# -- coding: utf-8 -- import sys import copy import ctypes import os from ctypes import * # ch: python3.8及相关版本可以指定如下路径的库 | en: python3.8 and related versions can specify libraries for the following paths # os.add_dll_directory("C:\Program Files (x86)\Common Files\MV3D\Runtime\Win64_x64") # os.add_dll_directory("C:\Program Files (x86)\Common Files\Mv3dRgbdSDK\Runtime\Win64_x64") # 动态加载 SDK 路径 current_dir = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) sdk_path_1 = os.path.join(current_dir, "dlls", "MV3D", "Win64_x64") sdk_path_2 = os.path.join(current_dir, "dlls", "Mv3dRgbdSDK", "Win64_x64") os.add_dll_directory(sdk_path_1) os.add_dll_directory(sdk_path_2) Mv3dRgbdDll = ctypes.WinDLL("Mv3dRgbd.dll") class Mv3dRgbd(): def __init__(self): self._handle = c_void_p() #~chinese 记录当前连接设备的句柄 ~english Records the handle of the currently connected device self.handle = pointer(self._handle) #~chinese 创建句柄指针 ~english Create pointer of handle # ******************************************************************************************************* # brief 获取SDK版本号 # param pstVersion [OUT] 版本信息 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief Get SDK Version # param pstVersion [OUT] version info # return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_GetSDKVersion(pstVersion): Mv3dRgbdDll.MV3D_RGBD_GetSDKVersion.argtype = c_void_p Mv3dRgbdDll.MV3D_RGBD_GetSDKVersion.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetSDKVersion(MV3D_RGBD_VERSION_INFO* pstVersion); return Mv3dRgbdDll.MV3D_RGBD_GetSDKVersion(pstVersion) # ******************************************************************************************************* # ******************************************************************************************************* # brief SDK运行环境初始化 # param # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief SDK run environment initialization # param # return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_Initialize(): Mv3dRgbdDll.MV3D_RGBD_Initialize.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Initialize(); return Mv3dRgbdDll.MV3D_RGBD_Initialize() # ******************************************************************************************************* # ******************************************************************************************************* # brief SDK运行环境释放 # param # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief SDK run environment release # param # return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_Release(): Mv3dRgbdDll.MV3D_RGBD_Release.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Release(); return Mv3dRgbdDll.MV3D_RGBD_Release() # ******************************************************************************************************* # ******************************************************************************************************* # brief 获取当前环境中设备数量 # param nDeviceType [IN] 设备类型,见Mv3dRgbdDeviceType,可全部获取(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir) # param pDeviceNumber [OUT] 设备数量 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief gets the number of devices in the current environment # param nDeviceType [IN] device type，refer to Mv3dRgbdDeviceType，get all(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir) # param pDeviceNumber [OUT] device number # return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_GetDeviceNumber(nDeviceType, pDeviceNumber): Mv3dRgbdDll.MV3D_RGBD_GetDeviceNumber.argtype = (c_uint, c_char_p) Mv3dRgbdDll.MV3D_RGBD_GetDeviceNumber.restype = c_uint # C原型：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceNumber(uint32_t nDeviceType, uint32_t* pDeviceNumber); return Mv3dRgbdDll.MV3D_RGBD_GetDeviceNumber(nDeviceType, pDeviceNumber) # ******************************************************************************************************* # ******************************************************************************************************* # brief 获取设备列表 # param nDeviceType [IN] 设备类型,见Mv3dRgbdDeviceType,可全部获取(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir) # param pstDeviceInfos [IN OUT] 设备列表 # param nMaxDeviceCount [IN] 设备列表缓存最大个数 # param pDeviceCount [OUT] 填充列表中设备个数 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief gets 3D cameras list # param nDeviceType [IN] device type，refer to Mv3dRgbdDeviceType，get all(DeviceType_Ethernet | DeviceType_USB | DeviceType_Ethernet_Vir | DeviceType_USB_Vir) # param pstDeviceInfos [IN OUT] devices list # param nMaxDeviceCount [IN] max Number of device list caches # param pDeviceCount [OUT] number of devices in the fill list # return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_GetDeviceList(nDeviceType, pstDeviceInfos, nMaxDeviceCount, pDeviceNumber): Mv3dRgbdDll.MV3D_RGBD_GetDeviceList.argtype = (c_uint, c_char_p, c_uint, c_char_p) Mv3dRgbdDll.MV3D_RGBD_GetDeviceList.