.vip域名做网站,检查网站死链接,借贷网站开发是否合法,网站排名优化服务商//在此之前可以先浏览我编写的通用上位机类#xff0c;更方便理解
https://blog.csdn.net/m0_51559565/article/details/134403745最近完成一个关于LMI激光三角#xff08;3D相机#xff09;采图的demo#xff0c;记录并说明用法。 先上代码。
using Lmi3d.GoSdk;
using L…//在此之前可以先浏览我编写的通用上位机类更方便理解
https://blog.csdn.net/m0_51559565/article/details/134403745最近完成一个关于LMI激光三角3D相机采图的demo记录并说明用法。 先上代码。
using Lmi3d.GoSdk;
using Lmi3d.Zen;
using System;
using System.Collections.Generic;
using HalconDotNet;
using Lmi3d.GoSdk.Messages;
using System.Runtime.InteropServices;
using System.IO;
using WeldingInspection.MyCamer;namespace WeldingInspection
{internal class LMISDK: MyBaseCamera{GoSensor MyLMICamer null;//创建LMI相机传感器对象GoSystem goSystem new GoSystem();//创建LMI系统信息Liststring LMICamerName new Liststring();//获取相机序列号HObject Himage3Dnew HObject();public LMISDK(){//KApiLib.Construct();激活API库//GoSdkLib.Construct();}/// summary/// 查找相机并输出序列号/// /summary/// returns/returnspublic override Liststring FindCamer(){long size goSystem.SensorCount;for (int i 0; i size; i){GoAddressInfo addressInfo goSystem.GetSensor(i).Address();LMICamerName.Add(goSystem.GetSensor(i).Id.ToString());}foreach (var item in LMICamerName){Console.WriteLine(当前连接相机有 item);}return LMICamerName;}/// summary/// 根据序列号开启相机/// /summary/// param nameCamerName/param/// returns/returnspublic override bool OpenCamer(string CamerName){uint LMIName;if (!uint.TryParse(CamerName,out LMIName)){return false;}if (LMICamerName.Count 0 MyLMICamer null){return false;}//关闭设备CloseCamer();//通过ID找到Gocator SensorMyLMICamer new GoSystem().FindSensorById(LMIName);MyLMICamer.Connect();//连接成功if (MyLMICamer.IsConnected()){MyLMICamer.EnableData(true);//开启允许相机采集//MyLMICamer.SetDataHandler(onData);//注册回调函数生成未标定的16位深度图//MyLMICamer.SetDataHandler(onData_GenTL);//注册回调函数获得GenTL图MyLMICamer.SetDataHandler(onData_Calib);//注册回调函数生成具有标定数据的16位深度图}else{Console.WriteLine(开启LMI相机失败);MyLMICamer null;return false;}return true;}/// summary/// 关闭相机/// /summary/// returns/returnspublic override bool CloseCamer(){try{if (MyLMICamer ! null){//停止采集MyLMICamer.Stop();return true;}return false;}catch (Exception ex){Console.WriteLine(相机停止采集异常, ex);return false;}}/// summary/// 相机重连/// /summary/// param nameCamerName/param/// returns/returnspublic override bool ReconnectCamer(string CamerName){uint LMIName;if (!uint.TryParse(CamerName, out LMIName)){return false;}if (LMICamerName.Count 0 MyLMICamer null){return false;}//关闭设备CloseCamer();//通过ID找到Gocator SensorMyLMICamer new GoSystem().FindSensorById(LMIName);MyLMICamer.Connect();//连接成功if (MyLMICamer.IsConnected()){MyLMICamer.EnableData(true);//开启允许相机采集//MyLMICamer.SetDataHandler(onData);//注册回调函数生成未标定的16位深度图//MyLMICamer.SetDataHandler(onData_GenTL);//注册回调函数获得GenTL图可以用于表面缺陷检测MyLMICamer.SetDataHandler(onData_Calib);//注册回调函数生成具有标定数据的16位深度图}else{Console.WriteLine(开启LMI相机失败);MyLMICamer null;return false;}return true;}/// summary/// 软触发一次/// /summary/// returns/returnspublic override bool OneGrap(){try{if (MyLMICamer.State GoState.Running){MyLMICamer.Stop();MyLMICamer.Start();}else{MyLMICamer.Start();}return true;}catch (Exception){return false;}}/// summary/// 设置硬触发/// /summary/// returns/returnspublic override bool EncoderGrap(){MyLMICamer.Setup.TriggerSource GoTrigger.Encoder;MyLMICamer.Flush();return true;}/// summary/// 将配置文件上传到相机中/// /summary/// param nameAddress文件所在绝对路径/param/// param nameFileName文件名称/param/// returns/returnspublic bool UpLoad_Camer_file(string Address,string FileName){try{MyLMICamer.Stop();MyLMICamer.UploadFile(Address, FileName);MyLMICamer.Flush();return true;}catch (Exception){return false;}}/// summary/// 