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C#Halcon3D点云读取显示分割处理联合编程_hoperatorset.zoomimagefactor

作者：AllinToyou | 2024-02-18 16:13:28

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hoperatorset.zoomimagefactor

环境：VS2010，Halcon12x64，NETFramework 4.0

先上效果图

halcon3D程序导出C#代码。

VS21010制作winform界面。

Form1_Load添加代码；并注意将项目的平台目标修改为x64。

  1.             //将平台目标修改为“X64”或“ANY CPU”,否则将报“试图加载格式不正确的程序。 (异常来自 HRESULT:0x8007000B)”
  2.             hwControl = new HWindowControl();
  3.  
  4.             hWindow = hwControl.HalconWindow;
  5.             //以填充方式置于容器中
  6.             hwControl.Dock = DockStyle.Fill;
  7.             //添加控件到panel容器
  8.             panel1.Controls.Add(hwControl);

“生成并显示3D点云”按钮控件添加代码

注意在visualize_object_model_3d代码中while死循环加入 System.Windows.Forms.Application.DoEvents()语句，否则主线程会出现卡死现象。

  1.         // HOperatorSet.ScaleImage(ho_Image, out ho_Image, 0.001, .0);
  2.                 HOperatorSet.GenEmptyObj(out ho_Image);
  3.     HOperatorSet.GenEmptyObj(out ho_X);
  4.     HOperatorSet.GenEmptyObj(out ho_Y);
  5.     HOperatorSet.GenEmptyObj(out ho_Z);
  6.  
  7.     
  8.       //Load X,Y,Z-Data, scale them to meter and generate a 3D object model
  9.       hv_ImagePath = "time_of_flight/";
  10.       ho_Image.Dispose();
  11.       HOperatorSet.ReadImage(out ho_Image, hv_ImagePath+"engine_cover_xyz_01");
  12.       {
  13.       HObject ExpTmpOutVar_0;
  14.       HOperatorSet.ScaleImage(ho_Image, out ExpTmpOutVar_0, .001, .0);
  15.       ho_Image.Dispose();
  16.       ho_Image = ExpTmpOutVar_0;
  17.       }
  18.       {
  19.       HObject ExpTmpOutVar_0;
  20.       HOperatorSet.ZoomImageFactor(ho_Image, out ExpTmpOutVar_0, 2, 2, "constant");
  21.       ho_Image.Dispose();
  22.       ho_Image = ExpTmpOutVar_0;
  23.       }
  24.       ho_X.Dispose();ho_Y.Dispose();ho_Z.Dispose();
  25.       HOperatorSet.Decompose3(ho_Image, out ho_X, out ho_Y, out ho_Z);
  26.       HOperatorSet.XyzToObjectModel3d(ho_X, ho_Y, ho_Z, out hv_ObjectModel3DID);
  27.       //Compute a mesh (Delauney triangulation) of the model
  28.       HOperatorSet.PrepareObjectModel3d(hv_ObjectModel3DID, "segmentation", "true", 
  29.           new HTuple(), new HTuple());
  30.       //
  31.       //Prepare the visualization and display the 3D object model
  32.       HOperatorSet.CreatePose(0.058, -0.165, 0.660, 345.0, 355.0, 356.0, "Rp+T", 