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceList(uint32_t nDeviceType, MV3D_RGBD_DEVICE_INFO* pstDeviceInfos, uint32_t nMaxDeviceCount, uint32_t* pDeviceCount); return Mv3dRgbdDll.MV3D_RGBD_GetDeviceList(nDeviceType, pstDeviceInfos, nMaxDeviceCount, pDeviceNumber) # ******************************************************************************************************* # ******************************************************************************************************* # brief 打开设备 # param self.handle [IN OUT] 相机句柄 # param pstDeviceInfo [IN] 枚举的设备信息，默认为空，打开第一个相机 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief open device # param self.handle [IN OUT] camera handle # param pstDeviceInfo [IN] enum camera info. the default is null, open first camera # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_OpenDevice(self, pstDeviceInfo): Mv3dRgbdDll.MV3D_RGBD_OpenDevice.argtype = (c_char_p, c_char_p) Mv3dRgbdDll.MV3D_RGBD_OpenDevice.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDevice(HANDLE *handle, MV3D_RGBD_DEVICE_INFO* pstDeviceInfo = NULL); return Mv3dRgbdDll.MV3D_RGBD_OpenDevice(byref(self.handle), pstDeviceInfo) # ******************************************************************************************************* # ******************************************************************************************************* # brief 通过设备设备自定义打开设备 # param self.handle [IN OUT] 相机句柄 # param chDeviceName [IN] 设备用户自定义名称 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief open device by device user defined name # param self.handle [IN OUT] camera handle # param chDeviceName [IN] device user defined name # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_OpenDeviceByName(self, chDeviceName): Mv3dRgbdDll.MV3D_RGBD_OpenDeviceByName.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_OpenDeviceByName.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceByName(HANDLE *handle, const char* chDeviceName); return Mv3dRgbdDll.MV3D_RGBD_OpenDeviceByName(byref(self.handle), chDeviceName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* # brief 通过序列号打开设备 # param self.handle [IN OUT] 相机句柄 # param chSerialNumber [IN] 序列号 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief open device by serial number # param self.handle [IN OUT] camera handle # param chSerialNumber [IN] serial number # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_OpenDeviceBySerialNumber(self, chSerialNumber): Mv3dRgbdDll.MV3D_RGBD_OpenDeviceBySerialNumber.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_OpenDeviceBySerialNumber.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceBySerialNumber(HANDLE *handle, const char* chSerialNumber); return Mv3dRgbdDll.MV3D_RGBD_OpenDeviceBySerialNumber(byref(self.handle), chSerialNumber.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* # brief 通过IP打开设备,仅网口设备有效 # param self.handle [IN OUT] 相机句柄 # param chIP [IN] IP地址，例如"10.114.71.116" # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief open device by ip，only network device is valid # param self.handle [IN OUT] camera handle # param chIP [IN] IP, for example, "10.114.71.116" # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_OpenDeviceByIp(self, chIP): Mv3dRgbdDll.MV3D_RGBD_OpenDeviceByIp.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_OpenDeviceByIp.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_OpenDeviceByIp(HANDLE *handle, const char* chIP); return Mv3dRgbdDll.MV3D_RGBD_OpenDeviceByIp(byref(self.handle), chIP.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* # param self.handle [IN] 相机句柄 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # param self.handle [IN] camera handle # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_CloseDevice(self): Mv3dRgbdDll.MV3D_RGBD_CloseDevice.argtype = c_void_p Mv3dRgbdDll.MV3D_RGBD_CloseDevice.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_CloseDevice(HANDLE *handle); return Mv3dRgbdDll.MV3D_RGBD_CloseDevice(byref(self.handle)) # ******************************************************************************************************* # ******************************************************************************************************* # brief 获取当前设备的详细信息 # param self.handle [IN] 相机句柄 # param pstDevInfo [IN][OUT] 返回给调用者有关相机设备信息结构体指针 # return 成功,MV3D_RGBD_OK,失败,返回错误码 # brief get current device information # param self.handle [IN] camera handle # param pstDevInfo [IN][OUT] structure pointer of device information # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_GetDeviceInfo(self, pstDevInfo): Mv3dRgbdDll.MV3D_RGBD_GetDeviceInfo.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetDeviceInfo.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetDeviceInfo(HANDLE handle, MV3D_RGBD_DEVICE_INFO* pstDevInfo); return Mv3dRgbdDll.MV3D_RGBD_GetDeviceInfo(self.handle, pstDevInfo) # ******************************************************************************************************* # ******************************************************************************************************* # brief 配置IP,仅网口设备有效 # param chSerialNumber [IN] 序列号 # param pstIPConfig [IN] IP配置，静态IP，DHCP等 # return 成功,MV3D_RGBD_OK,失败,返回错误码 # brief ip configuration，only network device is valid # param chSerialNumber [IN] serial number # param pstIPConfig [IN] ip config, static ip，DHCP # return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_SetIpConfig(chSerialNumber, pstIPConfig): Mv3dRgbdDll.MV3D_RGBD_SetIpConfig.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_SetIpConfig.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SetIpConfig(const char* chSerialNumber, MV3D_RGBD_IP_CONFIG* pstIPConfig); return Mv3dRgbdDll.MV3D_RGBD_SetIpConfig(chSerialNumber, pstIPConfig) # ******************************************************************************************************* # ******************************************************************************************************* # brief 注册图像数据回调 # param self.handle [IN] 相机句柄 # param cbOutput [IN] 回调函数指针 # param pUser [IN] 用户自定义变量 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief register image data callback # param self.handle [IN] camera handle # param cbOutput [IN] callback function pointer # param pUser [IN] user defined variable # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_RegisterFrameCallBack(self, cbOutput, pUser): Mv3dRgbdDll.MV3D_RGBD_RegisterFrameCallBack.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_RegisterFrameCallBack.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_RegisterFrameCallBack(HANDLE handle, MV3D_RGBD_FrameDataCallBack cbOutput, void* pUser); return Mv3dRgbdDll.MV3D_RGBD_RegisterFrameCallBack(self.handle, cbOutput, pUser) # ******************************************************************************************************* # ******************************************************************************************************* # brief 注册异常消息回调 # param self.handle： [IN] 相机句柄 # param cbException [IN] 异常回调函数指针 # param pUser [IN] 用户自定义变量 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief register exception message callBack # param self.handle： [IN] camera handle # param cbException [IN] exception message callBack function pointer # param pUser [IN] user defined variable # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_RegisterExceptionCallBack(self, cbException, pUser): Mv3dRgbdDll.MV3D_RGBD_RegisterExceptionCallBack.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_RegisterExceptionCallBack.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_RegisterExceptionCallBack(HANDLE handle, MV3D_RGBD_ExceptionCallBack cbException, void* pUser); return Mv3dRgbdDll.MV3D_RGBD_RegisterExceptionCallBack(self.handle, cbException, pUser) # ******************************************************************************************************* # ******************************************************************************************************* # brief 开始取流前获取数据流配置列表 # param self.handle： [IN] 相机句柄 # param pstStreamCfgList [IN] 返回给调用者数据流配置列表指针 # return 成功,MV3D_RGBD_OK,失败,返回错误码 # brief get stream cfg list before start working # param self.handle： [IN] camera handle # param pstStreamCfgList [IN] structure pointer of stream cfg list # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_GetStreamCfgList(self, pstStreamCfgList): Mv3dRgbdDll.MV3D_RGBD_GetStreamCfgList.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetStreamCfgList.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetStreamCfgList(HANDLE handle, MV3D_RGBD_STREAM_CFG_LIST* pstStreamCfgList); return Mv3dRgbdDll.MV3D_RGBD_GetStreamCfgList(self.handle, pstStreamCfgList) # ******************************************************************************************************* # ******************************************************************************************************* # brief 开始工作 # param self.handle [IN] 相机句柄 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief start working # param self.handle [IN] camera handle # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_Start(self): Mv3dRgbdDll.MV3D_RGBD_Start.argtype = c_void_p Mv3dRgbdDll.MV3D_RGBD_Start.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Start(HANDLE handle); return Mv3dRgbdDll.MV3D_RGBD_Start(self.handle) # ******************************************************************************************************* # ******************************************************************************************************* # brief 停止工作 # param self.handle [IN] 相机句柄 # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief stop working # param self.handle [IN] camera handle # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_Stop(self): Mv3dRgbdDll.MV3D_RGBD_Stop.argtype = c_void_p Mv3dRgbdDll.MV3D_RGBD_Stop.