70 lines
1.9 KiB
C++
70 lines
1.9 KiB
C++
#pragma once
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#if defined(SG_API_LIBRARY)
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# define SG_APISHARED_EXPORT __declspec(dllexport)
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#else
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# define SG_APISHARED_EXPORT __declspec(dllimport)
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#endif
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#include "SG_baseDataType.h"
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#include <vector>
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typedef struct
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{
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double statorOuterD; //定子外直径
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double statorInnerD; //定子内孔直径
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double statorHeight; //定子高度
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double plateThickness; //隔板厚度
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double plateW;//隔板长
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double plateH;//隔板宽
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}SWD_statorParam;
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typedef struct
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{
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SSG_outlierFilterParam filterParam;
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SSG_cornerParam cornerParam;
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SSG_treeGrowParam growParam;
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}SWD_statorPositonParam;
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typedef enum
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{
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keWD_OPERATE_Uknown = 0,
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keSG_OPERATE_TOP_LAYER, //抓取上层
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keSG_OPERATE_BTM_LAYER, //抓取下层
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keSG_OPERATE_PLATE, //抓取隔板
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} ESG_OpeationState;
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typedef struct
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{
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SVzNL3DPoint refPos;
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ESG_OpeationState opState; //指示前一目标参考位置是否有效
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}SWD_statorGriperState;
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//读版本号
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SG_APISHARED_EXPORT const char* wd_particleSegVersion(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 wd_getBaseCalibPara(
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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 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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///数据输入必须是grid格式，以进行水平方向和垂直方向的处理
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//电机定子定位。
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//算法逻辑：找到定子的高度->设置截取Z去掉底面->
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// 投影（注意此时边框也同时投影）->距离变换->提取定子目标->
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// 根据相邻和边框寻找最佳抓取目标和抓取点
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SG_APISHARED_EXPORT void wd_motorStatorPosition(
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std::vector< std::vector<SVzNL3DPosition>>& scanLinesInput,
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const SWD_statorParam statorParam,
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const SSG_planeCalibPara groundCalibPara,
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const SWD_statorPositonParam algoParam,
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SWD_statorGriperState* opState, //操作状态机。指示当前状态
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int* errCode,
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std::vector<SWD_statorInnerGrasper>& resultObjPositions); |