输出高度信息以毫米mm为单位带标定结果/// /summary/// param namedata/parampublic void onData_Calib(KObject data){//x图HObject GenTL16BitRGBRedImage new HObject();//y图HObject GenTL16BitRGBGreenImage new HObject();//z图HObject GenTL16BitRGBBlueImage new HObject();try{GoDataSet dataSet (GoDataSet)data;for (uint i 0; i dataSet.Count; i){GoDataMsg dataObj (GoDataMsg)dataSet.Get(i);switch (dataObj.MessageType){case GoDataMessageType.UniformSurface:{GoUniformSurfaceMsg surfaceMsg (GoUniformSurfaceMsg)dataObj;//获取缓存的宽高surfaceBufferWidth surfaceMsg.Width;surfaceBufferLength surfaceMsg.Length;double xResolution (double)surfaceMsg.XResolution / 1000000;double yResolution (double)surfaceMsg.YResolution / 1000000;double zResolution (double)surfaceMsg.ZResolution / 1000000;Console.WriteLine(3d标定数据:X方向xResolutionY方向yResolution);//double xOffset (double)surfaceMsg.XOffset / 1000;//double yOffset (double)surfaceMsg.YOffset / 1000;double zOffset (double)surfaceMsg.ZOffset / 1000;IntPtr bufferPointeri surfaceMsg.Data;//short[] x new short[surfaceBufferLength * surfaceBufferWidth];//short[] y new short[surfaceBufferLength * surfaceBufferWidth];short[] z new short[surfaceBufferLength * surfaceBufferWidth];//声明存放surface的Buffer//short[] surfaceBuffer new short[surfaceBufferWidth * surfaceBufferLength];//将传感器给的值拷贝到我们声明的数组中Marshal.Copy(bufferPointeri, z, 0, Convert.ToInt32(surfaceBufferWidth * surfaceBufferLength));//for (short row 0; row surfaceBufferLength; row)//{// for (short col 0; col surfaceMsg.Width; col)// {// x[row * surfaceMsg.Width col] col;// y[row * surfaceMsg.Width col] row;// }//}//将传感器数据存储至生命的内存空间中// Marshal.Copy(bufferPointeri, surfaceBuffer, 0, surfaceBuffer.Length);unsafe{fixed (short* p z)HOperatorSet.GenImage1(out GenTL16BitRGBBlueImage, int2, surfaceBufferWidth, surfaceBufferLength, new IntPtr(p));//fixed (short* p x)// HOperatorSet.GenImage1(out GenTL16BitRGBRedImage, int2, surfaceBufferWidth, surfaceBufferLength, new IntPtr(p));//fixed (short* p y)// HOperatorSet.GenImage1(out GenTL16BitRGBGreenImage, int2, surfaceBufferWidth, surfaceBufferLength, new IntPtr(p));}//以下注释部分可生成三通道图像//HOperatorSet.ConvertImageType(GenTL16BitRGBRedImage, out GenTL16BitRGBRedImage, real);//HOperatorSet.ScaleImage(GenTL16BitRGBRedImage, out GenTL16BitRGBRedImage, xResolution, xOffset);//HOperatorSet.WriteImage(GenTL16BitRGBRedImage, new HTuple(tiff), new HTuple(0), E:\\UpperComputer\\LMI\\LMIHalconImage\\x.tiff);//HOperatorSet.ConvertImageType(GenTL16BitRGBGreenImage, out GenTL16BitRGBGreenImage, real);//HOperatorSet.ScaleImage(GenTL16BitRGBGreenImage, out GenTL16BitRGBGreenImage, yResolution, yOffset);//HOperatorSet.ScaleImage(GenTL16BitRGBGreenImage, out GenTL16BitRGBGreenImage, -1, 0);//HOperatorSet.WriteImage(GenTL16BitRGBGreenImage, new HTuple(tiff), new HTuple(0), E:\\UpperComputer\\LMI\\LMIHalconImage\\y.tiff);HOperatorSet.ConvertImageType(GenTL16BitRGBBlueImage, out GenTL16BitRGBBlueImage, real);HOperatorSet.ScaleImage(GenTL16BitRGBBlueImage, out Himage3D, zResolution, zOffset);//映射标定数据//HOperatorSet.WriteImage(Himage3D, new HTuple(tiff), new HTuple(0), E:\\UpperComputer\\LMI\\LMIHalconImage\\z.tiff);//HOperatorSet.Compose3(GenTL16BitRGBRedImage, GenTL16BitRGBGreenImage, GenTL16BitRGBBlueImage,out HObject Halcon3DImage);//HOperatorSet.WriteImage(Halcon3DImage, new HTuple(tiff), new HTuple(0), E:\\UpperComputer\\LMI\\LMIHalconImage\\3d.tiff);GetImage(Himage3D);}break;}}//生成3d模型//HOperatorSet.XyzToObjectModel3d(GenTL16BitRGBRedImage, GenTL16BitRGBGreenImage, GenTL16BitRGBBlueImage, out hv_ObjectModel3D);//HOperatorSet.WriteObjectModel3d(hv_ObjectModel3D, ply, E:\\UpperComputer\\LMI\\LMIHalconImage\\xyz.ply, new