932 lines
33 KiB
C
932 lines
33 KiB
C
#ifndef __VIZUM_INTERNAL_HEADER__
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#define __VIZUM_INTERNAL_HEADER__
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/// @brief
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/// 公司内部使用的函数。
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#include "VZNL_Types.h"
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#include "VZNL_Export.h"
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/// @breif
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/// 设置门限值
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/// <param name = "hDevice">[in]设备句柄</param>
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/// <param name = "nThres">[in]门限值</param>
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/// @return 返回0则表示成功，否则都是失败的
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VZNLAPI int VzNL_ConfigThres(VZNLHANDLE hDevice, int nThres[2]);
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VZNLAPI int VzNL_GetDetectThres(VZNLHANDLE hDevice, int* pnThres1, int* pnThres2);
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/// @brief
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/// 设置眼睛ROI
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VZNLAPI int VzNL_EnableEyeROI(VZNLHANDLE hDevice, int bEnable);
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VZNLAPI int VzNL_IsEnableEyeROI(VZNLHANDLE hDevice, int* pbEnable);
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/// @brief
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/// 启用边缘图
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VZNLAPI int VzNL_EnableEdgeImage(VZNLHANDLE hDevice, int bEnable);
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VZNLAPI int VzNL_IsEnableEdgeImage(VZNLHANDLE hDevice, int* pbEnable);
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/// @brief
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/// 设置曝光门限
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VZNLAPI int VzNL_SetExposeThres(VZNLHANDLE hDevice, EVzExposeThresType eType, unsigned int nThresValue);
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VZNLAPI int VzNL_GetExposeThres(VZNLHANDLE hDevice, EVzExposeThresType* peType, unsigned int* pnThresValue);
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/// @brief
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/// 设置眼睛的MAC，IP和目标IP
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VZNLAPI int VzNL_ConfigEyeNetWork(VZNLHANDLE hDevice, const unsigned char byEyeIP[4], const unsigned char byEyeMAC[6], const unsigned char byEyeCBIP[4]);
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VZNLAPI int VzNL_GetConfigEyeNetWork(VZNLHANDLE hDevice, unsigned char byEyeIP[4], unsigned char byEyeMAC[6], unsigned char byEyeCBIP[4]);
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/// @brief
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/// 设置第三方网络信息
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VZNLAPI int VzNL_ConfigThridNetWorkInfo(VZNLHANDLE hDevice, unsigned char byThridIP[4], unsigned int nThridPort, int bIsTransPic);
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VZNLAPI int VzNL_GetConfigThridNetWorkInfo(VZNLHANDLE hDevice, unsigned char byThridIP[4], unsigned int* pnThridPort, int* pbIsTransPic);
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/// @brief
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/// 配置Wifi
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VZNLAPI int VzNL_ConfigWifiInfo(VZNLHANDLE hDevice, const char szBSSID[32], const char szPassWd[32], const unsigned char szMAC[6], const char szCipher[32]);
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VZNLAPI int VzNL_GetConfigWifiInfo(VZNLHANDLE hDevice, char szBSSID[32], char szPassWd[32], unsigned char szMAC[6], char szCipher[32]);
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/// @brief
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/// Rename Device Name
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VZNLAPI int VzNL_RenameDeviceName(VZNLHANDLE hDevice, char szDeviceName[32]);
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/// @brief
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/// Reset Device
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VZNLAPI int VzNL_ResetDevice(VZNLHANDLE hDevice);
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/// @brief
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/// Translate Image Mode
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VZNLAPI int VzNL_EnableTransPicMode(VZNLHANDLE hDevice, VzBool bEnable);
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/// @brief
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/// Query Device
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VZNLAPI void* VzNL_QueryHandle(VZNLHANDLE hDevice);
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/// @brief
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/// 获取核心数据获取类(主要用于给3399用作算法解密用)
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VZNLAPI int VzNL_QueryDeviceData(VZNLHANDLE hDevice, void** ppUnknown);
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/// @brief
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/// 设置眼睛Gap
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VZNLAPI int VzNL_SetDeviceGap(VZNLHANDLE hDevice, unsigned short nGap);
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/// @brief
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/// 设置一次Trigger的次数
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VZNLAPI int VzNL_SetDeviceTriggerN(VZNLHANDLE hDevice, int nMin, int nMax);
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/// @brief
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/// 创建算法句柄
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VZNLAPI int VzNL_QueryAIObject(VZNLHANDLE hDevice, const char* lpszDll, void** pAIInterface);