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Stop(HANDLE handle); return Mv3dRgbdDll.MV3D_RGBD_Stop(self.handle) # ******************************************************************************************************* # ******************************************************************************************************* # brief 轮询方式获取帧数据 # param self.handle [IN] 相机句柄 # param pstFrameData [IN][OUT] 数据指针 # param nTimeOut [IN] 超时时间（单位:毫秒） # return 成功，返回MV3D_RGBD_OK；错误，返回错误码 # brief fetch frame data # param self.handle [IN] camera handle # param pstFrameData [IN][OUT] data set pointer # param nTimeOut [IN] timevalue（Unit: ms） # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_FetchFrame(self, pstFrameData, nTimeOut): Mv3dRgbdDll.MV3D_RGBD_FetchFrame.argtype = (c_void_p, c_void_p, c_uint) Mv3dRgbdDll.MV3D_RGBD_FetchFrame.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FetchFrame(HANDLE handle, MV3D_RGBD_FRAME_DATA* pstFrameData, uint32_t nTimeOut); return Mv3dRgbdDll.MV3D_RGBD_FetchFrame(self.handle, pstFrameData, nTimeOut) # ******************************************************************************************************* # ******************************************************************************************************* # brief 执行设备软触发 # param self.handle [IN] 相机句柄 # return 成功,返回MV3D_RGBD_OK,失败,返回错误码 # remark 设置触发模式为打开，设置触发源为软触发并执行，软触发得到的图像帧包含触发id # brief execute camera soft trigger # param self.handle [IN] camera handle # return Success, return MV3D_RGBD_OK. Failure, return error code # remark Set trigger mode to open, trigger source to software, and excute soft trigger. The image frame obtained by soft trigger contains the trigger id def MV3D_RGBD_SoftTrigger(self): Mv3dRgbdDll.MV3D_RGBD_SoftTrigger.argtype = c_void_p Mv3dRgbdDll.MV3D_RGBD_SoftTrigger.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SoftTrigger(HANDLE handle); return Mv3dRgbdDll.MV3D_RGBD_SoftTrigger(self.handle) # ******************************************************************************************************* # ******************************************************************************************************* # brief 执行带触发ID的设备软触发 # param self.handle [IN] 相机句柄 # param nTriggerId [IN] 触发ID # return 成功,返回MV3D_RGBD_OK,失败,返回错误码 # remark 设置触发模式为打开，设置触发源为软触发并执行，软触发得到的图像帧包含触发id。 # 通过对比输入的触发id参数与图像帧返回的触发id，判断当前帧是否有效 # brief execute camera soft trigger with trigger id # param self.handle [IN] camera handle # param nTriggerId [IN] trigger id # return Success, return MV3D_RGBD_OK. Failure, return error code # remark Set trigger mode to open, trigger source to software, and excute soft trigger. The image frame obtained by soft trigger contains the trigger id. # Compare the input trigger id parameter with the returned trigger id to determine whether the current frame is valid def MV3D_RGBD_SoftTriggerEx(self, nTriggerId): Mv3dRgbdDll.MV3D_RGBD_SoftTriggerEx.argtype = (c_void_p, c_uint) Mv3dRgbdDll.MV3D_RGBD_SoftTriggerEx.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SoftTriggerEx(HANDLE handle, uint32_t nTriggerId); return Mv3dRgbdDll.MV3D_RGBD_SoftTriggerEx(self.handle, nTriggerId) # ******************************************************************************************************* # ******************************************************************************************************* # brief 执行设备Command命令 # param self.handle [IN] 相机句柄 # param strKey [IN] 属性键值 # return 成功,返回MV3D_RGBD_OK,失败,返回错误码 # brief execute camera command # param self.handle [IN] camera handle # param strKey [IN] key value # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_Execute(self, strKey): Mv3dRgbdDll.MV3D_RGBD_Execute.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_Execute.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_Execute(HANDLE handle, const char* strKey); return Mv3dRgbdDll.MV3D_RGBD_Execute(self.handle, strKey.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* # brief 获取相机当前标定信息 # param self.handle [IN] 相机句柄 # param nCoordinateType [IN] 坐标系类型，见Mv3dRgbdCoordinateType # param pstCalibInfo [IN][OUT] 输出标定信息 # return 成功,返回MV3D_RGBD_OK,失败,返回错误码 # brief get camera current calibration info # param self.handle [IN] camera handle # param nCoordinateType [IN] coordinate Type，refer to Mv3dRgbdCoordinateType # param pstCalibInfo [IN][OUT] calibration Info # return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_GetCalibInfo(self, nCoordinateType, pstCalibInfo): Mv3dRgbdDll.MV3D_RGBD_GetCalibInfo.argtype = (c_void_p, c_uint, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetCalibInfo.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetCalibInfo(HANDLE handle, uint32_t nCoordinateType, MV3D_RGBD_CALIB_INFO *pstCalibInfo); return Mv3dRgbdDll.MV3D_RGBD_GetCalibInfo(self.handle, nCoordinateType, pstCalibInfo) # ******************************************************************************************************* # ******************************************************************************************************* # brief 获取相机内外参信息 # param handle [IN] 相机句柄 # param pstCameraParam [IN][OUT] 输出相机内/外参数信息 # return 成功,返回MV3D_RGBD_OK,失败,返回错误码 # brief get camera intrinsic and extrinsic information # param handle [IN] camera handle # param pstCameraParam [IN][OUT] camera intrinsic and extrinsic Info def MV3D_RGBD_GetCameraParam(self, pstCameraParam): Mv3dRgbdDll.MV3D_RGBD_GetCameraParam.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetCameraParam.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetCameraParam(HANDLE handle, MV3D_RGBD_CAMERA_PARAM *pstCameraParam); return Mv3dRgbdDll.MV3D_RGBD_GetCameraParam(self.handle, pstCameraParam) # ******************************************************************************************************* # ******************************************************************************************************* #brief 设备升级 #param handle [IN] 相机句柄 #param pFilePathName [IN] 文件名 #return 成功,返回MV3D_RGBD_OK,失败,返回错误码 #brief device upgrade #param handle [IN] camera handle #param pFilePathName [IN] file name #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_LocalUpgrade(self, pFilePathName): Mv3dRgbdDll.MV3D_RGBD_LocalUpgrade.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_LocalUpgrade.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_LocalUpgrade(HANDLE handle, const char* pFilePathName); return Mv3dRgbdDll.MV3D_RGBD_LocalUpgrade(self.handle, pFilePathName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* #brief 获取升级进度 #param handle [IN] 相机句柄 #param pProcess [OUT] 进度接收地址 #return 成功,返回MV3D_RGBD_OK,失败,返回错误码 #brief get upgrade progress #param handle [IN] camera handle #param pProcess [OUT] progress receiving address #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_GetUpgradeProcess(self, pProcess): Mv3dRgbdDll.MV3D_RGBD_GetUpgradeProcess.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetUpgradeProcess.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetUpgradeProcess(HANDLE handle, uint32_t* pProcess); return Mv3dRgbdDll.MV3D_RGBD_GetUpgradeProcess(self.handle, pProcess) # ******************************************************************************************************* # ******************************************************************************************************* #brief 获取相机参数值 #param handle [IN] 相机句柄 #param strKey [IN] 属性键值 #param pstParam [IN] 返回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 #brief get 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 def MV3D_RGBD_GetParam(self, strkey, pstParam): Mv3dRgbdDll.MV3D_RGBD_GetParam.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetParam.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam); return Mv3dRgbdDll.MV3D_RGBD_GetParam(self.handle, strkey.encode('ascii'), pstParam) # ******************************************************************************************************* # ******************************************************************************************************* #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 #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 def MV3D_RGBD_SetParam(self, strkey, pstParam): Mv3dRgbdDll.MV3D_RGBD_SetParam.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_SetParam.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SetParam(HANDLE handle, const char* strKey, MV3D_RGBD_PARAM* pstParam); return Mv3dRgbdDll.MV3D_RGBD_SetParam(self.handle, strkey.encode('ascii'), pstParam) # ******************************************************************************************************* # ******************************************************************************************************* #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 #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 def MV3D_RGBD_ExportAllParam(self, pOutFileName): Mv3dRgbdDll.MV3D_RGBD_ExportAllParam.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_ExportAllParam.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ExportAllParam(HANDLE handle, const char* pOutFileName); return Mv3dRgbdDll.MV3D_RGBD_ExportAllParam(self.handle, pOutFileName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* #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 #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 def MV3D_RGBD_ImportAllParam(self, pInFileName): Mv3dRgbdDll.MV3D_RGBD_ImportAllParam.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_ImportAllParam.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ImportAllParam(HANDLE handle, const char* pInFileName); return Mv3dRgbdDll.MV3D_RGBD_ImportAllParam(self.handle, pInFileName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* #brief 从相机读取文件 #param handle [IN] 相机句柄 #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 #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 def MV3D_RGBD_FileAccessRead(self, pstFileAccess): Mv3dRgbdDll.MV3D_RGBD_FileAccessRead.