// -- following by relative HObject converter codes
/// <summary>
/// Convert Bitmap to HObject which Halcon dot net data type
/// </summary>
/// <param name="input"></param>
/// <returns></returns>
public static HalconDotNet.HObject Bitmap2Hobject(System.Drawing.Bitmap input)
{
if (input == null)
{
return(new HalconDotNet.HObject());
}
try
{
System.Drawing.Rectangle rect = new System.Drawing.Rectangle(0, 0, input.Width, input.Height);
HalconDotNet.HObject himg = new HalconDotNet.HObject();
if (input.PixelFormat == System.Drawing.Imaging.PixelFormat.Format8bppIndexed)
{
System.Drawing.Imaging.BitmapData srcBmpData = input.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
HalconDotNet.HOperatorSet.GenImage1(out himg, "byte", input.Width, input.Height, srcBmpData.Scan0);
input.UnlockBits(srcBmpData);
}
else if (input.PixelFormat == System.Drawing.Imaging.PixelFormat.Format24bppRgb)
{
System.Drawing.Imaging.BitmapData srcBmpData = input.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
HalconDotNet.HOperatorSet.GenImageInterleaved(out himg, srcBmpData.Scan0, "bgr", input.Width, input.Height, -1, "byte", 0, 0, 0, 0, -1, 0);
input.UnlockBits(srcBmpData);
}
else if (input.PixelFormat == System.Drawing.Imaging.PixelFormat.Format32bppArgb)
{
System.Drawing.Imaging.BitmapData srcBmpData = input.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadOnly, input.PixelFormat);
HalconDotNet.HOperatorSet.GenImageInterleaved(out himg, srcBmpData.Scan0, "bgrx", input.Width, input.Height, -1, "byte", input.Width, input.Height, 0, 0, -1, 0);
input.UnlockBits(srcBmpData);
}
else // default: trans to color image
{
System.Drawing.Imaging.BitmapData srcBmpData = null;
System.Drawing.Bitmap MetaBmp = new System.Drawing.Bitmap(input.Width, input.Height, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
System.Drawing.Graphics g = System.Drawing.Graphics.FromImage(MetaBmp);
g.DrawImage(input, rect);
g.Dispose();
srcBmpData = MetaBmp.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format24bppRgb);
HalconDotNet.HOperatorSet.GenImageInterleaved(out himg, srcBmpData.Scan0, "bgr", input.Width, input.Height, -1, "byte", 0, 0, 0, 0, -1, 0);
MetaBmp.UnlockBits(srcBmpData);
}
return(himg);
}
catch (HalconDotNet.HalconException ex)
{
Console.WriteLine("In ImageTypeConverter.Bitmap2Hobject: " + ex.Message);
return(null);
}
catch (System.Exception ex)
{
Console.WriteLine("In ImageTypeConverter.Bitmap2Hobject: " + ex.Message);
return(null);
}
}
public override void AddIconicVar(HalconDotNet.HObject hobj)
{
lock (_SyntRoot)
{
if (hobj is HalconDotNet.HImage)
{
ClearAndDisposeEntries();
}
base.AddIconicVar(hobj);
hobjectArray.Add(hobj);
}
}
//取流回调函数
private void ImageCallBack(object sender, TIS.Imaging.ICImagingControl.ImageAvailableEventArgs e)
{
try
{
//Trace.WriteLine(string.Format("触发回调 = {0}", DateTime.Now.ToString("HH:mm:ss:fff")));
TIS.Imaging.ImageBuffer CurrentBuffer = null;
CurrentBuffer = m_ImageControl.ImageBuffers[e.bufferIndex];
bmp_image1 = CurrentBuffer.Bitmap;
ho_image1 = Bitmap2HObject(bmp_image1);
// bmp_image1
// ReturnImgEvent.Set();
//Trace.WriteLine(string.Format("获取图像 = {0}",DateTime.Now.ToString("HH:mm:ss:fff")));
if (bmp_image1 != null)
{
bool benableNew = false;
if (threadProcess1 == null)
{
benableNew = true;
}
else if (!threadProcess1.IsAlive)
{
benableNew = true;
}
if (benableNew)
{
threadProcess1 = new System.Threading.Thread(processCamera01);
threadProcess1.Start();
}
}
}
catch (Exception ex)
{
Trace.WriteLine(ex.Message + "回调失败！！！");