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VZNLAPI int VzNL_QueryAIObjectEx(VZNLHANDLE hDevice, const char* lpszDll, void** pAIInterface, char szVersion[64]);
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/// @brief
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/// 修改算法核心
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VZNLAPI void* VzNL_QueryAlgoCore(VZNLHANDLE hDevice, int nDetectType);
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/// @brief
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/// 获取接口
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VZNLAPI int VzNL_QueryInterface(unsigned int nUnknownInterface, void** ppUnknownInterface);
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/// @brief 3399相关参数
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/// @{
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/// @brief
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/// 重置3399设备
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VZNLAPI int VzNL_ResetEyeCBDevice(SVzNLEyeCBDeviceInfoEx* psEyeCBDeviceInfo);
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/// @brief
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/// 设置3399设备Debug码
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VZNLAPI int VzNL_SetEyeCBDebugCode(VZNLHANDLE hDevice, double nDebugCode);
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/// @brief
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/// 设置3399设备LogType
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VZNLAPI int VzNL_SetEyeCBLogType(VZNLHANDLE hDevice, unsigned int nLogType);
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/// @brief
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/// 设置钢筋打标模式
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VZNLAPI int VzNL_SetCounterDetectMode(VZNLHANDLE hDevice, EVzEyeCBDetectMode eDetectMode);
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/// @}
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/// @name 激光检测参数
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/// @{
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/// @brief
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/// 设置采集模式
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VZNLAPI int VzNL_SetLocalLaserMode(VZNLHANDLE hDevice, EVzLaserCaptureMode eCaptureMode);
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/// @brief
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/// 开启本地检测
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VZNLAPI int VzNL_EnableLocalDetect(VZNLHANDLE hDevice, VzBool bEnable);
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/// @brief
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/// 设置缓存帧数
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VZNLAPI int VzNL_SetCacheSize(VZNLHANDLE hDevice, unsigned int nCacheSize);
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/// @}
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/// @brief
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/// 设置自定义数据
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VZNLAPI int VzNL_WriteCustomData(VZNLHANDLE hDevice, unsigned char* pCustomData, unsigned int nDataLength);
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VZNLAPI int VzNL_ReadCustomData(VZNLHANDLE hDevice, unsigned char* pCustomData, unsigned int* pnDataLength);
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/// @brief
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/// 启用增强检测（3399支持）
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/// <pararm name = "hDevice">[in]设备</param>
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/// <pararm name = "bEnable">[in]启用/禁用</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_EnableEnhancedDetection(VZNLHANDLE hDevice, VzBool bEnable);
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VZNLAPI VzBool VzNL_IsEnableEnhancedDetection(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief
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/// 启用弱极光线检测（3399支持）
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/// <pararm name = "hDevice">[in]设备</param>
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/// <pararm name = "bEnable">[in]启用/禁用</param>
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/// @return 返回0为正确，失败返回错误码/200.3
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VZNLAPI int VzNL_EnableDetectLowLevelLaser(VZNLHANDLE hDevice, VzBool bEnable);
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VZNLAPI VzBool VzNL_IsEnableDetectLowLevelLaser(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief
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/// 停止采图时自动切换为数据采集状态
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/// <pararm name = "hDevice">[in]设备</param>
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/// <pararm name = "bPicOrDataMode">[in]True为图像模式/False数据模式</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_EnableAutoSwitchMode(VZNLHANDLE hDevice, VzBool bEnable, EVzNLEyeDataWorkMode eStatus);
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/// @brief
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/// 停止采图时自动切换为数据采集状态
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/// <pararm name = "hDevice">[in]设备</param>
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/// <pararm name = "bPicOrDataMode">[in]True为图像模式/False数据模式</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_ResetRobotCalibParam(VZNLHANDLE hDevice);
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VZNLAPI int VzNL_SetRobotCalibParam(VZNLHANDLE hDevice, double dMatrix[16]);
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VZNLAPI int VzNL_GetRobotCalibParam(VZNLHANDLE hDevice, double dMatrix[16]);
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/// @name 圆形检测
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/// @brief
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/// 设置误差
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VZNLAPI int VzNL_SetCircleMaxRDeviation(VZNLHANDLE hDevice, int nMaxReviation);
