algoLib/sourceCode/BQ_workpieceCornerExtraction_Export.h

#pragma once

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

#define _OUTPUT_DEBUG_DATA	1

typedef struct
{
	double lineLen; //ֱ<>߶γ<DFB6><CEB3><EFBFBD>
	double dirAngleScale; //<2F><><EFBFBD>㷽<EFBFBD><E3B7BD><EFBFBD>ǵij߶<C4B3>
	double lineDeviation;//ֱ<><D6B1>ƫ<EFBFBD><C6AB><EFBFBD>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ֱ<EFBFBD>߱<EFBFBD>Ե<EFBFBD><D4B5><EFBFBD><EFBFBD>ɨ<EFBFBD><C9A8><EFBFBD><EFBFBD><EFBFBD>и<D0B8>²<EFBFBD><C2B2><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>˲<EFBFBD><CBB2><EFBFBD><EFBFBD><EFBFBD>
	double minCutAngleTh; //<2F><>С<EFBFBD>ؽǡ<D8BD><C7A1><EFBFBD><EFBFBD><EFBFBD>ɨ<EFBFBD>費ȫ<E8B2BB><C8AB><EFBFBD>µĽؽǣ<D8BD><C7A3><EFBFBD><EFBFBD>ؽǹ<D8BD>Сʱ<D0A1>޷<EFBFBD><DEB7><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>µĽؽǺ<D8BD><C7BA><EFBFBD><EFBFBD>ڵ㲨<DAB5><E3B2A8><EFBFBD><EFBFBD><EFBFBD>µĽǶȲ<C7B6><C8B2><EFBFBD>
}SSX_BQworkpiecePara;

typedef struct
{
	int workpieceType; //1-<2D>ڵ<EFBFBD>1<EFBFBD><31> 2-<2D>ڵ<EFBFBD>2<EFBFBD><32> 3-<2D>ڵ<EFBFBD>3<EFBFBD><33>4-<2D>ڵ<EFBFBD>4<EFBFBD><34>0-δ֪<CEB4><D6AA> <20><><EFBFBD><EFBFBD>-<2D>Ƿ<EFBFBD>
	//1,2,3,4Ϊ<34><CEAA>ʱ<EFBFBD><CAB1>
	SVzNL3DPoint corner_1[3]; 
	SVzNL3DPoint corner_2[3];
	SVzNL3DPoint corner_3[3];
	SVzNL3DPoint corner_4[3];
	SVzNL3DPoint center;  //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ĵ<EFBFBD>
	double len135_A1;  //A1<41><31><EFBFBD>ȣ<EFBFBD><C8A3>ӹ<EFBFBD><D3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>135<33>ȷ<EFBFBD><C8B7><EFBFBD>
	double len45_B1;   //B1<42><31><EFBFBD>ȣ<EFBFBD><C8A3>ӹ<EFBFBD><D3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>45<34>ȷ<EFBFBD><C8B7><EFBFBD>
	double len315_B2;  //B2<42><32><EFBFBD>ȣ<EFBFBD><C8A3>ӹ<EFBFBD><D3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>315<31>ȷ<EFBFBD><C8B7><EFBFBD>
	double len225_A2;  //A2<41><32><EFBFBD>ȣ<EFBFBD><C8A3>ӹ<EFBFBD><D3B9><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>225<32>ȷ<EFBFBD><C8B7><EFBFBD>
}SSX_BQworkpieceResult;

typedef struct
{
	int rgnIdx;
	int edge_size;
	int edgeLink1_size;
	int edgeLink2_size;
	SVzNL3DPoint* edge;
	SVzNL3DPoint* edgeLink_1;
	SVzNL3DPoint* edgeLink_2;
}SSX_debugInfo;

//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
SG_APISHARED_EXPORT const char* wd_BQWorkpieceCornerVersion(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_BQ_getBaseCalibPara(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines);

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

//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ǵ㼰<C7B5><E3BCB0>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
SG_APISHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
	std::vector< std::vector<SVzNL3DPosition>>& scanLines_src,
	const SSG_cornerParam cornerPara,
	const SSG_outlierFilterParam filterParam,
	const SSG_treeGrowParam growParam,
	const SSG_planeCalibPara groundCalibPara,
	const SSX_BQworkpiecePara workpieceParam,
#if _OUTPUT_DEBUG_DATA
	std::vector<SSX_debugInfo>& debug_contours,
#endif
	int* errCode);