/// <summary>
/// Project the edges of a 3D shape model into image coordinates.
/// Instance represents: Handle of the 3D shape model.
/// </summary>
/// <param name="camParam">Internal camera parameters.</param>
/// <param name="pose">3D pose of the 3D shape model in the world coordinate system.</param>
/// <param name="hiddenSurfaceRemoval">Remove hidden surfaces? Default: "true"</param>
/// <param name="minFaceAngle">Smallest face angle for which the edge is displayed Default: 0.523599</param>
/// <returns>Contour representation of the model view.</returns>
public HXLDCont ProjectShapeModel3d(
HCamPar camParam,
HPose pose,
string hiddenSurfaceRemoval,
double minFaceAngle)
{
IntPtr proc = HalconAPI.PreCall(1055);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)camParam);
HalconAPI.Store(proc, 2, (HData)pose);
HalconAPI.StoreS(proc, 3, hiddenSurfaceRemoval);
HalconAPI.StoreD(proc, 4, minFaceAngle);
HalconAPI.InitOCT(proc, 1);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)camParam));
HalconAPI.UnpinTuple((HTuple)((HData)pose));
HXLDCont hxldCont;
int procResult = HXLDCont.LoadNew(proc, 1, err, out hxldCont);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hxldCont);
}
private void buttonCalib_Click(object sender, EventArgs e)
{
if (this.cTextBoxDesc.Text == "")
{
MessageBox.Show("请选择标定描述文件！", "提示信息", MessageBoxButtons.OK, MessageBoxIcon.Warning);
return;
}
try
{
int referenceIndex = this.listBox1.SelectedIndex;
var hv_StartParameters = new HTuple();
var hv_TmpCtrl_FindCalObjParNames = new HTuple();
var hv_TmpCtrl_FindCalObjParValues = new HTuple();
hv_StartParameters[0] = 0.001 * float.Parse(this.cTextBoxFocus.Text);
hv_StartParameters[1] = 0;
hv_StartParameters[2] = 1e-6 * float.Parse(this.cTextBoxSx.Text);
hv_StartParameters[3] = 1e-6 * float.Parse(this.cTextBoxSy.Text);
hv_StartParameters[4] = this.width / 2;
hv_StartParameters[5] = this.height / 2;
hv_StartParameters[6] = this.width;
hv_StartParameters[7] = this.height;
hv_TmpCtrl_FindCalObjParNames[0] = "gap_tolerance";
hv_TmpCtrl_FindCalObjParNames[1] = "alpha";
hv_TmpCtrl_FindCalObjParNames[2] = "skip_find_caltab";
hv_TmpCtrl_FindCalObjParValues[0] = 1;
hv_TmpCtrl_FindCalObjParValues[1] = 1;
hv_TmpCtrl_FindCalObjParValues[2] = "false";
using (var hv_CalibHandle = new HCalibData("calibration_object", 1, 1))
{
hv_CalibHandle.SetCalibDataCamParam(0, "area_scan_division", hv_StartParameters);
hv_CalibHandle.SetCalibDataCalibObject(0, this.cTextBoxDesc.Text);
for (var i = 0; i < this._images.Count; i++)
{
hv_CalibHandle.FindCalibObject(this._images[i], 0, 0, i, hv_TmpCtrl_FindCalObjParNames, hv_TmpCtrl_FindCalObjParValues);
}
hv_CalibHandle.SetCalibData("camera", new HTuple(0), "excluded_settings", new HTuple("sx", "sy", "cx", "cy"));
this.Errors = hv_CalibHandle.CalibrateCameras();
this.CameraParameters = hv_CalibHandle.GetCalibData("camera", 0, "params");
this.CameraPose = new HPose(hv_CalibHandle.GetCalibData("calib_obj_pose", new HTuple(0, referenceIndex), new HTuple("pose")));
}
}
catch (Exception ex)
{
MessageBox.Show($"出现错误：{ex.Message}，请检查标定数据！", "错误信息", MessageBoxButtons.OK, MessageBoxIcon.Error);
return;
}
this.buttonSave.Enabled = this.Errors > 0 && this.Errors < 1;
if (this.Errors < 1)
{
MessageBox.Show($"标定成功！误差为{this.Errors:f}pixel，请保存！", "标定成功", MessageBoxButtons.OK, MessageBoxIcon.Information);
}
}
/// <summary>
/// Set the pose of a 3D scene.
/// Instance represents: Handle of the 3D scene.
