Merge branch 'main' of http://192.168.3.13:3000/jerryzeng/algoLib

.gitignore

@@ -9,4 +9,5 @@
 *.aps
 *.user
 *.filters
-**/build
+**/build
+arm*

CMakeLists.txt

@@ -0,0 +1,60 @@
+#设置CMake支持的最低版本
+cmake_minimum_required(VERSION 3.5)
+project(ZAlgo)
+
+set(DCMAKE_BUILD_SYSNAME Arm)
+set(CMAKE_BUILD_ARCH aarch64)
+
+set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
+set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")	
+
+ADD_DEFINITIONS("-fPIC -O3")
+ADD_DEFINITIONS("-fexceptions")
+ADD_DEFINITIONS("-Wl,-Bsymbolic -lc -lm -Wunused-result")
+
+SET(CMAKE_CXX_FLAGS "-fvisibility=hidden -fpermissive -std=c++14 -fno-use-cxa-atexit")
+
+#out path configure_file
+#设置库路径
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/arm/libs)
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/arm/bin)
+
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/VzNLSDK/Inc)
+# INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/OpenCV320/include)
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/opencv/build/include)
+
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/sourceCode/inc)
+INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/sourceCode)
+
+ADD_DEFINITIONS(-DSG_API_LIBRARY)
+
+ADD_LIBRARY(baseAlgorithm SHARED 	sourceCode/SG_baseFunc.cpp
+					sourceCode/SG_clustering.cpp
+					sourceCode/SG_featureGrow.cpp
+					sourceCode/SG_lineFeature.cpp
+					sourceCode/SG_regionGrow.cpp
+					sourceCode/WD_noiseFilter.cpp
+					sourceCode/WD_watershed.cpp
+					)
+
+ADD_LIBRARY(bagPositioning SHARED sourceCode/SG_bagPositioning.cpp)
+
+ADD_LIBRARY(lapWeldDetection SHARED sourceCode/SX_lapWeldDetection.cpp)
+
+ADD_LIBRARY(beltTearingDetection SHARED sourceCode/beltTearingDetection.cpp)
+
+ADD_LIBRARY(workpieceCornerExtraction SHARED sourceCode/BQ_workpieceCornerExtraction.cpp)
+
+ADD_LIBRARY(particleSizeMeasurement SHARED sourceCode/WD_particleSizeMeasure.cpp)
+
+ADD_LIBRARY(binocularMarkCam SHARED sourceCode/binocularMarkCam.cpp
+									sourceCode/aruco/aruco.cpp
+									sourceCode/aruco/aruco_calib.cpp
+									)
+
+#add executable file
+# ADD_EXECUTABLE(bagPositioning_test bagPositioning_test/bagPositioning_test.cpp)
+
+# TARGET_LINK_LIBRARIES(bagPositioning_test
+					# bagPositioning
+					# )

bagPositioning/bagPositioning.vcxproj

@@ -124,12 +124,11 @@
     <ClCompile>
       <WarningLevel>Level3</WarningLevel>
       <SDLCheck>true</SDLCheck>
-      <PreprocessorDefinitions>SG_API_LIBRARY;_DEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>SG_API_LIBRARY;_DEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
       <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
-      <AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\thirdParty\OpenCV320\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
-      <AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -145,12 +144,11 @@
       <FunctionLevelLinking>true</FunctionLevelLinking>
       <IntrinsicFunctions>true</IntrinsicFunctions>
       <SDLCheck>true</SDLCheck>
-      <PreprocessorDefinitions>SG_API_LIBRARY;NDEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
+      <PreprocessorDefinitions>SG_API_LIBRARY;NDEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
       <ConformanceMode>true</ConformanceMode>
       <PrecompiledHeader>NotUsing</PrecompiledHeader>
       <PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
-      <AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
+      <AdditionalIncludeDirectories>..\thirdParty\OpenCV320\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
-      <AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
     </ClCompile>
     <Link>
       <SubSystem>Windows</SubSystem>
@@ -158,7 +156,7 @@
       <OptimizeReferences>true</OptimizeReferences>
       <GenerateDebugInformation>true</GenerateDebugInformation>
       <EnableUAC>false</EnableUAC>
-      <AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
+      <AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
       <AdditionalDependencies>opencv_world320.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
     </Link>
   </ItemDefinitionGroup>

bagPositioning_test/bagPositioning_test.cpp

@@ -5,11 +5,14 @@
 #include <vector>
 #include <stdio.h>
 #include <VZNL_Types.h>
-#include "direct.h"
 #include <string>
 #include "SG_bagPositioning_Export.h"
 #include <opencv2/opencv.hpp>
+#ifdef _WIN32
 #include <Windows.h>
+#include "direct.h"
+#endif
+
 
 typedef struct
 {

baseAlgorithm/baseAlgorithm.vcxproj

@@ -163,6 +163,7 @@
     </Link>
   </ItemDefinitionGroup>
   <ItemGroup>
+    <ClInclude Include="..\sourceCode\SG_algo_Export.h" />
     <ClInclude Include="..\sourceCode\SG_baseAlgo_Export.h" />
     <ClInclude Include="..\sourceCode\SG_baseDataType.h" />
     <ClInclude Include="..\sourceCode\SG_errCode.h" />

sourceCode/BQ_workpieceCornerExtraction_Export.h

@@ -1,14 +1,7 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#include "SG_algo_Export.h"
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
-#include <opencv2/opencv.hpp>
 