}
}
/// <summary>
/// Bitmap转HObject
/// </summary>
/// <param name="bmp">8位Bitmap</param>
/// <param name="hobj"></param>
/// <returns></returns>
private bool BitmapBpp8ToHObject(System.Drawing.Bitmap bmp, out HalconDotNet.HObject hobj)
{
bool rt = false;
HalconDotNet.HOperatorSet.GenEmptyObj(out hobj);
try
{
System.Drawing.Rectangle rect = new System.Drawing.Rectangle(0, 0, bmp.Width, bmp.Height);
System.Drawing.Imaging.BitmapData srcBmpData = bmp.LockBits(rect, System.Drawing.Imaging.ImageLockMode.ReadOnly, System.Drawing.Imaging.PixelFormat.Format8bppIndexed);
HalconDotNet.HOperatorSet.GenImage1(out hobj, "byte", bmp.Width, bmp.Height, srcBmpData.Scan0);
bmp.UnlockBits(srcBmpData);
rt = true;
}
catch
{
}
finally
{
}
return(rt);
}
static void dhDosome(Bitmap bmpImage, HalconDotNet.HObject hoIntsnsity)
{
//System.Windows.Forms.MessageBox.Show("in class jai say :hello!");
return;
}
private static void SetColorsInObjectModel3D(HalconDotNet.HTuple objectModel3D, HalconDotNet.HObject RGB, HalconDotNet.HObject zReduced)
{
var domain = new HalconDotNet.HObject();
var rows = new HalconDotNet.HTuple();
var cols = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.GetDomain(zReduced, out domain);
HalconDotNet.HOperatorSet.GetRegionPoints(domain, out rows, out cols);
var objectRed = new HalconDotNet.HObject();
var objectGreen = new HalconDotNet.HObject();
var objectBlue = new HalconDotNet.HObject();
HalconDotNet.HOperatorSet.AccessChannel(RGB, out objectRed, 1);
HalconDotNet.HOperatorSet.AccessChannel(RGB, out objectGreen, 1);
HalconDotNet.HOperatorSet.AccessChannel(RGB, out objectBlue, 1);
var tupleRed = new HalconDotNet.HTuple();
var tupleGreen = new HalconDotNet.HTuple();
var tupleBlue = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.GetGrayval(objectRed, rows, cols, out tupleRed);
HalconDotNet.HOperatorSet.GetGrayval(objectGreen, rows, cols, out tupleGreen);
HalconDotNet.HOperatorSet.GetGrayval(objectBlue, rows, cols, out tupleBlue);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "red", "points", tupleRed);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "green", "points", tupleGreen);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "blue", "points", tupleBlue);
}
static void Main()
{
try
{
Console.WriteLine("Connecting to camera");
var zividDevice = GetFirstAvailableZividDevice();
var framegrabber = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.OpenFramegrabber("GenICamTL",
1,
1,
0,
0,
0,
0,
"progressive",
-1,
"default",
-1,
"false",
"default",
zividDevice,
0,
0,
out framegrabber);
Console.WriteLine("Configuring 3D-settings");
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "create_objectmodel3d", "enable");
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "add_objectmodel3d_overlay_attrib", "enable");
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "AcquisitionMode", "SingleFrame");
Console.WriteLine("Configuring camera settings");
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "Aperture", 5.66);
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "ExposureTime", 8333);
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "Gain", 1);
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "ProcessingFiltersOutlierRemovalEnabled", 1);
HalconDotNet.HOperatorSet.SetFramegrabberParam(framegrabber, "ProcessingFiltersOutlierRemovalThreshold", 5);
Console.WriteLine("Capturing frame");
var frame = new HalconDotNet.HObject();
var region = new HalconDotNet.HObject();
var contours = new HalconDotNet.HObject();
