using SImagePro;
using System;
using System.Collections.Generic;
using System.Linq;
using System.Net.NetworkInformation;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;
using System.Security.Cryptography.X509Certificates;
using System.Text;
using System.Threading.Tasks;
using System.Xml.Linq;
namespace SImagePro
{
#region SR7Link
//相机IP
public struct SR7IF_ETHERNET_CONFIG
{
[MarshalAs(UnmanagedType.ByValArray, SizeConst = 4)]
public byte[] abyIpAddress;
}
#endregion
#region 函数返回值
public enum RTNCODE
{
RTN_CODE_OK = 0, //成功
RTN_CODE_ERROR = -1, //一般性错误
RTN_CODE_CAMERA_NOT_ONLINE = -999, //相机未连接.
RTN_CODE_NULL_PTR = -998, //参数指针为null.
RTN_CODE_ERROR_PARAMETER = -997, //参数错误.
RTN_CODE_ERROR_MEMORY = -996, //内存（溢出/定义）错误.
RTN_CODE_ERROR_TIMEOUT = -995, //计算超时.
RTN_CODE_ERROR_ROI = -994, //roi错误
RTN_CODE_ERROR_INIT = -993, //内存申请错误
}
#endregion
#region SCVTYPE
//旋转参数
public enum ROTATE_TYPE
{
ONE_VERTICAL_ROTATE = 0x0000, //顺时针转90°
TWO_VERTICAL_ROTATE, //顺时针旋转180°
THREE_VERTICAL_ROTATE, //顺时针旋转270°
LR_MIRROR_ROTATE, //左右镜像翻转
UD_MIRROR_ROTATE, //上下镜像翻转
CENTER_ROTATE, //中心对称反转
}
//平面点结构
public struct SPoint2D
{
public double x;
public double y;
public SPoint2D(double x, double y)
{
this.x = x;
this.y = y;
}
};
//像素点结构
public struct SPoint2DPix
{
public int x;
public int y;
public SPoint2DPix(int x, int y)
{
this.x = x;
this.y = y;
}
};
//空间结构
public struct SPoint3D
{
public double x;
public double y;
public double z;
public SPoint3D(double x, double y, double z)
{
this.x = x;
this.y = y;
this.z = z;
}
};
//2D直线方程:a*x+b*y+c=0
public struct SLine2D
{
public double a;
public double b;
public double c;
public SLine2D(double a, double b, double c)
{
this.a = a;
this.b = b;
this.c = c;
}
};
//3D直线
public struct SLine3D
{
public float a;
public float b;
public float c;
public SPoint3D pt;
public SLine3D(float a, float b, float c, SPoint3D pt)
{
this.a = a;
this.b = b;
this.c = c;
this.pt = pt;
}
};
//线段
public struct SLineSegment2D
{
public SPoint2D startPoint;
public SPoint2D endPoint;
public SLineSegment2D(SPoint2D startPoint, SPoint2D endPoint)
{
this.startPoint = startPoint;
this.endPoint = endPoint;
}
};
//平面方程:a*x+b*y+c*z+d=0
public struct SPlane
{
public double a;
public double b;
public double c;
public double d;
public SPlane(double a, double b, double c, double d)
{
this.a = a;
this.b = b;
this.c = c;
this.d = d;
}
};
//圆结构
public struct SCircle2D
{
public SPoint2D center; //圆心
public double radius; //半径
};
//圆环结构
public struct SRing2D
{
public SPoint2D center; //圆心
public double maxR; //外径
public double minR; //内径
};
//椭圆结构
public struct SEllipse2D
{
public SPoint2D center; //中心点
public double width; //宽度
public double height; //高度
public double angle; //角度
};
//圆弧结构
public struct SArc2D
{
public SCircle2D Circle; //圆形
public double startAngle; //圆弧起始角度
public double arcAngle; //逆时针方向圆弧角度
};
//矩形
public struct SRect
{
public SPoint2D center; //中心坐标
public double angle; //角度
public double width; //矩形宽度
public double height; //矩形高度
};
//无角度矩形
public struct SURect
{
public double leftX; //左下角X坐标
public double leftY; //左下角Y坐标
public double width; //矩形宽度
public double height; //矩形高度
};
//球体结构
public struct SSphere
{
public SPoint3D center; //球心
public double radius; //半径
};
//空间矩形
