71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
#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 "rodAndBarDetection_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 "IYScrewPositionStatus.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。
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* approachOffset 是机械臂接近点相对目标点沿目标姿态反方向的偏移量（mm）。
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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 approachOffset = 0.0;
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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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/// 螺杆检测接口
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int DetectScrew( 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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/// 工具盘检测接口
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int DetectToolDisk(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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