  33.           "gba", "point", out hv_Pose);
  34.       //
  35.       //Instructions for visualize_object_model_3d
  36.       if (hv_Instructions == null)
  37.           hv_Instructions = new HTuple();
  38.       //hv_Instructions[0] = "Rotate: Left button";
  39.       //if (hv_Instructions == null)
  40.       //  hv_Instructions = new HTuple();
  41.       //hv_Instructions[1] = "Zoom:   Shift + left button";
  42.       //if (hv_Instructions == null)
  43.       //  hv_Instructions = new HTuple();
  44.       //hv_Instructions[2] = "Move:   Ctrl  + left button";
  45.       //Configuration
  46.       hv_CamParam = new HTuple();
  47.       hv_CamParam[0] = 0.01;
  48.       hv_CamParam[1] = 0;
  49.       hv_CamParam[2] = 7e-6;
  50.       hv_CamParam[3] = 7e-6;
  51.       hv_CamParam[4] = 352;
  52.       hv_CamParam[5] = 288;
  53.       hv_CamParam[6] = 710;
  54.       hv_CamParam[7] = 576;
  55.       hv_GenParamName = new HTuple();
  56.       hv_GenParamName[0] = "color";
  57.       hv_GenParamName[1] = "disp_pose";
  58.       hv_GenParamName[2] = "alpha";
  59.       hv_GenParamName[3] = "intensity";
  60.       hv_GenParamValue = new HTuple();
  61.       hv_GenParamValue[0] = "green";
  62.       hv_GenParamValue[1] = "false";
  63.       hv_GenParamValue[2] = 0.8;
  64.       hv_GenParamValue[3] = "none";
  65.  
  66.       HOperatorSet.SetWindowAttr("background_color", "black");
  67.      // HOperatorSet.OpenWindow(0, 0, 710, 576, 0, "", "", out hWindow);
  68.            //把窗口对象推入窗口栈中
  69.       HDevWindowStack.Push(hWindow);
  70.       export.set_display_font(hWindow, 16, "mono", "true", "false");
  71.       //显示3D模型
  72.       //Task.Run需要额4.5框架以上才能使用
  73.      // Task.Run(() =>      
  74.      // {
  75.      //     export.visualize_object_model_3d(hWindow, hv_ObjectModel3DID, hv_CamParam,
  76.      //hv_Pose, hv_GenParamName, hv_GenParamValue, "This scene will be segmented into single objects",
  77.      //new HTuple(), hv_Instructions, out hv_Pose);
  78.      // });
  79.    
  80.  
  81.                   export.visualize_object_model_3d(hWindow, hv_ObjectModel3DID, hv_CamParam,
  82.      hv_Pose, hv_GenParamName, hv_GenParamValue, "This scene will be segmented into single objects",
  83.      new HTuple(), hv_Instructions, out hv_Pose);

