2026-01-26 15:57:19 +08:00
|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
|
|
|
|
#include "SG_algo_Export.h"
|
|
|
|
|
|
#include <vector>
|
|
|
|
|
|
|
|
|
|
|
|
#define _OUTPUT_DEBUG_DATA 1
|
|
|
|
|
|
|
|
|
|
|
|
typedef struct
|
|
|
|
|
|
{
|
|
|
|
|
|
int workpieceType;
|
|
|
|
|
|
double holeDiameter; //<2F><>ֱ<EFBFBD><D6B1>
|
|
|
|
|
|
double holeDist_L; //<2F><EFBFBD><D7BC><EFBFBD>_<EFBFBD><5F>
|
|
|
|
|
|
double holeDist_W; //<2F><EFBFBD><D7BC><EFBFBD>_<EFBFBD><5F>
|
|
|
|
|
|
}WD_workpieceHoleParam;
|
|
|
|
|
|
|
|
|
|
|
|
typedef struct
|
|
|
|
|
|
{
|
|
|
|
|
|
int workpieceType;
|
|
|
|
|
|
std::vector<SVzNL3DPoint> holes;
|
2026-01-26 22:36:13 +08:00
|
|
|
|
std::vector<SVzNL3DPoint> holesDir;
|
2026-01-26 15:57:19 +08:00
|
|
|
|
SVzNL3DPoint center;
|
2026-01-31 14:36:54 +08:00
|
|
|
|
SVzNL3DPoint z_dir; //z<><7A><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
|
|
|
|
|
|
SVzNL3DPoint y_dir; //y<><79><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
|
|
|
|
|
|
SVzNL3DPoint x_dir; //x<><78><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>һ<EFBFBD><D2BB><EFBFBD><EFBFBD>
|
2026-01-26 15:57:19 +08:00
|
|
|
|
}WD_workpieceInfo;
|
|
|
|
|
|
|
|
|
|
|
|
//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
|
|
|
|
|
|
SG_APISHARED_EXPORT const char* wd_workpieceHolePositioningVersion(void);
|
|
|
|
|
|
|
|
|
|
|
|
//<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>
|
|
|
|
|
|
//<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>
|
|
|
|
|
|
SG_APISHARED_EXPORT SSG_planeCalibPara wd_getGroundCalibPara(
|
|
|
|
|
|
std::vector< std::vector<SVzNL3DPosition>>& scanLines);
|
|
|
|
|
|
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD>ˮƽʱ<C6BD><CAB1>̬<EFBFBD><CCAC>ƽ<EFBFBD><C6BD><EFBFBD><EFBFBD>ȥ<EFBFBD><C8A5><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
|
|
|
|
|
|
SG_APISHARED_EXPORT void wd_lineDataR(
|
|
|
|
|
|
std::vector< SVzNL3DPosition>& a_line,
|
|
|
|
|
|
const double* camPoseR,
|
|
|
|
|
|
double groundH);
|
|
|
|
|
|
|
|
|
|
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
|
|
|
|
|
|
SG_APISHARED_EXPORT void wd_workpieceHolePositioning(
|
|
|
|
|
|
std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
|
|
|
|
|
|
const WD_workpieceHoleParam workpiecePara,
|
|
|
|
|
|
const SSG_lineSegParam lineSegPara,
|
|
|
|
|
|
const SSG_outlierFilterParam filterParam,
|
|
|
|
|
|
const SSG_treeGrowParam growParam,
|
|
|
|
|
|
const SSG_planeCalibPara groundCalibPara,
|
|
|
|
|
|
std::vector< WD_workpieceInfo>& workpiecePositioning,
|
|
|
|
|
|
int* errCode);
|