HTuple(), new HTuple());GenTL16BitRGBRedImage.Dispose();GenTL16BitRGBRedImage null;GenTL16BitRGBGreenImage.Dispose();GenTL16BitRGBGreenImage null;GenTL16BitRGBBlueImage.Dispose();GenTL16BitRGBBlueImage null;MyLMICamer.Stop();}catch{GenTL16BitRGBRedImage.Dispose();GenTL16BitRGBRedImage null;GenTL16BitRGBGreenImage.Dispose();GenTL16BitRGBGreenImage null;GenTL16BitRGBBlueImage.Dispose();GenTL16BitRGBBlueImage null;MyLMICamer.Stop();}Console.WriteLine(Environment.NewLine);}/// summary/// 设置曝光时间/// /summary/// param nameExposureTime/param/// returns/returnspublic override bool SetExposureTime(int ExposureTime){try{if (MyLMICamer.State GoState.Running){MyLMICamer.Stop();}MyLMICamer.Setup.SetExposure(MyLMICamer.Role, ExposureTime);MyLMICamer.Flush();return true;}catch (Exception){return false;}}#region // 生成不带标定数据的高度信息图/// summary/// 输出高度信息以纳米为单位。需要乘以分辨率/// /summary/// param namedata/parampublic void onData(KObject data){//高度图HObject GenTL16BitRGBRedImage new HObject();//亮度图HObject GenTL16BitRGBGreenImage new HObject();try{if (!Directory.Exists(E:\\UpperComputer)){Directory.CreateDirectory(E:\\UpperComputer);}GoDataSet dataSet (GoDataSet)data;for (uint i 0; i dataSet.Count; i){GoDataMsg dataObj (GoDataMsg)dataSet.Get(i);Console.WriteLine(dataObj.MessageType);switch (dataObj.MessageType){case GoDataMessageType.UniformSurface:{GoUniformSurfaceMsg surfaceMsg (GoUniformSurfaceMsg)dataObj;IntPtr bufferPointeri surfaceMsg.Data;//声明存放surface的Buffershort[] surfaceBuffer new short[surfaceMsg.Width * surfaceMsg.Length];//将传感器数据存储至生命的内存空间中Marshal.Copy(bufferPointeri, surfaceBuffer, 0, surfaceBuffer.Length);unsafe{fixed (short* p surfaceBuffer)HOperatorSet.GenImage1(out GenTL16BitRGBRedImage, int2, surfaceMsg.Width, surfaceMsg.Length, new IntPtr(p));}HOperatorSet.WriteImage(GenTL16BitRGBRedImage, tiff, 0, E:\\UpperComputer\\ height DateTime.Now.ToString(yyyymmdd-hhmmssfff) .tif);}break;case GoDataMessageType.SurfaceIntensity:{GoSurfaceIntensityMsg surfaceIntensityMsg (GoSurfaceIntensityMsg)dataObj;IntPtr bufferPointeri surfaceIntensityMsg.Data;//声明存放surface的Bufferbyte[] surfaceBuffer new byte[surfaceIntensityMsg.Width * surfaceIntensityMsg.Length];//将传感器数据存储至声明的内存空间中Marshal.Copy(bufferPointeri, surfaceBuffer, 0, surfaceBuffer.Length);GenTL16BitRGBGreenImage.Dispose();unsafe{fixed (byte* p surfaceBuffer){HOperatorSet.GenImage1(out GenTL16BitRGBGreenImage, byte, surfaceIntensityMsg.Width, surfaceIntensityMsg.Length, new IntPtr(p));}}HOperatorSet.WriteImage(GenTL16BitRGBGreenImage, tiff, 0, E:\\UpperComputer\\ Intensity DateTime.Now.ToString(yyyymmdd-hhmmssfff) .tif);}break;}}//GenTL16BitRGBRedImage null;//GenTL16BitRGBGreenImage null;GenTL16BitRGBGreenImage.Dispose();GenTL16BitRGBRedImage.Dispose();MyLMICamer.Stop();}catch{//MyLMICamer.Stop();GenTL16BitRGBRedImage.Dispose();//GenTL16BitRGBRedImage null;GenTL16BitRGBGreenImage.Dispose();//GenTL16BitRGBGreenImage null;}Console.WriteLine(Environment.NewLine);}#endregion#region // 生成GenTL彩色图格式并转化为halcon模型/// summary/// 输入genTL格式高度图转化为3d模型。genTL为彩色高度图像/// /summary/// param nameho_Gentl/param/// param nameSave3D/param/// param nameSaveAddress/param/// returns/returnspublic HTuple Himage_To_3D(HObject ho_Gentl, bool Save3D, string SaveAddress){HTuple hv_ObjectModel3D new HTuple();hv_ObjectModel3D.Dispose();Gentl_to_object_model_3d(ho_Gentl, out hv_ObjectModel3D, Save3D, SaveAddress);return hv_ObjectModel3D;}static long frameCount 0, timeStamp 0, encoderValue 0, encoderIndex 0, digitalStates 0;static long surfaceBufferWidth 0, surfaceBufferLength 0;static long surfaceXResolution 