146 lines
4.5 KiB
C++
146 lines
4.5 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 center; //螺杆端部中心点
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SVzNL3DPoint axialDir; //轴向向量
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}SSX_rodPoseInfo; //
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typedef struct
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{
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SVzNL3DPoint center; //螺杆端部中心点
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SVzNL3DPoint xDir;
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SVzNL3DPoint yDir;
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SVzNL3DPoint normalDir; //法向向量
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SVzNL3DPoint holeLT;
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SVzNL3DPoint holeRB;
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}SSX_platePoseInfo; //
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typedef struct
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{
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double diameter;
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double len;
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}SSX_rodParam; //棒材信息
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typedef struct
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{
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int id; //序号从1开始
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int workpieceType; //0:中央; 1-上边; 2-下边; 3-左边; 4-右边; 5-左上角; 6-右上角; 7-左下角; 8-右下角;
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SVzNL3DPoint center; //螺杆端部中心点
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SVzNL3DPoint axialDir; //轴向向量
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SVzNL3DPoint normalDir; //法向量
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SVzNL3DPoint startPt;
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SVzNL3DPoint endPt;
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}SSX_rodPositionInfo;
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typedef enum
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{
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KeWD_WELD_CATEGORY_UNKNOWN = 0,
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KeWD_WELD_CATEGPRY_I, //焊接类型1：每根钢筋都有支点
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KeWD_WELD_CATEGPRY_II, //焊接类型2：交叉钢筋上面的钢筋有支点
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}EWD_weldingCategory;
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typedef enum
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{
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KeWD_WELD_UNKNOWN = 0,
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KeWD_WELD_POINT, //焊点
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KeWD_WELD_SEAM, //焊缝
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KeWD_WELD_SEAM_GAP, //焊缝，有缝隙
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}EWD_weldType;
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typedef struct
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{
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EWD_weldType weldType;
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SVzNL3DPoint startPt;
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SVzNL3DPoint endPt;
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SVzNL3DPoint center;
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SVzNL3DPoint axialDir;
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SVzNL3DPoint normalDir; //法向量
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std::vector< SVzNL3DPoint> centerPts;
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std::vector< SVzNL3DPoint> edgePts_0;
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std::vector< SVzNL3DPoint> edgePts_1;
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}SSX_weldSeamInfo;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_rodAndBarDetectionVersion(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_rodPosition_getBaseCalibPara(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines);
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#if 1
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//相机姿态调平，并去除地面
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SG_APISHARED_EXPORT void sx_rodPosition_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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#endif
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//六角头螺杆端部中心点和轴向测量
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SG_APISHARED_EXPORT void sx_hexHeadScrewMeasure(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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double rodDiameter,
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std::vector<SSX_rodPoseInfo>& screwInfo,
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int* errCode);
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//PCA方法计算螺杆端部中心点位姿
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//相对于sx_hexHeadScrewMeasure()，算法上（1）去除了水平段（2）使用PCA方法计算轴向
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SG_APISHARED_EXPORT void sx_hexHeadScrewMeasure_PCA(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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//bool isHorizonScan, //true:激光线平行槽道；false:激光线垂直槽道
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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double rodDiameter,
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std::vector<SSX_rodPoseInfo>& screwInfo,
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int* errCode);
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//计算定位盘中心点位姿
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SG_APISHARED_EXPORT SSX_platePoseInfo sx_getLocationPlatePose(
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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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//新的计算定位盘中心点位姿（去除了定位盘，只有定位板）
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SG_APISHARED_EXPORT SSX_platePoseInfo sx_getLocationPlatePose_new(
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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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//棒材抓取定位
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SG_APISHARED_EXPORT void sx_rodPositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara poseCalibPara,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSX_rodParam rodParam,
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const double distToSideRatio, //边距系数，边距门限=边距系数*工件直径；当工件距边的距离大于边距门限时，判断为边上的工件
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const double groundRemoveOffset, //料筐地面去除的Z偏置，实际地面去除高度为 groundCalibPara.planeHeight - groundRemoveOffset
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const double clusterNDist, //料筐聚类尺度， 当两点距离小于此尺度时， 被聚为一类。此参数和点云密度相关，用于滤除料筐周围的干扰。
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std::vector<SSX_rodPositionInfo>& rodInfo,
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SWD_BinInfo& binInfo, //输出Bin信息，用于debug，确认料筐信息检测正确
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int* errCode);
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//筑裕钢结构钢筋焊缝定位
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SG_APISHARED_EXPORT void sx_rebarWeldSeamPositioning(
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std::vector< std::vector<SVzNL3DPosition>>& scanLines,
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const SSG_planeCalibPara poseCalibPara,
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const SSG_cornerParam cornerPara,
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const SSG_outlierFilterParam filterParam,
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const SSG_treeGrowParam growParam,
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const SSX_rodParam rodParam,
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const SVzNLRangeD weldSeamRange, //焊缝距钢筋交叉点的范围（最小值和最大值）
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EWD_weldingCategory weldCategory,
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std::vector<SSX_weldSeamInfo>& weldSeamInfo,
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int* errCode); |