55 lines
1.7 KiB
C++
55 lines
1.7 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 threadPos; //线头位置
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SVzNL3DPoint operatePos; //下刀位置
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double rotateAngle; //水平旋转角
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}SSX_bagThreadInfo; //线头信息
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typedef struct
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{
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bool isHorizonScan;
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bool scanFromThreadHead;
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double camInstallAngle; //相机安装时与台面夹角
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double stitchWidth; //针脚最小宽度，用于过滤虚假的针脚
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double operateDist; //下刀位置距针脚距离
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double mark_height; //标定柱高度
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double mark_diameter; //标定柱外径
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double mark_distance; //两个标定柱的距离
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}SSX_ScanInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_bagThreadPositioningVersion(void);
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//计算一个平面调平参数。
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//数据输入中可以有一个地平面和参考调平平面，以最高的平面进行调平
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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_bagThread_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//相机姿态调平，并去除地面
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SG_APISHARED_EXPORT void wd_bagThread_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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//线头位置检测定位
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SG_APISHARED_EXPORT void wd_bagThreadPositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSX_ScanInfo scanInfo, //true:激光线平行槽道；false:激光线垂直槽道
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const SSG_planeCalibPara groundCalibPara,
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const SSG_outlierFilterParam filterParam, //噪点过滤参数
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const SSG_cornerParam cornerPara, //V型特征参数
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const SSG_raisedFeatureParam raisedFeaturePara,//线尾凸起参数
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const SSG_treeGrowParam growParam, //特征生长参数
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std::vector<SSX_bagThreadInfo>& bagThreadInfo,
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std::vector<SSX_bagThreadInfo>& bagThreadInfo_relative, //相对于Mark的坐标
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std::vector<SVzNL3DPoint>& output_markCenter, //输出Mark位置信息
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int* errCode);
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