public struct SClipBox
{
public SPoint3D center; //中心点坐标
public double lengthX; //X方向宽度
public double lengthY; //Y方向宽度
public double lengthZ; //Z方向宽度
public double angleX; //绕X轴角度
public double angleY; //绕Y轴角度
public double angleZ; //绕Z轴角度
public SClipBox(SPoint3D center, double lengthX, double lengthY, double lengthZ, double angleX, double angleY, double angleZ)
{
this.center = center;
this.lengthX = lengthX;
this.lengthY = lengthY;
this.lengthZ = lengthZ;
this.angleX = angleX;
this.angleY = angleY;
this.angleZ = angleZ;
}
};
//3D变换参数
public struct S3DAngle
{
public double x;
public double y;
public double z;
public double angleX;
public double angleY;
public double angleZ;
public double scale;
public S3DAngle(double x, double y, double z, double angleX, double angleY, double angleZ, double scale)
{
this.x = x;
this.y = y;
this.z = z;
this.angleX = angleX;
this.angleY = angleY;
this.angleZ = angleZ;
this.scale = scale;
}
};
//矩形卡尺
public struct SRectCaliper
{
public double calspacing; //卡尺间距
public double calheight; //高度为矩形高度
public double calwidth; //卡尺宽度(高度为矩形高度)
public SRect rect; //矩形
};
//腰形卡尺
public struct SWaistCaliper
{
public double calspacing; //卡尺间距
public double calheight; //高度为矩形高度
public double calwidth; //卡尺宽度(高度为矩形高度)
public SRect rect; //矩形
};
//圆形卡尺
public struct SCircleCaliper
{
public double calspacing; //卡尺间距
public double calheight; //高度为矩形高度
public double calwidth; //卡尺宽度
public double startAngle; //圆弧开始角度 单位：度
public double endAngle; //圆弧终止角度 单位：度
public SCircle2D Circle; //圆形
};
//拟合表面缺陷检测参数
public struct SPlaneFlawsParm
{
public double humpHeightCheck; //凸起高度阈值
public double humpAreaCheck; //凸起面积阈值
public double sunkenDepthCheck; //凹陷深度阈值
public double sunkenAreaCheck; //凹陷面积阈值
public double blockBorderPhy; //计算点块边长
};
//拟合表面缺陷检测参数
public struct SSurfaceFlawsParm
{
public double humpHeightCheck; //凸起高度阈值
public double humpAreaCheck; //凸起面积阈值
public double sunkenDepthCheck; //凹陷深度阈值
public double sunkenAreaCheck; //凹陷面积阈值
public double blockBorderPhy; //计算点块边长
public double fitBorderPhyX; //拟合区域块X长度
public double fitBorderPhyY; //拟合区域块Y长度
public double fitExcluding; //异常值剔除比率
public int blockSample; //计算点降采样倍率
public int fitSample; //拟合点降采样倍率
public int fitSurfaceN; //曲面拟合次数
public int fitMethod; //拟合模式 0：曲面， 1：平面
};
//规则面（拟合线）缺陷测参数
public struct SRuleFlawsParm
{
public double humpHeightCheck; //凸起高度阈值
public double humpAreaCheck; //凸起面积阈值
public double sunkenDepthCheck; //凹陷深度阈值
public double sunkenAreaCheck; //凹陷面积阈值
public int fitMethod; //0: 曲线 1：直线
public int fitCurveMaxIndex; //拟合曲线最大指数
public double outlieDelRate; //异常值剔除比率
public double blockLength; //分段长
public double deleteRate; //线拟合剔除比率
public double minValidRate; //有效的点最少占比
public double Samplewidth; //采样宽度
};
//ROI类型
public enum ROI_TYPE
{
RECT, //矩形
CIRCLE, //圆形
RING, //圆环
POLYGON, //多边形
ELLIPSE, //椭圆
ELLIPSP_RING, //椭圆环
CALLIPERS_RECT, //矩形卡尺
CALLIPERS_CIRCULAR,//圆形卡尺
}
//ROI
public struct SRoi
{
public ROI_TYPE RoiType; //roi类型
public SRect RectRoi; //常规矩形
public SCircle2D CircleRoi; //圆
public SRing2D RingRoi; //圆环
public SPoint2D[] PointsRoi; //任意多边形
public uint PointsSize;
};
//平面度结果
public struct FlatnessParam
{
public SPlane plane; //平面方程
public double minDis; //点到平面最小距离
