相机通用类之LMI激光三角相机（3D），软触发硬触发（飞拍），并输出halcon格式对象

//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List<string> LMICamerName = new List<string>();//获取相机序列号HObject Himage3D=new HObject();public LMISDK(){//KApiLib.Construct();激活API库//GoSdkLib.Construct();}/// <summary>/// 查找相机，并输出序列号/// </summary>/// <returns></returns>public override List<string> 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 name="CamerName"></param>/// <returns></returns>public 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></returns>public 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 name="CamerName"></param>/// <returns></returns>public 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></returns>public 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></returns>public 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 name="Address">文件所在绝对路径</param>/// <param name="FileName">文件名称</param>/// <returns></returns>public 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 name="data"></param>public 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："+xResolution+"Y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 name="ExposureTime"></param>/// <returns></returns>public 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 name="data"></param>public 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 name="ho_Gentl"></param>/// <param name="Save3D"></param>/// <param name="SaveAddress"></param>/// <returns></returns>public 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 name="data"></param>public 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 name="frameCount"></param>/// <param name="timeStamp"></param>/// <param name="encoderValue"></param>/// <param name="encoderIndex"></param>/// <param name="digitalStates"></param>/// <param name="surfaceBufferWidth"></param>/// <param name="surfaceBufferLength"></param>/// <param name="surfaceXOffset"></param>/// <param name="surfaceXResolution"></param>/// <param name="surfaceYOffset"></param>/// <param name="surfaceYResolution"></param>/// <param name="surfaceZOffset"></param>/// <param name="surfaceZResolution"></param>/// <param name="intensityEnable"></param>/// <param name="GenTL16BitRGBBlueImage"></param>private 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 name="value"></param>/// <param name="valueL0"></param>/// <param name="valueL1"></param>/// <param name="valueL2"></param>/// <param name="valueL3"></param>private 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。

本文来自互联网用户投稿，该文观点仅代表作者本人，不代表本站立场。本站仅提供信息存储空间服务，不拥有所有权，不承担相关法律责任。如若转载，请注明出处：http://www.mzph.cn/news/142107.shtml

如若内容造成侵权/违法违规/事实不符，请联系多彩编程网进行投诉反馈email:809451989@qq.com，一经查实，立即删除！

相关文章

idea中如何配置启动环境

idea中如何配置启动环境

-Dspring.profiles.activedev
阅读更多...
使用FFmpeg转封装为hls(m3u8)流

使用FFmpeg转封装为hls(m3u8)流

​ 改造ffmpeg/doc/examples/remuxing.c&#xff0c;支持将输入流转封装为hls协议对应的github地址&#xff1a;GitHub - yagerfgcs/FFmpeg at examples/remuxing_support_hls修改点&#xff1a;增加设置hls头 // example:https://www.ffmpeg.org/ffmpeg-all.html#hls-2 // f…
阅读更多...
c语言数据结构---三叉树

c语言数据结构---三叉树

#include<stdio.h> #include<stdlib.h> #include<stack> using namespace std; typedef struct node{struct node*lchild;struct node*rchild;struct node*parent;char data; }Node,*Bit;Bit creat(){//先序创建 char b; int t; scanf("%c",&…
阅读更多...
(个人实测保熟)记录Tecnomatix Process Simulate 16.1.2官方安装包及授权许可配置教程(Win10环境)

(个人实测保熟)记录Tecnomatix Process Simulate 16.1.2官方安装包及授权许可配置教程(Win10环境)

Tecnomatix Process Simulate 16是一款由西门子公司推出的一款工艺仿真解决方案,是虚拟制造仿真领域的领先解决方案,可帮助您数字化制造以及将创新思想和原材料转变为变革性产品的过程。在网上找了一些盗版的安装包&#xff0c;就很离谱。直接提示本"无法打开此安装程序包…
阅读更多...
c语言数据结构---十字链表

c语言数据结构---十字链表

#include<stdio.h> #include<stdlib.h> typedef struct node{//十字链表 输入三元组返回矩阵 int row,col,val;struct node *down,*right; }JD,*J; typedef struct {J *rhead,*chead;int mu,nu,tu;//行列非0元 }CS; CS creat(CS M){int m,n,t;;int k,j,e;JD *p,*q…
阅读更多...
Elasticsearch和sboot整合

Elasticsearch和sboot整合

Elasticsearch是一个开源的、高性能的分布式搜索引擎&#xff0c;可以实现全文搜索、分析和存储等功能。Spring Boot是一个开源的Java框架&#xff0c;可以用于快速开发和部署应用程序。 将Elasticsearch和Spring Boot整合可以使得我们更加方便地使用Elasticsearch进行搜索和数…
阅读更多...
Ajax实现步骤和原理

Ajax实现步骤和原理

Ajax实现步骤和原理 一、什么是Ajax? Ajax 异步 JavaScript 和XML。 　　Ajax是一种用于创建快速动态网页的技术。 　　通过在后台与服务器进行少量数据交换&#xff0c;Ajax可以使网页实现异步更新。这意味着可以在不重新加载整个网页的情况下&#xff0c;对网页的某部分进…
阅读更多...
Java并发面试题知识点总结（下篇）

Java并发面试题知识点总结（下篇）

大家好&#xff0c;我是栗筝i&#xff0c;从 2022 年 10 月份开始&#xff0c;我便开始致力于对 Java 技术栈进行全面而细致的梳理。这一过程&#xff0c;不仅是对我个人学习历程的回顾和总结&#xff0c;更是希望能够为各位提供一份参考。因此得到了很多读者的正面反馈。 而在…
阅读更多...
Day01_《MySQL索引与性能优化》摘要

