedef struct
{
	SVzNL3DPoint center; //<2F>ݸ˶˲<CBB6><CBB2><EFBFBD><EFBFBD>ĵ<EFBFBD>
	SVzNL3DPoint axialDir; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	SVzNL3DPoint normalDir; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
	SVzNL3DPoint startPt;
	SVzNL3DPoint endPt;
}SSX_rodPositionInfo;  

typedef struct
{
	SVzNL3DPoint startPt;
	SVzNL3DPoint endPt;
	SVzNL3DPoint center; 
	SVzNL3DPoint normalDir; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
}SSX_weldSeamInfo;

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

//<2F><><EFBFBD><EFBFBD>һ<EFBFBD><D2BB>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//<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
//<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 sx_rodPosition_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

#if 0
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SG_APISHARED_EXPORT void sx_rodPosition_lineDataR(
	std::vector< SVzNL3DPosition>& a_line,
	const double* camPoseR,
	double groundH);
#endif

//<2F><><EFBFBD><EFBFBD>ͷ<EFBFBD>ݸ˶˲<CBB6><CBB2><EFBFBD><EFBFBD>ĵ<EFBFBD><C4B5><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
SG_APISHARED_EXPORT  void sx_hexHeadScrewMeasure(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	bool isHorizonScan,  //true:<3A><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>в۵<D0B2><DBB5><EFBFBD>false:<3A><><EFBFBD><EFBFBD><EFBFBD>ߴ<EFBFBD>ֱ<EFBFBD>۵<EFBFBD>
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	double rodDiameter,
	std::vector<SSX_rodPoseInfo>& screwInfo,
	int* errCode);

//<2F><><EFBFBD>㶨λ<E3B6A8><CEBB><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>λ<EFBFBD><CEBB>
SG_APISHARED_EXPORT SSX_platePoseInfo sx_getLocationPlatePose(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_cornerParam cornerPara,
	int* errCode);

//<2F><><EFBFBD><EFBFBD>ץȡ<D7A5><C8A1>λ
SG_APISHARED_EXPORT void sx_rodPositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_planeCalibPara poseCalibPara,
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSX_rodParam rodParam,
	std::vector<SSX_rodPositionInfo>& rodInfo,
	int* errCode);

//<2F><>ԣ<EFBFBD>ֽṹ<D6BD>ֽ<D6BD>춨λ
SG_APISHARED_EXPORT void sx_rebarWeldSeamPositioning(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines,
	const SSG_planeCalibPara poseCalibPara,
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSX_rodParam rodParam,
	std::vector<SSX_weldSeamInfo>& weldSeamInfo,
	int* errCode);