“点云阈值分割并显示连通域直径与体积”添加代码

用StringBuilder()生成用于textbox控件显示的字符串；

  1.     //Threshold the 3D object Model
  2.             hv_MinValue = 0.500;
  3.             hv_MaxValue = 0.670;
  4.             HOperatorSet.SelectPointsObjectModel3d(hv_ObjectModel3DID, "point_coord_z",
  5.                 hv_MinValue, hv_MaxValue, out hv_ObjectModel3DIDReduced);
  6.             export.visualize_object_model_3d(hWindow, hv_ObjectModel3DIDReduced, hv_CamParam,
  7.                 hv_Pose, hv_GenParamName, hv_GenParamValue, ("Result after thresholding at z=" + (((hv_MaxValue * 1e3)).TupleString(
  8.                 ".3"))) + "mm from the camera", new HTuple(), hv_Instructions, out hv_Pose);
  9.             //
  10.             //Calculate the connected components and the volume and diameter
  11.             //of each of the resulting object
  12.             if (hv_GenParamName == null)
  13.                 hv_GenParamName = new HTuple();
  14.             hv_GenParamName[0] = "colored";
  15.             if (hv_GenParamValue == null)
  16.                 hv_GenParamValue = new HTuple();
  17.             hv_GenParamValue[0] = 12;
  18.             HOperatorSet.ConnectionObjectModel3d(hv_ObjectModel3DIDReduced, "distance_3d",
  19.                 0.010, out hv_ObjectModel3DIDConnections);
  20.             HOperatorSet.VolumeObjectModel3dRelativeToPlane(hv_ObjectModel3DIDConnections,
  21.                 ((((new HTuple(0)).TupleConcat(0)).TupleConcat(hv_MaxValue))).TupleConcat(
  22.                 (((new HTuple(0)).TupleConcat(0)).TupleConcat(0)).TupleConcat(0)), "signed",
  23.                 "true", out hv_Volume);
  24.             HOperatorSet.MaxDiameterObjectModel3d(hv_ObjectModel3DIDConnections, out hv_Diameter);
  25.             //
  26.             //Display the results
  27.             //HOperatorSet.SetWindowAttr("background_color", "black");
  28.             //HOperatorSet.OpenWindow(0, 720, 400, 576, 0, "", "", out hv_WindowHandle1);
  29.             //HDevWindowStack.Push(hv_WindowHandle1);
  30.             //export.set_display_font(hv_WindowHandle1, 14, "mono", "true", "false");
  31.             hv_Indices = HTuple.TupleGenSequence(0, (new HTuple(hv_ObjectModel3DIDConnections.TupleLength()
  32.                 )) - 1, 1);
  33.             //export.disp_message(hv_WindowHandle1, ((new HTuple("Features of the connected components:")).TupleConcat(
  34.             //    " ")).TupleConcat(" "), "window", 12, 12, "white", "false");
  35.             hv_ResultMessage = "  #  Max. diameter    Volume";
  36.             hv_Sequence = HTuple.TupleGenSequence(0, (new HTuple(hv_ObjectModel3DIDConnections.TupleLength()
  37.                 )) - 1, 1);
  38.             hv_ResultMessage = hv_ResultMessage.TupleConcat((((((hv_Sequence.TupleString(
  39.                 " 3")) + "     ") + (((hv_Diameter * 1e3)).TupleString("7.1f"))) + " mm  ") + (((hv_Volume * 1e3)).TupleString(
  40.                 "7.3f"))) + " dm3");
  41.             //生成字符串并显示
  42.             var strResult = new StringBuilder();
  43.             for (int i = 0; i < hv_ResultMessage.Length; i++)
  44.             {
  45.                 strResult.Append(hv_ResultMessage[i].S + "\r\n");
  46.  
  47.             }
  48.             textBox1.Text = strResult.ToString();
  49.                 //export.disp_message(hv_WindowHandle1, hv_ResultMessage, "window", 50, 12, "white", "false");
  50.             HDevWindowStack.SetActive(hWindow);
  51.             export.visualize_object_model_3d(hWindow, hv_ObjectModel3DIDConnections, hv_CamParam,
  52.                 hv_Pose, hv_GenParamName, hv_GenParamValue, new HTuple(new HTuple("Found ") + (new HTuple(hv_ObjectModel3DIDConnections.TupleLength()
  53.                 ))) + " connected components", "#" + hv_Indices, hv_Instructions, out hv_Pose);

