50 lines
1.4 KiB
C
50 lines
1.4 KiB
C
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#ifndef DETECTPRESENTER_H
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#define DETECTPRESENTER_H
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#include "VrLog.h"
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#include "VrError.h"
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#include "IVrEyeDevice.h"
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#include "IYHolePitPositionStatus.h"
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#include "IVrConfig.h"
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#include "LaserDataLoader.h"
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#include "ProtocolCommon.h"
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class DetectPresenter
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{
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public:
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DetectPresenter();
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~DetectPresenter();
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// 获取算法版本号
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std::string GetAlgoVersion() const;
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/**
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* @brief 执行凹坑孔定位检测（眼在手上方式）
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* @param cameraIndex 相机索引
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* @param laserLines 激光线数据
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* @param algorithmParams 算法参数
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* @param debugParam 调试参数
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* @param dataLoader 数据加载器
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* @param clibMatrix 手眼标定矩阵(4x4)，T_end_to_cam
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* @param eulerOrder 欧拉角顺序
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* @param dirVectorInvert 方向向量反向配置
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* @param robotPose 机器人法兰位姿，T_base_to_end
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* @param detectionResult 检测结果输出
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* @return 错误码
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*/
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int DetectHoles(
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int cameraIndex,
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std::vector<std::pair<EVzResultDataType, SVzLaserLineData>>& laserLines,
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const VrAlgorithmParams& algorithmParams,
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const VrDebugParam& debugParam,
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LaserDataLoader& dataLoader,
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const double clibMatrix[16],
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int eulerOrder,
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int dirVectorInvert,
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const RobotFlangePose& robotPose,
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HoleDetectionResult& detectionResult);
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};
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#endif // DETECTPRESENTER_H
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