コード例 #1
0
        public static Points_3D Union_object_model_3d(HTuple model)
        {
            HTuple unionedModel;

            HOperatorSet.UnionObjectModel3d(model, "points_surface", out unionedModel);
            Points_3D points_3D = new Points_3D(unionedModel);

            HOperatorSet.ClearObjectModel3d(unionedModel);
            return(points_3D);
        }
コード例 #2
0
        /**写代码注意事项:
         * 0. 生成的临时的模型Htuple 需要及时释放
         * **/


        /**采样
        * **/
        private static Points_3D Sample_object_model_3d(HTuple model, SampleMethord methord = SampleMethord.accurate, double sampleDistance = 1, SampleParams para = SampleParams.min_num_points, int minNumPoints = 1)
        {
            HTuple m = BaseMethord.Enum2Htuple(methord);
            HTuple p = BaseMethord.Enum2Htuple(para);
            HTuple sampledModel;

            HOperatorSet.SampleObjectModel3d(model, m, sampleDistance, p, minNumPoints, out sampledModel);
            Points_3D points_3D = new Points_3D(sampledModel);

            HOperatorSet.ClearObjectModel3d(sampledModel);
            return(points_3D);
        }
コード例 #3
0
        /**全局注册
         * 返回一个融合好的模型
         * **/
        public Points_3D Register_object_model_3d_global()
        {
            HTuple HomMat3DRefined, Score;
            HTuple modelHandle = GetModels();
            HTuple poseHandle  = Pose2Mat();

            HOperatorSet.RegisterObjectModel3dGlobal(modelHandle, poseHandle, "previous",
                                                     new HTuple(), Enum2Htuple(GenParamName.max_num_iterations), 1, out HomMat3DRefined, out Score);
            HTuple    affinedModel  = HalconWrapper.Affine_trans_object_model_3d(modelHandle, HomMat3DRefined);
            Points_3D unionedPoints = HalconWrapper.Union_object_model_3d(affinedModel);

            HOperatorSet.ClearObjectModel3d(affinedModel);
            return(unionedPoints);
        }
コード例 #4
0
 /**释放点云
  * **/
 public void Dispose()
 {
     //清除点
     HOperatorSet.ClearObjectModel3d(this.Pointclouds);
 }
コード例 #5
0
ファイル: Form1.cs プロジェクト: catchbest/ksjscz_3d
        private unsafe void GvspThread()
        {
            int  nRet       = 0;
            uint uiGvspport = 0xcbbb;
            uint uiGvspsize = 0;

            KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd00, uiGvspport);
            KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspPort(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspport);
            KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xd04, ref uiGvspsize);
            KSJGigeVisionApi.KSJGIGEVISION_CameraSetGvspSize(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)uiGvspsize);

            uint nColSize = 0;
            uint nRowSize = 0;
            uint nType    = 0;

            KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x100, ref nColSize);
            KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x104, ref nRowSize);
            KSJGigeVisionApi.KSJGIGEVISION_ReadRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0xb000, ref nType);
            byte[] pImageData = new byte[nColSize * nRowSize * 8];
            KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 1);
            decimal fProfiley;

            fProfiley = YnumericUpDown.Value;
            float fZmapLow  = (float)(Math.Round(LownumericUpDown.Value * 100)) / 100;
            float fZmapHigh = (float)(Math.Round(HighnumericUpDown.Value * 100)) / 100;
            float unit      = (fZmapHigh - fZmapLow) / 255;
            int   nWidth    = (int)nColSize;
            int   nHeight   = (int)nRowSize;
            int   nCount    = 0;

            float[] profile;
            float[] profilex;
            profile  = new float[nColSize * nRowSize];
            profilex = new float[nColSize * nRowSize];
            Graphics g;
            int      i = 0, j;
            Point    p1    = new Point(0, 0);
            Point    p2    = new Point(0, 0);
            int      Index = 0;

            byte[] idata = new byte[nColSize * nRowSize];
            Bitmap bitmap;

            float fy = (float)(Math.Round(YnumericUpDown.Value * 100)) / 100;

            float[] hPx = new float[nColSize * nHeight];
            float[] hPy = new float[nColSize * nHeight];
            float[] hPz = new float[nColSize * nHeight];
            HObject Hobjx = null, Hobjy = null, Hobjz = null;
            HTuple  ObjectModel3DID = null;
            IntPtr  ptrdata         = Marshal.AllocHGlobal(nWidth * nHeight * 4);

