94 lines
3.2 KiB
C
94 lines
3.2 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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#define ENABLE_CROSS_WISE_TEAR 0
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#define OUTPUT_TEARING_POINTS 1
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#define KEEP_GAP_AS_FEATURE 1
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#define SCAN_BUFF_SIZE 21 //缓存区大小，缓存21条扫描线，处理中间扫描线
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typedef struct
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{
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double scanXScale; //3D扫描的X精度，取决于两条扫描线的间距。
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double scanYScale; //3D扫描的Y精度，取决于点间距。scanXScale和scanYScale可以在现场安装后扫描数据得到
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double differnceBinTh; //一阶差分二值化门限。其物理意义为撕裂斜面的斜率值。默认为1.0
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SSG_tearFeatureExtactPara extractPara;
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double tearingMinLen; //最小撕裂长度，达到此长度时输出撕裂
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double tearingMinGap; //两个同位置的撕裂的间隔。小于此间隔时，视为同一个撕裂。
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}SSG_beltTearingParam;
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typedef enum
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{
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keSG_tearType_Uknown = 0,
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keSG_tearType_MachineDir, //纵撕
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keSG_tearType_CrossWise,//横撕
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}ESG_tearType;
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typedef enum
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{
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keSG_tearStatus_Uknown = 0,
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keSG_tearStatus_New, //新发现的撕裂
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keSG_tearStatus_Growing, //持续的撕裂
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keSG_tearStatus_Ended, //撕裂结束
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keSG_tearStatus_Invalid, //无效撕裂（可能被合并）
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}ESG_tearStatus;
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typedef struct
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{
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int tearID; //每个撕裂有个唯一的序号
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ESG_tearStatus tearStatus;
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ESG_tearType tearType;
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int statLineIdx; //撕裂开始时的扫描线序号
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int endLineIdx; //撕裂结束时的扫描线序号，当撕裂持续时，为最新的扫描线序号
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double tearDepth;//撕裂深度。-1表示是贯穿型撕裂
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double tearWidth;//撕裂宽度
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SSG_ROIRectD roi; //撕裂的ROI范围，为{左，右，上，下}
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#if OUTPUT_TEARING_POINTS
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std::vector<SVzNL3DPosition> pts; //撕裂的边界点，debug或显示目的
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#endif
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}SSG_beltTearingInfo;
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//处理状态机
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typedef enum
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{
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keSG_HLineProc_Init = 0, //初态
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keSG_HLineProc_First_Half,
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keSG_HLineProc_Wait_Second,
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keSG_HLineProc_Second_Half,
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}ESG_HLineProcSM;
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typedef struct
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{
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int hLineIdx;
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//SVzNL3DPosition scanBuff[SCAN_BUFF_SIZE]; //循环buff
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//int buffHead;//循环buff的头位置
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//int buffSize;//循环buff
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SVzNL3DPosition preVldData;
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SVzNL3DPosition gapPos;
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ESG_HLineProcSM hLineSM; //水平扫描线处理状态机
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SSG_RUN firstHalf;
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SVzNL3DPosition firstHalf_startPt;
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SVzNL3DPosition firstHalf_endPt;
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SSG_RUN secondHalf;
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SVzNL3DPosition secondHalf_startPt;
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SVzNL3DPosition secondHalf_endPt;
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double gapMaxZ;
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}SSG_hLineProInfo;
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void sg_detectBeltTearing(
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SVzNL3DLaserLine* laser3DPoints, //一条扫描线
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int lineIdx,
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int nPointCount, //每条扫描线的点数量。当采用Grid数据格式时，每条扫描线的点的数量是相同的。必须使用Grid格式
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int* errCode,
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std::vector<SSG_hLineProInfo>& hLineWorkers,
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std::vector<SSG_beltTearingInfo>& beltTearings_new,
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std::vector<SSG_beltTearingInfo>& beltTearings_growing,
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std::vector<SSG_beltTearingInfo>& beltTearings_ended,
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std::vector<SSG_beltTearingInfo>& beltTearings_unknown, //未判明，应用无需处理。
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const SSG_beltTearingParam measureParam);
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