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/// @brief
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/// 获取眼睛Handle
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VZNLAPI void* VzNL_QueryEyeHandle(VZNLHANDLE hDevice);
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/// @brief
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/// 写3399第二个网卡IP
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VZNLAPI int VzNL_ConfigEyeCBNetWorkAdapterIP(VZNLHANDLE hDevice, int nAdapter, unsigned char byIP[4]);
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VZNLAPI int VzNL_GetEyeCBNetWorkAdapterIP(VZNLHANDLE hDevice, int nAdapter, unsigned char byIP[4]);
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/// @brief
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/// 设置自定义命令
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VZNLAPI int VzNL_SetCustomCommand(VZNLHANDLE hDevice, unsigned short shAddress, unsigned short shCommand, unsigned int nSetValue);
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VZNLAPI int VzNL_GetCustomCommand(VZNLHANDLE hDevice, unsigned short shAddress, unsigned short shCommand, unsigned int* pnReadData);
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/// @brief
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/// 启用/禁用命令心跳
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VZNLAPI int VzNL_EnableHeartBeat(VZNLHANDLE hDevice, VzBool bStreamOrCommand, VzBool bEnable, unsigned int nTimeOut, unsigned int nCmdInterval);
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/// @brief
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/// 启用/禁用SDK枚举
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VZNLAPI int VzNL_EnableSDKEveryNetSearch(VzBool bEnable);
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/// @brief
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/// 获取3399设置的帧率
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VZNLAPI int VzNL_Get3399FrameRate(VZNLHANDLE hDevice, unsigned int* pnFrameRate);
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/// @brief
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/// 设置煤流目标个数
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VZNLAPI int VzNL_SetGangueTargetCount(VZNLHANDLE hDevice, unsigned int nTargetCount);
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/// @brief
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/// 发送SPI指令
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VZNLAPI int VzNL_SetSPICustomData(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nLength);
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/// @brief
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/// 启用Trigger状态检测
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VZNLAPI int VzNL_EnableCheckTriggerStatus(VZNLHANDLE hDevice, VzBool bEnable);
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/// @brief
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/// 启用Trigger状态检测
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VZNLAPI int VzNL_EnableStreamListener(VZNLHANDLE hDevice, VzBool bEnable, unsigned int nTimeOut);
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/// @brief
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/// 启用摆动机构时是否设置动态ROI
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/// <param name = "hDeivce">[in]设备句柄</param>
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/// <param name = "bEnableMotor">[in]是否启用摆动机构</param>
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/// <param name = "bLinkDynamicROI">[in]是否联动动态ROI</param>
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VZNLAPI int VzNL_EnableSwingMotorEx(VZNLHANDLE hDevice, VzBool bEnableMotor, VzBool bLinkDynamicROI);
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/// @brief
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/// 切换图像/数据状态
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/// <param name = "hDeivce">[in]设备句柄</param>
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/// <param name = "eMode">[in]数据/图像数据</param>
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/// @return 0为成功，非0为失败
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VZNLAPI int VzNL_SwitchLaserEyeImageDataMode(VZNLHANDLE hDevice, EVzNLEyeDataWorkMode eMode);
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VZNLAPI EVzNLEyeDataWorkMode VzNL_GetLaserEyeImageDataMode(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief 是否改变单次检测时的图像数据模式
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/// <param name = "hDeivce">[in]设备句柄</param>
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/// <param name = "bEnable">[in]VzTrue启用改变</param>
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VZNLAPI void VzNL_EnableLaserEyeSwitchModeWhenDetect(VZNLHANDLE hDevice, VzBool bEnable);
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VZNLAPI VzBool VzNL_IsEnableLaserEyeSwitchModeWhenDetect(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief 存储激光结果
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VZNLAPI void VzNL_SaveLaserResult(VZNLHANDLE hDevice, const char* lpszFIle);
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/// @brief 读取彩色相机标定数据
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VZNLAPI int VzNL_ReadColorCalibInfo(VZNLHANDLE hDevice, unsigned char* byData, unsigned int nDataLength);
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/// @brief 注册Dump回调
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VZNLAPI void VzNL_RegisterDumpCB(VzNL_CrashCallBack pFunCB);
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/// @brief 当在摆动机构相机时，自动切换ROI
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VZNLAPI void VzNL_EnableAutoChangeSwingROI(VZNLHANDLE hDevice, VzBool bEnable);
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/// @brief 写入多相机数据
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/// <param name = "hDevice">[in]设备句柄</param>