/// </summary>
/// <param name="toWorldPose">New pose of the 3D scene.</param>
public void SetScene3dToWorldPose(HPose toWorldPose)
{
IntPtr proc = HalconAPI.PreCall(1205);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)toWorldPose);
int procResult = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)toWorldPose));
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
}
/// <summary>
/// Set the pose of a camera in a 3D scene.
/// Instance represents: Handle of the 3D scene.
/// </summary>
/// <param name="cameraIndex">Index of the camera.</param>
/// <param name="pose">New pose of the camera.</param>
public void SetScene3dCameraPose(int cameraIndex, HPose pose)
{
IntPtr proc = HalconAPI.PreCall(1210);
this.Store(proc, 0);
HalconAPI.StoreI(proc, 1, cameraIndex);
HalconAPI.Store(proc, 2, (HData)pose);
int procResult = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)pose));
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
}
/// <summary>
/// Convert a 3D pose to a unit dual quaternion.
/// Modified instance represents: Unit dual quaternion.
/// </summary>
/// <param name="pose">3D pose.</param>
public void PoseToDualQuat(HPose pose)
{
IntPtr proc = HalconAPI.PreCall(2080);
HalconAPI.Store(proc, 0, (HData)pose);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)pose));
int procResult = this.Load(proc, 0, err);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
}
/// <summary>Convert a dual quaternion to a 3D pose.</summary>
/// <param name="dualQuaternion">Unit dual quaternion.</param>
/// <returns>3D pose.</returns>
public static HPose[] DualQuatToPose(HDualQuaternion[] dualQuaternion)
{
HTuple htuple = HData.ConcatArray((HData[])dualQuaternion);
IntPtr proc = HalconAPI.PreCall(2064);
HalconAPI.Store(proc, 0, htuple);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(htuple);
HTuple tuple;
int procResult = HTuple.LoadNew(proc, 0, err, out tuple);
HalconAPI.PostCall(proc, procResult);
return(HPose.SplitArray(tuple));
}
/// <summary>
/// Convert a homogeneous transformation matrix into a 3D pose.
/// Instance represents: Homogeneous transformation matrix.
/// </summary>
/// <returns>Equivalent 3D pose.</returns>
public HPose HomMat3dToPose()
{
IntPtr proc = HalconAPI.PreCall(1934);
this.Store(proc, 0);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HPose hpose;
int procResult = HPose.LoadNew(proc, 0, err, out hpose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hpose);
}
/// <summary>
/// Get observed calibration object poses from a calibration data model.
/// Instance represents: Handle of a calibration data model.
/// </summary>
/// <param name="cameraIdx">Index of the observing camera. Default: 0</param>
/// <param name="calibObjIdx">Index of the observed calibration object. Default: 0</param>
/// <param name="calibObjPoseIdx">Index of the observed calibration object pose. Default: 0</param>
/// <returns>Stored observed calibration object pose relative to the observing camera.</returns>
public HPose GetCalibDataObservPose(int cameraIdx, int calibObjIdx, int calibObjPoseIdx)
{
IntPtr proc = HalconAPI.PreCall(1972);
this.Store(proc, 0);
HalconAPI.StoreI(proc, 1, cameraIdx);
HalconAPI.StoreI(proc, 2, calibObjIdx);
HalconAPI.StoreI(proc, 3, calibObjPoseIdx);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HPose hpose;
int procResult = HPose.LoadNew(proc, 0, err, out hpose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hpose);
}
/// <summary>
/// Find the best matches of a calibrated descriptor model in an image and return their 3D pose.
/// Instance represents: The handle to the descriptor model.
