public static void Store(IntPtr proc, int parIndex, HData[] data)
{
if (data == null)
{
data = new HData[0];
}
HalconAPI.Store(proc, parIndex, HData.ConcatArray(data));
}
/// <summary>
/// Set the pose of an instance in a 3D scene.
/// Instance represents: Handle of the 3D scene.
/// </summary>
/// <param name="instanceIndex">Index of the instance.</param>
/// <param name="pose">New pose of the instance.</param>
public void SetScene3dInstancePose(HTuple instanceIndex, HPose[] pose)
{
HTuple htuple = HData.ConcatArray((HData[])pose);
IntPtr proc = HalconAPI.PreCall(1208);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, instanceIndex);
HalconAPI.Store(proc, 2, htuple);
int procResult = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(instanceIndex);
HalconAPI.UnpinTuple(htuple);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
}
/// <summary>Convert a 3D pose to a unit dual quaternion.</summary>
/// <param name="pose">3D pose.</param>
/// <returns>Unit dual quaternion.</returns>
public static HDualQuaternion[] PoseToDualQuat(HPose[] pose)
{
HTuple htuple = HData.ConcatArray((HData[])pose);
IntPtr proc = HalconAPI.PreCall(2080);
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(HDualQuaternion.SplitArray(tuple));
}
/// <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>Multiply two dual quaternions.</summary>
/// <param name="dualQuaternionLeft">Left dual quaternion.</param>
/// <param name="dualQuaternionRight">Right dual quaternion.</param>
/// <returns>Product of the dual quaternions.</returns>
public static HDualQuaternion[] DualQuatCompose(
HDualQuaternion[] dualQuaternionLeft,
HDualQuaternion[] dualQuaternionRight)
{
HTuple htuple1 = HData.ConcatArray((HData[])dualQuaternionLeft);
HTuple htuple2 = HData.ConcatArray((HData[])dualQuaternionRight);
IntPtr proc = HalconAPI.PreCall(2059);
HalconAPI.Store(proc, 0, htuple1);
HalconAPI.Store(proc, 1, htuple2);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(htuple1);
HalconAPI.UnpinTuple(htuple2);
HTuple tuple;
int procResult = HTuple.LoadNew(proc, 0, err, out tuple);
HalconAPI.PostCall(proc, procResult);
return(HDualQuaternion.SplitArray(tuple));
}
/// <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)
{
HTuple htuple1 = HTool.ConcatArray((HTool[])objectModel3D);
HTuple htuple2 = HData.ConcatArray((HData[])pose);
IntPtr proc = HalconAPI.PreCall(1217);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, htuple1);
HalconAPI.Store(proc, 2, htuple2);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple(htuple1);
HalconAPI.UnpinTuple(htuple2);
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);
}