489 lines
26 KiB
C
489 lines
26 KiB
C
#ifndef _MV3D_RGBD_API_H_
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#define _MV3D_RGBD_API_H_
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#include "Mv3dRgbdDefine.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/*************************************************************************
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* @~chinese
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* @brief 获取SDK版本号
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* @param pstVersion [OUT] 版本信息
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief Get SDK Version
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* @param pstVersion [OUT] version info
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetSDKVersion(MV3D_RGBD_VERSION_INFO* pstVersion);
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/************************************************************************
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* @~chinese
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* @brief SDK运行环境初始化
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief SDK run environment initialization
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Initialize();
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/************************************************************************
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* @~chinese
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* @brief SDK运行环境释放
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief SDK run environment release
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Release();
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/************************************************************************
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* @~chinese
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* @brief 获取当前环境中设备数量
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* @param nDeviceType [IN] 设备类型,见Mv3dRgbdDeviceType,可全部获取(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
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* @param pDeviceNumber [OUT] 设备数量
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief gets the number of devices in the current environment
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* @param nDeviceType [IN] device type，refer to Mv3dRgbdDeviceType，get all(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
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* @param pDeviceNumber [OUT] device number
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceNumber(uint32_t nDeviceType, uint32_t* pDeviceNumber);
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/************************************************************************
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* @~chinese
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* @brief 获取设备列表
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* @param nDeviceType [IN] 设备类型,见Mv3dRgbdDeviceType,可全部获取(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
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* @param pstDeviceInfos [IN OUT] 设备列表
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* @param nMaxDeviceCount [IN] 设备列表缓存最大个数
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* @param pDeviceCount [OUT] 填充列表中设备个数
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief gets 3D cameras list
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* @param nDeviceType [IN] device type，refer to Mv3dRgbdDeviceType，get all(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir)
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* @param pstDeviceInfos [IN OUT] devices list
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* @param nMaxDeviceCount [IN] max number of device list caches
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* @param pDeviceCount [OUT] number of devices in the fill list
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceList(uint32_t nDeviceType, MV3D_RGBD_DEVICE_INFO* pstDeviceInfos, uint32_t nMaxDeviceCount, uint32_t* pDeviceCount);
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/************************************************************************
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* @~chinese
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* @brief 打开设备
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* @param handle [IN OUT] 相机句柄
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* @param pstDeviceInfo [IN] 枚举的设备信息，默认为空，打开第一个相机
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
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* @~english
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* @brief open device
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* @param handle [IN OUT] camera handle
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* @param pstDeviceInfo [IN] enum camera info. the default is null, open first camera
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDevice(HANDLE *handle, MV3D_RGBD_DEVICE_INFO* pstDeviceInfo = NULL);
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/************************************************************************
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* @~chinese
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* @brief 通过设备自定义名称打开设备
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* @param handle [IN OUT] 相机句柄
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* @param chDeviceName [IN] 设备用户自定义名称
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
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* @~english
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* @brief open device by device user defined name
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* @param handle [IN OUT] camera handle
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* @param chDeviceName [IN] device user defined name
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceByName(HANDLE *handle, const char* chDeviceName);
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/************************************************************************
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* @~chinese
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* @brief 通过序列号打开设备
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* @param handle [IN OUT] 相机句柄
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* @param chSerialNumber [IN] 序列号
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
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* @~english
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* @brief open device by serial number
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* @param handle [IN OUT] camera handle
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* @param chSerialNumber [IN] serial number
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceBySerialNumber(HANDLE *handle, const char* chSerialNumber);
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/************************************************************************
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* @~chinese
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* @brief 通过IP打开设备,仅网口设备有效
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* @param handle [IN OUT] 相机句柄
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* @param chIP [IN] IP地址
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @remark 设置工作模式为深度图模式，图片模式为深度图，并打开RGB Chunk
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* @~english
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* @brief open device by ip，only network device is valid
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* @param handle [IN OUT] camera handle
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* @param chIP [IN] IP
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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* @remark Set working mode to depth, image mode to depth, and open RGB Chunk
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceByIp(HANDLE *handle, const char* chIP);
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/************************************************************************
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* @~chinese
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* @brief 关闭设备
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* @param handle [IN] 相机句柄
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief close Device
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* @param handle [IN] camera handle
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_CloseDevice(HANDLE *handle);
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/************************************************************************
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* @~chinese
