55 lines
1.4 KiB
C++
55 lines
1.4 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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int type; //组件种类
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double lineLen; //直线段长度
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}SSX_BQAssemblyPara;
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typedef struct
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{
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int type; //组件种类
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SVzNL3DPoint O; //工件中心点
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SVzNL3DPoint X; //工件坐标系OX轴向量。
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SVzNL3DPoint Y; //工件坐标系OY轴向量。
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SVzNL3DPoint Z; //工件坐标系OZ轴向量。
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}SSX_BQAssemblyInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_BQAssemblyPositionVersion(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 sx_BQ_getHoleBaseCalibPara(
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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 sx_BQ_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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//提取工件角点及定位长度信息
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SG_APISHARED_EXPORT SSX_BQAssemblyInfo sx_BQ_computeAssemblyInfoFrom3D(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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SSG_treeGrowParam growParam,
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SSG_planeCalibPara groundCalibPara,
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SSX_BQAssemblyPara assemblyParam,
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int* errCode);
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//根据Mark计算工件位置和姿态
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SG_APISHARED_EXPORT SSX_BQAssemblyInfo sx_BQ_computeAssemblyInfoFromMark(
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SSX_BQAssemblyInfo& originPos,
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std::vector<SVzNL3DPoint>& originMark,
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std::vector<SVzNL3DPoint>& currMark,
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int* errCode);
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