45 lines
1.3 KiB
C++
45 lines
1.3 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 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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double archToGroundHeigth;
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}WD_wheelArchInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_wheelArchHeigthMeasureVersion(void);
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//相机水平安装计算地面调平参数。。
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//相机Z轴基本平行地面时，需要以地面为参照，将相机调水平
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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 wd_horizonCamera_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_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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//提取工件角点及定位长度信息
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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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