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/// <param name = "nDevIndex">[in]设备Index,主设备0, 从设备1~xxx</param>
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/// <param name = "dConvertMatrix">[in]转换矩阵</param>
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/// <param name = "dYRange">[in]Y过滤范围,默认-9999999~999999</param>
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/// <param name = "nOrderIdx">[in]序号，用于数据排序</param>
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VZNLAPI int VzNL_WriteMultiDevData(VZNLHANDLE hDevice, unsigned int nDevIndex, double dConvertMatrix[3][4], double dYRange[2]);
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VZNLAPI int VzNL_ReadMultiDevData(VZNLHANDLE hDevice, unsigned int* pnDevIndex, double dConvertMatrix[3][4], double dYRange[2]);
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/// @brief 写入/读取多相机数据序号（配置顺序后，设备将按照这个顺序进行数据展示)
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/// <param name = "hDevice">[in]设备句柄</param>
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/// <param name = "nOrderIdx">[in]设备顺序号</param>
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VZNLAPI int VzNL_WriteMultiDevOrder(VZNLHANDLE hDevice, int nOrderIdx);
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VZNLAPI int VzNL_ReadMultiDevOrder(VZNLHANDLE hDevice, int* pnOrderIdx);
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/// @brief
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/// DistVarth
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VZNLAPI int VzNL_SetDistVarth(VZNLHANDLE hDevice, unsigned int nDistVarth);
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VZNLAPI unsigned int VzNL_GetDistVarth(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief
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/// 启用CalibBetterRgnPtNumTh
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VZNLAPI int VzNL_SetCalibBetterRgnPtNumTh(VZNLHANDLE hDevice, unsigned int nRgnPtNumTh);
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VZNLAPI unsigned int VzNL_GetCalibBetterRgnPtNumTh(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief
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/// 设置最大线宽
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VZNLAPI int VzNL_SetMaxLineWidth(VZNLHANDLE hDevice, unsigned int nLineWidth);
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VZNLAPI unsigned int VzNL_GetMaxLineWidth(VZNLHANDLE hDevice, int* pnErrorCode);
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/// @brief
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/// 设置测试图
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VZNLAPI int VzNL_SetTestPatten(VZNLHANDLE hDevice, unsigned int nTestPatten);
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/// @brief 设置激光Y过滤值
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VZNLAPI int VzNL_SetLaserFilterExceptYRange(VZNLHANDLE hDevice, double dYMin, double dYMax);
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/// @brief 读/写 激光引用位置
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VZNLAPI int VzNL_Read3DRef(VZNLHANDLE hDevice, SVzNL3DPoint* ps3DPoint);
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VZNLAPI int VzNL_Write3DRef(VZNLHANDLE hDevice, SVzNL3DPoint* ps3DPoint);
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/*
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* @brief 获取温度信息
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* @param hDevice [in] 设备句柄
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* @param eChipInfo [in] 芯片信息
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* @param pfMin [out] 最低温度
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* @param pfMax [out] 最高温度
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* @param pfCur [out] 当前温度
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* @return 失败返回非0
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*/
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VZNLAPI int VzNL_QueryChipInfo(VZNLHANDLE hDevice, EVzDevChipInfo eChipInfo, float* pfMin, float* pfMax, float* pfCur);
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/*
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* @brief 获取产品类型
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* @param hDevice [in] 设备信息
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* @return 产品类型。
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*/
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VZNLAPI EVzProjectType VzNL_GetProjectType(VZNLHANDLE hDevice);
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/*
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* @brief 是否只显示结果？
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* @param hDevice [in] 设备信息
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*/
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VZNLAPI VzBool VzNL_IsOnlyResult(VZNLHANDLE hDevice, int* pnErrorCode);
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/*
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* @brief 获取逆矩阵信息
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* @param hDevice [in] 设备信息
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* @param dInverseRT [in] 逆向矩阵(原点标定逆向矩阵)
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* @return 返回值为0则表明成功，其他返回值请查询错误信息。
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*/
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VZNLAPI int VzNL_QueryInverseRT(VZNLHANDLE hDevice, double dInverseR[4][4]);
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/*
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* @brief 保存CircleMark文件
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* @param hDevice [in] 设备信息
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* @param lpszFile [in] 存储文件
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* @return 返回值为0则表明成功，其他返回值请查询错误信息。
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*/
