77 lines
3.4 KiB
C++
77 lines
3.4 KiB
C++
#ifndef IHANDEYECALIB_H
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#define IHANDEYECALIB_H
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#include <vector>
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#include "HandEyeCalib_global.h"
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#include "HandEyeCalibTypes.h"
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// Public hand-eye calibration interface used by apps and tools in this repo.
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// Keep this surface focused on workflows that are actually consumed.
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class IHandEyeCalib
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{
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public:
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virtual ~IHandEyeCalib() = default;
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virtual int CalculateRT(const std::vector<HECPoint3D>& eyePoints,
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const std::vector<HECPoint3D>& robotPoints,
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HECCalibResult& result) = 0;
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virtual int CalculateRT(const std::vector<HECCalibPointPair>& pointPairs,
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HECCalibResult& result) = 0;
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virtual void TransformPoint(const HECRotationMatrix& R,
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const HECTranslationVector& T,
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const HECPoint3D& srcPoint,
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HECPoint3D& dstPoint) = 0;
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virtual void RotatePoint(const HECRotationMatrix& R,
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const HECPoint3D& srcPoint,
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HECPoint3D& dstPoint) = 0;
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virtual void RotationMatrixToEuler(const HECRotationMatrix& R,
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HECEulerOrder order,
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HECEulerAngles& angles) = 0;
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virtual void EulerToRotationMatrix(const HECEulerAngles& angles,
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HECEulerOrder order,
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HECRotationMatrix& R) = 0;
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virtual bool TransformPose(const HECCalibResult& calibResult,
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const HECPoint3D& eyeCenter,
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const HECPoint3D& longAxisDir,
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const HECPoint3D& normalDir,
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int dirVectorInvert,
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HECEulerOrder eulerOrder,
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HECLongAxisDir longAxisMapping,
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HECPoseResult& poseResult) = 0;
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virtual double CalculateError(const std::vector<HECPoint3D>& eyePoints,
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const std::vector<HECPoint3D>& robotPoints,
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const HECCalibResult& calibResult) = 0;
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virtual int CalculateEyeInHand(const std::vector<HECEyeInHandData>& calibData,
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HECCalibResult& result) = 0;
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virtual int CalculateEyeInHandWithPose(const std::vector<HECEyeInHandPoseData>& calibData,
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HECCalibResult& result) = 0;
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// 将旋转矩阵安全地转换为指定顺序的欧拉角（带万向节锁处理和帧间连续性修正）
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// order: 目标欧拉角旋转顺序
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// prevAngles: 上一帧输出的角度指针，传入则启用帧间连续性修正，传nullptr则不修正
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virtual void RotationMatrixToEulerZYXSafe(const HECRotationMatrix& R,
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HECEulerOrder order,
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const HECEulerAngles* prevAngles,
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HECEulerAngles& angles) = 0;
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virtual HECTCPCalibResult CalculateTCP(const HECTCPCalibData& data) = 0;
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virtual int CalculateEyeToHandWithPose(const std::vector<HECEyeToHandData>& calibData,
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HECCalibResult& result) = 0;
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};
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IHandEyeCalib* CreateHandEyeCalibInstance();
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void DestroyHandEyeCalibInstance(IHandEyeCalib* instance);
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#endif // IHANDEYECALIB_H
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