public double maxDis; //点到平面最大距离
public SPoint3D maxPt; //到平面最小距离点
public SPoint3D minPt; //到平面最小距离点
};
//边界
public struct SBorder
{
public double minX;
public double maxX;
public double minY;
public double maxY;
};
//点云头结构(zInterval初始化为 1e-5)
public struct SPointCloudHead
{
public uint height; //点云行数
public uint width; //点云列数
public double xInterval; //点云列间距
public double yInterval; //点云行间距
public double zInterval; //点云z方向分辨率系数
public SPointCloudHead(uint height, uint width, double xInterval, double yInterval, double zInterval)
{
this.height = height;
this.width = width;
this.xInterval = xInterval;
this.yInterval = yInterval;
this.zInterval = zInterval;
}
};
//TIF文件信息
public struct STifField
{
public uint height; //行数
public uint width; //列数
public uint bitDepth; //位宽
public uint channels; //通道数
public int type; //数据类型 1是signed 2是unsigned
};
//3D显示点结构
public struct SPoint3DRGB
{
public SPoint3D point3D;
public byte r;
public byte g;
public byte b;
};
//缺陷检测结果
public struct FlawsData
{
public SPoint2D[] flawsContours; //缺陷轮廓
public int contoursNum; //缺陷轮廓点数
public double flawsAreas; //缺陷面积
public double flawsHeight; //缺陷最深
public SRect flawsRects; //缺陷矩形框
};
public struct CalData
{
public SPoint3D[] fitPoints;
public int pointsNum;
};
//空间显示点结构
public struct SDisplay3DPoint
{
public double x;
public double y;
public double z;
public byte r;
public byte g;
public byte b;
public int AdaptiveRGB;
public SDisplay3DPoint(double x, double y, double z, byte r, byte g, byte b, int AdaptiveRGB)
{
this.x = x;
this.y = y;
this.z = z;
this.r = r;
this.g = g;
this.b = b;
this.AdaptiveRGB = AdaptiveRGB;
}
};
#endregion
internal class SCV
{
#region 常量
public const double INVALID_VALUE_MIN = -1000000000;
public const double INVALID_VALUE_MAX = 1000000000;
#endregion
#region SR7Link
///
/// 通信连接------与相机连接
///
/// 设备ID号，范围为0-3
/// （网口）通信设定
/// 0：成功; 小于0：失败
///
[DllImport("SR7Link.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int SR7IF_EthernetOpen(int lDeviceId, ref SR7IF_ETHERNET_CONFIG pEthernetConfig);
#endregion
#region 3D计算相关算法
/*************************************************
Function: PointPlaneDistance(区分正负）
Description: 点到平面距离
Input: @point 3D点
@plane 平面方程
Output: @distance 输出距离
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PointPlaneDistance(SPoint3D point, SPlane plane, ref double distance);
/*************************************************
Function: VolumeMeasurement
Description: 体积测量
Input: @HeightData 高度图
@pcHead 高度头文件
@ROI ROI
@plane 平面方程
@upper、lower 高度上下限制
Output: @volume 输出体积MM^3
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int VolumeMeasurement(int[] HeightData, SPointCloudHead pcHead, SRoi ROI, SPlane plane, double upper, double lower, ref double volume);
/*************************************************
Function: ThreePointHeightDiff
Description: 三点高度差
Input: @sPt:开始点 ePt:结束点 cPt:中间点
Output: @distance 输出三点高度差
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int ThreePointHeightDiff(SPoint3D sPt, SPoint3D ePt, SPoint3D cPt, ref double distance);
/*************************************************
Function: FitPlane
Description: 平面拟合
Input: @points 用于拟合的点
@ptSize 拟合点数量
Output: @plane 输出平面方程
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int FitPlane(SPoint3D[] points, int ptSize, ref SPlane plane);
