49 lines
1.2 KiB
C
49 lines
1.2 KiB
C
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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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int workpieceType;
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double holeDiameter; //<2F><>ֱ<EFBFBD><D6B1>
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double holeDist_L; //<2F><EFBFBD><D7BC><EFBFBD>_<EFBFBD><5F>
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double holeDist_W; //<2F><EFBFBD><D7BC><EFBFBD>_<EFBFBD><5F>
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}WD_workpieceHoleParam;
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typedef struct
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{
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int workpieceType;
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std::vector<SVzNL3DPoint> holes;
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SVzNL3DPoint center;
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SVzNL3DPoint z_dir;
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SVzNL3DPoint y_dir;
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}WD_workpieceInfo;
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//<2F><><EFBFBD>汾<EFBFBD><E6B1BE>
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SG_APISHARED_EXPORT const char* wd_workpieceHolePositioningVersion(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><>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_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_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><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>λ
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SG_APISHARED_EXPORT void wd_workpieceHolePositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const WD_workpieceHoleParam workpiecePara,
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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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std::vector< WD_workpieceInfo>& workpiecePositioning,
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int* errCode);
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