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VZNLAPI int VzNL_SaveCircleMarkFile(VZNLHANDLE hDevice, const char* lpszFile);
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/**
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* @brief 保存激光线文件(智光眼专用)
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* @param hDevice [in] 设备Handle
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* @param bEnable [in] VzTrue启用/VzFalse禁用
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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_SaveLaserFile(VZNLHANDLE hDevice, const char* lpszFile);
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/**
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* @brief 获取逆矩阵(智光眼专用)
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* @param hDevice [in] 设备Handle
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* @param bEnable [in] VzTrue启用/VzFalse禁用
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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_QueryLogisticsInverseRT(VZNLHANDLE hDevice, double dInverseMatrix[4][4]);
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/**
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* @brief 设置仅传图像模式(智光眼专用)
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* @param hDevice [in] 设备Handle
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* @param bEnable [in] VzTrue启用/VzFalse禁用
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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_OnlyTransOriImage(VZNLHANDLE hDevice, VzBool bEnable);
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/**
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* @brief 获取原始分辨率
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* @param hDevice [in] 设备Handle
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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_GetOriResolution(VZNLHANDLE hDevice, SVzVideoResolution* psVideoRes);
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/**
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* @brief 设置中间Sensor图像格式
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* @param hDevice [in] 设备Handle
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* @param bIsGray [in] VzTrue设置为灰度Sensor， VzFalse为彩色
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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_SetCenterSensorImageType(VZNLHANDLE hDevice, VzBool bIsGray);
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VZNLAPI VzBool VzNL_GetCenterSensorImageType(VZNLHANDLE hDevice, int* pnErrorCode);
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/**
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* @brief 是否下载过Map
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* @param hDevice [in] 设备Handle
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* @param pnErrorCode [out] 错误码
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* @return VzTrue下载过Map
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*/
|
||
VZNLAPI VzBool VzNL_IsDownloadMap(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 获取Sensor状态
|
||
* @param hDevice [in] 设备Handle
|
||
* @param bValidStatus [out] 0：左 1：右 2：中间Sensor VzTrue为存在 VzFalse为不存在
|
||
* @return 关闭成功返回0，否则为错误码
|
||
*/
|
||
VZNLAPI int VzNL_GetSensorStatus(VZNLHANDLE hDevice, VzBool bValidStatus[3]);
|
||
|
||
/**
|
||
* @brief 写入用户数据
|
||
* @param hDevice [in] 设备Handle
|
||
*/
|
||
VZNLAPI int VzNL_WriteUserData(VZNLHANDLE hDevice, unsigned int nOffset, unsigned char* pData, unsigned int nDataLength);
|
||
VZNLAPI int VzNL_ReadUserData(VZNLHANDLE hDevice, unsigned int nOffset, unsigned char* pData, unsigned int nDataLength);
|
||
|
||
/**
|
||
* @brief LL
|
||
* @param hDevice [in] 设备Handle
|
||
*/
|
||
VZNLAPI int VzNL_SetSmoothingLL(VZNLHANDLE hDevice, unsigned int nWinSize);
|
||
VZNLAPI unsigned int VzNL_GetSmoothingLL(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief LLG (当LL为1时, LLG最大只为1)
|
||
* @param hDevice [in] 设备Handle
|
||
*/
|
||
VZNLAPI int VzNL_SetSmoothingDigiGain(VZNLHANDLE hDevice, unsigned int nDigiGain);
|
||
VZNLAPI unsigned int VzNL_GetSmoothingDigiGain(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief 给PetaLinux发送信息
|
||
VZNLAPI int VzNL_SendDataToPeta(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nDataLength);
|
||
|
||
/// @brief 激活取消激活PetaLinux通道
|
||
VZNLAPI int VzNL_ActivePetaLinux(VZNLHANDLE hDevice, VzBool bActive);
|
||
|
||
/// @brief 启用/禁用 激光线输出
|
||
VZNLAPI int VzNL_EnableOutputLaserLine(VZNLHANDLE hDevice, VzBool bActive);
|
||
VZNLAPI VzBool VzNL_IsEnableOutputLaserLine(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
|
||
/// @brief 启用/禁用 煤流数据
|
||
VZNLAPI int VzNL_EnableOutputCoalData(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsEnableOutputCoalData(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief
|
||
/// 写入煤流特有的命令
|
||
VZNLAPI int VzNL_SendCoalSpecialCommand(VZNLHANDLE hDevice, unsigned int eCoalCommand, unsigned char* pData, unsigned int nDataLength);
|
||
VZNLAPI int VzNL_GetCoalSpecialCommand(VZNLHANDLE hDevice, unsigned int eCoalCommand, unsigned char* ppData, unsigned int nDataLength);
|
||
|
||
/// @brief
|
||
/// 查看当前开流状态
|
||
VZNLAPI VzBool VzNL_QueryStreamStatus(VZNLHANDLE hDevice);
|
||
VZNLAPI EVzNLEyeDataWorkMode VzNL_QueryCurDataMode(VZNLHANDLE hDevice);
|
||
|
||
/// @brief
|
||
/// 发送任意数据到PS
|
||
VZNLAPI int VzNL_SendCustomDataToPS(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nDataLength);
|
||
|
||
/// @brief
|
||
/// 激活PS通道
|
||
VZNLAPI int VzNL_ActivePSChannel(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/// @brief
|
||
/// 设置在开流前后是否自己控制摆动模块位置
|
||
VZNLAPI int VzNL_EnableAutoRotateSwingToStopAngle(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsEnableAutoRotateSwingToStopAngle(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief 是否支持Bin
|
||
VZNLAPI VzBool VzNL_IsSupportBin(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 启用/禁用 Bin模式
|
||