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_FileAccessRead.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FileAccessRead(void* handle, MV3D_RGBD_FILE_ACCESS * pstFileAccess); return Mv3dRgbdDll.MV3D_RGBD_FileAccessRead(self.handle, pstFileAccess) # ******************************************************************************************************* # ******************************************************************************************************* #brief 将文件写入相机 #param handle [IN] 相机句柄 #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 #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 def MV3D_RGBD_FileAccessWrite(self, pstFileAccess): Mv3dRgbdDll.MV3D_RGBD_FileAccessWrite.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_FileAccessWrite.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_FileAccessWrite(void* handle, MV3D_RGBD_FILE_ACCESS * pstFileAccess); return Mv3dRgbdDll.MV3D_RGBD_FileAccessWrite(self.handle, pstFileAccess) # ******************************************************************************************************* # ******************************************************************************************************* #brief 获取文件存取的进度 #param handle [IN] 相机句柄 #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 #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 def MV3D_RGBD_GetFileAccessProgress(self, pstFileAccessProgress): Mv3dRgbdDll.MV3D_RGBD_GetFileAccessProgress.argtype = (c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_GetFileAccessProgress.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_GetFileAccessProgress(void* handle, MV3D_RGBD_FILE_ACCESS_PROGRESS * pstFileAccessProgress); return Mv3dRgbdDll.MV3D_RGBD_GetFileAccessProgress(self.handle, pstFileAccessProgress) # ******************************************************************************************************* # ******************************************************************************************************* #brief 检查相机功能支持情况 #param handle [IN] 相机句柄 #param enFuncType [IN] 功能类型 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #remark 调用该接口检查相机是否支持某项功能，例如检查相机是否支持触发id功能，如果支持，则后续可以调用MV3D_RGBD_SoftTriggerEx接口，执行带触发id的软触发 #brief check camera function support #param handle [IN] camera handle #param enFuncType [IN] function type #return Success, return MV3D_RGBD_OK. Failure, return error code #remark Call this interface to check whether the camera supports a certain function, for example, check whether the camera supports the trigger id function. # If camera supports the trigger id function, you can call the MV3D_RGBD_SoftTriggerEx interface to execute the soft trigger with the trigger id def MV3D_RGBD_CheckCameraFuncSupport(self, enFuncType): Mv3dRgbdDll.MV3D_RGBD_CheckCameraFuncSupport.argtype = (c_void_p, c_uint) Mv3dRgbdDll.MV3D_RGBD_CheckCameraFuncSupport.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_CheckCameraFuncSupport(void* handle, Mv3dRgbdFunctionType enFuncType); return Mv3dRgbdDll.MV3D_RGBD_CheckCameraFuncSupport(self.handle, enFuncType) # ******************************************************************************************************* # ******************************************************************************************************* #brief 清除数据缓存 #param handle [IN] 相机句柄 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief clear data buffer #param handle [IN] camera handle #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_ClearDataBuffer(self): Mv3dRgbdDll.MV3D_RGBD_ClearDataBuffer.argtype = c_void_p Mv3dRgbdDll.MV3D_RGBD_ClearDataBuffer.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ClearDataBuffer(void* handle); return Mv3dRgbdDll.MV3D_RGBD_ClearDataBuffer(self.handle) # ******************************************************************************************************* # ******************************************************************************************************* #brief RGBD相机深度图像转换点云图像 #param handle [IN] 相机句柄 #param pstDepthImage [IN] 深度图数据 #param pstPointCloudImage [OUT] 点云图数据 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief depth image convert to pointcloud image #param handle [IN] camera handle #param pstDepthImage [IN] depth data #param pstPointCloudImage [OUT] point cloud data #return Success, return MV3D_RGBD_OK. Failure,return error code def MV3D_RGBD_MapDepthToPointCloud(self, pstDepthImage, pstPointCloudImage): Mv3dRgbdDll.MV3D_RGBD_MapDepthToPointCloud.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_MapDepthToPointCloud.