var data = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.GrabData(out frame, out region, out contours, framegrabber, out data);
var x = frame.SelectObj(1);
var y = frame.SelectObj(2);
var z = frame.SelectObj(3);
var snr = frame.SelectObj(4);
var rgb = frame.SelectObj(5);
Console.WriteLine("Removing invalid 3D points (zeroes)");
var reducedRegion = new HalconDotNet.HObject();
var zReduced = new HalconDotNet.HObject();
HalconDotNet.HOperatorSet.Threshold(z, out reducedRegion, 0.0001, 10000);
HalconDotNet.HOperatorSet.ReduceDomain(z, reducedRegion, out zReduced);
Console.WriteLine("Constructing ObjetModel3D based on XYZ data");
var objectModel3D = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.XyzToObjectModel3d(x, y, zReduced, out objectModel3D);
Console.WriteLine("Adding RGB to ObjectModel3D");
SetColorsInObjectModel3D(objectModel3D, rgb, zReduced);
string pointCloudFile = "Zivid3D.ply";
Console.WriteLine("Saving point cloud to file: " + pointCloudFile);
SaveHalconPointCloud(objectModel3D, pointCloudFile);
}
catch (Exception ex)
{
Console.WriteLine("Error: " + ex.Message);
Environment.ExitCode = 1;
}
}
private bool BitmapToHObject(System.Drawing.Bitmap bmp, out HalconDotNet.HObject hobj)
{
bool rt = false;
HalconDotNet.HOperatorSet.GenEmptyObj(out hobj);
try
{
switch (bmp.PixelFormat)
{
case System.Drawing.Imaging.PixelFormat.Format16bppArgb1555:
break;
case System.Drawing.Imaging.PixelFormat.Format16bppGrayScale:
break;
case System.Drawing.Imaging.PixelFormat.Format16bppRgb555:
break;
case System.Drawing.Imaging.PixelFormat.Format16bppRgb565:
break;
case System.Drawing.Imaging.PixelFormat.Format1bppIndexed:
break;
case System.Drawing.Imaging.PixelFormat.Format24bppRgb:
if (BitmapBpp24ToHObject(bmp, out hobj))
{
rt = true;
}
break;
case System.Drawing.Imaging.PixelFormat.Format32bppArgb:
break;
case System.Drawing.Imaging.PixelFormat.Format32bppPArgb:
break;
case System.Drawing.Imaging.PixelFormat.Format32bppRgb:
break;
case System.Drawing.Imaging.PixelFormat.Format48bppRgb:
break;
case System.Drawing.Imaging.PixelFormat.Format4bppIndexed:
break;
case System.Drawing.Imaging.PixelFormat.Format64bppArgb:
break;
case System.Drawing.Imaging.PixelFormat.Format64bppPArgb:
break;
case System.Drawing.Imaging.PixelFormat.Format8bppIndexed:
if (BitmapBpp8ToHObject(bmp, out hobj))
{
rt = true;
}
break;
}
}
catch
{
}
finally
{
}
return(rt);
}
/// <summary>Sets the value of a global iconic variable</summary>
public void SetGlobalIconicVarObject(string name, HObject iconic)
{
HDevEngine.HCkE(EngineAPI.SetGlobalIconicVarObject(this.engine, name, iconic.Key));
GC.KeepAlive((object)iconic);
GC.KeepAlive((object)this);
}
/// <summary>
/// Create empty vector of specified dimension. In case of dimension
/// 0 a leaf vector for an empty object is created
/// </summary>
public HObjectVector(int dimension)
: base(dimension)
{
this.mObject = dimension <= 0 ? HObjectVector.GenEmptyObj() : (HObject)null;
}
public static int LoadNew(IntPtr proc, int parIndex, int err, out HObject obj)
{
obj = new HObject(HObjectBase.UNDEF);
return(obj.Load(proc, parIndex, err));
}
public HObject(HObject obj)
: base((HObjectBase)obj)
{
this.AssertObjectClass();
GC.KeepAlive((object)this);
}
public virtual void DevDisplay(HObject obj)
{
HOperatorSet.DispObj(obj, this.activeID);
}
private void _baslerCamera_eventProcessImage(HalconDotNet.HObject hImage)
{
ImageHelper.GenertateRGBBitmap(hImage,out Bitmap bitmap);
ShowImage = ImageHelper.BitmapToBitmapImage(bitmap);
}