/// </summary>
/// <param name="image">Input image where the model should be found.</param>
/// <param name="detectorParamName">The detector's parameter names. Default: []</param>
/// <param name="detectorParamValue">Values of the detector's parameters. Default: []</param>
/// <param name="descriptorParamName">The descriptor's parameter names. Default: []</param>
/// <param name="descriptorParamValue">Values of the descriptor's parameters. Default: []</param>
/// <param name="minScore">Minimum score of the instances of the models to be found. Default: 0.2</param>
/// <param name="numMatches">Maximal number of found instances. Default: 1</param>
/// <param name="camParam">Camera parameter (inner orientation) obtained from camera calibration.</param>
/// <param name="scoreType">Score type to be evaluated in Score. Default: "num_points"</param>
/// <param name="score">Score of the found instances according to the ScoreType input.</param>
/// <returns>3D pose of the object.</returns>
public HPose[] FindCalibDescriptorModel(
HImage image,
HTuple detectorParamName,
HTuple detectorParamValue,
HTuple descriptorParamName,
HTuple descriptorParamValue,
HTuple minScore,
int numMatches,
HCamPar camParam,
HTuple scoreType,
out HTuple score)
{
IntPtr proc = HalconAPI.PreCall(948);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HObjectBase)image);
HalconAPI.Store(proc, 1, detectorParamName);
HalconAPI.Store(proc, 2, detectorParamValue);
HalconAPI.Store(proc, 3, descriptorParamName);
HalconAPI.Store(proc, 4, descriptorParamValue);
HalconAPI.Store(proc, 5, minScore);
HalconAPI.StoreI(proc, 6, numMatches);
HalconAPI.Store(proc, 7, (HData)camParam);
HalconAPI.Store(proc, 8, scoreType);
HalconAPI.InitOCT(proc, 0);
HalconAPI.InitOCT(proc, 1);
int err1 = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(detectorParamName);
HalconAPI.UnpinTuple(detectorParamValue);
HalconAPI.UnpinTuple(descriptorParamName);
HalconAPI.UnpinTuple(descriptorParamValue);
HalconAPI.UnpinTuple(minScore);
HalconAPI.UnpinTuple((HTuple)((HData)camParam));
HalconAPI.UnpinTuple(scoreType);
HTuple tuple;
int err2 = HTuple.LoadNew(proc, 0, err1, out tuple);
int procResult = HTuple.LoadNew(proc, 1, err2, out score);
HalconAPI.PostCall(proc, procResult);
HPose[] hposeArray = HPose.SplitArray(tuple);
GC.KeepAlive((object)this);
GC.KeepAlive((object)image);
return(hposeArray);
}
/// <summary>
/// Return the contour representation of a 3D shape model view.
/// Instance represents: Handle of the 3D shape model.
/// </summary>
/// <param name="level">Pyramid level for which the contour representation should be returned. Default: 1</param>
/// <param name="view">View for which the contour representation should be returned. Default: 1</param>
/// <param name="viewPose">3D pose of the 3D shape model at the current view.</param>
/// <returns>Contour representation of the model view.</returns>
public HXLDCont GetShapeModel3dContours(int level, int view, out HPose viewPose)
{
IntPtr proc = HalconAPI.PreCall(1056);
this.Store(proc, 0);
HalconAPI.StoreI(proc, 1, level);
HalconAPI.StoreI(proc, 2, view);
HalconAPI.InitOCT(proc, 1);
HalconAPI.InitOCT(proc, 0);
int err1 = HalconAPI.CallProcedure(proc);
HXLDCont hxldCont;
int err2 = HXLDCont.LoadNew(proc, 1, err1, out hxldCont);
int procResult = HPose.LoadNew(proc, 0, err2, out viewPose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hxldCont);
}
/// <summary>
/// Transform a pose that refers to the coordinate system of a 3D object model to a pose that refers to the reference coordinate system of a 3D shape model and vice versa.
/// Instance represents: Handle of the 3D shape model.
/// </summary>
/// <param name="poseIn">Pose to be transformed in the source system.</param>
/// <param name="transformation">Direction of the transformation. Default: "ref_to_model"</param>
/// <returns>Transformed 3D pose in the target system.</returns>
public HPose TransPoseShapeModel3d(HPose poseIn, string transformation)
{
IntPtr proc = HalconAPI.PreCall(1054);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)poseIn);
HalconAPI.StoreS(proc, 2, transformation);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)poseIn));
HPose hpose;
int procResult = HPose.LoadNew(proc, 0, err, out hpose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hpose);
}
/// <summary>Refine the pose of a surface model in a 3D scene and in images.</summary>
/// <param name="image">Images of the scene.</param>
/// <param name="surfaceModelID">Handle of the surface model.</param>
/// <param name="objectModel3D">Handle of the 3D object model containing the scene.</param>
/// <param name="initialPose">Initial pose of the surface model in the scene.</param>
/// <param name="minScore">Minimum score of the returned poses. Default: 0</param>
