58 lines
1.9 KiB
C
58 lines
1.9 KiB
C
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#pragma once
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#include "IVrConfig.h"
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#include "rodAndBarDetection_Export.h"
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#include "SG_baseDataType.h"
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#include <string>
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/**
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* @brief 配置参数到算法参数的转换工具
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*
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* 将 VrXxx 配置结构体转换为算法库所需的结构体，
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* 并提供算法参数的日志打印功能。
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*/
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namespace AlgoParamConverter
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{
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/// 焊缝参数转换
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SSX_rodParam ToAlgoParam(const VrRodParam& param);
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/// 角点检测参数转换
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SSG_cornerParam ToAlgoParam(const VrCornerParam& param);
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/// 滤波参数转换
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SSG_outlierFilterParam ToAlgoParam(const VrOutlierFilterParam& param);
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/// 树生长参数转换
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SSG_treeGrowParam ToAlgoParam(const VrTreeGrowParam& param);
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/// 平面校准参数转换（cameraCalibParam 为 nullptr 时使用默认单位矩阵）
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SSG_planeCalibPara ToAlgoPlaneCalibParam(const VrCameraPlaneCalibParam* cameraCalibParam);
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/**
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* @brief 打印所有算法参数日志
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* @param logTag 日志标识字符串，如 "[Algo Thread]"
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* @param rodParam 焊缝参数
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* @param cornerParam 角点检测参数
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* @param filterParam 滤波参数
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* @param growParam 树生长参数
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* @param clibMatrix 手眼标定矩阵 (4x4)
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*/
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void LogAlgoParams(const std::string& logTag,
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const SSX_rodParam& rodParam,
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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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const double clibMatrix[16]);
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/// 带焊缝搜索范围的重载版本
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void LogAlgoParams(const std::string& logTag,
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const SSX_rodParam& rodParam,
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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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const double clibMatrix[16],
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double weldSeanRange);
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} // namespace AlgoParamConverter
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