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToPointCloud(void* handle, MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage); return Mv3dRgbdDll.MV3D_RGBD_MapDepthToPointCloud(self.handle, pstDepthImage, pstPointCloudImage) # ******************************************************************************************************* # ******************************************************************************************************* #brief RGBD相机深度图像转换点云图像（无句柄） #param pstDepthImage [IN] 深度图数据 #param pstCalibInfo [IN] 标定信息 #param fZunit [IN] 深度图量纲(mm) #param pstPointCloudImage [OUT] 点云图数据 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief depth image convert to pointcloud image without handle #param pstDepthImage [IN] depth data #param pstCalibInfo [IN] calib info #param fZunit [IN] dimension(mm) #param pstPointCloudImage [OUT] point cloud data #return Success, return MV3D_RGBD_OK. Failure,return error code @staticmethod def MV3D_RGBD_MapDepthToPointCloudEx(pstDepthImage, pstCalibInfo, fZunit, pstPointCloudImage): Mv3dRgbdDll.MV3D_RGBD_MapDepthToPointCloudEx.argtype = (c_void_p, c_void_p, c_float, c_void_p) Mv3dRgbdDll.MV3D_RGBD_MapDepthToPointCloudEx.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToPointCloudEx(MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_CALIB_INFO* pstCalibInfo, float fZunit, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage); return Mv3dRgbdDll.MV3D_RGBD_MapDepthToPointCloudEx(pstDepthImage, pstCalibInfo, ctypes.c_float(fZunit), pstPointCloudImage) # ******************************************************************************************************* # ******************************************************************************************************* #brief 图像坐标系转换 #param pstInImage [IN] 输入图像数据 #param fZunit [IN] 深度图量纲(mm) #param pstOutImage [OUT] 输出图像数据 #param pstCameraParam [IN][OUT] 相机内/外参数信息 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief image convert coordinate to rgb coordinate #param pstInImage [IN] input image data #param fZunit [IN] dimension(mm) #param pstOutImage [OUT] output image data #param pstCameraParam [IN][OUT] camera intrinsic and extrinsic Info #return Success, return MV3D_RGBD_OK. Failure,return error code @staticmethod def MV3D_RGBD_ImageCoordinateTrans(pstInImage, fZunit, pstOutImage, pstCameraParam): Mv3dRgbdDll.MV3D_RGBD_ImageCoordinateTrans.argtype = (c_void_p, c_float, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_ImageCoordinateTrans.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_ImageCoordinateTrans(MV3D_RGBD_IMAGE_DATA* pstInImage, float fZunit, MV3D_RGBD_IMAGE_DATA* pstOutImage, MV3D_RGBD_CAMERA_PARAM* pstCameraParam); return Mv3dRgbdDll.MV3D_RGBD_ImageCoordinateTrans(pstInImage, ctypes.c_float(fZunit), pstOutImage, pstCameraParam) # ******************************************************************************************************* # ******************************************************************************************************* #brief 深度图,RGB图和原始图存图接口 # 深度图格式:C16 # RGB图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21 # 原始图格式:Mono8(仅支持bmp格式) #param handle [IN] 相机句柄 #param pstImage [IN] 图像数据 #param enFileType [IN] 文件类型 #param chFileName [IN] 文件名称 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief depth and rgb image save image to file # depth image format: C16 # rgb image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21 # mono image format: Mono8(only support bmp file type) #param handle [IN] camera handle #param pstImage [IN] image data #param enFileType [IN] file type #param chFileName [IN] file name #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_SaveImage(self, pstImage, enFileType, chFileName): Mv3dRgbdDll.MV3D_RGBD_SaveImage.argtype = (c_void_p, c_void_p, c_int, c_void_p) Mv3dRgbdDll.MV3D_RGBD_SaveImage.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SaveImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, Mv3dRgbdFileType enFileType, const char* chFileName); return Mv3dRgbdDll.MV3D_RGBD_SaveImage(self.handle, pstImage, enFileType, chFileName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* #brief 点云图存图接口 #param handle [IN] 相机句柄 #param pstImage [IN] 图像数据 #param enPointCloudFileType [IN] 点云图文件类型 #param chFileName [IN] 文件名称 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief pointcloud image save image to file #param handle [IN] camera handle #param pstImage [IN] image data #param enPointCloudFileType [IN] pointcloud image file type #param chFileName [IN] file name #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_SavePointCloudImage(self, pstImage, enPointCloudFileType, chFileName): Mv3dRgbdDll.MV3D_RGBD_SavePointCloudImage.argtype = (c_void_p, c_void_p, c_int, c_void_p) Mv3dRgbdDll.MV3D_RGBD_SavePointCloudImage.