/// <summary>
/// Convert a homogeneous transformation matrix into a 3D pose.
/// Instance represents: Homogeneous transformation matrix.
/// </summary>
/// <returns>Equivalent 3D pose.</returns>
public HPose HomMat3dToPose()
{
IntPtr proc = HalconAPI.PreCall(1934);
this.Store(proc, 0);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
this.UnpinTuple();
HPose hpose;
int procResult = HPose.LoadNew(proc, 0, err, out hpose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hpose);
}
/// <summary>
/// Get observed calibration object poses from a calibration data model.
/// Instance represents: Handle of a calibration data model.
/// </summary>
/// <param name="cameraIdx">Index of the observing camera. Default: 0</param>
/// <param name="calibObjIdx">Index of the observed calibration object. Default: 0</param>
/// <param name="calibObjPoseIdx">Index of the observed calibration object pose. Default: 0</param>
/// <returns>Stored observed calibration object pose relative to the observing camera.</returns>
public HPose GetCalibDataObservPose(int cameraIdx, int calibObjIdx, int calibObjPoseIdx)
{
IntPtr proc = HalconAPI.PreCall(1972);
this.Store(proc, 0);
HalconAPI.StoreI(proc, 1, cameraIdx);
HalconAPI.StoreI(proc, 2, calibObjIdx);
HalconAPI.StoreI(proc, 3, calibObjPoseIdx);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HPose hpose;
int procResult = HPose.LoadNew(proc, 0, err, out hpose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hpose);
}
/// <summary>
/// Return the contour representation of a 3D shape model view.
/// Instance represents: Handle of the 3D shape model.
/// </summary>
/// <param name="level">Pyramid level for which the contour representation should be returned. Default: 1</param>
/// <param name="view">View for which the contour representation should be returned. Default: 1</param>
/// <param name="viewPose">3D pose of the 3D shape model at the current view.</param>
/// <returns>Contour representation of the model view.</returns>
public HXLDCont GetShapeModel3dContours(int level, int view, out HPose viewPose)
{
IntPtr proc = HalconAPI.PreCall(1056);
this.Store(proc, 0);
HalconAPI.StoreI(proc, 1, level);
HalconAPI.StoreI(proc, 2, view);
HalconAPI.InitOCT(proc, 1);
HalconAPI.InitOCT(proc, 0);
int err1 = HalconAPI.CallProcedure(proc);
HXLDCont hxldCont;
int err2 = HXLDCont.LoadNew(proc, 1, err1, out hxldCont);
int procResult = HPose.LoadNew(proc, 0, err2, out viewPose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hxldCont);
}
/// <summary>
/// Transform a pose that refers to the coordinate system of a 3D object model to a pose that refers to the reference coordinate system of a 3D shape model and vice versa.
/// Instance represents: Handle of the 3D shape model.
/// </summary>
/// <param name="poseIn">Pose to be transformed in the source system.</param>
/// <param name="transformation">Direction of the transformation. Default: "ref_to_model"</param>
/// <returns>Transformed 3D pose in the target system.</returns>
public HPose TransPoseShapeModel3d(HPose poseIn, string transformation)
{
IntPtr proc = HalconAPI.PreCall(1054);
this.Store(proc, 0);
HalconAPI.Store(proc, 1, (HData)poseIn);
HalconAPI.StoreS(proc, 2, transformation);
HalconAPI.InitOCT(proc, 0);
int err = HalconAPI.CallProcedure(proc);
HalconAPI.UnpinTuple((HTuple)((HData)poseIn));
HPose hpose;
int procResult = HPose.LoadNew(proc, 0, err, out hpose);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
return(hpose);
}
/// <summary>
/// Find the best matches of a surface model in a 3D scene and 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="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 FindSurfaceModelImage(
HImage image,
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(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.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)image);
GC.KeepAlive((object)surfaceModelID);
GC.KeepAlive((object)objectModel3D);
return(hpose);
}
/// <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 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,
double minScore,
int numMatches,
HCamPar camParam,
string scoreType,
out double 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.StoreD(proc, 5, minScore);
HalconAPI.StoreI(proc, 6, numMatches);
HalconAPI.Store(proc, 7, (HData)camParam);
HalconAPI.StoreS(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((HTuple)((HData)camParam));
HPose hpose;
int err2 = HPose.LoadNew(proc, 0, err1, out hpose);
int procResult = HalconAPI.LoadD(proc, 1, err2, out score);
HalconAPI.PostCall(proc, procResult);
GC.KeepAlive((object)this);
GC.KeepAlive((object)image);
return(hpose);
}