231 lines
9.8 KiB
C
231 lines
9.8 KiB
C
#ifndef __VIZUM_MUL_DETECTED_LASER_HEADER__
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#define __VIZUM_MUL_DETECTED_LASER_HEADER__
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#include "VZNL_Export.h"
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#include "VZNL_Types.h"
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#include "VZNL_Common.h"
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#include "VZNL_DetectLaser.h"
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/// @brief
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/// 开始多设备检测
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/// <param name = "phDevice">[in]多个相机Handle</param>
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/// <param name = "nDeviceCount">[in]相机个数</param>
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/// <param name = "pnErrorCode">[out]错误码</param>
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/// @return 返回多设备检测工具Handle
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VZNLAPI VZNLDETECTHANDLE VzNL_BeginMultiDeviceDetectLaser(VZNLHANDLE* phDevice, int nDeviceCount, int* pnErrorCode);
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/// @brief
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/// 是否为主相机
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "hDevice">[in]相机handle</param>
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/// @return 返回true则表示是主相机
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VZNLAPI VzBool VzNL_IsMasterDev(VZNLDETECTHANDLE hDetectHandle, VZNLHANDLE hDevice);
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/**
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* @brief 设备状态提醒
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* @param [in] hDevice 融合设备Handle
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* @param [in] pNotifyCB 返回函数
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* @param [in] pCBParam 回调函数返回参数
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* @return 关闭成功返回0，否则为错误码
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*/
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VZNLAPI int VzNL_SetMulDevStatusNotify(VZNLHANDLE hDetechTool, VzNL_OnMulDevNotifyStatusCB pNotifyCB, void* pCBParam);
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/// @brief
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/// 设置激光标定。
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "dStandardObjectHeight">[in]设置标定高度</param>
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/// <param name = "pTopROI">[in]顶部ROI数组指针</param>
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/// <param name = "nTopROICount">[in]顶部ROI的数组个数</param>
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/// <param name = "pBottomROI">[in]底部ROI数组指针</param>
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/// <param name = "nBottomROICount">[in]底部ROI数组个数</param>
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/// @return 返回0为正确，失败返回错误码
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VZNLAPI int VzNL_SetMulDevLaserStandard( VZNLDETECTHANDLE hDetechTool, double dStandardObjectHeight,
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const SVzNLROIRect* pTopROI, const int nTopROICount,
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const SVzNLROIRect* pBottomROI, const int nBottomROICount);
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/// @brief
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/// 清除标定信息
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_ClearMulDevLaserStandard(VZNLDETECTHANDLE hDetechTool);
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/// @brief
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/// 设置激光门限值
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "nLaserThres">[in]激光门限值[Range:0~255]</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_SetMulDevLaserThres(VZNLDETECTHANDLE hDetechTool, int nLaserThres);
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/// @brief
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/// 设置过滤高度
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "dFilterHeight">[in]过滤高度（此高度以下的数据不输出）</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_ConfigMulDevLaserLineFilterHeight(VZNLDETECTHANDLE hDetechTool, double dFilterHeight);
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/// @brief
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/// 设置杂点过滤阈值
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "dMaxDeviation">[in]过滤值</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_ConfigMulDevLaserLineMaxDeviation(VZNLDETECTHANDLE hDetechTool, double dMaxDeviation);
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/// @brief
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/// 设置偏移量
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "dOffsetValue">[in]偏移量</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_ConfigMulDevLaserBeginOffsetValue(VZNLDETECTHANDLE hDetechTool, double dOffsetValue);
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/**
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* @brief 设置点云处理模式
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* @param [in] hDevice 设备句柄
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* @param [in] ePointCloudProcMode kePointCloudProcMode_Speed 速度计算模式, kePointCloudProcMode_Encoder 编码器模式 kePointCloudProcMode_FixedStep 固定步长模式
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* @return 成功返回0，否则为其他错误码
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* Old Interface int VzNL_EnableLaserRollerMode(VZNLHANDLE hDevice, VzBool bEnable);
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*/
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VZNLAPI int VzNL_SetMulDevPointCloudProcMode(VZNLDETECTHANDLE hDetechTool, EVzPointCloudProcMode ePointCloudProcMode);
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/**
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* @brief 设置固定步长
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* 设置前请先设置为kePointCloudProcMode_FixedStep模式
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*/
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VZNLAPI int VzNL_SetMulDevFixedStep(VZNLDETECTHANDLE hDetechTool, double dStep);
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/// @brief
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/// 设置传送带速度值 当设置点云处理模式为 kePointCloudProcMode_Speed可用
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "eDirect">[in]运行方向</param>
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/// <param name = "dSpeed">[in]速度</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_ConfigMulDevLaserObjRunSpeedValue(VZNLDETECTHANDLE hDetechTool, EVzObjRunDirect eDirect, double dSpeed);
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/**
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* @brief 配置转动轴半径 kePointCloudProcMode_Encoder可用
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* @param [in] hDevice 设备句柄
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* @param [in] dRadius 转动轴半径
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* @return 成功返回0，否则为其他错误码
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*/
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VZNLAPI int VzNL_ConfigMulDevLaserRollerRadius(VZNLDETECTHANDLE hDetechTool, double dRadius);
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VZNLAPI int VzNL_GetMulDevLaserRollerRadius(VZNLDETECTHANDLE hDetechTool, double* pdRadius);
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/**
