Merge branch 'main' of http://192.168.3.13:3000/jerryzeng/algoLib
This commit is contained in:
commit
3621895832
3
.gitignore
vendored
3
.gitignore
vendored
@ -9,4 +9,5 @@
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*.aps
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*.user
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*.filters
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**/build
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**/build
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arm*
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60
CMakeLists.txt
Normal file
60
CMakeLists.txt
Normal file
@ -0,0 +1,60 @@
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#设置CMake支持的最低版本
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cmake_minimum_required(VERSION 3.5)
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project(ZAlgo)
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set(DCMAKE_BUILD_SYSNAME Arm)
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set(CMAKE_BUILD_ARCH aarch64)
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set(CMAKE_C_COMPILER "aarch64-linux-gnu-gcc")
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set(CMAKE_CXX_COMPILER "aarch64-linux-gnu-g++")
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ADD_DEFINITIONS("-fPIC -O3")
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ADD_DEFINITIONS("-fexceptions")
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ADD_DEFINITIONS("-Wl,-Bsymbolic -lc -lm -Wunused-result")
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SET(CMAKE_CXX_FLAGS "-fvisibility=hidden -fpermissive -std=c++14 -fno-use-cxa-atexit")
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#out path configure_file
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#设置库路径
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SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/arm/libs)
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SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/arm/bin)
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/VzNLSDK/Inc)
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# INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/OpenCV320/include)
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/../thirdParty/opencv/build/include)
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/sourceCode/inc)
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INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR}/sourceCode)
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ADD_DEFINITIONS(-DSG_API_LIBRARY)
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ADD_LIBRARY(baseAlgorithm SHARED sourceCode/SG_baseFunc.cpp
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sourceCode/SG_clustering.cpp
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sourceCode/SG_featureGrow.cpp
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sourceCode/SG_lineFeature.cpp
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sourceCode/SG_regionGrow.cpp
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sourceCode/WD_noiseFilter.cpp
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sourceCode/WD_watershed.cpp
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)
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ADD_LIBRARY(bagPositioning SHARED sourceCode/SG_bagPositioning.cpp)
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ADD_LIBRARY(lapWeldDetection SHARED sourceCode/SX_lapWeldDetection.cpp)
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ADD_LIBRARY(beltTearingDetection SHARED sourceCode/beltTearingDetection.cpp)
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ADD_LIBRARY(workpieceCornerExtraction SHARED sourceCode/BQ_workpieceCornerExtraction.cpp)
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ADD_LIBRARY(particleSizeMeasurement SHARED sourceCode/WD_particleSizeMeasure.cpp)
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ADD_LIBRARY(binocularMarkCam SHARED sourceCode/binocularMarkCam.cpp
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sourceCode/aruco/aruco.cpp
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sourceCode/aruco/aruco_calib.cpp
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)
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#add executable file
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# ADD_EXECUTABLE(bagPositioning_test bagPositioning_test/bagPositioning_test.cpp)
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# TARGET_LINK_LIBRARIES(bagPositioning_test
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# bagPositioning
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# )
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@ -124,12 +124,11 @@
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<ClCompile>
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<WarningLevel>Level3</WarningLevel>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>SG_API_LIBRARY;_DEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<PreprocessorDefinitions>SG_API_LIBRARY;_DEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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<PrecompiledHeader>NotUsing</PrecompiledHeader>
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<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
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<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
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<AdditionalIncludeDirectories>..\thirdParty\OpenCV320\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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</ClCompile>
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<Link>
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<SubSystem>Windows</SubSystem>
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@ -145,12 +144,11 @@
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<FunctionLevelLinking>true</FunctionLevelLinking>
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<IntrinsicFunctions>true</IntrinsicFunctions>
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<SDLCheck>true</SDLCheck>
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<PreprocessorDefinitions>SG_API_LIBRARY;NDEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<PreprocessorDefinitions>SG_API_LIBRARY;NDEBUG;BAGPOSITIONING_EXPORTS;_WINDOWS;_USRDLL;_CRT_SECURE_NO_WARNINGS;%(PreprocessorDefinitions)</PreprocessorDefinitions>
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<ConformanceMode>true</ConformanceMode>
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<PrecompiledHeader>NotUsing</PrecompiledHeader>
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<PrecompiledHeaderFile>pch.h</PrecompiledHeaderFile>
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<AdditionalIncludeDirectories>..\..\thirdParty\opencv320\build\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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<AdditionalOptions>/D_CRT_SECURE_NO_WARNINGS %(AdditionalOptions)</AdditionalOptions>
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<AdditionalIncludeDirectories>..\thirdParty\OpenCV320\include;%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
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</ClCompile>
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<Link>
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<SubSystem>Windows</SubSystem>
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@ -158,7 +156,7 @@
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<OptimizeReferences>true</OptimizeReferences>
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<GenerateDebugInformation>true</GenerateDebugInformation>
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<EnableUAC>false</EnableUAC>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalLibraryDirectories>..\..\thirdParty\opencv320\build\x64\vc14\lib;..\..\thirdParty\opencv\build\x64\vc16\lib;..\build\x64\Release;%(AdditionalLibraryDirectories)</AdditionalLibraryDirectories>
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<AdditionalDependencies>opencv_world320.lib;baseAlgorithm.lib;%(AdditionalDependencies)</AdditionalDependencies>
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</Link>
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</ItemDefinitionGroup>
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@ -5,11 +5,14 @@
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#include <vector>
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#include <stdio.h>
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#include <VZNL_Types.h>
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#include "direct.h"
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#include <string>
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#include "SG_bagPositioning_Export.h"