0, surfaceYResolution 0, surfaceZResolution 0;static long surfaceXOffset 0, surfaceYOffset 0, surfaceZOffset 0;static long intensityEnable 0;/// summary/// 回调函数输出GenTL格式彩色深度图/// /summary/// param namedata/parampublic void onData_GenTL(KObject data){//高度图HObject GenTL16BitRGBRedImage new HObject();//亮度图HObject GenTL16BitRGBGreenImage new HObject();//Stamp图HObject GenTL16BitRGBBlueImage new HObject();//GenTLImageHObject GenTLImage new HObject();try{GoDataSet dataSet (GoDataSet)data;for (uint i 0; i dataSet.Count; i){GoDataMsg dataObj (GoDataMsg)dataSet.Get(i);switch (dataObj.MessageType){case GoDataMessageType.Stamp:{GoStampMsg stampMsg (GoStampMsg)dataObj;for (int j 0; j stampMsg.Count; j){//获取缓存的宽高GoStamp goStamp stampMsg.Get(j);frameCount (long)goStamp.FrameIndex;timeStamp (long)goStamp.Timestamp;encoderValue goStamp.Encoder;encoderIndex goStamp.EncoderAtZ;digitalStates (long)goStamp.Status;}}break;case GoDataMessageType.UniformSurface:{GoUniformSurfaceMsg surfaceMsg (GoUniformSurfaceMsg)dataObj;//获取缓存的宽高surfaceBufferWidth surfaceMsg.Width;surfaceBufferLength surfaceMsg.Length;//获取缓存的分辨率 nmsurfaceXResolution surfaceMsg.XResolution;surfaceYResolution surfaceMsg.YResolution;surfaceZResolution surfaceMsg.ZResolution;#region Offset (um) 转换为 NM *1000surfaceXOffset surfaceMsg.XOffset * 1000;surfaceYOffset surfaceMsg.YOffset * 1000;//注意由于halcon体系中用GenTL采集图像默认使用uint2来存储高度数据//而Gocator体系中采集的图像默认使用int2来存储高度数据//所以从Gocator SDK读出的zOffset 适用于Gocator SDK采集的“int2”类型的数据//而我们由于在算法开发过程中使用halcon GenTL采集数据并且配置了众多处理参数从而导出的算法代码中的参数//通常都是基于uint2类型数据的这里我们将Gocator SDK读出的 zOffset做一个转换使其适配于halcon的uint2体系surfaceZOffset (long)((surfaceMsg.ZOffset (short.MinValue * (surfaceMsg.ZResolution * 1e-3))) * 1000);#endregionIntPtr bufferPointeri surfaceMsg.Data;//声明存放surface的Buffershort[] surfaceBuffer new short[surfaceBufferWidth * surfaceBufferLength];//将传感器数据存储至生命的内存空间中Marshal.Copy(bufferPointeri, surfaceBuffer, 0, surfaceBuffer.Length);unsafe{fixed (short* p surfaceBuffer)HOperatorSet.GenImage1(out GenTL16BitRGBRedImage, int2, surfaceBufferWidth, surfaceBufferLength, new IntPtr(p));}HOperatorSet.ConvertImageType(GenTL16BitRGBRedImage, out GenTL16BitRGBRedImage, real);HOperatorSet.ScaleImage(GenTL16BitRGBRedImage, out GenTL16BitRGBRedImage, 1, 32768);HOperatorSet.ConvertImageType(GenTL16BitRGBRedImage, out GenTL16BitRGBRedImage, uint2);}break;case GoDataMessageType.SurfaceIntensity:{GoSurfaceIntensityMsg surfaceIntensityMsg (GoSurfaceIntensityMsg)dataObj;IntPtr bufferPointeri surfaceIntensityMsg.Data;//声明存放surface的Bufferbyte[] surfaceBuffer new byte[surfaceBufferWidth * surfaceBufferLength];//将传感器数据存储至声明的内存空间中Marshal.Copy(bufferPointeri, surfaceBuffer, 0, surfaceBuffer.Length);intensityEnable 1;GenTL16BitRGBGreenImage.Dispose();unsafe{fixed (byte* p surfaceBuffer){HOperatorSet.GenImage1(out GenTL16BitRGBGreenImage, byte, surfaceBufferWidth, surfaceBufferLength, new IntPtr(p));}}#region 将byte图像转换为uint2图像//如果严格按照GenTL协议组织数据的话应该将GenTL16BitRGBGreenImage(Intensity)转换成Uint2类型转换代码如下//但是由于在运行时软件中显示亮度图时很多显示器无法很好的支持16bit亮度图的显示会出现显示细节丢失的情况从而显示效果很差//索性这里保留GenTL16BitRGBGreenImage的Byte类型//注意下面的代码为halcon中的流程在VS中实现需要一些中间HObje来保存每一步处理生成的图像建议在halcon中编写写明的过程然后导出为C#代码参考导出代码编写//HOperatorSet.ConvertImageType(GenTL16BitRGBGreenImage, out GenTL16BitRGBGreenImage, uint2);//HOperatorSet.ScaleImage(GenTL16BitRGBGreenImage, out GenTL16BitRGBGreenImage, 256, 0);#endregion}break;}}//生成BlueImageGenTL16BitRGBBlueImage.Dispose();GenGenTL16BitRGBBlueImage(frameCount, timeStamp, encoderValue, encoderIndex, digitalStates,surfaceBufferWidth, surfaceBufferLength, surfaceXOffset, surfaceXResolution, surfaceYOffset, surfaceYResolution,surfaceZOffset, surfaceZResolution, intensityEnable, out