“筛选点云直径与体积”按钮添加代码

此部分为根据组件的体积和最大直径选择组件。

  1.  //Select components by their volume and maximal diameter
  2.             //根据组件的体积和最大直径选择组件
  3.             hv_MinVolume = 0.35e-003;
  4.             hv_MaxVolume = 1.0e-003;
  5.             hv_MinDiameter = 185.0e-003;
  6.             hv_MaxDiameter = 300.0e-003;
  7.             //*** Attention:
  8.             //    select_object_model_3d uses the plane [0,0,0,0,0,0]
  9.             //    for the volume calculation! Therefore we have
  10.             //    to transform the 3d object models, so that the
  11.             //    reference plane (as defined in the former call to
  12.             //    volume_object_model_3d_relative_to_plane) coincides to the
  13.             //    default plane.
  14.             HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
  15.             HOperatorSet.HomMat3dTranslate(hv_HomMat3DIdentity, 0, 0, -hv_MaxValue, out hv_HomMat3DTranslation);
  16.             HOperatorSet.HomMat3dInvert(hv_HomMat3DTranslation, out hv_HomMat3DInvert);
  17.             HOperatorSet.AffineTransObjectModel3d(hv_ObjectModel3DIDConnections, hv_HomMat3DTranslation,
  18.                 out hv_ObjectModel3DTranslated);
  19.             //Set a label for each part
  20.             for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ObjectModel3DIDConnections.TupleLength()
  21.                 )) - 1); hv_Index = (int)hv_Index + 1)
  22.             {
  23.                 HOperatorSet.SetObjectModel3dAttribMod(hv_ObjectModel3DTranslated.TupleSelect(
  24.                     hv_Index), "&Index", new HTuple(), hv_Index);
  25.             }
  26.             //
  27.             HOperatorSet.VolumeObjectModel3dRelativeToPlane(hv_ObjectModel3DTranslated,
  28.                 ((((((new HTuple(0)).TupleConcat(0)).TupleConcat(0)).TupleConcat(0)).TupleConcat(
  29.                 0)).TupleConcat(0)).TupleConcat(0), "signed", "true", out hv_Volume1);
  30.             HOperatorSet.SelectObjectModel3d(hv_ObjectModel3DTranslated, (new HTuple("volume")).TupleConcat(
  31.                 "diameter_object"), "and", hv_MinVolume.TupleConcat(hv_MinDiameter), hv_MaxVolume.TupleConcat(
  32.                 hv_MaxDiameter), out hv_ObjectModel3DSelected);
  33.  
  34.             hv_Title = new HTuple();
  35.             hv_Title[0] = "Parts selected by using the following features: ";
  36.             hv_Title = hv_Title.TupleConcat(((("       " + (((hv_MinVolume * 1e3)).TupleString(
  37.                 "3.1f"))) + " dm3 <= volume <= ") + (((hv_MaxVolume * 1e3)).TupleString("3.1f"))) + " dm3");
  38.             hv_Title = hv_Title.TupleConcat(((("and:   " + (((hv_MinDiameter * 1e3)).TupleString(
  39.                 ".1f"))) + " mm <= max. diameter <= ") + (((hv_MaxDiameter * 1e3)).TupleString(
  40.                 ".1f"))) + " mm");
  41.             Create the labels
  42.             hv_Label = new HTuple();
  43.             for (hv_Index = 0; (int)hv_Index <= (int)((new HTuple(hv_ObjectModel3DSelected.TupleLength()
  44.                 )) - 1); hv_Index = (int)hv_Index + 1)
  45.             {
  46.                 HOperatorSet.GetObjectModel3dParams(hv_ObjectModel3DSelected.TupleSelect(
  47.                     hv_Index), "&Index", out hv_FormerIndex);
  48.                 hv_Label = hv_Label.TupleConcat("#" + hv_FormerIndex);
  49.             }
  50.             //
  51.             if ((int)(new HTuple((new HTuple(hv_ObjectModel3DSelected.TupleLength())).TupleGreater(
  52.                 1))) != 0)
  53.             {
  54.                 export.visualize_object_model_3d(hWindow, hv_ObjectModel3DSelected, hv_CamParam,
  55.                     new HTuple(), hv_GenParamName, hv_GenParamValue, hv_Title, hv_Label,
  56.                     hv_Instructions, out hv_Pose);
  57.             }
  58.             else
  59.             {
  60.                 hv_Message = "No object left after using the following features: ";
  61.                 if (hv_Message == null)
  62.                     hv_Message = new HTuple();
  63.                 hv_Message[1] = ((("       " + (((hv_MinVolume * 1e3)).TupleString("3.1f"))) + " dm3 <= volume <= ") + (((hv_MaxVolume * 1e3)).TupleString(
  64.                     "3.1f"))) + " dm3";
  65.                 if (hv_Message == null)
  66.                     hv_Message = new HTuple();
  67.                 hv_Message[2] = ((("and:   " + (((hv_MinDiameter * 1e3)).TupleString(".1f"))) + " mm <= max. diameter <= ") + (((hv_MaxDiameter * 1e3)).TupleString(
  68.                     ".1f"))) + " mm";
  69.                 export.disp_message(hWindow, hv_Message, "window", 12, 12, "black", "true");
  70.             }
  71.             //
  72.             //Clear the 3d object models
  73.             //HDevWindowStack.SetActive(hv_WindowHandle1);
  74.             //if (HDevWindowStack.IsOpen())
  75.             //{
  76.             //    HOperatorSet.CloseWindow(HDevWindowStack.Pop());
  77.             //}
  78.             HOperatorSet.ClearObjectModel3d(((((((hv_ObjectModel3DID.TupleConcat(hv_ObjectModel3DIDReduced))).TupleConcat(
  79.                 hv_ObjectModel3DSelected))).TupleConcat(hv_ObjectModel3DTranslated))).TupleConcat(
  80.                 hv_ObjectModel3DIDConnections));

完整项目下载链接

https://download.csdn.net/download/ztzlzt/88571085

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