2025-12-27 09:34:02 +08:00
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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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SVzNL3DPoint wheelArchPos;
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SVzNL3DPoint wheelUpPos;
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SVzNL3DPoint wheelDownPos;
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SVzNL3DPoint arcLine[2];
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SVzNL3DPoint upLine[2];
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SVzNL3DPoint downLine[2];
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SVzNL3DPoint centerLine[2];
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double archToCenterHeigth;
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2026-01-02 17:42:24 +08:00
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double archToGroundHeigth;
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2025-12-27 09:34:02 +08:00
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}WD_wheelArchInfo;
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//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
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SG_APISHARED_EXPORT const char* wd_wheelArchHeigthMeasureVersion(void);
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//<2F><><EFBFBD><EFBFBD>ˮƽ<CBAE><C6BD>װ<EFBFBD><D7B0><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//<2F><><EFBFBD><EFBFBD>Z<EFBFBD><5A><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ƽ<EFBFBD>е<EFBFBD><D0B5><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>Ҫ<EFBFBD>Ե<EFBFBD><D4B5><EFBFBD>Ϊ<EFBFBD><CEAA><EFBFBD>գ<EFBFBD><D5A3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ˮƽ
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//<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>
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SG_APISHARED_EXPORT SSG_planeCalibPara wd_horizonCamera_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//<2F><><EFBFBD><EFBFBD>ˮƽʱ<C6BD><CAB1>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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SG_APISHARED_EXPORT void wd_horizonCamera_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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//<2F><>ȡ<EFBFBD><C8A1><EFBFBD><EFBFBD><EFBFBD>ǵ㼰<C7B5><E3BCB0>λ<EFBFBD><CEBB><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ϣ
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SG_APISHARED_EXPORT WD_wheelArchInfo wd_wheelArchHeigthMeasure(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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const SSG_lineSegParam lineSegPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSG_planeCalibPara groundCalibPara,
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int* errCode);
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