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* @brief 获取当前设备的详细信息
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* @param handle [IN] 相机句柄
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* @param pstDevInfo [IN][OUT] 返回给调用者有关相机设备信息结构体指针
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* @return 成功,MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief get current device information
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* @param handle [IN] camera handle
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* @param pstDevInfo [IN][OUT] structure pointer of device information
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceInfo(HANDLE handle, MV3D_RGBD_DEVICE_INFO* pstDevInfo);
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/************************************************************************
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* @~chinese
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* @brief 配置IP,仅网口设备有效
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* @param chSerialNumber [IN] 序列号
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* @param pstIPConfig [IN] IP配置，静态IP，DHCP等
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* @return 成功,MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief ip configuration，only network device is valid
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* @param chSerialNumber [IN] serial number
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* @param pstIPConfig [IN] IP Config, Static IP，DHCP
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SetIpConfig(const char* chSerialNumber, MV3D_RGBD_IP_CONFIG* pstIPConfig);
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/***********************************************************************
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* @~chinese
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* @brief 注册图像数据回调
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* @param handle [IN] 相机句柄
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* @param cbOutput [IN] 回调函数指针
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* @param pUser [IN] 用户自定义变量
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @remark 当传入的用户自定义变量为NULL时,取消回调注册
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* @~english
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* @brief register image data callback
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* @param handle [IN] camera handle
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* @param cbOutput [IN] callback function pointer
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* @param pUser [IN] user defined variable
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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* @remark Cancel callback registration when pUser is NULL
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***********************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_RegisterFrameCallBack(HANDLE handle, MV3D_RGBD_FrameDataCallBack cbOutput, void* pUser);
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/************************************************************************
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* @~chinese
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* @brief 注册异常消息回调
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* @param handle： [IN] 相机句柄
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* @param cbException [IN] 异常回调函数指针
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* @param pUser [IN] 用户自定义变量
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* @return 见返回错误码
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* @~english
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* @brief register exception message callBack
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* @param handle: [IN] camera handle
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* @param cbException [IN] exception message callback function pointer
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* @param pUser [IN] user defined variable
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* @return Refer to error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_RegisterExceptionCallBack(HANDLE handle, MV3D_RGBD_ExceptionCallBack cbException, void* pUser);
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/************************************************************************
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* @~chinese
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* @brief 开始取流前获取数据流配置列表
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* @param handle [IN] 相机句柄
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* @param pstStreamCfgList [IN][OUT] 返回给调用者数据流配置列表指针
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* @return 成功,MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief get stream cfg list before start working
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* @param handle [IN] camera handle
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* @param pstStreamCfgList [IN][OUT] structure pointer of stream cfg list
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetStreamCfgList(HANDLE handle, MV3D_RGBD_STREAM_CFG_LIST* pstStreamCfgList);
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/***********************************************************************
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* @~chinese
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* @brief 开始工作
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* @param handle [IN] 相机句柄
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief start working
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* @param handle [IN] camera handle
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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***********************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Start(HANDLE handle);
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/***********************************************************************
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* @~chinese
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* @brief 停止工作
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* @param handle [IN] 相机句柄
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief stop working
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* @param handle [IN] camera handle
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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***********************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Stop(HANDLE handle);
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/************************************************************************
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* @~chinese
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* @brief 轮询方式获取帧数据
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* @param handle [IN] 相机句柄
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* @param pstFrameData [IN][OUT] 数据指针
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* @param nTimeOut [IN] 超时时间(ms)
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* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
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* @~english
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* @brief fetch frame data
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* @param handle [IN] camera handle
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* @param pstFrameData [IN] data set pointer
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* @param nTimeOut [IN] timevalue(ms)
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FetchFrame(HANDLE handle, MV3D_RGBD_FRAME_DATA* pstFrameData, uint32_t nTimeOut);
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/************************************************************************
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* @~chinese
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* @brief 执行设备软触发
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* @param handle [IN] 相机句柄
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @remark 设置触发模式为打开，设置触发源为软触发并执行
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* @~english
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* @brief execute camera soft trigger
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* @param handle [IN] camera handle
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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* @remark Set trigger mode to open, trigger source to software, and excute soft trigger
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SoftTrigger(HANDLE handle);
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/************************************************************************
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* @~chinese