 #define _OUTPUT_DEBUG_DATA	1
 
@@ -71,4 +64,4 @@ SG_APISHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
 #if _OUTPUT_DEBUG_DATA
 	SSX_debugInfo* debug_conturs,
 #endif
-	int* errCode);
+	int* errCode);

sourceCode/SG_algo_Export.h

@@ -0,0 +1,22 @@
+#pragma once
+
+#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
+#  define Q_DECL_EXPORT __declspec(dllexport)
+#  define Q_DECL_IMPORT __declspec(dllimport)
+#else
+#  define Q_DECL_EXPORT     __attribute__((visibility("default")))
+#  define Q_DECL_IMPORT     __attribute__((visibility("default")))
+#endif
+
+#if defined(SG_API_LIBRARY)
+#  define SG_APISHARED_EXPORT Q_DECL_EXPORT
+#else
+#  define SG_APISHARED_EXPORT Q_DECL_IMPORT
+#endif
+
+#include "SG_baseDataType.h"
+
+
+#ifndef M_PI
+#define M_PI       3.14159265358979323846   // pi
+#endif // !M_PI

sourceCode/SG_bagPositioning_Export.h

@@ -1,16 +1,10 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#define OUTPUT_DEBUG	0
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#define OUTPUT_DEBUG	1
 #define BAG_ALGO_USE_CORNER_FEATURE	1
 #define RGN_HIST_SIZE	16 //目标颜色统计的数目
 
-#include "SG_baseDataType.h"
+#include "SG_algo_Export.h"
 #include <vector>
 
 typedef struct
@@ -55,6 +49,7 @@ SG_APISHARED_EXPORT void sg_lineDataR(
 	SVzNL3DLaserLine* a_line,
 	const double* camPoseR,
 	double groundH);
+
 SG_APISHARED_EXPORT void sg_lineDataR_RGBD(
 	SVzNLXYZRGBDLaserLine* a_line,
 	const double* camPoseR,

sourceCode/SG_baseAlgo_Export.h

@@ -1,12 +1,5 @@
 #pragma once
-
+#include "SG_algo_Export.h"
-#if defined(SG_API_LIBRARY)
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
 #include <opencv2/opencv.hpp>
 

sourceCode/SG_baseFunc.cpp

@@ -1,12 +1,15 @@
 #include "SG_baseDataType.h"
 #include "SG_baseAlgo_Export.h"
 #include <vector>
+#ifdef  __WIN32
 #include <corecrt_math_defines.h>
+#endif //  __WIN32
+
 #include <cmath>
 #include <unordered_map>
 
-//¼ئثمة¨أèROI
 SVzNL3DRangeD sg_getScanDataROI(
+//¼ÆËãɨÃèROI
 	SVzNL3DLaserLine* laser3DPoints,
 	int lineNum)
 {

sourceCode/SG_clustering.cpp

@@ -1,7 +1,9 @@
 #include "SG_baseDataType.h"
 #include "SG_baseAlgo_Export.h"
 #include <vector>
+#ifdef _WIN32
 #include <corecrt_math_defines.h>
+#endif
 #include <cmath>
 
 void _seedClustering(

sourceCode/SX_lapWeldDetection_Export.h

@@ -1,14 +1,7 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#include "SG_algo_Export.h"
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
-#include <opencv2/opencv.hpp>
 
 typedef enum
 {

sourceCode/WD_particleSizeMeasure_Export.h

@@ -1,14 +1,7 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#include "SG_algo_Export.h"
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
-#include <opencv2/opencv.hpp>
 
 #define OUTPUT_DEBUG	0
 

sourceCode/beltTearingDetection_Export.h

@@ -1,12 +1,6 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#include "SG_algo_Export.h"
-#  define SG_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define SG_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
 
 #define ENABLE_CROSS_WISE_TEAR	0

sourceCode/binocularMarkCam_Export.h

@@ -1,16 +1,9 @@
 #pragma once
 
-#if defined(SG_API_LIBRARY)
+#include "SG_algo_Export.h"
-#  define WD_APISHARED_EXPORT __declspec(dllexport)
-#else
-#  define WD_APISHARED_EXPORT __declspec(dllimport)
-#endif
-
-#include "SG_baseDataType.h"
 #include <vector>
 #include <opencv2/opencv.hpp>
 
-
 typedef struct
 {
 	cv::Size patternSize;  //3x3 mark
@@ -25,11 +18,12 @@ typedef struct
 	int boardIdInterval; //每块Mark的charuco码的间隔。比如第一块从0开始，第二块从8开始，间隔为8
 	int boardChaucoIDNum; //每块Mark的charuco码的数量。对于3x3的charuco, 二维码的个数为4
 }SWD_BQ_MarkBoardInfo;
+
 //读版本号
-WD_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
+SG_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
 
 //提取查科Mark3D信息
-WD_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
+SG_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
     cv::Mat& leftImage,
     cv::Mat& rightImage,
     cv::Mat& cameraMatrixL,