/// <param name="returnResultHandle">Enable returning a result handle in SurfaceMatchingResultID. Default: "false"</param>
/// <param name="genParamName">Names of the generic parameters. Default: []</param>
/// <param name="genParamValue">Values of the generic parameters. Default: []</param>
/// <param name="score">Score of the found instances of the model.</param>
/// <param name="surfaceMatchingResultID">Handle of the matching result, if enabled in ReturnResultHandle.</param>
/// <returns>3D pose of the surface model in the scene.</returns>
public static HPose[] RefineSurfaceModelPoseImage(
HImage image,
HSurfaceModel surfaceModelID,
HObjectModel3D objectModel3D,
HPose[] initialPose,
HTuple minScore,
string returnResultHandle,
HTuple genParamName,
HTuple genParamValue,
out HTuple score,
out HSurfaceMatchingResult[] surfaceMatchingResultID)
{
HTuple htuple = HData.ConcatArray((HData[])initialPose);
IntPtr proc = HalconAPI.PreCall(2084);
HalconAPI.Store(proc, 1, (HObjectBase)image);
HalconAPI.Store(proc, 0, (HTool)surfaceModelID);
HalconAPI.Store(proc, 1, (HTool)objectModel3D);
HalconAPI.Store(proc, 2, htuple);
HalconAPI.Store(proc, 3, minScore);
HalconAPI.StoreS(proc, 4, returnResultHandle);
HalconAPI.Store(proc, 5, genParamName);
HalconAPI.Store(proc, 6, genParamValue);
HalconAPI.InitOCT(proc, 0);
HalconAPI.InitOCT(proc, 1);
HalconAPI.InitOCT(proc, 2);
int err1 = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(htuple);
HalconAPI.UnpinTuple(minScore);
HalconAPI.UnpinTuple(genParamName);
HalconAPI.UnpinTuple(genParamValue);
HTuple tuple;
int err2 = HTuple.LoadNew(proc, 0, err1, out tuple);
int err3 = HTuple.LoadNew(proc, 1, HTupleType.DOUBLE, err2, out score);
int procResult = HSurfaceMatchingResult.LoadNew(proc, 2, err3, out surfaceMatchingResultID);
HalconAPI.PostCall(proc, procResult);
HPose[] hposeArray = HPose.SplitArray(tuple);
GC.KeepAlive((object)image);
GC.KeepAlive((object)surfaceModelID);
GC.KeepAlive((object)objectModel3D);
return(hposeArray);
}
/// <summary>Find the best matches of a surface model in a 3D scene and images.</summary>
/// <param name="image">Images of the scene.</param>
/// <param name="surfaceModelID">Handle of the surface model.</param>
/// <param name="objectModel3D">Handle of the 3D object model containing the scene.</param>
/// <param name="relSamplingDistance">Scene sampling distance relative to the diameter of the surface model. Default: 0.05</param>
/// <param name="keyPointFraction">Fraction of sampled scene points used as key points. Default: 0.2</param>
/// <param name="minScore">Minimum score of the returned poses. Default: 0</param>
/// <param name="returnResultHandle">Enable returning a result handle in SurfaceMatchingResultID. Default: "false"</param>
/// <param name="genParamName">Names of the generic parameters. Default: []</param>
/// <param name="genParamValue">Values of the generic parameters. Default: []</param>
/// <param name="score">Score of the found instances of the surface model.</param>
/// <param name="surfaceMatchingResultID">Handle of the matching result, if enabled in ReturnResultHandle.</param>
/// <returns>3D pose of the surface model in the scene.</returns>
public static HPose[] FindSurfaceModelImage(
HImage image,
HSurfaceModel surfaceModelID,
HObjectModel3D objectModel3D,
double relSamplingDistance,
double keyPointFraction,
HTuple minScore,
string returnResultHandle,
HTuple genParamName,
HTuple genParamValue,
out HTuple score,
out HSurfaceMatchingResult[] surfaceMatchingResultID)
{
IntPtr proc = HalconAPI.PreCall(2069);
HalconAPI.Store(proc, 1, (HObjectBase)image);
HalconAPI.Store(proc, 0, (HTool)surfaceModelID);
HalconAPI.Store(proc, 1, (HTool)objectModel3D);
HalconAPI.StoreD(proc, 2, relSamplingDistance);
HalconAPI.StoreD(proc, 3, keyPointFraction);
HalconAPI.Store(proc, 4, minScore);
HalconAPI.StoreS(proc, 5, returnResultHandle);
HalconAPI.Store(proc, 6, genParamName);
HalconAPI.Store(proc, 7, genParamValue);
HalconAPI.InitOCT(proc, 0);
HalconAPI.InitOCT(proc, 1);
HalconAPI.InitOCT(proc, 2);
int err1 = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(minScore);
HalconAPI.UnpinTuple(genParamName);
HalconAPI.UnpinTuple(genParamValue);
HTuple tuple;
int err2 = HTuple.LoadNew(proc, 0, err1, out tuple);
int err3 = HTuple.LoadNew(proc, 1, HTupleType.DOUBLE, err2, out score);
int procResult = HSurfaceMatchingResult.LoadNew(proc, 2, err3, out surfaceMatchingResultID);
HalconAPI.PostCall(proc, procResult);
HPose[] hposeArray = HPose.SplitArray(tuple);
GC.KeepAlive((object)image);
GC.KeepAlive((object)surfaceModelID);
GC.KeepAlive((object)objectModel3D);
return(hposeArray);
}
/// <summary>
/// Set observed calibration object poses in a calibration data model.
