135 lines
3.4 KiB
C
135 lines
3.4 KiB
C
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#ifndef __VIZUM_HANDEYECONVERT_HEADER__
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#define __VIZUM_HANDEYECONVERT_HEADER__
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#include "VZNL_Export.h"
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#include "VZNL_Types.h"
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/// @brief
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/// ת<><D7AA><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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typedef void* VZEHPCHANDLE;
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// <20>궨<EFBFBD><EAB6A8>ʽ
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enum EVzHandEyeConvertType
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{
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EVzHandEyeConvertType_Eye_In_Hand = 0, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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EVzHandEyeConvertType_Eye_To_Hand = 1, //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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};
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enum EVzRPYSeqConvertType
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{
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RPYSeqConvertType_S_ZYX,
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RPYSeqConvertType_S_XYZ,
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RPYSeqConvertType_S_XZY,
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RPYSeqConvertType_S_YXZ,
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RPYSeqConvertType_S_YZX,
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RPYSeqConvertType_S_ZXY,
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RPYSeqConvertType_R_XYZ
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};
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// <20><>е<EFBFBD><D0B5><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD><EAB6A8>
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typedef struct
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{
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double x, y, z, a, b, c;
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}SVzNLRobotPointD;
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typedef struct {
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float rx[3];
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float ry[3];
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float rz[3];
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}SVzNLNormal3D;
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typedef struct {
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SVzNL3DPoint point; //XYZ<59><5A><EFBFBD><EFBFBD>
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SVzNLNormal3D normal; //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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}SVzNLPCameraPointinfo;
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/**
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* @brief <EFBFBD><EFBFBD>ʼ<EFBFBD><EFBFBD><EFBFBD>㷨<EFBFBD><EFBFBD>
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* @param hDevice <EFBFBD><EFBFBD>ǰ<EFBFBD>豸<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @param [out] pErrorCode <EFBFBD><EFBFBD><EFBFBD>ش<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, Ϊ NULLʱ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @return ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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*/
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VZNLAPI VZEHPCHANDLE VzNL_CreateEyeHandPosConvertHandle(VZNLHANDLE hDevice, int* pErrorCode);
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/**
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* @brief <EFBFBD>ͷ<EFBFBD><EFBFBD>㷨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>Դ
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* @param hConvertHandle ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @return <EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD> ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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*/
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VZNLAPI int VzNL_ReleaseEyeHandPosConvert(VZEHPCHANDLE hConvertHandle);
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/* <20><><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD>㷨<EFBFBD><E3B7A8><EFBFBD><EFBFBD><EFBFBD>ӿ<EFBFBD>
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* hConvertHandle ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* pCameraPoint <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* nCount <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,Ŀǰ<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
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* dCalibMatrix <EFBFBD>궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* eConvertType <EFBFBD>궨<EFBFBD><EFBFBD>ʽ
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* pRobotPoint <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ļ<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @return <EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD> ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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*/
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VZNLAPI int VzNL_EyeHandPosConvert3(VZEHPCHANDLE hConvertHandle,
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SVzNL3DPoint* pCameraPoints,
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int nCount,
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double dCalibMatrix[16],
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EVzHandEyeConvertType eConvertType,
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SVzNL3DPoint* pRobotPoint);
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/* <20><><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD>㷨<EFBFBD><E3B7A8><EFBFBD><EFBFBD><EFBFBD>ӿڣ<D3BF><DAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+<2B><><EFBFBD><EFBFBD>ʸ<EFBFBD><CAB8>
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* hConvertHandle ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* pCameraPoints <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* pRobpose <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* nCount <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,Ŀǰ<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
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* dCalibMatrix <EFBFBD>궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* eConvertType <EFBFBD>궨<EFBFBD><EFBFBD>ʽ
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* ePosSeqType <EFBFBD><EFBFBD>̬˳<EFBFBD><EFBFBD>
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* pRobotPoint <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ļ<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @return <EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD> ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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*/
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VZNLAPI int VzNL_EyeHandPosConvert6WithNormal(VZEHPCHANDLE hConvertHandle,
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SVzNLPCameraPointinfo* pCameraPoints,
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SVzNLRobotPointD* pRobpose,
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int nCount,
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double dCalibMatrix[16],
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EVzHandEyeConvertType eConvertType,
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EVzRPYSeqConvertType ePosSeqType,
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SVzNLRobotPointD* pRobotPoint);
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/* <20><><EFBFBD><EFBFBD><EFBFBD>궨<EFBFBD>㷨<EFBFBD><E3B7A8><EFBFBD><EFBFBD><EFBFBD>ӿڣ<D3BF><DAA3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>+<2B><>̬<EFBFBD><CCAC>
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* hConvertHandle ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* pCameraPoints <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>// xyzabc
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* pRobpose <EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʱ<EFBFBD><EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* nCount <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,Ŀǰ<EFBFBD><EFBFBD>֧<EFBFBD><EFBFBD>1<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>
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* dCalibMatrix <EFBFBD>궨<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* eConvertType <EFBFBD>궨<EFBFBD><EFBFBD>ʽ
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* ePosSeqType <EFBFBD><EFBFBD>̬˳<EFBFBD><EFBFBD>
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* pRobotPoint <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ļ<EFBFBD>е<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @return <EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD> ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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*/
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VZNLAPI int VzNL_EyeHandPosConvert6WithEuler(VZEHPCHANDLE hConvertHandle,
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SVzNLRobotPointD* pCameraPoints,
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SVzNLRobotPointD* pRobpose,
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int nCount,
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double dCalibMatrix[16],
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EVzHandEyeConvertType eConvertType,
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EVzRPYSeqConvertType ePosSeqType,
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SVzNLRobotPointD* pRobotPoint);
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/**
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* @brief R2RPY <EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>תRPY<EFBFBD><EFBFBD>
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* @param hConvertHandle ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @param R <EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>3*3
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* @param RPY RPY<EFBFBD><EFBFBD>,˳<EFBFBD><EFBFBD>ΪRoll-Pitch-Yaw. <EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD>
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* @return <EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD> ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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*/
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VZNLAPI int VzNL_R2RPY(VZEHPCHANDLE hConvertHandle, double R[9], double RPY[3], const EVzRPYSeqConvertType ePosSeqType);
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/**
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* @brief R2RPY RPY<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @param hConvertHandle ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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* @param R <EFBFBD><EFBFBD>ת<EFBFBD><EFBFBD><EFBFBD><EFBFBD>3*3
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* @param RPY RPY<EFBFBD><EFBFBD>,˳<EFBFBD><EFBFBD>ΪRoll-Pitch-Yaw.<EFBFBD>Ƕ<EFBFBD><EFBFBD><EFBFBD>
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* @return <EFBFBD><EFBFBD>ȷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD>0<EFBFBD><EFBFBD> ʧ<EFBFBD>ܷ<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ֵ
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*/
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VZNLAPI int VzNL_RPY2R(VZEHPCHANDLE hConvertHandle, double RPY[3], double R[9], const EVzRPYSeqConvertType ePosSeqType);
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#endif
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