99 lines
2.6 KiB
C++
99 lines
2.6 KiB
C++
#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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SVzNL3DPoint center; //螺杆端部中心点
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SVzNL3DPoint axialDir; //轴向向量
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}SSX_rodPoseInfo; //
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typedef struct
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{
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SVzNL3DPoint center; //螺杆端部中心点
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SVzNL3DPoint xDir;
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SVzNL3DPoint yDir;
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SVzNL3DPoint normalDir; //法向向量
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}SSX_pointPoseInfo; //
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typedef struct
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{
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double diameter;
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double len;
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}SSX_rodParam; //棒材信息
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typedef struct
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{
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SVzNL3DPoint center; //螺杆端部中心点
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SVzNL3DPoint axialDir; //轴向向量
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SVzNL3DPoint normalDir; //法向量
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SVzNL3DPoint startPt;
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SVzNL3DPoint endPt;
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}SSX_rodPositionInfo;
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typedef struct
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{
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SVzNL3DPoint startPt;
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SVzNL3DPoint endPt;
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SVzNL3DPoint center;
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SVzNL3DPoint normalDir; //法向量
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}SSX_weldSeamInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_rodAndBarDetectionVersion(void);
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//计算一个平面调平参数。
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//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
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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 sx_rodPosition_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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#if 0
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//相机姿态调平，并去除地面
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SG_APISHARED_EXPORT void sx_rodPosition_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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#endif
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//六角头螺杆端部中心点和轴向测量
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SG_APISHARED_EXPORT void sx_hexHeadScrewMeasure(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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double rodDiameter,
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std::vector<SSX_rodPoseInfo>& screwInfo,
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int* errCode);
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//计算定位盘中心点位姿
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SG_APISHARED_EXPORT SSX_pointPoseInfo sx_getLocationPlatePose(
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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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//棒材抓取定位
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SG_APISHARED_EXPORT void sx_rodPositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara poseCalibPara,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSX_rodParam rodParam,
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std::vector<SSX_rodPositionInfo>& rodInfo,
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int* errCode);
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//筑裕钢结构钢筋焊缝定位
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SG_APISHARED_EXPORT void sx_rebarWeldSeamPositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara poseCalibPara,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSX_rodParam rodParam,
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std::vector<SSX_weldSeamInfo>& weldSeamInfo,
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int* errCode); |