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SavePointCloudImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, Mv3dRgbdPointCloudFileType enPointCloudFileType, const char* chFileName); return Mv3dRgbdDll.MV3D_RGBD_SavePointCloudImage(self.handle, pstImage, enPointCloudFileType, chFileName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* #brief 纹理点云存图接口 # 纹理图格式: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21 # 保存的点云图格式: PLY_ASCII/PLC_Binary/PCD_ASCII/PCD_Binary #param handle [IN] 相机句柄 #param pstPointCloudImage [IN] 点云图像数据 #param pstTexture [IN] 图像纹理数据 #param enPointCloudFileType [IN] 点云图文件类型 #param chFileName [IN] 文件名称 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief textured pointcloud image save image to file # texture image format:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21 # point cloud file type: PLY_ASCII/PLC_Binary/PCD_ASCII/PCD_Binary #param handle [IN] camera handle #param pstPointCloudImage [IN] pointcloude image data #param pstTexture [IN] image texture data #param enPointCloudFileType [IN] pointcloud image file type #param chFileName [IN] file name #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_SaveTexturedPointCloudImage(self, pstPointCloudImage, pstTexture, enPointCloudFileType, chFileName): Mv3dRgbdDll.MV3D_RGBD_SaveTexturedPointCloudImage.argtype = (c_void_p, c_void_p, c_void_p, c_int, c_void_p) Mv3dRgbdDll.MV3D_RGBD_SaveTexturedPointCloudImage.restype = c_uint # C：MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_SaveTexturedPointCloudImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstPointCloudImage, MV3D_RGBD_IMAGE_DATA* pstTexture, Mv3dRgbdPointCloudFileType enPointCloudFileType, const char* chFileName); return Mv3dRgbdDll.MV3D_RGBD_SaveTexturedPointCloudImage(self.handle, pstPointCloudImage, pstTexture, enPointCloudFileType, chFileName.encode('ascii')) # ******************************************************************************************************* # ******************************************************************************************************* #brief 显示深度和RGB图像接口 # 深度图格式:C16 # RGB图格式:RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21 #param handle [IN] 相机句柄 #param pstImage [IN] 图像数据 #param hWnd [IN] 窗口句柄 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief display depth and rgb image # depth image format: C16 # rgb image format: RGB8_Planar/YUV422/YUV420SP_NV12/YUV420SP_NV21 #param handle [IN] camera handle #param pstImage [IN] image data #param hWnd [IN] windows handle #return Success, return MV3D_RGBD_OK. Failure, return error code def MV3D_RGBD_DisplayImage(self, pstImage, hWnd): Mv3dRgbdDll.MV3D_RGBD_DisplayImage.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_DisplayImage.restype = c_uint # C:MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_DisplayImage(void* handle, MV3D_RGBD_IMAGE_DATA* pstImage, void* hWnd) return Mv3dRgbdDll.MV3D_RGBD_DisplayImage(self.handle, pstImage, hWnd) # ******************************************************************************************************* # ******************************************************************************************************* #brief 深度图转伪彩图接口 # 深度图格式:C16 # 伪彩图格式:RGB8_Planar #param pstDepthImage [IN] 深度图像数据 #param pstConvertParam [IN] 深度图转伪彩配置参数 #param pstColorImage [OUT] 伪彩图像数据 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief display depth and rgb image # depth image format: C16 # rgb image format: RGB8_Planar #param pstDepthImage [IN] depth image data #param pstConvertParam [IN] depth convert to color image parameters #param pstColorImage [OUT] color image data #return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_MapDepthToColor(pstDepthImage, pstConvertParam, pstColorImage): Mv3dRgbdDll.MV3D_RGBD_MapDepthToColor.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_MapDepthToColor.restype = c_uint # C:MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapDepthToColor(MV3D_RGBD_IMAGE_DATA* pstDepthImage, MV3D_RGBD_CONVERT_COLOR_PAPRAM* pstConvertParam, MV3D_RGBD_IMAGE_DATA* pstColorImage) return Mv3dRgbdDll.MV3D_RGBD_MapDepthToColor(pstDepthImage, pstConvertParam, pstColorImage) # ******************************************************************************************************* # ******************************************************************************************************* #brief 点云转UV坐标接口 #param pstCloudPointImage [IN] 点云图像数据 #param pstCalibInfo [IN] 标定参数 #param pstUVMap [OUT] UV坐标数据 #return 成功，返回MV3D_RGBD_OK；错误，返回错误码 #brief convert point cloud to uv coordinate #param pstCloudPointImage [IN] point cloud image data #param pstCalibInfo [IN] calib info #param pstUVMap [OUT] uv coordinate data #return Success, return MV3D_RGBD_OK. Failure, return error code @staticmethod def MV3D_RGBD_MapPointCloudToUV(pstCloudPointImage, pstCalibInfo, pstUvMap): Mv3dRgbdDll.MV3D_RGBD_MapPointCloudToUV.argtype = (c_void_p, c_void_p, c_void_p) Mv3dRgbdDll.MV3D_RGBD_MapPointCloudToUV.restype = c_uint # C:MV3D_RGBD_API MV3D_RGBD_STATUS MV3D_RGBD_MapPointCloudToUV(MV3D_RGBD_IMAGE_DATA* pstCloudPointImage, MV3D_RGBD_CALIB_INFO* pstCalibInfo, MV3D_RGBD_UV_DATA* pstUvMap) return Mv3dRgbdDll.MV3D_RGBD_MapPointCloudToUV(pstCloudPointImage, pstCalibInfo, pstUvMap) # *******************************************************************************************************