/// Instance represents: Handle of a calibration data model.
/// </summary>
/// <param name="cameraIdx">Index of the observing camera. Default: 0</param>
/// <param name="calibObjIdx">Index of the calibration object. Default: 0</param>
/// <param name="calibObjPoseIdx">Index of the observed calibration object. Default: 0</param>
/// <param name="objInCameraPose">Pose of the observed calibration object relative to the observing camera.</param>
public void SetCalibDataObservPose(
int cameraIdx,
int calibObjIdx,
int calibObjPoseIdx,
HPose objInCameraPose)
{
IntPtr proc = HalconAPI.PreCall(1973);
this.Store(proc, 0);
HalconAPI.StoreI(proc, 1, cameraIdx);
HalconAPI.StoreI(proc, 2, calibObjIdx);
HalconAPI.StoreI(proc, 3, calibObjPoseIdx);
HalconAPI.Store(proc, 4, (HData)objInCameraPose);
int procResult = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)objInCameraPose));
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
}
/// <summary>
/// Add an instance of a 3D object model to a 3D scene.
/// Instance represents: Handle of the 3D scene.
/// </summary>
/// <param name="objectModel3D">Handle of the 3D object model.</param>
/// <param name="pose">Pose of the 3D object model.</param>
/// <returns>Index of the new instance in the 3D scene.</returns>
public int AddScene3dInstance(HObjectModel3D objectModel3D, HPose pose)
{
IntPtr proc = HalconAPI.PreCall(1217);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HTool)objectModel3D);
HalconAPI.Store(proc, 2, (HData)pose);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)pose));
int intValue;
int procResult = HalconAPI.LoadI(proc, 0, err, out intValue);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
GC.KeepAlive((object)objectModel3D);
return(intValue);
}
/// <summary>
/// Refine the pose of a surface model in a 3D scene and in images.
/// Modified instance represents: Handle of the matching result, if enabled in ReturnResultHandle.
/// </summary>
/// <param name="image">Images of the scene.</param>
/// <param name="surfaceModelID">Handle of the surface model.</param>
/// <param name="objectModel3D">Handle of the 3D object model containing the scene.</param>
/// <param name="initialPose">Initial pose of the surface model in the scene.</param>
/// <param name="minScore">Minimum score of the returned poses. Default: 0</param>
/// <param name="returnResultHandle">Enable returning a result handle in SurfaceMatchingResultID. Default: "false"</param>
/// <param name="genParamName">Names of the generic parameters. Default: []</param>
/// <param name="genParamValue">Values of the generic parameters. Default: []</param>
/// <param name="score">Score of the found instances of the model.</param>
/// <returns>3D pose of the surface model in the scene.</returns>
public HPose RefineSurfaceModelPoseImage(
HImage image,
HSurfaceModel surfaceModelID,
HObjectModel3D objectModel3D,
HPose initialPose,
double minScore,
string returnResultHandle,
HTuple genParamName,
HTuple genParamValue,
out HTuple score)
{
this.Dispose();
IntPtr proc = HalconAPI.PreCall(2084);
HalconAPI.Store(proc, 1, (HObjectBase)image);
HalconAPI.Store(proc, 0, (HTool)surfaceModelID);
HalconAPI.Store(proc, 1, (HTool)objectModel3D);
HalconAPI.Store(proc, 2, (HData)initialPose);
HalconAPI.StoreD(proc, 3, minScore);
HalconAPI.StoreS(proc, 4, returnResultHandle);
HalconAPI.Store(proc, 5, genParamName);
HalconAPI.Store(proc, 6, genParamValue);
HalconAPI.InitOCT(proc, 2);
HalconAPI.InitOCT(proc, 0);
HalconAPI.InitOCT(proc, 1);
int err1 = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)initialPose));
HalconAPI.UnpinTuple(genParamName);
HalconAPI.UnpinTuple(genParamValue);
int err2 = this.Load(proc, 2, err1);
HPose hpose;
int err3 = HPose.LoadNew(proc, 0, err2, out hpose);
int procResult = HTuple.LoadNew(proc, 1, HTupleType.DOUBLE, err3, out score);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
GC.KeepAlive((object)image);
GC.KeepAlive((object)surfaceModelID);
GC.KeepAlive((object)objectModel3D);
return(hpose);
}
/// <summary>
/// Find the best matches of a surface model in a 3D scene.