/*************************************************
Function: PlanePlaneAngle
Description: 平面角度
Input: @plane1 输入平面1
@plane2 输入平面2
Output: @angle 角度
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PlanePlaneAngle(SPlane plane1, SPlane plane2, ref double angle);
/*************************************************
Function: PlanePlaneLin
Description: 平面交线
Input: @plane1 输入平面1
@plane2 输入平面2
Output: @dstLine 交线
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PlanePlaneLine(SPlane plane1, SPlane plane2, ref SLine3D dstLine);
/*************************************************
Function: Line3DIntersection
Description: 空间直线交点
Input: @line1 空间直线1
@line2 空间直线2
Output: @dstPoint 交点
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Line3DIntersection(SLine3D line1, SLine3D line2, ref SPoint3D dstPoint);
/*************************************************
Function: Point3dDistance
Description: 3D点距离
Input: @point1 空间点1
@point2 空间点2
Output: @distance 交点
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Point3dDistance(SPoint3D point1, SPoint3D point2, ref double distance);
/*************************************************
Function: FitLine3D
Description: 3D点距离
Input: @point1 空间点1
@point2 空间点2
Output: @distance 距离
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int FitLine3D(SPoint3D[] points, int pointnum, ref SLine3D line);
/*************************************************
Function: PointToLine3dDistance
Description: 3D点到直线距离
Input: @poin 空间点
@line 空间直线
Output: @distance 距离
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PointToLine3dDistance(SPoint3D point, SLine3D line, ref double distance);
/*************************************************
Function: PlaneIntersection
Description: 三平面交点
Input: @planes 平面，lanes[0]为标定块顶面或底面，planes[1]和planes[2]均为侧面
Output: @dstPt 交点
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PlaneIntersection(SPlane[] planes, ref SPoint3D dstPt);
/*************************************************
Function: MedianFiltering
Description: 中值滤波
Input: @srcHeightImage 原始点云
@pcHead 点云头
@hThreshold 高度阈值
@wThreshold 窗口大小
@ACC 加速率
Output: @dstHeightImage 滤波后点云
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int MedianFiltering(int[] srcHeightImage, int[] dstHeightImage, ref SPointCloudHead pcHead, double hThreshold, uint Wthreshold, uint ACC);
/*************************************************
Function: PointCloudFiltering
Description: 图像滤波（点云滤波）,支持ROI
Input: @srcHeightImage 原始点云数据
@pcHead 点云头文件
@rois roi(如果ROI为null或者数量为0，那么就对全图进行滤波)
@RoiSize Roi数量
@distanceRate 点与点之间的有效距离比，值越大认为两点之间的联系关系越强（范围0~1）， 默认值为0.5
@minValidArea 最小有效关联点，如果区域内关联点的个数小于此值，则这个区域会被去掉，默认值为200
Output: @dstHeightImage 滤波后云数据
Return: <0 失败.
= 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PointCloudFiltering(
int[] srcHeightImage,
int[] dstHeightImaget,
SPointCloudHead pcHead,
SRoi[] rois,
int RoiSize,
float distanceRate,
int minValidArea);
/*************************************************
Function: HeightFiltering
Description: 图像滤波（高度滤波），支持ROI
Input: @srcHeightImage 原始点云数据
@pcHead 点云头文件
@rois roi(如果ROI为null或者数量为0，那么就对全图进行滤波)
@RoiSize Roi数量
@maxValidDis 高度阈值，单位：mm
@minValidArea 面积阈值，单位：像素
Output: @dstHeightImage 滤波后云数据
Return: <0 失败.