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* @brief 执行设备Command命令
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* @param handle [IN] 相机句柄
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* @param strKey [IN] 属性键值
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief execute camera command
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* @param handle [IN] camera handle
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* @param strKey [IN] key value
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Execute(HANDLE handle, const char* strKey);
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/************************************************************************
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* @~chinese
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* @brief 获取相机当前标定信息
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* @param handle [IN] 相机句柄
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* @param nCoordinateType [IN] 坐标系类型，见Mv3dRgbdCoordinateType
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* @param pstCalibInfo [IN][OUT] 输出标定信息
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief get camera current calibration info
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* @param handle [IN] camera handle
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* @param nCoordinateType [IN] coordinate type, refer to Mv3dRgbdCoordinateType
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* @param pstCalibInfo [IN][OUT] calibration info
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetCalibInfo(HANDLE handle, uint32_t nCoordinateType, MV3D_RGBD_CALIB_INFO* pstCalibInfo);
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/************************************************************************
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* @~chinese
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* @brief 获取相机内外参信息
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* @param handle [IN] 相机句柄
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* @param pstCameraParam [IN][OUT] 输出相机内外参数信息
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief get camera intrinsic and extrinsic information
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* @param handle [IN] camera handle
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* @param pstCameraParam [IN][OUT] camera intrinsic and extrinsic Info
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetCameraParam(HANDLE handle, MV3D_RGBD_CAMERA_PARAM* pstCameraParam);
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/************************************************************************
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* @~chinese
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* @brief 设备升级
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* @param handle [IN] 相机句柄
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* @param pFilePathName [IN] 文件名
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief device upgrade
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* @param handle [IN] camera handle
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* @param pFilePathName [IN] file name
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_LocalUpgrade(HANDLE handle, const char* pFilePathName);
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/************************************************************************
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* @~chinese
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* @brief 获取升级进度
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* @param handle [IN] 相机句柄
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* @param pProcess [OUT] 进度接收地址
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief get upgrade progress
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* @param handle [IN] camera handle
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* @param pProcess [OUT] progress receiving address
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
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************************************************************************/
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MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetUpgradeProcess(HANDLE handle, uint32_t* pProcess);
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/************************************************************************
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* @~chinese
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* @brief 获取相机参数值
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* @param handle [IN] 相机句柄
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* @param strKey [IN] 属性键值
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* @param pstParam [IN] 返回的相机参数结构体指针
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* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
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* @~english
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* @brief get camera param value
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* @param handle [IN] camera handle
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* @param strKey [IN] key value
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* @param pstParam [IN] structure pointer of camera param
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* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam);
|
||
|
||
/************************************************************************
|
||
* @~chinese
|
||
* @brief 设置相机参数值
|
||
* @param handle [IN] 相机句柄
|
||
* @param strKey [IN] 属性键值
|
||
* @param pstParam [IN] 输入的相机参数结构体指针
|
||
* @return 成功,返回MV3D_RGBD_OK,失败,返回错误码
|
||
|
||
* @~english
|
||
* @brief set camera param value
|
||
* @param handle [IN] camera handle
|
||
* @param strKey [IN] key value
|
||
* @param pstParam [IN] structure pointer of camera param
|
||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam);
|
||
|
||
/************************************************************************
|
||
* @~chinese
|
||
* @brief 导出相机参数
|
||
* @param handle [IN] 相机句柄
|
||
* @param pOutFileName [IN] 导出文件名称
|
||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||
|
||
* @~english
|
||
* @brief export camera param
|
||
* @param handle [IN] camera handle
|
||
* @param pOutFileName [IN] export file name
|
||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ExportAllParam(HANDLE handle, const char* pOutFileName);
|
||
|
||
/************************************************************************
|
||
* @~chinese
|
||
* @brief 导入相机参数
|
||
* @param handle [IN] 相机句柄
|
||
* @param pInFileName [IN] 导入文件名称
|
||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||
|
||
* @~english
|
||
* @brief import camera param
|
||
* @param handle [IN] camera handle
|
||
* @param pInFileName [IN] import file name
|
||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ImportAllParam(HANDLE handle, const char* pInFileName);
|
||
|
||
/************************************************************************
|
||
* @~chinese
|
||
* @brief 从相机读取文件
|
||
* @param handle [IN] 句柄地址
|
||
* @param pstFileAccess [IN] 文件存取结构体
|
||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||
|
||
* @~english
|
||
* @brief read the file from the camera
|
||
* @param handle [IN] camera handle
|
||
* @param pstFileAccess [IN] file access structure
|
||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FileAccessRead(void* handle, MV3D_RGBD_FILE_ACCESS* pstFileAccess);
|
||
|
||
/************************************************************************
|
||
* @~chinese
|
||
* @brief 将文件写入相机
|
||
* @param handle [IN] 句柄地址
|
||
* @param pstFileAccess [IN] 文件存取结构体
|
||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||
|
||
* @~english
|
||
* @brief write the file to camera
|
||
* @param handle [IN] camera handle
|
||
* @param pstFileAccess [IN] file access structure
|
||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FileAccessWrite(void* handle, MV3D_RGBD_FILE_ACCESS* pstFileAccess);
|
||
|
||
/************************************************************************
|
||
* @~chinese
|
||
* @brief 获取文件存取的进度
|
||
* @param handle [IN] 句柄地址
|
||
* @param pstFileAccessProgress [IN] 文件存取进度结构体
|
||
* @return 成功，返回MV3D_RGBD_OK；错误，返回错误码
|
||
|
||
* @~english
|
||
* @brief get file access progress
|
||
* @param handle [IN] camera handle
|
||
* @param pstFileAccessProgress [IN] file access progress structure
|
||
* @return Success, return MV3D_RGBD_OK. Failure, return error code
|
||
************************************************************************/
|
||
MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetFileAccessProgress(void* handle, MV3D_RGBD_FILE_ACCESS_PROGRESS* pstFileAccessProgress);
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|
||
|
||
#endif // _MV3D_RGBD_API_H_
|