            HTuple camParam = 0;

            //CamParam := [0.01,0,7e-6,7e-6,352,288,710,576]
            camParam[0] = 0.01;
            camParam[1] = 0;
            camParam[2] = 7e-6;
            camParam[3] = 7e-6;
            camParam[4] = 352;
            camParam[5] = 288;
            camParam[6] = 710;
            camParam[7] = 576;

            HTuple Pose = 0;

            HOperatorSet.CreatePose(-14.1079, -27.3273, 207.606, 175.064, 1.5805, 269.28, "Rp+T", "gba", "point", out Pose);

            HTuple GenParamName = 0;

            //GenParamName := ['color','disp_pose','alpha','intensity']
            GenParamName[0] = "color";
            GenParamName[1] = "disp_pose";
            GenParamName[2] = "alpha";
            GenParamName[3] = "intensity";
            HTuple GenParamValue = 0;

            //GenParamValue := ['green','false',0.8,'none']
            GenParamValue[0] = "green";
            GenParamValue[1] = "false";
            GenParamValue[2] = 0.8;
            GenParamValue[3] = "none";

            while (true)
            {
                if (exitEvent.WaitOne(0))
                {
                    KSJGigeVisionApi.KSJGIGEVISION_WriteRegister(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], 0x124, 0);
                    break;
                }

                nRet = KSJGigeVisionApi.KSJGIGEVISION_CameraGet3DGvspData(CamareIndex[m_nDeviceCurSel, 0], CamareIndex[m_nDeviceCurSel, 1], (int)nType, pImageData, ref nWidth, ref nHeight); //采集相机一帧
                if (nRet == 1)                                                                                                                                                                //采集成功
                {
                    if (nType == 0)                                                                                                                                                           //gray
                    {
                        bitmap = ToGrayBitmap(pImageData, nWidth, nHeight);
                        this.PictureBox_PREVIEWWND.Image = bitmap;
                    }
                    else if (nType == 1)//profile
                    {
                        for (i = 0; i < nWidth; i++)
                        {
                            profile[i] = BitConverter.ToSingle(pImageData, i * 4);
                        }
                        for (i = 0; i < nWidth; i++)
                        {
                            profilex[i] = BitConverter.ToSingle(pImageData, (i + nWidth) * 4);
                        }
                        bitmap = new Bitmap(nWidth, 256);
                        g      = Graphics.FromImage(bitmap);
                        g.Clear(Color.Black);
                        for (i = 1; i < nWidth; ++i)//绘制图片
                        {
                            if (profile[i - 1] != -1000 && profile[i] != -1000 && profilex[i - 1] > 0 && profilex[i] > 0)
                            {
                                p1.X = (int)(profilex[i - 1] * 1280 / 50);
                                p1.Y = (int)(256 - profile[i - 1] * 256 / 10);
                                p2.X = (int)(profilex[i] * 1280 / 50);
                                p2.Y = (int)(256 - profile[i] * 256 / 10);
                                g.DrawLine(new Pen(Color.White, 1), p1, p2);
                            }
                        }

                        this.PictureBox_PREVIEWWND.Image = bitmap;
                        g.Dispose();
                    }
                    else if (nType == 2)//3d
                    {
                        nCount = nWidth * nHeight;
                        for (i = 0; i < nCount; i++)
                        {
                            profile[i] = BitConverter.ToSingle(pImageData, i * 4);
                        }
                        for (i = 0; i < nCount; i++)
                        {
                            profilex[i] = BitConverter.ToSingle(pImageData, (i + nCount) * 4);
                        }

                        Index = 0;
                        for (i = 0; i < nHeight; ++i)
                        {
                            for (j = 0; j < nWidth; ++j)
                            {
                                if (profile[Index] <= fZmapHigh && profile[Index] >= fZmapLow)
                                {
                                    idata[Index] = (byte)((profile[Index] - fZmapLow) / unit + 0.5);
                                }
                                else
                                {
                                    idata[Index] = 0;
                                }