GenTL16BitRGBBlueImage);//将 高度图 亮度图 Stamp图组合成GenTL图像HOperatorSet.Compose3(GenTL16BitRGBRedImage, GenTL16BitRGBGreenImage, GenTL16BitRGBBlueImage, out GenTLImage);HOperatorSet.WriteImage(GenTLImage, new HTuple(tiff), new HTuple(0), new HTuple(E:\\UpperComputer\\LMI\\LMIHalconImage\\ frameCount.ToString()));Himage_To_3D(GenTLImage, true, E:\\UpperComputer\\LMI\\LMIHalconImage\\2);GenTL16BitRGBRedImage null;GenTL16BitRGBGreenImage null;GenTL16BitRGBBlueImage null;GenTLImage null;MyLMICamer.Stop();Console.WriteLine(采集结束);}catch{GenTL16BitRGBRedImage.Dispose();GenTL16BitRGBRedImage null;GenTL16BitRGBGreenImage.Dispose();GenTL16BitRGBGreenImage null;GenTL16BitRGBBlueImage.Dispose();GenTL16BitRGBBlueImage null;GenTLImage.Dispose();GenTLImage null;MyLMICamer.Stop();}Console.WriteLine(Environment.NewLine);}public static void Gentl_to_object_model_3d(HObject ho_Gentl, out HTuple hv_ObjectModel3D, bool Save3D, string SaveAddress){// Local iconic variables HObject ho_HeightMap, ho_Intensity, ho_ImageOpening;HObject ho_Regions, ho_ImageReduced, ho_ImageConverted;HObject ho_HeightMapMM, ho_ImageSurface, ho_ImageSurface1;HObject ho_X, ho_Y, ho_MultiChannelImage;// Local control variables HTuple hv_frameCount null, hv_timestamp null;HTuple hv_encoderPosition null, hv_encoderIndex null;HTuple hv_inputs null, hv_xOffset null, hv_xResolution null;HTuple hv_yOffset null, hv_yResolution null, hv_zOffset null;HTuple hv_zResolution null, hv_width null, hv_height null;HTuple hv_HasIntensity null, hv_Width null, hv_Height null;// Initialize local and output iconic variables HOperatorSet.GenEmptyObj(out ho_HeightMap);HOperatorSet.GenEmptyObj(out ho_Intensity);HOperatorSet.GenEmptyObj(out ho_ImageOpening);HOperatorSet.GenEmptyObj(out ho_Regions);HOperatorSet.GenEmptyObj(out ho_ImageReduced);HOperatorSet.GenEmptyObj(out ho_ImageConverted);HOperatorSet.GenEmptyObj(out ho_HeightMapMM);HOperatorSet.GenEmptyObj(out ho_ImageSurface);HOperatorSet.GenEmptyObj(out ho_ImageSurface1);HOperatorSet.GenEmptyObj(out ho_X);HOperatorSet.GenEmptyObj(out ho_Y);HOperatorSet.GenEmptyObj(out ho_MultiChannelImage);ho_HeightMap.Dispose(); ho_Intensity.Dispose();Go2GenTL_ParseData(ho_Gentl, out ho_HeightMap, out ho_Intensity, out hv_frameCount,out hv_timestamp, out hv_encoderPosition, out hv_encoderIndex, out hv_inputs,out hv_xOffset, out hv_xResolution, out hv_yOffset, out hv_yResolution, out hv_zOffset,out hv_zResolution, out hv_width, out hv_height, out hv_HasIntensity);if (HDevWindowStack.IsOpen()){HOperatorSet.DispObj(ho_HeightMap, HDevWindowStack.GetActive());}ho_ImageOpening.Dispose();HOperatorSet.GrayOpeningShape(ho_HeightMap, out ho_ImageOpening, 7, 7, octagon);ho_Regions.Dispose();HOperatorSet.Threshold(ho_ImageOpening, out ho_Regions, 1, 65535);ho_ImageReduced.Dispose();HOperatorSet.ReduceDomain(ho_ImageOpening, ho_Regions, out ho_ImageReduced);ho_ImageConverted.Dispose();HOperatorSet.ConvertImageType(ho_ImageReduced, out ho_ImageConverted, real);ho_HeightMapMM.Dispose();HOperatorSet.ScaleImage(ho_ImageConverted, out ho_HeightMapMM, hv_zResolution,hv_zOffset);HOperatorSet.GetImageSize(ho_Gentl, out hv_Width, out hv_Height);//生成xy坐标的图像映射乘以分辨率就是xy的相对值ho_ImageSurface.Dispose();HOperatorSet.GenImageSurfaceFirstOrder(out ho_ImageSurface, real, 1, 0, 0,0, 0, hv_Width, hv_Height);ho_ImageSurface1.Dispose();HOperatorSet.GenImageSurfaceFirstOrder(out ho_ImageSurface1, real, 0, 1, 0,0, 0, hv_Width, hv_Height);//Create X image with correct scaling (in [m])//scale_image (ImageSurface, X, xResolution * 1e-3, xOffset * 1e-3)//scale_image (ImageSurface1, Y, yResolution * 1e-3, yOffset * 1e-3)ho_X.Dispose();HOperatorSet.GenImageSurfaceFirstOrder(out ho_X, real, 0, hv_xResolution, hv_xOffset,0, 0, hv_Width, hv_Height);//Create Y image with correct scaling (in [m])ho_Y.Dispose();HOperatorSet.GenImageSurfaceFirstOrder(out ho_Y, real, -hv_yResolution, 0,-hv_yOffset, 0, 0, hv_Width, hv_Height);//scale_image (Z, Z, zResolution * -1e-6, (StandOff zOffsetTransform_signed) * 1e-6 - zOffset * 1e-9)ho_MultiChannelImage.Dispose();HOperatorSet.Compose3(ho_X, ho_Y, ho_HeightMapMM, out ho_MultiChannelImage);HOperatorSet.XyzToObjectModel3d(ho_X, ho_Y, ho_HeightMapMM, out hv_ObjectModel3D);if (Save3D){HOperatorSet.WriteObjectModel3d(hv_ObjectModel3D, ply, SaveAddress,new HTuple(), new HTuple());}}public static void Go2GenTL_ParseData(HObject ho_Image, out HObject ho_HeightMap, out HObject ho_Intensity,out HTuple hv_FrameCount, out HTuple hv_Timestamp, out HTuple hv_EncoderPosition,out HTuple hv_EncoderIndex, out HTuple hv_Inputs, out HTuple hv_xOffset, out HTuple hv_xResolution,out HTuple hv_yOffset, out HTuple hv_yResolution, out HTuple hv_zOffset, out HTuple hv_zResolution,out HTuple hv_Width, out HTuple hv_Length, out HTuple hv_HasIntensity){// Local iconic variables HObject ho_Stamps null;// Local control variables HTuple hv_channelCount null, hv_monoImageWidth new HTuple();HTuple hv_monoImageHeight new HTuple(), hv_IntensityPosition new HTuple();// Initialize local and output iconic variables HOperatorSet.GenEmptyObj(out ho_HeightMap);HOperatorSet.GenEmptyObj(out ho_Intensity);HOperatorSet.GenEmptyObj(out ho_Stamps);hv_FrameCount new HTuple();hv_Timestamp new HTuple();hv_EncoderPosition new HTuple();hv_EncoderIndex new HTuple();hv_Inputs new HTuple();hv_xOffset new HTuple();hv_xResolution new HTuple();hv_yOffset new HTuple();hv_yResolution new HTuple();hv_zOffset new HTuple();hv_zResolution new HTuple();hv_Width new HTuple();hv_Length new HTuple();hv_HasIntensity new HTuple();HOperatorSet.CountChannels(ho_Image, out hv_channelCount);//if ((int)(new HTuple(hv_channelCount.TupleEqual(1))) ! 0){//HOperatorSet.GetImageSize(ho_Image, out hv_monoImageWidth, out hv_monoImageHeight);ho_Stamps.Dispose();HOperatorSet.CropRectangle1(ho_Image, out ho_Stamps, hv_monoImageHeight - 1,0, hv_monoImageHeight - 1, hv_monoImageWidth);//Go2GenTLStamp(ho_Stamps, 1, out hv_FrameCount);Go2GenTLStamp(ho_Stamps, 2, out hv_Timestamp);Go2GenTLStamp(ho_Stamps, 3, out hv_EncoderPosition);Go2GenTLStamp(ho_Stamps, 4, out hv_EncoderIndex);Go2GenTLStamp(ho_Stamps, 5, out hv_Inputs);Go2GenTLStamp(ho_Stamps, 6, out hv_xOffset);Go2GenTLStamp(ho_Stamps, 7, out hv_xResolution);Go2GenTLStamp(ho_Stamps, 8, out hv_yOffset);Go2GenTLStamp(ho_Stamps, 9, out hv_yResolution);Go2GenTLStamp(ho_Stamps, 10, out hv_zOffset);Go2GenTLStamp(ho_Stamps, 11, out hv_zResolution);Go2GenTLStamp(ho_Stamps, 12, out hv_Width);Go2GenTLStamp(ho_Stamps, 13, out hv_Length);Go2GenTLStamp(ho_Stamps, 14, out hv_HasIntensity);//ho_HeightMap.Dispose();HOperatorSet.CropRectangle1(ho_Image, out ho_HeightMap, 0, 0, hv_Length - 1,hv_Width);if ((int)(new HTuple(hv_HasIntensity.TupleEqual(1))) ! 0){hv_IntensityPosition (hv_monoImageHeight - 1) / 2;ho_Intensity.Dispose();HOperatorSet.CropRectangle1(ho_Image, out ho_Intensity, hv_IntensityPosition,0, (hv_IntensityPosition hv_Length) - 1, hv_Width);}else{ho_Intensity.Dispose();HOperatorSet.GenImageConst(out ho_Intensity, byte, hv_Width, hv_Length);}//}else if ((int)(new HTuple(hv_channelCount.TupleEqual(3))) ! 