31 lines
848 B
C++
31 lines
848 B
C++
#pragma once
|
|
#include <iostream>
|
|
#include <ostream>
|
|
#include "VZNL_Types.h"
|
|
|
|
struct CalibMatrix
|
|
{
|
|
double clibMatrix[16];
|
|
};
|
|
|
|
std::ostream& operator<<(std::ostream& os, const SVzNL3DPoint& sPoint);
|
|
|
|
namespace CVrConvert
|
|
{
|
|
// 获取标定矩阵个数
|
|
int GetClibMatrixCount(const char* sFileName);
|
|
|
|
// 加载矩阵
|
|
bool LoadClibMatrix(const char* sFileName, const char* sIdent, const char* sKey, double dMatrix[16]);
|
|
|
|
// 存储矩阵
|
|
bool SaveClibMatrix(const char* sFileName, const char* sIdent, const char* sKey, double dMatrix[16]);
|
|
|
|
// 手眼标定
|
|
bool CalibEyeToRobot(SVzNL3DPoint* pEye3DPoint, SVzNL3DPoint* pRobot3DPoint, const int nNum);
|
|
|
|
// 手眼坐标转换
|
|
bool EyeToRobot(const SVzNL3DPoint sEyePoint, SVzNL3DPoint& sRobotPoint, const double clib[16]);
|
|
|
|
};
|