131 lines
3.6 KiB
C++
131 lines
3.6 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 workpieceType;
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double holeDiameter; //孔直径
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double holeDist_L; //孔间距_长
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double holeDist_W; //孔间距_宽
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double xLen; //x方向长， 用于结果排序
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double yLen; //y方向长， 用于结果排序
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double H;
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}WD_workpieceHoleParam;
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typedef struct
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{
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int workpieceType;
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std::vector<SVzNL3DPoint> holes;
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std::vector<SVzNL3DPoint> holesDir;
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SVzNL3DPoint center;
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SVzNL3DPoint z_dir; //z方向向量（归一化）
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SVzNL3DPoint y_dir; //y方向向量（归一化）
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SVzNL3DPoint x_dir; //x方向向量（归一化）
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}WD_workpieceInfo;
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typedef struct
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{
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double diameter; //轮胎直径
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double thickness; //轮胎宽度
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}WD_tireParam;
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typedef struct
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{
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double len; //工件长
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double width; //工件宽度
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double thickness;
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}WD_JiuruiWorkpieceParam;
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typedef struct
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{
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SVzNL3DPoint center;
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SVzNL3DPoint normDir; //方向向量（归一化）
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double holeR;
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}WD_HolePositionInfo;
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typedef struct
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{
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double rotorDiameter;
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double rotorH;
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double removeGroundHOffset; //去除时的高度偏置，用于设置架子高度
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double basket_L; //零件筐-长
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double basket_W; //零件筐-宽
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}WD_rotorAppParam;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_workpieceHolePositioningVersion(void);
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//相机水平安装计算地面调平参数。。
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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_getGroundCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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//相机水平时姿态调平，并去除地面
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SG_APISHARED_EXPORT void wd_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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//工件孔定位-拓普发工件孔定位
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SG_APISHARED_EXPORT void wd_workpieceHolePositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const WD_workpieceHoleParam workpiecePara,
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const SSG_lineSegParam lineSegPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSG_planeCalibPara groundCalibPara,
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std::vector< WD_workpieceInfo>& workpiecePositioning,
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int* errCode);
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//单个孔或凹坑定位-华航孔定位
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SG_APISHARED_EXPORT void wd_HolePositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const SSG_lineSegParam lineSegPara,
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const SSG_cornerParam cornerParam,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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std::vector< WD_HolePositionInfo>& holePositioning,
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int* errCode);
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//砂轮盘中心孔定位
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SG_APISHARED_EXPORT WD_HolePositionInfo sx_getDiscHolePose(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_cornerParam cornerPara,
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int* errCode);
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//砂轮盘架子中心定位
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SG_APISHARED_EXPORT SSG_pointPose sx_getDiscRackCenterPosition(
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std::vector< std::vector<SVzNL3DPosition>>& src_scanLines,
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const SSG_cornerParam cornerPara,
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int* errCode);
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//山东本事机电轮胎中心定位
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SG_APISHARED_EXPORT void sx_getTireHolePose(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const SSG_cornerParam cornerPara,
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const SSG_planeCalibPara groundCalibPara,
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const WD_tireParam tireParam,
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std::vector<WD_HolePositionInfo>& tirePositions,
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int* errCode);
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//宁波海瑞马定子芯中心定位
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SG_APISHARED_EXPORT void sx_getRotorCorePose(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const SSG_cornerParam cornerPara,
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const SSG_planeCalibPara groundCalibPara,
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const WD_rotorAppParam rotorParam,
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std::vector<WD_HolePositionInfo>& rotorPositions,
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int* errCode);
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//北京玖瑞工件定位
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SG_APISHARED_EXPORT void Jiurui_getWorkpiecePose(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const SSG_cornerParam cornerPara,
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const SSG_planeCalibPara groundCalibPara,
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const WD_JiuruiWorkpieceParam workpieceParam,
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std::vector<SSG_pointPose>& tirePositions,
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int* errCode); |