/// Modified instance represents: Handle of the matching result, if enabled in ReturnResultHandle.
/// </summary>
/// <param name="surfaceModelID">Handle of the surface model.</param>
/// <param name="objectModel3D">Handle of the 3D object model containing the scene.</param>
/// <param name="relSamplingDistance">Scene sampling distance relative to the diameter of the surface model. Default: 0.05</param>
/// <param name="keyPointFraction">Fraction of sampled scene points used as key points. Default: 0.2</param>
/// <param name="minScore">Minimum score of the returned poses. Default: 0</param>
/// <param name="returnResultHandle">Enable returning a result handle in SurfaceMatchingResultID. Default: "false"</param>
/// <param name="genParamName">Names of the generic parameters. Default: []</param>
/// <param name="genParamValue">Values of the generic parameters. Default: []</param>
/// <param name="score">Score of the found instances of the surface model.</param>
/// <returns>3D pose of the surface model in the scene.</returns>
public HPose FindSurfaceModel(
HSurfaceModel surfaceModelID,
HObjectModel3D objectModel3D,
double relSamplingDistance,
double keyPointFraction,
double minScore,
string returnResultHandle,
HTuple genParamName,
HTuple genParamValue,
out HTuple score)
{
this.Dispose();
IntPtr proc = HalconAPI.PreCall(1042);
HalconAPI.Store(proc, 0, (HTool)surfaceModelID);
HalconAPI.Store(proc, 1, (HTool)objectModel3D);
HalconAPI.StoreD(proc, 2, relSamplingDistance);
HalconAPI.StoreD(proc, 3, keyPointFraction);
HalconAPI.StoreD(proc, 4, minScore);
HalconAPI.StoreS(proc, 5, returnResultHandle);
HalconAPI.Store(proc, 6, genParamName);
HalconAPI.Store(proc, 7, genParamValue);
HalconAPI.InitOCT(proc, 2);
HalconAPI.InitOCT(proc, 0);
HalconAPI.InitOCT(proc, 1);
int err1 = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(genParamName);
HalconAPI.UnpinTuple(genParamValue);
int err2 = this.Load(proc, 2, err1);
HPose hpose;
int err3 = HPose.LoadNew(proc, 0, err2, out hpose);
int procResult = HTuple.LoadNew(proc, 1, HTupleType.DOUBLE, err3, out score);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
GC.KeepAlive((object)surfaceModelID);
GC.KeepAlive((object)objectModel3D);
return(hpose);
}
/// <summary>
/// Find the best matches of a 3D shape model in an image.
/// Instance represents: Handle of the 3D shape model.
/// </summary>
/// <param name="image">Input image in which the model should be found.</param>
/// <param name="minScore">Minimum score of the instances of the model to be found. Default: 0.7</param>
/// <param name="greediness">"Greediness" of the search heuristic (0: safe but slow; 1: fast but matches may be missed). Default: 0.9</param>
/// <param name="numLevels">Number of pyramid levels used in the matching (and lowest pyramid level to use if $|NumLevels| = 2$). Default: 0</param>
/// <param name="genParamName">Names of (optional) parameters for controlling the behavior of the operator. Default: []</param>
/// <param name="genParamValue">Values of the optional generic parameters. Default: []</param>
/// <param name="covPose">6 standard deviations or 36 covariances of the pose parameters.</param>
/// <param name="score">Score of the found instances of the 3D shape model.</param>
/// <returns>3D pose of the 3D shape model.</returns>
public HPose[] FindShapeModel3d(
HImage image,
double minScore,
double greediness,
HTuple numLevels,
HTuple genParamName,
HTuple genParamValue,
out HTuple covPose,
out HTuple score)
{
IntPtr proc = HalconAPI.PreCall(1058);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HObjectBase)image);
HalconAPI.StoreD(proc, 1, minScore);
HalconAPI.StoreD(proc, 2, greediness);
HalconAPI.Store(proc, 3, numLevels);
HalconAPI.Store(proc, 4, genParamName);
HalconAPI.Store(proc, 5, genParamValue);
HalconAPI.InitOCT(proc, 0);
HalconAPI.InitOCT(proc, 1);
HalconAPI.InitOCT(proc, 2);
int err1 = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(numLevels);
HalconAPI.UnpinTuple(genParamName);
HalconAPI.UnpinTuple(genParamValue);
HTuple tuple;
int err2 = HTuple.LoadNew(proc, 0, err1, out tuple);
int err3 = HTuple.LoadNew(proc, 1, HTupleType.DOUBLE, err2, out covPose);
int procResult = HTuple.LoadNew(proc, 2, HTupleType.DOUBLE, err3, out score);
HalconAPI.PostCall(proc, procResult);
HPose[] hposeArray = HPose.SplitArray(tuple);
GC.KeepAlive((object)this);
GC.KeepAlive((object)image);
return(hposeArray);
}
/// <summary>
/// Create a descriptor model for calibrated perspective matching.
