You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
|
// 公共类型定义：各模块共享的数据结构
|
|
|
|
|
|
#ifndef COMMON_H
|
|
|
|
|
|
#define COMMON_H
|
|
|
|
|
|
|
|
|
|
|
|
#include <string>
|
|
|
|
|
|
#include <vector>
|
|
|
|
|
|
#include <cstdint>
|
|
|
|
|
|
|
|
|
|
|
|
// 原始扫描点（保留角度/距离，check/count 均可用）
|
|
|
|
|
|
struct ScanPoint
|
|
|
|
|
|
{
|
|
|
|
|
|
double x_mm; // 笛卡尔 X (mm)
|
|
|
|
|
|
double y_mm; // 笛卡尔 Y (mm, 雷达朝-Y方向, 0°指向-Y)
|
|
|
|
|
|
double angle_deg; // 原始角度(度)
|
|
|
|
|
|
uint16_t distance; // 原始距离(unit=2mm)
|
|
|
|
|
|
double z_val; // Z轴: 距离(mm)或时间(ms)
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
// 计数用点（x/y/z，已过滤）
|
|
|
|
|
|
struct CountPoint
|
|
|
|
|
|
{
|
|
|
|
|
|
double x_mm;
|
|
|
|
|
|
double y_mm;
|
|
|
|
|
|
double z_val;
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
// 计数参数（TCP box 字段）
|
|
|
|
|
|
struct CountParams
|
|
|
|
|
|
{
|
|
|
|
|
|
double l = 0.0; // 行(长) mm
|
|
|
|
|
|
double w = 0.0; // 宽 mm
|
|
|
|
|
|
double h = 0.0; // 层高 mm
|
|
|
|
|
|
int maxPerLayer = 0; // 每层最大个数
|
|
|
|
|
|
std::string task_id;
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
// 一次检测的结果（供 TCP 返回）
|
|
|
|
|
|
struct DetectResult
|
|
|
|
|
|
{
|
|
|
|
|
|
double start_fill_pct = -1.0; // 起点截面白色占比(%)
|
|
|
|
|
|
double end_fill_pct = -1.0; // 终点截面白色占比(%)
|
|
|
|
|
|
double start_y_max = 0.0; // 起点截面Y最大值(mm)
|
|
|
|
|
|
double start_y_med = 0.0; // 起点截面Y中位数(mm)
|
|
|
|
|
|
double end_y_max = 0.0; // 终点截面Y最大值(mm)
|
|
|
|
|
|
double end_y_med = 0.0; // 终点截面Y中位数(mm)
|
|
|
|
|
|
bool valid = false; // 是否有有效结果
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
#endif // COMMON_H
|