VZNLAPI VzBool VzNL_IsEnableBinMode(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @breif 设置当前位置为零位
|
||
VZNLAPI int VzNL_SetSwingZeroPos(VZNLHANDLE hDevice);
|
||
|
||
/// @breif 设置当前位置为左极限
|
||
VZNLAPI int VzNL_SetSwingLeftLimit(VZNLHANDLE hDevice);
|
||
|
||
/// @breif 设置当前位置为右极限
|
||
VZNLAPI int VzNL_SetSwingRightLimit(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 重启摆动模块
|
||
VZNLAPI int VzNL_SetSpeedPI(VZNLHANDLE hDevice, unsigned char shSpeedP, unsigned char shSpeedI);
|
||
VZNLAPI int VzNL_GetSpeedPI(VZNLHANDLE hDevice, unsigned char* pshSpeedP, unsigned char* pshSpeedI);
|
||
|
||
/// @brief 重启摆动模块
|
||
VZNLAPI int VzNL_SetCurrentPI(VZNLHANDLE hDevice, unsigned char shSpeedP, unsigned char shSpeedI);
|
||
VZNLAPI int VzNL_GetCurrentPI(VZNLHANDLE hDevice, unsigned char* pshSpeedP, unsigned char* pshSpeedI);
|
||
|
||
/// @brief 重启摆动模块
|
||
VZNLAPI int VzNL_RebootSwing(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 自动配置PI
|
||
VZNLAPI int VzNL_EnableSwingAdjustPI(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/// @brief 获取摆动模块状态
|
||
VZNLAPI int VzNL_QuerySwingStatus(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief 升级摆动模块
|
||
VZNLAPI int VZNL_UpdateSwing(VZNLHANDLE hDevice, const char* lpszFile);
|
||
|
||
/// @brief 重置摆动模块
|
||
VZNLAPI int VZNL_ResetSwing(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 电机找零
|
||
VZNLAPI int VZNL_FindMotorZero(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 电机自检
|
||
VZNLAPI int VZNL_MotorSelfCheck(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 设置延迟的帧数 frame
|
||
VZNLAPI int VzNL_SetRGBDPostFrameNum(VZNLHANDLE hDevice, unsigned int nPostFrameNum);
|
||
VZNLAPI unsigned int VzNL_GetRGBDPostFrameNum(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief 设置微调距离mm
|
||
VZNLAPI int VzNL_SetRGBDFineTune(VZNLHANDLE hDevice, float fFineTune);
|
||
VZNLAPI float VzNL_GetRGBDFineTune(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief 设置双目标单目参数
|
||
VZNLAPI int VzNL_UseSingleCameraCalibParam(VZNLHANDLE hDevice, VzBool bUseCalibParam);
|
||
VZNLAPI VzBool VzNL_IsUseSingleCameraCalibParam(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
VZNLAPI int VzNL_SetSingleCameraRefPlaneCalibParam(VZNLHANDLE hDevice, double dParam[5]);
|
||
VZNLAPI int VzNL_GetSingleCameraRefPlaneCalibParam(VZNLHANDLE hDevice, double dParam[5]);
|
||
|
||
/// @brief 设置单目标定参数
|
||
VZNLAPI int VzNL_EnableCompute3DSingleEye(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsEnableCompute3DSingleEye(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
VZNLAPI int VzNL_SetCompute3DSEParam(VZNLHANDLE hDevice, float fParam[4]);
|
||
VZNLAPI int VzNL_GetCompute3DSEParam(VZNLHANDLE hDevice, float fParam[4]);
|
||
|
||
/// @brief 获取Debug数据的总数据量
|
||
VZNLAPI unsigned int VzNL_QueryDeviceDebugDataTotleSize(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 保存Map数据等信息
|
||
/// <param name = "hDevice">[in]设备句柄</param>
|
||
/// <param name = "lpszSaveDir">[in]存储路径</param>
|
||
/// <param name = "dUpdateTime">[in]更新时间</param>
|
||
/// <param name = "pDebugSaveProgress">[in]数据回调</param>
|
||
VZNLAPI int VzNL_SaveDeviceDebugInfo(VZNLHANDLE hDevice, const char* lpszSaveDir, double dUpdateTime, void* pDebugSaveProgress);
|
||
|
||
/// @brief 启用无限制帧率
|
||
VZNLAPI int VzNL_EnableFreeFrameRate(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 是否启用C模式图像传输
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] bEnable 是否启用C模式图像
|
||
* @return 当前已启用分层返回VzTrue,否则返回VzFalse
|
||
*/
|
||
VZNLAPI int VzNL_EnableCModeImage(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 配置蓝光RGBD偏移距离(mm)
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] fDistance 偏移距离(mm)
|
||
* @return 成功返回0，失败返回错误码
|
||
*/
|
||
VZNLAPI int VzNL_SetRGBOffsetDistance(VZNLHANDLE hDevice, float fDistance);
|
||
|
||
/**
|
||
* @brief 获取蓝光RGBD偏移距离(mm)
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] nErrorCode 错误码
|
||
* @return 蓝光RGBD偏移距离(mm)
|
||
*/
|
||
VZNLAPI float VzNL_GetRGBOffsetDistance(VZNLHANDLE hDevice, int* nErrorCode);
|
||
|
||
/**
|
||
* @brief 启用/禁用算法增强
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] bEnable 启用VzTrue / 禁用VzFalse
|
||
* @return 成功返回0，失败返回错误码
|
||
*/
|
||
VZNLAPI int VzNL_EnableSupportSS(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 是否启用算法增强
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] pnErrorCode 错误码
|
||
* @return 当前已启用分层返回VzTrue,否则返回VzFalse
|
||
*/
|
||
VZNLAPI VzBool VzNL_IsEnableSupportSS(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 启用/禁用单边反光增强
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] bEnable 启用VzTrue / 禁用VzFalse
|
||
* @return 成功返回0，失败返回错误码
|
||
*/
|
||
VZNLAPI int VzNL_EnableSupportSingleReflect(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 是否启用了单边反光增强
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] pnErrorCode 错误码
|
||
* @return 当前已启用分层返回VzTrue,否则返回VzFalse
|
||
*/
|
||
VZNLAPI VzBool VzNL_IsEnableSupportSingleReflect(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 启用分层功能 (默认为VzTrue)
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] bEnable 启用VzTrue / 禁用VzFalse
|
||
* @return 成功返回0，失败返回错误码
|
||
*/
|
||
VZNLAPI int VzNL_EnableMultiMatch(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 是否启用了分层功能
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] pnErrorCode 错误码
|
||
* @return 当前已启用分层返回VzTrue,否则返回VzFalse
|
||
*/
|
||
VZNLAPI VzBool VzNL_IsEnableMultiMatch(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 获取用户配置个数(共10个) 当前仅支持智光眼
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [out]pnSupportUserProfileCount 不能为null, 获取支持的最大文件个数
|
||
*/
|
||
VZNLAPI int VzNL_QueryUserProfileCount(VZNLHANDLE hDevice, int* pnSupportUserProfileCount);
|
||
|
||
/**
|
||
* @brief 获取单个配置文件最大的大小(512 K) 当前仅支持智光眼
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [out]pnMaxLength 不能为null, 获取文件的最大数据长度
|
||
*/
|
||
VZNLAPI int VzNL_QueryUserProfileMaxLength(VZNLHANDLE hDevice, int* pnMaxLength);
|
||
|
||
/**
|
||
* @brief 读取、写入用户配置(共10个) 当前仅支持智光眼