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* @brief 设置编码器脉冲精度 kePointCloudProcMode_Encoder可用
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* @param [in] hDevice 设备句柄
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* @param [in] nPulsePerRound 脉冲个数
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* @return 成功返回0，否则为其他错误码
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*/
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VZNLAPI int VzNL_SetMulDevLaserEncoderResolution(VZNLDETECTHANDLE hDetechTool, unsigned int nPulsePerRound);
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VZNLAPI int VzNL_GetMulDevLaserEncoderResolution(VZNLDETECTHANDLE hDetechTool, unsigned int* pnPulsePerRound);
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///@brief 获取参数设置范围
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///<param name = "hDetectHandle">[in]多相机检测工具</param>
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///@param name="eType"[in]参数类型</param>
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///@param name="pnMinVal"[in]最小值</param>
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///@param name="pnMaxVal"[in]最大值</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_QueryMulDevParamRange(VZNLDETECTHANDLE hDetechTool, EVzDeviceParamType eType, unsigned int* pnMinVal, unsigned int* pnMaxVal);
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/// @brief
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/// 检测一帧数据
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_MulDevDetectLaser(VZNLDETECTHANDLE hDetechTool);
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/// @brief
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/// 设置外部设备为外部触发模式
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "bExternTrigger">[in]外部触发模式</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_SwitchMulDevExternTrigger(VZNLDETECTHANDLE hDetechTool, EVzMultiDevWorkMode eWorkMode);
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/// @brief
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/// 启用多相机全数据模式
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "bEnable">[in]启用/禁用</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_EnableMulDevUseAllPoint(VZNLDETECTHANDLE hDetechTool, VzBool bEnable);
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/// @brief
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/// 刷新多相机参数
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "bEnable">[in]启用/禁用</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_UpdateMulDevCalibration(VZNLDETECTHANDLE hDetechTool);
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/// @brief
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/// 启用软件计算模式
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "bEnable">[in]启用/禁用</param>
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/// @return 成功返回0，失败返回错误码
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VZNLAPI int VzNL_EnableMulDevCalcMatrix(VZNLDETECTHANDLE hDetechTool, VzBool bEnable);
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/// @brief
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/// 获取激光线2D结果
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "p2DPoint">[out]2D点，内存空间由用户分配</param>
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/// <param name = "pnCount">[in/out]传入:用户分配的SVzNL2DPoint的结构个数;传出:用户需要分配多少个SVzNL2DPoint</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_GetMulDevLaser2DResult(VZNLDETECTHANDLE hDetechTool, SVzNL2DPosition* p2DPoint, int* pnCount);
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/// @brief
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/// 获取激光线3D结果
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "p3DPoint">[out]3D点，内存空间由用户分配</param>
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/// <param name = "pnCount">[in/out]传入:用户分配的SVzNL3DPosition的结构个数;传出:用户需要分配多少个SVzNL3DPosition</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_GetMulDevLaser3DResult(VZNLDETECTHANDLE hDetechTool, SVzNL3DPosition* p3DPoint, int* pnCount);
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/// @brief
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/// 启动多设备自动检测，并返回激光线
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "pCB">[in]回调函数</param>
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/// <param name = "pCBParam">[in]回调参数</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_StartMulDeviceAutoDetect(VZNLDETECTHANDLE hDetechTool, VzNL_GetAutoDetectResultCB pCB, void* pCBParam);
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/// @brief
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/// 启动多设备自动检测，并返回激光线
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "pCB">[in]回调函数</param>
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/// <param name = "pCBParam">[in]回调参数</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_StartMulDeviceAutoDetectEx(VZNLDETECTHANDLE hDetechTool, EVzResultDataType eResultType, VzNL_AutoOutputLaserLineExCB pCBEx, void* pCBParam);
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/// @brief
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/// 设置融合的相机类型。
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "eMultiDevType">[in]融合的相机类型</param>
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/// @return 返回0为正确，失败返回错误码
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VZNLAPI int VzNL_SetMulDevType(VZNLDETECTHANDLE hDetechTool, EVzMultiDevType eMultiDevType);
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VZNLAPI int VzNL_GetMulDevType(VZNLDETECTHANDLE hDetechTool, EVzMultiDevType* peMultiDevType);
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/// @brief
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/// 设置静态相机融合扫描模式。
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// <param name = "eMultiDevScanMode">[in]静态相机融合扫描模式</param>
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/// @return 返回0为正确，失败返回错误码
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VZNLAPI int VzNL_SetMulStaticDevScanMode(VZNLDETECTHANDLE hDetechTool, EVzMultiStaticDevScanMode eMultiDevScanMode);
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VZNLAPI int VzNL_GetMulStaticDevScanMode(VZNLDETECTHANDLE hDetechTool, EVzMultiStaticDevScanMode* peMultiDevScanMode);
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/// @brief
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/// 停止多设备检测
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_StopMulDeviceAutoDetect(VZNLDETECTHANDLE hDetectTool);
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/// @brief
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/// 结束多设备检测
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/// <param name = "hDetectHandle">[in]多相机检测工具</param>
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/// @return 成功返回0，失败返回错误码。
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VZNLAPI int VzNL_EndMultiDeviceDetectLaser(VZNLDETECTHANDLE* pDetectTool);
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/**
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* @brief 是否支持高帧率下降沿模式
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* @param hDevice 当前设备句柄
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* @param pnErrorCode 错误信息，如果不需要可填NULL
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* @return VzTrue 表示支持 VzFalse 表示不支持
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*/
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VZNLAPI VzBool VzNL_IsMulDevSupportHighFrequenceFallingEdge(VZNLDETECTHANDLE hDetechTool, int* pnErrorCode);
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#endif |