public static HSurfaceModel Deserialize(Stream stream)
{
HSurfaceModel hsurfaceModel = new HSurfaceModel();
hsurfaceModel.DeserializeSurfaceModel(HSerializedItem.Deserialize(stream));
return(hsurfaceModel);
}
public HSurfaceModel Clone()
{
HSerializedItem serializedItemHandle = this.SerializeSurfaceModel();
HSurfaceModel hsurfaceModel = new HSurfaceModel();
hsurfaceModel.DeserializeSurfaceModel(serializedItemHandle);
serializedItemHandle.Dispose();
return(hsurfaceModel);
}
internal static int LoadNew(IntPtr proc, int parIndex, int err, out HSurfaceModel[] obj)
{
HTuple tuple;
err = HTuple.LoadNew(proc, parIndex, err, out tuple);
obj = new HSurfaceModel[tuple.Length];
for (int index = 0; index < tuple.Length; ++index)
{
obj[index] = new HSurfaceModel(tuple[index].IP);
}
return(err);
}
/// <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>
/// 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);
}
internal static int LoadNew(IntPtr proc, int parIndex, int err, out HSurfaceModel obj)
{
obj = new HSurfaceModel(HTool.UNDEF);
return(obj.Load(proc, parIndex, err));
}