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#include <opencv2/opencv.hpp>
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#ifdef _WIN32
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#include <Windows.h>
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#include "direct.h"
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#endif
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typedef struct
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{
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@ -163,6 +163,7 @@
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</Link>
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</ItemDefinitionGroup>
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<ItemGroup>
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<ClInclude Include="..\sourceCode\SG_algo_Export.h" />
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<ClInclude Include="..\sourceCode\SG_baseAlgo_Export.h" />
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<ClInclude Include="..\sourceCode\SG_baseDataType.h" />
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<ClInclude Include="..\sourceCode\SG_errCode.h" />
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@ -1,14 +1,7 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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#define _OUTPUT_DEBUG_DATA 1
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@ -71,4 +64,4 @@ SG_APISHARED_EXPORT SSX_BQworkpieceResult sx_BQ_getWorkpieceCorners(
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#if _OUTPUT_DEBUG_DATA
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SSX_debugInfo* debug_conturs,
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#endif
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int* errCode);
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int* errCode);
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22
sourceCode/SG_algo_Export.h
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22
sourceCode/SG_algo_Export.h
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#pragma once
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#if defined(_MSC_VER) || defined(WIN64) || defined(_WIN64) || defined(__WIN64__) || defined(WIN32) || defined(_WIN32) || defined(__WIN32__) || defined(__NT__)
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# define Q_DECL_EXPORT __declspec(dllexport)
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# define Q_DECL_IMPORT __declspec(dllimport)
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#else
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# define Q_DECL_EXPORT __attribute__((visibility("default")))
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# define Q_DECL_IMPORT __attribute__((visibility("default")))
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#endif
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT Q_DECL_EXPORT
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#else
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# define SG_APISHARED_EXPORT Q_DECL_IMPORT
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#endif
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#include "SG_baseDataType.h"
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#ifndef M_PI
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#define M_PI 3.14159265358979323846 // pi
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#endif // !M_PI
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@ -1,16 +1,10 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#define OUTPUT_DEBUG 1
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#define OUTPUT_DEBUG 0
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#define BAG_ALGO_USE_CORNER_FEATURE 1
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#define RGN_HIST_SIZE 16 //目标颜色统计的数目
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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typedef struct
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@ -55,6 +49,7 @@ SG_APISHARED_EXPORT void sg_lineDataR(
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SVzNL3DLaserLine* a_line,
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const double* camPoseR,
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double groundH);
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SG_APISHARED_EXPORT void sg_lineDataR_RGBD(
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SVzNLXYZRGBDLaserLine* a_line,
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const double* camPoseR,
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@ -1,12 +1,5 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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@ -1,12 +1,15 @@
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include <vector>
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#ifdef __WIN32
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#include <corecrt_math_defines.h>
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#endif // __WIN32
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#include <cmath>
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#include <unordered_map>
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//¼ئثمة¨أèROI
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SVzNL3DRangeD sg_getScanDataROI(
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//¼ÆËãɨÃèROI
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SVzNL3DLaserLine* laser3DPoints,
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int lineNum)
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{
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@ -1,7 +1,9 @@
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#include "SG_baseDataType.h"
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#include "SG_baseAlgo_Export.h"
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#include <vector>
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#ifdef _WIN32
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#include <corecrt_math_defines.h>
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#endif
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#include <cmath>
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void _seedClustering(
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@ -1,14 +1,7 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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typedef enum
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{
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@ -1,14 +1,7 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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#define OUTPUT_DEBUG 0
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@ -1,12 +1,6 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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#define ENABLE_CROSS_WISE_TEAR 0
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@ -1,16 +1,9 @@
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#pragma once
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#if defined(SG_API_LIBRARY)
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# define WD_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define WD_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include "SG_algo_Export.h"
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#include <vector>
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#include <opencv2/opencv.hpp>
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typedef struct
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{
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cv::Size patternSize; //3x3 mark
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@ -25,11 +18,12 @@ typedef struct
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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
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int boardChaucoIDNum; //每块Mark的charuco码的数量。对于3x3的charuco, 二维码的个数为4
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}SWD_BQ_MarkBoardInfo;
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//读版本号
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WD_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
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SG_APISHARED_EXPORT const char* wd_charuco3DMarkVersion(void);
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//提取查科Mark3D信息
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WD_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
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SG_APISHARED_EXPORT void wd_BQ_getCharuco3DMark(
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cv::Mat& leftImage,
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cv::Mat& rightImage,
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cv::Mat& cameraMatrixL,
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