= 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int HeightFiltering(
int[] srcHeightImage,
int[] dstHeightImaget,
SPointCloudHead pcHead,
SRoi[] rois,
int RoiSize,
double maxValidDis,
int minValidArea);
/*************************************************
Function: ImageComplements
Description: 图像补点
Input: @heightImage 补点图像图像
@pcHead 点云头
@mode 模式： 0:只补X ，1:只补Y，2:两个方向都补
@complementsNum 补点数量
@angle 补点角度，超过该角度以后补水平直线
Output: @heightImage 补点图像图像
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int ImageComplements(int[] heightImage, SPointCloudHead pcHead, int mode, int complementsNum, double angle);
/*************************************************
Function: CalFlatnessOfRegion
Description: 按区域拟合，计算平面度
Input: @heightImage 原始高度值
@RoiMaskImage ROI区域Mask图
@pcHead 点云头
@xRoiPixs，yRoiPixs 拟合区域单位分块大小
@Plane3D 基准平面（没有就填NULL）
Output: @FlatnessParam 返回平面方程，最大最小点的距离
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int CalFlatnessOfRegion(
int[] heightImage,
byte[] RoiMaskImage,
SPointCloudHead pcHead,
int xRoiPixs,
int yRoiPixs,
SPlane[] basePlane,
ref FlatnessParam FlatnessPlne);
#endregion
#region 标定校正相关算法
/*************************************************
Function: GetShakeCalibData
Description: 获取图像校正数据（校正机构抖动）
Input: @heightImage 输入原始图像数据
@width 图像宽度
@height 图像高度
@fStepX X间距
@fStepY Y间距
@plane 基准平面
@rectROI 基准校正区域
Output: @outCalibData 校正数据申请内存 大小为 (nHeight* 10) 个字节,外部申请内存
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetShakeCalibData(
int[] heightImage,
int width,
int height,
float fStepX,
float fStepY,
SPlane plane,
SRect rectROI,
IntPtr outCalibData);
/*************************************************
Function: GenShakeCalibImage
Description: 校正图像（校正机构抖动）
Input: @heightImage 输入原始图像数据
@width 图像宽度
@height 图像高度
@Data 输入校正数据
Output: @outHeightImage 校正后图像数据，pDstData存储大小和pSrcData一致
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GenShakeCalibImage(int[] heightImage, int width, int height, IntPtr Data, int[] outHeightImage);
/*************************************************
Function: GetRouletteCalibData
Description: 获取圆盘标定数
Input: @imagePointXYs[18], 棋盘格的9个点在原始灰度图像像素里的坐标, 格式为{x1,y1,x2,y2,x3,...,x9,y9}
@pixelSizeBeforeTransform, X方向像素大小
@pixelSizeAfterTransform, 转换后像素大小
@leftRealX, 左边点X真实坐标
@rightRealX, 右边点X真实坐标
@upRealY, 上面点X真实坐标
@downRealY, 下面点Y真实坐标
Output: @outCalibData, 输出的标定数据结果
@outMessage[256] 输出信息提示
Return: <0 失败.
