78 lines
2.7 KiB
C
78 lines
2.7 KiB
C
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#pragma once
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#include <iostream>
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#include <vector>
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#include <memory>
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#include <QString>
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#include "workpieceHolePositioning_Export.h"
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#include "VZNL_Types.h"
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#include "VrTimeUtils.h"
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#include "VrError.h"
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#include "VrLog.h"
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#include "IVrConfig.h"
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#include "LaserDataLoader.h"
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#include "IYDiscHolePoseStatus.h"
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#include "PointCloudImageUtils.h"
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#include "VrConvert.h"
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#include "VrDateUtils.h"
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struct RobotPose6D;
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/**
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* @brief 描述一次检测使用的手眼外参（按相机配置）
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*
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* eulerOrder 同时用作机器人法兰姿态的输入分解 (rx/ry/rz -> 旋转矩阵)
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* 以及工具姿态输出的合成 (旋转矩阵 -> roll/pitch/yaw)；
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* rotX/Y/Z 在 Eye 坐标系下按 Rx*Ry*Rz 顺序对工具三轴做补偿旋转（手眼变换之前）。
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* outRotX/Y/Z 在 Robot 坐标系下按 Rx*Ry*Rz 顺序对工具三轴做补偿旋转（手眼变换之后、提欧拉角之前），
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* 用于把"算法定义的工具系"修正到"机器人期望的 TCP 系"，同时让输出位姿远离万向节锁。
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* 默认 0 不启用；具体值应由示教位姿反推得到，不要照搬某次测量值。
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*/
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struct HandEyeExtrinsic
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{
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int eulerOrder = 11;
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double rotX = 0.0;
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double rotY = 0.0;
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double rotZ = 0.0;
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double offsetX = 0.0;
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double offsetY = 0.0;
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double offsetZ = 0.0;
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double outRotX = 0.0;
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double outRotY = 0.0;
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double outRotZ = 14.56;
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};
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class DetectPresenter
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{
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private:
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/* data */
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public:
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DetectPresenter(/* args */);
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~DetectPresenter();
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static QString GetAlgoVersion();
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/// 砂轮盘孔检测接口（调用 sx_getDiscHolePose）
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int DetectDiscHole(int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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const RobotPose6D& robotPose,
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const HandEyeExtrinsic& extrinsic,
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int poseOutputOrder,
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DetectionResult& detectionResult);
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/// 砂轮盘架子检测接口（调用 sx_getDiscRackCenterPosition）
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int DetectDiscRack(int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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const RobotPose6D& robotPose,
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const HandEyeExtrinsic& extrinsic,
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int poseOutputOrder,
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DetectionResult& detectionResult);
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};
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