145 lines
4.5 KiB
C
145 lines
4.5 KiB
C
#ifndef HOLE_DETECTION_H
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#define HOLE_DETECTION_H
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#include "HoleDetectionParams.h"
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#include "ErrorCodes.h"
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#include "../include/VZNL_Types.h"
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// Export macro for Windows DLL
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#ifdef _WIN32
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#ifdef HOLE_DETECTION_EXPORTS
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#define HOLE_DETECTION_API __declspec(dllexport)
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#else
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#define HOLE_DETECTION_API __declspec(dllimport)
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#endif
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#else
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#define HOLE_DETECTION_API
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#endif
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/**
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* @brief Boundary point with grid location (for debug callbacks)
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*/
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struct SHoleBoundaryPoint {
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SVzNLPointXYZ point; // 点坐标
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int row; // 行号
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int col; // 列号
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SHoleBoundaryPoint()
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: point(), row(-1), col(-1) {}
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SHoleBoundaryPoint(const SVzNLPointXYZ& p, int r, int c)
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: point(p), row(r), col(c) {}
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};
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/**
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* @brief Cluster information for debug callbacks
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*/
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struct SClusterInfo {
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const SHoleBoundaryPoint* points; // Points in this cluster
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int count; // Number of points in this cluster
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};
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/**
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* @brief Debug callbacks for visualization and debugging
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*
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* All callbacks are optional (can be nullptr).
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* userData is passed to all callbacks for user context.
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*/
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struct SHoleDetectionDebugCallbacks {
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/**
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* @brief Called after boundary points are detected
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* @param points Array of boundary points
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* @param count Number of boundary points
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* @param userData User-provided context pointer
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*/
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void (*onBoundaryDetected)(const SHoleBoundaryPoint* points, int count, void* userData);
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/**
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* @brief Called after clustering is complete
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* @param clusters Array of cluster information
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* @param clusterCount Number of clusters found
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* @param userData User-provided context pointer
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*/
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void (*onClustersFound)(const SClusterInfo* clusters, int clusterCount, void* userData);
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/**
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* @brief Called when expanded region points are collected for plane fitting
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* @param clusterPoints Array of cluster boundary points
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* @param clusterCount Number of cluster points
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* @param expandedPoints Array of expanded region points (surrounding flat surface)
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* @param expandedCount Number of expanded region points
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* @param userData User-provided context pointer
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*/
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void (*onExpandedRegion)(const SHoleBoundaryPoint* clusterPoints, int clusterCount,
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const SVzNLPointXYZ* expandedPoints, int expandedCount,
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void* userData);
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/**
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* @brief Called after each hole is fitted
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* @param hole The fitted hole result
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* @param holeIndex Index of this hole (0-based)
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* @param userData User-provided context pointer
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*/
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void (*onHoleFitted)(const SHoleResult* hole, int holeIndex, void* userData);
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/**
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* @brief User-provided context pointer, passed to all callbacks
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*/
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void* userData;
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};
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/**
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* @brief Detect multiple holes in point cloud
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*
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* This is the main entry point for hole detection. It performs the following steps:
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* 1. Validate grid format
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* 2. Detect pit boundaries
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* 3. Cluster boundary points
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* 4. Fit ellipse and plane for each cluster
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* 5. Filter and sort results
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*
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* @param [in] points Input point cloud (grid format)
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* @param [in] rows Number of rows
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* @param [in] cols Number of columns
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* @param [in] detectionParams Detection parameters
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* @param [in] filterParams Filter parameters
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* @param [out] result Output result structure
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* @param [in] debugCallbacks Optional debug callbacks for visualization (can be nullptr)
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* @return 0 on success, non-zero on error
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*
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* @pre points != nullptr
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* @pre rows > 0
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* @pre cols > 0
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* @pre result != nullptr
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*
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* @post If return value is 0, result contains detected holes
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* @post Caller must free result->holes using delete[]
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*/
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HOLE_DETECTION_API int DetectMultipleHoles(
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const SVzNLPointXYZ* points,
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int rows,
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int cols,
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const SHoleDetectionParams& detectionParams,
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const SHoleFilterParams& filterParams,
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SMultiHoleResult* result,
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const SHoleDetectionDebugCallbacks* debugCallbacks = nullptr
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);
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/**
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* @brief Print detection results to console in a formatted way
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*
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* @param [in] result Detection result structure
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* @param [in] verbose If true, print detailed information for each hole
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*/
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HOLE_DETECTION_API void PrintDetectionResults(const SMultiHoleResult& result, bool verbose = true);
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/**
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* @brief Print a single hole result to console
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*
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* @param [in] hole Single hole result
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* @param [in] index Hole index (for display purposes)
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*/
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HOLE_DETECTION_API void PrintHoleResult(const SHoleResult& hole, int index);
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#endif // HOLE_DETECTION_H
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