0){//将三通道图像转换为三个图像ho_HeightMap.Dispose(); ho_Intensity.Dispose(); ho_Stamps.Dispose();HOperatorSet.Decompose3(ho_Image, out ho_HeightMap, out ho_Intensity, out ho_Stamps);//Go2GenTLStamp(ho_Stamps, 1, out hv_FrameCount);Go2GenTLStamp(ho_Stamps, 2, out hv_Timestamp);Go2GenTLStamp(ho_Stamps, 3, out hv_EncoderPosition);Go2GenTLStamp(ho_Stamps, 4, out hv_EncoderIndex);Go2GenTLStamp(ho_Stamps, 5, out hv_Inputs);Go2GenTLStamp(ho_Stamps, 6, out hv_xOffset);Go2GenTLStamp(ho_Stamps, 7, out hv_xResolution);Go2GenTLStamp(ho_Stamps, 8, out hv_yOffset);Go2GenTLStamp(ho_Stamps, 9, out hv_yResolution);Go2GenTLStamp(ho_Stamps, 10, out hv_zOffset);Go2GenTLStamp(ho_Stamps, 11, out hv_zResolution);Go2GenTLStamp(ho_Stamps, 12, out hv_Width);Go2GenTLStamp(ho_Stamps, 13, out hv_Length);Go2GenTLStamp(ho_Stamps, 14, out hv_HasIntensity);}////* Change Offset and resolution back to floating point and described in mmhv_xOffset hv_xOffset / 1000000.0;hv_yOffset hv_yOffset / 1000000.0;hv_zOffset hv_zOffset / 1000000.0;hv_xResolution hv_xResolution / 1000000.0;hv_yResolution hv_yResolution / 1000000.0;hv_zResolution hv_zResolution / 1000000.0;//ho_Stamps.Dispose();return;}public static void Go2GenTLStamp(HObject ho_Stamps, HTuple hv_Index, out HTuple hv_Value){// Local iconic variables // Local control variables HTuple hv_test_value null, hv_is64bit new HTuple();HTuple hv_tempvalue0 null, hv_tempvalue1 null, hv_tempvalue2 null;HTuple hv_tempvalue3 null;// Initialize local and output iconic variables hv_Value new HTuple();//Check if we are on a 64-bit machinehv_test_value 0xFFFFFFFF;if ((int)(new HTuple(hv_test_value.TupleGreater(0))) ! 0){hv_is64bit 1;}else{hv_is64bit 0;}//HOperatorSet.GetGrayval(ho_Stamps, 0, hv_Index * 4, out hv_tempvalue0);HOperatorSet.GetGrayval(ho_Stamps, 0, (hv_Index * 4) 1, out hv_tempvalue1);HOperatorSet.GetGrayval(ho_Stamps, 0, (hv_Index * 4) 2, out hv_tempvalue2);HOperatorSet.GetGrayval(ho_Stamps, 0, (hv_Index * 4) 3, out hv_tempvalue3);////The actual stamp from the Gocator is 64-bit. tempvalue0 is the most significant 16-bit (i.e. the top bit is the sign bit)//The code below assumes we only need the bottom 32-bit information. User need to update this conversion function if they want to//return 64-bit value.//if ((int)(new HTuple(hv_is64bit.TupleEqual(1))) ! 0){HOperatorSet.TupleLsh(hv_tempvalue0, 48, out hv_tempvalue0);HOperatorSet.TupleLsh(hv_tempvalue1, 32, out hv_tempvalue1);HOperatorSet.TupleLsh(hv_tempvalue2, 16, out hv_tempvalue2);HOperatorSet.TupleLsh(hv_tempvalue3, 0, out hv_tempvalue3);hv_Value ((hv_tempvalue0 hv_tempvalue1) hv_tempvalue2) hv_tempvalue3;}else{HOperatorSet.TupleLsh(hv_tempvalue2, 16, out hv_tempvalue2);HOperatorSet.TupleLsh(hv_tempvalue3, 0, out hv_tempvalue3);hv_Value hv_tempvalue2 hv_tempvalue3;}return;}/// summary/// GenTL16BitRGBBlueImage生成/// /summary/// param nameframeCount/param/// param nametimeStamp/param/// param nameencoderValue/param/// param nameencoderIndex/param/// param namedigitalStates/param/// param namesurfaceBufferWidth/param/// param namesurfaceBufferLength/param/// param namesurfaceXOffset/param/// param namesurfaceXResolution/param/// param namesurfaceYOffset/param/// param namesurfaceYResolution/param/// param namesurfaceZOffset/param/// param namesurfaceZResolution/param/// param nameintensityEnable/param/// param nameGenTL16BitRGBBlueImage/paramprivate static void GenGenTL16BitRGBBlueImage(long frameCount, long timeStamp, long encoderValue, long encoderIndex, long digitalStates,long surfaceBufferWidth, long surfaceBufferLength,long surfaceXOffset, long surfaceXResolution,long surfaceYOffset, long surfaceYResolution,long surfaceZOffset, long