/// Modified instance represents: The handle to the descriptor model.
/// </summary>
/// <param name="template">Input image whose domain will be used to create the model.</param>
/// <param name="camParam">The parameters of the internal orientation of the camera.</param>
/// <param name="referencePose">The reference pose of the object in the reference image.</param>
/// <param name="detectorType">The type of the detector. Default: "lepetit"</param>
/// <param name="detectorParamName">The detector's parameter names. Default: []</param>
/// <param name="detectorParamValue">Values of the detector's parameters. Default: []</param>
/// <param name="descriptorParamName">The descriptor's parameter names. Default: []</param>
/// <param name="descriptorParamValue">Values of the descriptor's parameters. Default: []</param>
/// <param name="seed">The seed for the random number generator. Default: 42</param>
public void CreateCalibDescriptorModel(
HImage template,
HCamPar camParam,
HPose referencePose,
string detectorType,
HTuple detectorParamName,
HTuple detectorParamValue,
HTuple descriptorParamName,
HTuple descriptorParamValue,
int seed)
{
this.Dispose();
IntPtr proc = HalconAPI.PreCall(952);
HalconAPI.Store(proc, 1, (HObjectBase)template);
HalconAPI.Store(proc, 0, (HData)camParam);
HalconAPI.Store(proc, 1, (HData)referencePose);
HalconAPI.StoreS(proc, 2, detectorType);
HalconAPI.Store(proc, 3, detectorParamName);
HalconAPI.Store(proc, 4, detectorParamValue);
HalconAPI.Store(proc, 5, descriptorParamName);
HalconAPI.Store(proc, 6, descriptorParamValue);
HalconAPI.StoreI(proc, 7, seed);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)camParam));
HalconAPI.UnpinTuple((HTuple)((HData)referencePose));
HalconAPI.UnpinTuple(detectorParamName);
HalconAPI.UnpinTuple(detectorParamValue);
HalconAPI.UnpinTuple(descriptorParamName);
HalconAPI.UnpinTuple(descriptorParamValue);
int procResult = this.Load(proc, 0, err);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
GC.KeepAlive((object)template);
}
/// <summary>
/// Initializes all status flags and objects to set up
/// this image for the calibration process
/// </summary>
/// <param name="img">Calibration image</param>
/// <param name="assist">Reference to the Calibration Assistant</param>
public CalibImage(HImage img, CalibrationAssistant assist)
{
string tmp;
mImage = img;
mAssistant = assist;
mCanCalib = 1; //labeled as 'for not having been evaluated'
mPlateStatus = CalibrationAssistant.PS_NOT_FOUND; // "No Plate found" yet
mImage.GetImagePointer1(out tmp, out mWidth, out mHeight);
mEstimatedPlateSize = 0;
mErrorMessage = "";
// initialize all instances
mCaltabRegion = new HRegion();
mMarkCenter = new HXLDCont();
mEstimatedWCS = new HObject();
mQualityIssuesList = new ArrayList(15);
mMarkCenterRows = new HTuple();
mMarkCenterCols = new HTuple();
mEstimatedPose = new HPose();
}
private void btnCalib_Click(object sender, EventArgs e)
{
try
{
this.CameraParam = new HTuple(double.Parse(this.tbxFocus.Text), double.Parse(this.tbxKappa.Text), double.Parse(this.tbxSx.Text),
double.Parse(this.tbxSy.Text), double.Parse(this.tbxCx.Text), double.Parse(this.tbxCy.Text), int.Parse(this.tbxWidth.Text),
int.Parse(this.tbxHeight.Text));
this.hv_WorldX = new HTuple();
this.hv_WorldY = new HTuple();
this.hv_WorldZ = new HTuple();