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] nProfileIdx 文件索引
|
||
* @param [in] pData 数据Buffer
|
||
* @param [in] nReadLength 数据长度
|
||
*/
|
||
VZNLAPI int VzNL_ReadUserProfile(VZNLHANDLE hDevice, unsigned int nProfileIdx, unsigned char* pData, unsigned int nReadLength);
|
||
VZNLAPI int VzNL_WriteUserProfile(VZNLHANDLE hDevice, unsigned int nProfileIdx, unsigned char* pData, unsigned int nWriteLength);
|
||
|
||
/**
|
||
* @brief 写入/读取用户文件列表 当前仅支持智光眼
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] pData 数据Buffer
|
||
* @param [in] nReadLength 数据长度
|
||
*/
|
||
VZNLAPI int VzNL_WriteUseProfileHeadBlock(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nWriteLength);
|
||
VZNLAPI int VzNL_ReadUseProfileHeadBlock(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nReadLength);
|
||
|
||
/**
|
||
* @brief 设置摆动模块速度补偿系数
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] fSpeedFactor 速度补偿系数
|
||
*/
|
||
VZNLAPI int VzNL_SetSwingSpeedFactor(VZNLHANDLE hDevice, float fSpeedFactor);
|
||
|
||
/**
|
||
* @brief 测试SPI通信是否正常
|
||
* @param [in] hDevice 设备Handle
|
||
*/
|
||
VZNLAPI int VzNL_CheckSwingSPIComm(VZNLHANDLE hDevice);
|
||
|
||
/**
|
||
* @brief 保存默认参数配置，当前仅支持智光眼
|
||
* @param hDevice 设备Handle
|
||
*/
|
||
VZNLAPI int VzNL_SaveDefaultSetting(VZNLHANDLE hDevice);
|
||
|
||
/**
|
||
* @brief 读写用户默认区数据
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] pData 数据Buffer
|
||
* @param [in] nReadLength 数据长度
|
||
*/
|
||
VZNLAPI int VzNL_WriteDefaultData(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nWriteLength);
|
||
VZNLAPI int VzNL_ReadDefaultData(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nReadLength);
|
||
|
||
/**
|
||
* @brief 读写运行区数据
|
||
* @param [in] hDevice 设备Handle
|
||
* @param [in] pData 数据Buffer
|
||
* @param [in] nReadLength 数据长度
|
||
*/
|
||
VZNLAPI int VzNL_WriteRuntimeData(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nWriteLength);
|
||
VZNLAPI int VzNL_ReadRuntimeData(VZNLHANDLE hDevice, unsigned char* pData, unsigned int nReadLength);
|
||
|
||
/**
|
||
* @brief 切换使能和触发信号线
|
||
*/
|
||
VZNLAPI int VzNL_SwapTriggerSignal(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsSwapTriggerSignal(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 是否支持双相编码器
|
||
*/
|
||
VZNLAPI VzBool VzNL_IsSupportBiPhaseEncoder(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 是否支持光强数据
|
||
*/
|
||
VZNLAPI VzBool VzNL_IsSupportIntensityData(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 切换双向编码器/En 信号
|
||
*/
|
||
VZNLAPI int VzNL_SetEnInPointSignal(VZNLHANDLE hDevice, EVzEnLineInPoint bEnable);
|
||
VZNLAPI EVzEnLineInPoint VzNL_GetEnInPointSignal(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 修改选择左右目灰度源
|
||
*/
|
||
VZNLAPI int VzNL_SetGraySource(VZNLHANDLE hDevice, EVzGrayValueSource eSource);
|
||
VZNLAPI EVzGrayValueSource VzNL_GetGraySource(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 获取当前编码器状态
|
||
*/
|
||
VZNLAPI int VzNL_GetEncoderStatus(VZNLHANDLE hDevice, unsigned int nStatus[3]);
|
||
|
||
/**
|
||
* @brief 重置当前编码器
|
||
*/
|
||
VZNLAPI int VzNL_ResetEncoder(VZNLHANDLE hDevice);
|
||
|
||
/**
|
||
* @brief 获取当前编码器状态
|
||
*/
|
||
VZNLAPI int VzNL_SetRGBCalibCamInfo(VZNLHANDLE hDevice, float fCamInfo[4]);
|
||
VZNLAPI int VzNL_GetRGBCalibCamInfo(VZNLHANDLE hDevice, float fCamInfo[4]);
|
||
|
||
/**
|
||
* @brief 获取当前编码器状态
|
||
*/
|
||
VZNLAPI int VzNL_SetRGBCalibRTMatrixData(VZNLHANDLE hDevice, float fRTMatrix[12]);
|
||
VZNLAPI int VzNL_GetRGBCalibRTMatrixData(VZNLHANDLE hDevice, float fRTMatrix[12]);
|
||
|
||
|
||
/// @brief 写入RGB 标定数据
|
||
VZNLAPI int VzNL_SetRGBASyncParamData(VZNLHANDLE hDevice, float fBaseDx, float fMidDx[2], float fMaxDx[2], unsigned int nDivFrame);
|
||
VZNLAPI int VzNL_GetRGBASyncParamData(VZNLHANDLE hDevice, float* pfBaseDx, float fMidDx[2], float fMaxDx[2], unsigned int* pnDivFrame);
|
||
|
||
/// @brief 计算RGB UV
|
||
VZNLAPI SVzNL2DPoint* VzNL_CalcRGBUV(VZNLHANDLE hDevice, SVzNL3DPointF* ptPoint, int nPointCount);
|
||
|
||
/// @brief 是否为异步RGBD相机
|
||
VZNLAPI VzBool VzNL_IsSupportAsyncRGB(VZNLHANDLE hDevice);
|
||
|
||
/**
|
||
* @brief 获取智光眼/星光眼设备详细信息
|
||
* @param [in] pEyeCBInfo
|
||
* @param [out] pDeviceInfoEx
|
||
* @return 返回0表示成功
|
||
*/
|
||
VZNLAPI int VzNL_QueryDeviceDetailDesc(const SVzNLEyeCBInfo* pEyeCBInfo, SVzNLEyeDeviceInfoEx* pDeviceInfoEx);
|
||
|
||
// @name Mark 相关
|
||
// @{
|
||
/**
|
||
* @brief 启用/禁用 Mark跟踪
|
||
* @param [in] bEnable 启用跟踪？
|
||
* @return 返回0表示正确
|
||
* @retval 0 表示成功
|
||
* @retval 非0 表示失败,可以使用VzNL_GetErrorInfo获取
|
||
*/
|
||
VZNLAPI int VzNL_EnableTraceMark(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI int VzNL_IsEnableTraceMark(VZNLHANDLE hDevice, VzBool* pbEnable);
|
||
|
||
/**
|
||
* @brief 设置、获取 跟踪范围
|
||
* @param [in] dDiameter 直径
|
||
* @return 返回0表示正确
|
||
* @retval 0 表示成功
|
||
* @retval 非0 表示失败,可以使用VzNL_GetErrorInfo获取
|
||
*/
|
||
VZNLAPI int VzNL_SetMarkTraceDistance(VZNLHANDLE hDevice, float fDistance);
|
||
VZNLAPI int VzNL_GetMarkTraceDistance(VZNLHANDLE hDevice, float* pfDistance);
|
||
|
||
/**
|
||
* @brief 设置、获取 跟踪范围
|
||
* @param [in] dDiameter 直径
|
||
* @return 返回0表示正确
|
||
* @retval 0 表示成功
|
||
* @retval 非0 表示失败,可以使用VzNL_GetErrorInfo获取
|
||
*/
|
||
VZNLAPI int VzNL_ResetMarkSequenceID(VZNLHANDLE hDevice, unsigned int* pnSequenceID, unsigned int nCount);
|
||
VZNLAPI int VzNL_GetMarkSequenceID(VZNLHANDLE hDevice, unsigned int* pnSequenceID, unsigned int* pnCount);
|
||
|
||
// @}
|
||
|
||
VZNLAPI int VzNL_EnableOutputTearData(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 设置激光线采样间隔
|
||
* @param [in] hDevice 设备句柄
|
||
* @param [in] nInterval 采样间隔
|
||
* @return 返回0表示正确
|
||
* @retval 0 表示成功
|
||
* @retval 非0 表示失败,可以使用VzNL_GetErrorInfo获取
|
||
*/
|
||
VZNLAPI int VzNL_SetOutputLaserInterval(VZNLHANDLE hDevice, unsigned int nInterval);
|
||
VZNLAPI int VzNL_GetOutputLaserInterval(VZNLHANDLE hDevice, unsigned int* pnInterval);
|
||
|
||
/**
|
||
* @brief 是否只输出缺陷数据
|
||
* @param [in] hDevice 设备句柄
|
||
* @param [in] bEnable VzTrue表示只输出缺陷数据