surfaceZResolution,long intensityEnable,out HObject GenTL16BitRGBBlueImage){try{#region 初始BlueImage缓存//BlueImage缓存ushort[] blueChannel new ushort[surfaceBufferWidth * surfaceBufferLength];//临时变量ushort temp0 0, temp1 0, temp2 0, temp3 0;//VersionblueChannel[0] 0;blueChannel[1] 0;blueChannel[2] 0;blueChannel[3] 0;//Frame CountLong2UShort(frameCount, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[4] temp0;blueChannel[5] temp1;blueChannel[6] temp2;blueChannel[7] temp3;//TimeStampLong2UShort(timeStamp, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[8] temp0;blueChannel[9] temp1;blueChannel[10] temp2;blueChannel[11] temp3;//Encoder value(ticks)Long2UShort(encoderValue, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[12] temp0;blueChannel[13] temp1;blueChannel[14] temp2;blueChannel[15] temp3;//Encoder index (ticks)Long2UShort(encoderIndex, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[16] temp0;blueChannel[17] temp1;blueChannel[18] temp2;blueChannel[19] temp3;//Digital input statesLong2UShort(digitalStates, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[20] temp0;blueChannel[21] temp1;blueChannel[22] temp2;blueChannel[23] temp3;//X offset (nm)Long2UShort(surfaceXOffset, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[24] temp0;blueChannel[25] temp1;blueChannel[26] temp2;blueChannel[27] temp3;//X resolution(nm)Long2UShort(surfaceXResolution, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[28] temp0;blueChannel[29] temp1;blueChannel[30] temp2;blueChannel[31] temp3;//Y offset (nm)Long2UShort(surfaceYOffset, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[32] temp0;blueChannel[33] temp1;blueChannel[34] temp2;blueChannel[35] temp3;//Y resolution (nm)Long2UShort(surfaceYResolution, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[36] temp0;blueChannel[37] temp1;blueChannel[38] temp2;blueChannel[39] temp3;//Z offset (nm)Long2UShort(surfaceZOffset, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[40] temp0;blueChannel[41] temp1;blueChannel[42] temp2;blueChannel[43] temp3;//Z resolution (nm)Long2UShort(surfaceZResolution, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[44] temp0;blueChannel[45] temp1;blueChannel[46] temp2;blueChannel[47] temp3;//Height map Width (in pixels)Long2UShort(surfaceBufferWidth, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[48] temp0;blueChannel[49] temp1;blueChannel[50] temp2;blueChannel[51] temp3;//Height map length (in pixels)Long2UShort(surfaceBufferLength, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[52] temp0;blueChannel[53] temp1;blueChannel[54] temp2;blueChannel[55] temp3;//Specify if intensity is enabled or notLong2UShort(intensityEnable, ref temp0, ref temp1, ref temp2, ref temp3);blueChannel[56] temp0;blueChannel[57] temp1;blueChannel[58] temp2;blueChannel[59] temp3;#endregion#region 创建GenTL16BitRGBBlueImageunsafe{fixed (ushort* p blueChannel)HOperatorSet.GenImage1(out GenTL16BitRGBBlueImage, uint2, surfaceBufferWidth, surfaceBufferLength, new IntPtr(p));}#endregion}catch (Exception ex){throw ex;}}/// summary/// Long类型ToUint2类型转换器/// /summary/// param namevalue/param/// param namevalueL0/param/// param namevalueL1/param/// param namevalueL2/param/// param namevalueL3/paramprivate static void Long2UShort(long value, ref ushort valueL0, ref ushort valueL1, ref ushort valueL2, ref ushort valueL3){valueL0 (ushort)(value 48);valueL1 (ushort)(value 32);valueL2 (ushort)(value 16);valueL3 (ushort)(value 0);}#endregion}
}LMI相机的运行逻辑并不难一个主要是如何配置LMI相机另一个是如何转换格式图像。代码中提供了3种转换方式分别有GenTL格式带标定数据的halcon类型不带标定数据的halcon类型。 如何配置LMI相机后面会再开一份博客进行讲解。