Day01_《MySQL索引与性能优化》摘要

一、资料 视频&#xff1a;《尚硅谷MySQL数据库高级&#xff0c;mysql优化&#xff0c;数据库优化》—周阳 其他博主的完整笔记&#xff1a;MySQL 我的笔记&#xff1a;我的笔记只总结了视频p14-p46部分&#xff0c;因为只有这部分是讲解了MySQL的索引与explain语句分析优化…
阅读更多...
【ruoyi】微服务关闭登录验证码

【ruoyi】微服务关闭登录验证码

登录本地的nacos服务&#xff0c;修改&#xff1a;配置管理-配置列表-ruoyi-gateway-dev.yml 将验证码的enabled设置成false&#xff0c;即可
阅读更多...
530.二叉搜索树的最小绝对

530.二叉搜索树的最小绝对

原题链接&#xff1a;530.二叉搜索树的最小绝对差 思路&#xff1a; 因为是二叉搜索树&#xff0c;根据他的特性&#xff0c;直接递归中序遍历获取所有元素&#xff0c;成为一个有序数组 然后在有序数值内进行双指针递归遍历即可获得最小差值 因为是有序数组&#xff0c;所以其…
阅读更多...
深度学习之基于YoloV5的目标检测和双目测距系统

深度学习之基于YoloV5的目标检测和双目测距系统

欢迎大家点赞、收藏、关注、评论啦 &#xff0c;由于篇幅有限&#xff0c;只展示了部分核心代码。 文章目录 一项目简介 二、功能三、系统四. 总结 一项目简介 双目测距系统利用两个相机的图像来计算目标到相机的距离。通过对左右相机图像进行立体匹配&#xff0c;可以获得目标…
阅读更多...
Ubuntu安装Qt出现bash: ./qt-unified-linux-x64-4.6.1-online.run: 权限不够的问题解决

Ubuntu安装Qt出现bash: ./qt-unified-linux-x64-4.6.1-online.run: 权限不够的问题解决

在Ubuntu安装qt&#xff0c;在官网下载了linux的版本下载后为类似qt-unified-linux-version.run的文件&#xff08;比如我这里是qt-unified-linux-x64-4.6.1-online.run&#xff09;的文件&#xff0c;直接在终端运行【这里的version注意改为文件的原有的名字】&#xff1a; .…
阅读更多...
如果不用Baklib，哪一个帮助中心工具能够替代它？

如果不用Baklib，哪一个帮助中心工具能够替代它？

在各行各业进入“留量时代”的当下&#xff0c;让用户获得良好的体验和留存老客户变得更为关键&#xff0c;这对于企业的客户服务提出了更高的要求。在使用各类互联网产品时&#xff0c;用户更倾向于通过自助方式寻找答案并解决问题&#xff0c;因此帮助中心的重要性也在不断提…
阅读更多...
4路光栅尺磁栅尺编码器解码转换5MHz高速差分信号转Modbus TCP网络模块 YL97-RJ45

4路光栅尺磁栅尺编码器解码转换5MHz高速差分信号转Modbus TCP网络模块 YL97-RJ45

特点&#xff1a; ● 光栅尺磁栅尺解码转换成标准Modbus TCP协议 ● 光栅尺5V差分信号直接输入&#xff0c;4倍频计数 ● 模块可以输出5V的电源给光栅尺供电 ● 高速光栅尺磁栅尺计数&#xff0c;频率可达5MHz ● 支持4个光栅尺同时计数&#xff0c;可识别正反转 ● 可网…
阅读更多...
OSCNet: Orientation-Shared Convolutional Network for CT Metal Artifact Learning

OSCNet: Orientation-Shared Convolutional Network for CT Metal Artifact Learning

OSCNet: 面向共享的CT金属伪影学习卷积网络 论文链接&#xff1a;https://ieeexplore.ieee.org/document/10237226 项目链接&#xff1a;https://github.com/hongwang01/OSCNet&#xff08;目前不会开源&#xff09; Abstract X射线计算机断层扫描(CT)已广泛应用于疾病诊断和…
阅读更多...
如何利用IP代理进行海外推广？

如何利用IP代理进行海外推广？

在当今数字化的时代&#xff0c;网络营销已经成为企业策略的重要组成部分。而对于进去海外市场的跨境玩家来说&#xff0c;海外的推广推广是重中之重。然而&#xff0c;在开展推广的过程中&#xff0c;我们常常会遇到各种挑战&#xff0c;如地域限制、访问速度慢等。 为了解决…
阅读更多...
arcgis--消除坐标系信息的两种方法

arcgis--消除坐标系信息的两种方法

方法一&#xff1a;在【目录】中右击待修改数据&#xff0c;选择【属性】&#xff0c;选择【XY坐标】选项卡&#xff0c;点击清楚按钮。 方法二&#xff1a;在【数据管理工具】-【投影与变换】-【定义投影】中清楚坐标系信息。如下&#xff1a;
阅读更多...
linux 的uart驱动框架分析

linux 的uart驱动框架分析

文章目录 一、底层串行硬件驱动程序二、Console支持三、锁支持四、核心数据结构1、struct uart_driver2、struct uart_port3、struct uart_ops四、常用API总结五、uart驱动示例剖析1、原厂设计的uart驱动2、8250标准uart驱动六、总结🔺【linux内核系列文章】 👉对一些文章内…
阅读更多...
el-table实现单选和隐藏全选框和回显数据

el-table实现单选和隐藏全选框和回显数据

0 效果 1 单选 <el-table ref"clientTableRef" selection-change"clientChangeHandle"><el-table-column fixed type"selection" width"50" align"center" /><el-table-column label"客户名称" a…
阅读更多...
最新文章

Copyright @ 2022~2023