hybridPosePositioning
version 1.1.0 : 海瑞马码垛规划版本
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160
hybridPosePositioning/hybridPosePositioning.vcxproj
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hybridPosePositioning/hybridPosePositioning.vcxproj
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2332
hybridPosePositioning_test/hybridPosePositioning_test.cpp
Normal file
2332
hybridPosePositioning_test/hybridPosePositioning_test.cpp
Normal file
File diff suppressed because it is too large
Load Diff
145
hybridPosePositioning_test/hybridPosePositioning_test.vcxproj
Normal file
145
hybridPosePositioning_test/hybridPosePositioning_test.vcxproj
Normal file
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1289
sourceCode/hybridPosePositioning.cpp
Normal file
1289
sourceCode/hybridPosePositioning.cpp
Normal file
File diff suppressed because it is too large
Load Diff
101
sourceCode/hybridPosePositioning_Export.h
Normal file
101
sourceCode/hybridPosePositioning_Export.h
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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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int workpieceType;
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SSG_ROIRectD roi;
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double score2D; //2D分割信度
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}WD_objArea2D;
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typedef struct
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{
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int workpieceType;
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SVzNL3DPoint center;
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SVzNL3DPoint z_dir; //z方向向量（归一化）
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SVzNL3DPoint y_dir; //y方向向量（归一化）
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SVzNL3DPoint x_dir; //x方向向量（归一化）
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double value;
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}WD_workpieceInfo;
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//料筐信息
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typedef struct
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{
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double length;
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double width;
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double binTopZ; //料筐最高处的Z值
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SVzNL3DPoint center; //中心坐标
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SVzNL3DPoint bottomNormal; //底面的法向
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SVzNL3DPoint x_dir; //长轴与X轴的倾斜角，
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SVzNL3DPoint y_dir; //长轴与X轴的倾斜角，
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SVzNL3DPoint minRectVertex[4]; //最小外接矩形顶点
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}WD_HRM_BinInfo;
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typedef struct
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{
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double workpieceRadius; //圆形工件半径
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double workpieceHeight; //工件高度
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double layerZValue; //工件层高
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SVzNL3DPoint center; //中心坐标
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}WD_HRM_workpieceSizeInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_hybridPositioningVersion(void);
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//相机水平安装计算地面调平参数。。
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//旋转矩阵为调平参数，即将平面法向调整为垂直向量的参数
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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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//相机水平时姿态调平，并去除地面
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SG_APISHARED_EXPORT void wd_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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//根据2D ROI进行3D定位
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SG_APISHARED_EXPORT void wd_HRM_TaperedWorkpiecePositioning(
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std::vector< std::vector<SVzNLPositionD>>& scanLinesInput,
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std::vector<WD_objArea2D>& objROIs,
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const SSG_planeCalibPara groundCalibPara,
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std::vector< WD_workpieceInfo>& workpiecePositions,
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int* errCode);
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#if 0
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//料筐码放：获取料筐尺寸、料筐姿态、料筐中心点坐标
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SG_APISHARED_EXPORT WD_HRM_BinInfo wd_HRM_getBinSize(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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int* errCode);
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#else
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//检测料筐边缘，以中心点为基准进行规划
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SG_APISHARED_EXPORT WD_HRM_BinInfo wd_HRM_getBinSize(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara calibPara,
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const double binHeight, //料筐高度
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int* errCode);
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#endif
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//料筐码放：获取工件尺寸
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SG_APISHARED_EXPORT WD_HRM_workpieceSizeInfo wd_HRM_getWorkpieceSize(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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std::vector<WD_HRM_workpieceSizeInfo>& standardWorkpieceSize,
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const SSG_cornerParam cornerPara,
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const SSG_planeCalibPara calibPara,
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int* errCode);
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//料筐码放：码放位置规划
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SG_APISHARED_EXPORT void wd_HRM_PlanBinPlacement(
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const WD_HRM_BinInfo binInfo,
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const SSG_size2D realBoardSize, //实际的托板大小
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const WD_HRM_workpieceSizeInfo workpieceInfo,
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const SSG_planeCalibPara calibPara,
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const double guardingInterval, //工作与工件的保护间隔
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std::vector< WD_workpieceInfo>& planningPositions,
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int* out_rows,
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int* out_cols,
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int* isLastLayere);
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