135 lines
3.4 KiB
C
135 lines
3.4 KiB
C
#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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/// 转换句柄
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typedef void* VZEHPCHANDLE;
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// 标定方式
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enum EVzHandEyeConvertType
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{
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EVzHandEyeConvertType_Eye_In_Hand = 0, //眼在手上
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EVzHandEyeConvertType_Eye_To_Hand = 1, //眼在手外
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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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// 机械臂坐标定义
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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坐标
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SVzNLNormal3D normal; //法向量
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}SVzNLPCameraPointinfo;
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/**
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* @brief 初始化算法库
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* @param hDevice 当前设备句柄
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* @param [out] pErrorCode 返回错误码, 为 NULL时，不返回
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* @return 转换句柄
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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 释放算法库资源
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* @param hConvertHandle 转换句柄
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* @return 正确返回0， 失败返回其他值
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*/
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VZNLAPI int VzNL_ReleaseEyeHandPosConvert(VZEHPCHANDLE hConvertHandle);
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/* 三轴标定算法函数接口
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* hConvertHandle 转换句柄
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* pCameraPoint 点数组
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* nCount 点个数,目前仅支持1个点的转换
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* dCalibMatrix 标定矩阵
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* eConvertType 标定方式
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* pRobotPoint 输出的机械臂坐标
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* @return 正确返回0， 失败返回其他值
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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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/* 六轴标定算法函数接口：输入点坐标+三轴矢量
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* hConvertHandle 转换句柄
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* pCameraPoints 相机点数组
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* pRobpose 拍摄时机械臂坐标
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* nCount 点个数,目前仅支持1个点的转换
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* dCalibMatrix 标定矩阵
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* eConvertType 标定方式
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* ePosSeqType 姿态顺序
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* pRobotPoint 输出的机械臂坐标
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* @return 正确返回0， 失败返回其他值
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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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/* 六轴标定算法函数接口：输入点坐标+姿态角
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* hConvertHandle 转换句柄
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* pCameraPoints 相机点数组// xyzabc
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* pRobpose 拍摄时机械臂坐标
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* nCount 点个数,目前仅支持1个点的转换
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* dCalibMatrix 标定矩阵
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* eConvertType 标定方式
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* ePosSeqType 姿态顺序
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* pRobotPoint 输出的机械臂坐标
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* @return 正确返回0， 失败返回其他值
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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 旋转矩阵转RPY角
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* @param hConvertHandle 转换句柄
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* @param R 旋转矩阵3*3
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* @param RPY RPY角,顺序为Roll-Pitch-Yaw. 角度制
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* @return 正确返回0， 失败返回其他值
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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角转旋转矩阵
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* @param hConvertHandle 转换句柄
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* @param R 旋转矩阵3*3
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* @param RPY RPY角,顺序为Roll-Pitch-Yaw.角度制
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* @return 正确返回0， 失败返回其他值
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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 |