this.hv_ImageRow = new HTuple();
this.hv_ImageColumn = new HTuple();
foreach (DataRow dr in this.CalData.Rows)
{
this.hv_WorldX = this.hv_WorldX.TupleConcat((double)dr["x"]);
this.hv_WorldY = this.hv_WorldY.TupleConcat((double)dr["y"]);
this.hv_WorldZ = this.hv_WorldZ.TupleConcat((double)dr["z"]);
this.hv_ImageRow = this.hv_ImageRow.TupleConcat((double)dr["r"]);
this.hv_ImageColumn = this.hv_ImageColumn.TupleConcat((double)dr["c"]);
}
this.Pose = HImage.VectorToPose(this.hv_WorldX, this.hv_WorldY, this.hv_WorldZ, this.hv_ImageRow, this.hv_ImageColumn, this.CameraParam,
"planar_analytic", "error", out this.error);
this.tbxTx.Text = this.Pose[0].D.ToString(CultureInfo.InvariantCulture);
this.tbxTy.Text = this.Pose[1].D.ToString(CultureInfo.InvariantCulture);
this.tbxTz.Text = this.Pose[2].D.ToString(CultureInfo.InvariantCulture);
this.tbxAlpha.Text = this.Pose[3].D.ToString(CultureInfo.InvariantCulture);
this.tbxBeta.Text = this.Pose[4].D.ToString(CultureInfo.InvariantCulture);
this.tbxGamma.Text = this.Pose[5].D.ToString(CultureInfo.InvariantCulture);
this.tbxType.Text = this.Pose[6].I.ToString();
this.tbxError.Text = this.Error.ToString(CultureInfo.InvariantCulture);
}
catch (Exception ex)
{
MessageBox.Show("出现错误：" + ex.Message, "错误信息", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
private void init()
{
//default value
CanCalibFlag = 1; //labeled as 'for not having been evaluated'
PlateStatus = CalibrationAssistant.PS_NOT_FOUND; // "No Plate found" yet
_mEstimatedPlateSize = 0;
ErrorMessage = "";
//Image width and height
string tmp;
_mImage.GetImagePointer1(out tmp, out Width, out Height);
// initialize all instances
_mCaltabRegion = new HRegion();
_mMarkCenter = new HXLDCont();
_mEstimatedWCS = new HObject();
_mQualityIssuesList = new ArrayList(15);
_mMarkCenterRows = new HTuple();
_mMarkCenterCols = new HTuple();
_mEstimatedPose = new HPose();
}
/// <summary>
/// Initializes all status flags and objects to set up
/// this image for the calibration process
/// </summary>
/// <param name="img">Calibration image</param>
/// <param name="assist">Reference to the Calibration Assistant</param>
public CalibImage(HImage img, CalibrationAssistant assist)
{
string tmp;
mImage = img;
mAssistant = assist;
mCanCalib = 1; //labeled as 'for not having been evaluated'
mPlateStatus = CalibrationAssistant.PS_NOT_FOUND;// "No Plate found" yet
mImage.GetImagePointer1(out tmp, out mWidth, out mHeight);
mEstimatedPlateSize = 0;
mErrorMessage = "";
// initialize all instances
mCaltabRegion = new HRegion();
mMarkCenter = new HXLDCont();
mEstimatedWCS = new HObject();
mQualityIssuesList = new ArrayList(15);
mMarkCenterRows = new HTuple();
mMarkCenterCols = new HTuple();
mEstimatedPose = new HPose ();
}
private void init()
{
//default value
CanCalibFlag = 1; //labeled as 'for not having been evaluated'
PlateStatus = CalibrationAssistant.PS_NOT_FOUND;// "No Plate found" yet
_mEstimatedPlateSize = 0;
ErrorMessage = "";
//Image width and height
string tmp;
_mImage.GetImagePointer1(out tmp, out Width, out Height);
// initialize all instances
_mCaltabRegion = new HRegion();
_mMarkCenter = new HXLDCont();
_mEstimatedWCS = new HObject();
_mQualityIssuesList = new ArrayList(15);
_mMarkCenterRows = new HTuple();
_mMarkCenterCols = new HTuple();
_mEstimatedPose = new HPose();
}
