126 lines
6.2 KiB
C
126 lines
6.2 KiB
C
/*****************************************************************************
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* HObjectModel3D.h
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*****************************************************************************
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*
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* Project: HALCON/libhalcon
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* Description: Creation and management of 3D object models
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*
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* (c) 2016-2020 by MVTec Software GmbH
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* www.mvtec.com
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*
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*****************************************************************************
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*/
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#ifndef HOBJECTMODEL3D_H
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#define HOBJECTMODEL3D_H
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#if defined(__cplusplus)
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extern "C" {
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#endif
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/* Creates a new 3D object model with the given handle. */
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extern HLibExport Herror HOM3DCreate(Hproc_handle proc_handle,
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INT4_8* object_model);
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/* Frees the given 3D object model handle. Note that this function should
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* usually only be called in case of errors during object model creation. Once
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* a handle has been returned to the user, it should be freed outside using the
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* operator clear_object_model_3d */
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extern HLibExport Herror HOM3DFree(Hproc_handle proc_handle,
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INT4_8 object_model);
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/* Add points to a 3D object model. The points are NOT initialized and must be
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* filled by the caller. The point coordinates are expected in [mm]. */
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extern HLibExport Herror HOM3DAddPoints(Hproc_handle proc_handle,
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INT4_8 object_model, HINT num_points,
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float** x, float** y, float** z);
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/* Add points and a 2D mapping to a 3D object model. The points and the mapping
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* are NOT initialized and must be filled by the caller. The point coordinates
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* are expected in [mm]. */
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extern HLibExport Herror HOM3DAddPointsAndMapping(
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Hproc_handle proc_handle, INT4_8 object_model, HINT num_points, float** x,
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float** y, float** z, HIMGDIM w, HIMGDIM h, HIMGCOOR** br, HIMGCOOR** bc);
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/* Add points from non-interleaved XYZ images. The region defines which points
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* are valid. The points are copied into the 3D object model. The values are
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* interpreted as [mm]. */
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extern HLibExport Herror HOM3DAddPointsFromImagesRegion(
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Hproc_handle proc_handle, INT4_8 object_model, Hrlregion* region,
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HIMGDIM w, HIMGDIM h, float* x, float* y, float* z);
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/* Add points from non-interleaved XYZ images. Points where the z value is
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* identical to the given 'invalid' value are ignored and not added to the 3D
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* object model. The points are copied into the 3D object model. The values are
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* interpreted as [mm]. */
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extern HLibExport Herror HOM3DAddPointsFromImagesInvalid(
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Hproc_handle proc_handle, INT4_8 object_model, float invalid, HIMGDIM w,
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HIMGDIM h, float* x, float* y, float* z);
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/* Add 2D mappings to a 3D object model. The mappings are NOT initialized and
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* must be filled by the caller. The object model must already contain points,
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* and the number of points must be identical to the number of mappings. */
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extern HLibExport Herror HOM3DAddMapping(Hproc_handle proc_handle,
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INT4_8 object_model,
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HINT num_mappings, HIMGDIM w,
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HIMGDIM h, HIMGCOOR** br,
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HIMGCOOR** bc);
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/* Add normal vectors to a 3D object model. The normals are NOT initialized and
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* must be filled by the caller. The object model must already contain points,
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* and the number of points must be identical to the number of normals. */
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extern HLibExport Herror HOM3DAddNormals(Hproc_handle proc_handle,
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INT4_8 object_model, HINT num_normals,
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float** nx, float** ny, float** nz);
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/* Add triangles to a 3D object model. The triangles are NOT initialized and
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* must be filled by the caller. The 3D obejct model must already contain
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* points. The triangle array has a length of 3*num_triangles, each triangle
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* is represented by three consecutive vertex indices. */
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extern HLibExport Herror HOM3DAddTriangles(Hproc_handle proc_handle,
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INT4_8 object_model,
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HINT num_triangles,
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INT4** triangles);
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/* Add a user-defined attribute, which contains one double value per 3D
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* point. The length of the returned array (user_attrib) equals the number
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* of contained 3D points.
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* NOTE that the name of the attribute must start with an ampersand. For
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* example, "&intensity", "&score", "&red" are valid names. */
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extern HLibExport Herror HOM3DAddUserAttrib(Hproc_handle proc_handle,
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INT4_8 object_model,
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const char* name,
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double** user_attrib);
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/* Returns the list of points contained in the given 3D object model.
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* The point coordinates are returned in [mm]. */
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extern HLibExport Herror HOM3DGetPoints(INT4_8 object_model, HINT* num_points,
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float** x, float** y, float** z);
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/* Returns the 2D mappings contained in the given 3D object model */
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extern HLibExport Herror HOM3DGetMapping(INT4_8 object_model, HINT* num_points,
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HIMGDIM* w, HIMGDIM* h, HIMGCOOR** br,
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HIMGCOOR** bc);
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/* Returns the point normal vectors contained in the given 3D object model */
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extern HLibExport Herror HOM3DGetNormals(INT4_8 object_model, HINT* num_points,
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float** nx, float** ny, float** nz);
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/* Returns the triangles contained in the given 3D object model */
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extern HLibExport Herror HOM3DGetTriangles(INT4_8 object_model,
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HINT* num_triangles,
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HINT** triangles);
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/* Returns a user-defined attribute, which contains one double value per 3D
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* point. The length of the returned array (user_attrib) equals the number
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* of contained 3D points. */
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extern HLibExport Herror HOM3DGetUserAttrib(INT4_8 object_model,
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HINT* num_points, const char* name,
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double** user_attrib);
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#if defined(__cplusplus)
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}
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#endif
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#endif /* ifndef HOBJECTMODEL3D_H */
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