|
||
* @return 返回0表示正确
|
||
* @retval 0 表示成功
|
||
* @retval 非0 表示失败,可以使用VzNL_GetErrorInfo获取
|
||
*/
|
||
VZNLAPI int VzNL_EnableOnlyOutputTearResult(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsEnableOnlyOutputTearResult(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 配置检测目标类型
|
||
* @param [in] ePresetProfile 目标类型配置
|
||
* @return 返回0表示正确
|
||
* @retval 0 表示成功
|
||
* @retval 非0 表示失败,可以使用VzNL_GetErrorInfo获取
|
||
*/
|
||
VZNLAPI int VzNL_SetDetectObjectType(VZNLHANDLE hDevice, EVzLaserObjectDetectPresetProfile ePresetProfile);
|
||
VZNLAPI EVzLaserObjectDetectPresetProfile VzNL_GetDetectObjectType(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 是否禁用流输出
|
||
*/
|
||
VZNLAPI int VzNL_DisableStreamData(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsDisableStreamData(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* szy
|
||
* @brief 启用3D数据计算模式
|
||
*/
|
||
VZNLAPI int VzNL_EnableTrans3DRGBImage(VZNLHANDLE hDevice, VzBool bEnable);
|
||
VZNLAPI VzBool VzNL_IsEnableTrans3DRGBImage(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/**
|
||
* @brief 网络一次发送数据大小
|
||
*/
|
||
VZNLAPI int VzNL_SetEthSendDataLength(VZNLHANDLE hDevice, unsigned int nDataLength);
|
||
|
||
/**
|
||
* @brief 获取摆动模块记录的Debug数据，分别为发送命令的次数，接收命令的次数，命令错误的次数
|
||
*/
|
||
VZNLAPI int VzNL_GetSwingInterruptInfo(VZNLHANDLE hDevice, unsigned int nTime[3]);
|
||
|
||
/**
|
||
* @brief 启用摆动模块Debug模式
|
||
*/
|
||
VZNLAPI int VzNL_EnableSwingDebugMode(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 启用摆动模块Log
|
||
*/
|
||
VZNLAPI int VzNL_EnableSwingLog(VZNLHANDLE hDevice, VzBool bEnable);
|
||
|
||
/**
|
||
* @brief 输出摆动模块的Log
|
||
*/
|
||
VZNLAPI void VzNL_PrintSwingLog(VZNLHANDLE hDevice);
|
||
|
||
/**
|
||
* @brief 输出摆动模块的Log
|
||
*/
|
||
VZNLAPI int VzNL_GetSwingLogCount(VZNLHANDLE hDevice);
|
||
|
||
/**
|
||
* @brief 输出摆动模块的Log
|
||
*/
|
||
VZNLAPI int VzNL_GetPSSwingLog(VZNLHANDLE hDevice, int nLogIdx, char szLog[256]);
|
||
|
||
/**
|
||
* @brief 输出摆动模块Log
|
||
*/
|
||
VZNLAPI int VzNL_GetSwingDevLog(VZNLHANDLE hDevice, unsigned char* pTransData, unsigned int* pnDataLength);
|
||
|
||
/**
|
||
* @brief 获取RTC状态 0正常 1损坏 2过期
|
||
*/
|
||
VZNLAPI int VzNL_GetRTCStatus(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief
|
||
/// 获取AutoReg个数
|
||
VZNLAPI int VzNL_GetAutoRegCount(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief
|
||
/// 获取AutoReg名称
|
||
VZNLAPI int VzNL_GetAutoRegName(VZNLHANDLE hDevice, int nAutoRegIdx, char szRegName[64]);
|
||
|
||
/// @brief
|
||
/// 获取AutoReg类型
|
||
/// @return 返回AutoReg类型，如果是1则表示为int 2则表示为float
|
||
VZNLAPI int VzNL_GetAutoRegType(VZNLHANDLE hDevice, int nAutoRegIdx, int* pnErrorCode);
|
||
|
||
/// @brief
|
||
/// 获取AutoReg值
|
||
VZNLAPI int VzNL_GetAutoRegVal(VZNLHANDLE hDevice, int nAutoRegIdx, unsigned char pData[4]);
|
||
|
||
/// @brief
|
||
/// 设置AutoReg
|
||
VZNLAPI int VzNL_SetAutoRegVal(VZNLHANDLE hDevice, int nAutoRegIdx, const unsigned char* pData, unsigned int nDataLength);
|
||
|
||
/// @brief
|
||
/// 配置Debug存储标志
|
||
VZNLAPI int VzNL_EnterDebugMode(VZNLHANDLE hDevice, VzBool bEnterDebug);
|
||
|
||
VZNLAPI VzBool VzNL_IsEnterDebugMode(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
/// @brief 配置/获取sensor镜头信息
|
||
VZNLAPI int VzNL_SetSensorLenType(VZNLHANDLE hDevice, EVzSensorLenType eLenType);
|
||
VZNLAPI EVzSensorLenType VzNL_GetSensorLenType(VZNLHANDLE hDevice, int* pnErrorCode);
|
||
|
||
//@brief
|
||
//设置/获取镜头舵机极性
|
||
VZNLAPI int VzNL_SetCameraServoPola(VZNLHANDLE hDevice, unsigned int nPola);
|
||
VZNLAPI int VzNL_GetCameraServoPola(VZNLHANDLE hDevice, unsigned int& nPola);
|
||
|
||
//@brief
|
||
//设置/获取镜头舵机各种状态下对应的脉冲值
|
||
VZNLAPI int VzNL_SetCameraServoStatusPlusWidth(VZNLHANDLE hDevice, EVzServoStatusType eServoStatusType, unsigned int nPlusWidth);
|
||
VZNLAPI int VzNL_GetCameraServoStatusPlusWidth(VZNLHANDLE hDevice, EVzServoStatusType eServoStatusType, unsigned int& nPlusWidth);
|
||
|
||
//@brief
|
||
//设置/获取镜头舵机各种状态下对应的脉冲周期
|
||
VZNLAPI int VzNL_SetCameraServoSpeedCycle(VZNLHANDLE hDevice, unsigned int nCycle);
|
||
VZNLAPI int VzNL_GetCameraServoSpeedCycle(VZNLHANDLE hDevice, unsigned int& nCycle);
|
||
|
||
//@brief
|
||
//设置/获取等待时间 (ms)
|
||
VZNLAPI int VzNL_SetCameraServoWaitTime(VZNLHANDLE hDevice, unsigned int nTime);
|
||
VZNLAPI int VzNL_GetCameraServoWaitTime(VZNLHANDLE hDevice, unsigned int& nTime);
|
||
|
||
//@brief
|
||
//设置/获取打开、关闭动作次数
|
||
VZNLAPI int VzNL_SetCameraServoMoveCount(VZNLHANDLE hDevice, unsigned int nCount);
|
||
VZNLAPI int VzNL_GetCameraServoMoveCount(VZNLHANDLE hDevice, unsigned int& nCount);
|
||
|
||
//设置舵机脉冲值
|
||
VZNLAPI int VzNL_SetCameraServoPlusWidth(VZNLHANDLE hDevice, unsigned int nPlusWidth);
|
||
|
||
//设置舵机开机后的默认脉冲值
|
||
VZNLAPI int VzNL_SetCameraServoDefaultPlusWidth(VZNLHANDLE hDevice, unsigned int nPlusWidth);
|
||
|
||
//获取舵机开机后的默认脉冲值
|
||
VZNLAPI int VzNL_GetCameraServoDefaultPlusWidth(VZNLHANDLE hDevice, unsigned int& nPlusWidth);
|
||
|
||
/// @brief 是否具有打开CalibTool的能力
|
||
VZNLAPI VzBool VzNL_HasCalibToolCap(VZNLHANDLE hDevice);
|
||
|
||
/// @brief 写入/读取Map系数表数据
|
||
VZNLAPI int VzNL_WriteSparseMapData(VZNLHANDLE hDevice, VzBool bCMode, VzBool bLeftOrRight, const unsigned char* pData, unsigned int nDataLength);
|
||
VZNLAPI int VzNL_ReadSparseMapData(VZNLHANDLE hDevice, VzBool bCMode, VzBool bLeftOrRight, unsigned char* pData, unsigned int nDataLength);
|
||
|
||
/// @brief 配置在计算ROI时，左右眼的偏移角度
|
||
VZNLAPI int VzNL_SetROIOffsetAngle(VZNLHANDLE hDevice,float fLeftOffsetAngle,float fRightOffsetAngle);
|
||
VZNLAPI int VzNL_GetROIOffsetAngle(VZNLHANDLE hDevice, float& fLeftOffsetAngle, float& fRightOffsetAngle);
|
||
|
||
/// @brief 获取左右目的ROI跟踪表的大小
|
||
VZNLAPI int VzNL_GetROITraceTableSize(VZNLHANDLE hDevice, unsigned int* pnSize);
|
||
|
||
/// @brief 获取左右目的ROI跟踪表
|
||
VZNLAPI int VzNL_GetROITraceTable(VZNLHANDLE hDevice, unsigned int* pnLeftOffset, unsigned int* pnRightOffset, unsigned int nSize);
|
||
|
||
#endif |