                                ++Index;
                            }
                        }

                        bitmap = ToGrayBitmap(idata, nWidth, nHeight);
                        this.PictureBox_PREVIEWWND.Image = bitmap;

                        for (i = 0; i < nHeight; ++i)
                        {
                            for (j = 0; j < nWidth; ++j)
                            {
                                if (profilex[i * nWidth + j] == -1000)
                                {
                                    profilex[i * nWidth + j] = 0.04f * j;
                                    profile[i * nWidth + j]  = 0;
                                }
                                hPx[i * nWidth + j] = profilex[i * nWidth + j];
                                hPz[i * nWidth + j] = profile[i * nWidth + j];
                                hPy[i * nWidth + j] = fy * i;
                            }
                        }

                        bool bCheck1 = checksavefile.Checked;
                        if (bCheck1)
                        {
                            int len = nHeight * nWidth;
                            WriteFile("X", hPx, len);
                            WriteFile("Y", hPy, len);
                            WriteFile("Z", hPz, len);
                            checksavefile.Checked = false;
                        }
                        Marshal.Copy(hPx, 0, ptrdata, nWidth * nHeight);
                        HOperatorSet.GenImage1(out Hobjx, "real", nWidth, nHeight, ptrdata);
                        Marshal.Copy(hPy, 0, ptrdata, nWidth * nHeight);
                        HOperatorSet.GenImage1(out Hobjy, "real", nWidth, nHeight, ptrdata);
                        Marshal.Copy(hPz, 0, ptrdata, nWidth * nHeight);
                        HOperatorSet.GenImage1(out Hobjz, "real", nWidth, nHeight, ptrdata);

                        HOperatorSet.XyzToObjectModel3d(Hobjx, Hobjy, Hobjz, out ObjectModel3DID);
                        HOperatorSet.PrepareObjectModel3d(ObjectModel3DID, "segmentation", "true", "distance_to", "auto");

                        //HOperatorSet.DispObjectModel3d(this.hWindowControl1.HalconWindow, ObjectModel3DID, camParam, Pose, GenParamName, GenParamValue);
                        Hobjx.Dispose();
                        Hobjy.Dispose();
                        Hobjz.Dispose();
                        HOperatorSet.ClearObjectModel3d(ObjectModel3DID);

                        bool bCheck = SavecheckBox.Checked;
                        if (bCheck)
                        {
                            FileStream fs   = new FileStream("test.pcd", FileMode.Create);
                            string     temp = "# .PCD v0.7 - Point Cloud Data file format\n";
                            byte[]     data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "VERSION 0.7\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "FIELDS x y z\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "SIZE 4 4 4\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "TYPE F F F\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "COUNT 1 1 1\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = string.Format("WIDTH {0}\n", nColSize);
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = string.Format("HEIGHT {0}\n", nRowSize);
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "VIEWPOINT 0 0 0 1 0 0 0\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = string.Format("POINTS {0}\n", nCount);
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);
                            temp = "DATA ascii\n";
                            data = System.Text.Encoding.Default.GetBytes(temp);
                            fs.Write(data, 0, data.Length);

                            for (i = 0; i < nCount; i++)
                            {
                                if (i != nCount - 1)
                                {
                                    if (profilex[i] == -1000)
                                    {
                                        temp = "nan nan nan\n";
                                    }
                                    else
                                    {
                                        temp = string.Format("{0:N5} {1:N5} {2:N5}\n", profilex[i], fProfiley * (i / 1280), profile[i]);
                                    }
                                }
                                else
                                {
                                    if (profilex[i] == -1000)
                                    {
                                        temp = "nan nan nan";
                                    }
                                    else
                                    {
                                        temp = string.Format("{0:N5} {1:N5} {2:N5}", profilex[i], fProfiley * (i / 1280), profile[i]);
                                    }
                                }

                                data = System.Text.Encoding.Default.GetBytes(temp);
                                fs.Write(data, 0, data.Length);
                            }
                            //清空缓冲区、关闭流
                            fs.Flush();
                            fs.Close();
                        }
                    }
                }
            }
        }