/// <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>
/// 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>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>
/// 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);
}