= 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetRouletteCalibData(
SPoint2D[] imagePointXY,
double pixelSizeBeforeTransform,
double pixelSizeAfterTransform,
double leftRealX,
double rightRealX,
double upRealY,
double downRealY,
IntPtr outCalibData,
ref double outMessage);
/*************************************************
Function: GenRouletteCalibImage
Description: 圆盘标定校正图像
Input: @heightImage, 原始深度图
@pointsWidth, 点云宽度
@int pointsHeight, 点云高度
@calibData, 标定数据
@int imageWidth, 转换后图像宽度
@int imageHeight, 转换后图像高度
@centerX, 裁剪中心X
@centerY, 裁剪中心Y
@ centerZ, 裁剪中心Z
@ ratioMMPerPixel, 转换后像素大小
Output: @dst, 转换后3D数据
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GenRouletteCalibImage(
int[] heightImage,
int pointsWidth,
int pointsHeight,
IntPtr calibData,
int[] dstHeightImage,
int imageWidth,
int imageHeight,
double centerX,
double centerY,
double centerZ,
double ratioMMPerPixel);
/*************************************************
Function: AffineTransMatrix3D
Description: 根据输入点求矩阵
Input: @ptSeneor 原始点
@ptPhysical 目标点
@ptSize 点数
Output: @dstMatrix 输出的变换矩阵
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int AffineTransMatrix3D(SPoint3D[] ptSeneor, SPoint3D[] ptPhysical, int nSize, double[] dstMatrix);
/*************************************************
Function: AffineTransPoint3D
Description: 根据矩阵求变换后的坐标
Input: @srcPt 转换前3D点
@matrix 仿射变换4*4矩阵
@dstPt 转换后3D点
Output: @dstPt 转换后的3D点
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int AffineTransPoint3D(ref SPoint3D srcPt, double[] matrix, ref SPoint3D dstPt);
/*************************************************
Function: AffineTransImage
Description: 点云变换
Input: @heightImage 变化前高度图
@grayImage 变化前亮度图（没有时可以为NULL）
@pcHead 点云头
@matrix 仿射变换4*4矩阵
@newPcHead 变化点云头
@centerX 、centerY、centerZ 转换后图像偏移
@hMax、hMin 高度上下限
Output: @newHeightImage 变化后高度图
@newGrayImage 变化后灰度图
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int AffineTransImage(
int[] heightImage,
byte[] grayImage,
SPointCloudHead pcHead,
double[] matrix,
SPointCloudHead newPcHead,
double centerX,
double centerY,
double centerZ,
int[] newHeightImage,
byte[] newGrayImage,
double hMax = INVALID_VALUE_MAX,
double hMin = INVALID_VALUE_MIN);
/*************************************************
Function: CorrectZAxisRotation
Description: 相机绕Z方向旋转校正
Input: @heightImage 校正前高度图
@grayImage 校正前亮度图（没有时可以为NULL）
@pcHead 点云头
@angle 旋转角度
@centerX 、centerY、centerZ 转换后图像偏移
@newPcHead 校正后头文件
Output: @newHeightImage 校正后高度图
@newGrayImage 校正后灰度图
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int CorrectZAxisRotation(
int[] heightImage,
byte[] grayImage,
ref SPointCloudHead pcHead,
double angle,
SPointCloudHead newPcHead,
double centerX,
double centerY,
double centerZ,
int[] newHeightImage,
byte[] newGrayImage);
/*************************************************
Function: PoseToMatrix
Description: 根据角度求矩阵
Input: @angleX 绕X轴旋转角度
@angleY 绕Y轴旋转角度
@angleZ 绕Z轴旋转角度
@thetaXofPd 矫正角度
@ceberX X方向偏移值
@ceberY Y方向偏移值
@ceberZ Z方向偏移值
Output: @matrix 计算得到的角度矩阵
Return: <0: 失败.
=0: 成功
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PoseToMatrix(double AngleX, double AngleY, double AngleZ, double thetaXofPd, double CeberX, double CeberY, double CeberZ, double[] matrix);
/*************************************************
Function: GetMatrixFromPlane
Description: 通过平面方程计算旋转矩阵
Input: @plane 平面方程
Output: @matrix 计算得到的角度矩阵
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetMatrixFromPlane(ref SPlane plane, double[] matrix);
/*************************************************
Function: CorrectXAxisRotation
Description: 矫正绕相机绕X旋转的角度
Input: @heightData 原始图像
@pcHead 点云头
@anglex X的角度
@CeberY Y方向偏移行数
@isHeigh 是否偏移高度值
Output: @dstheightData 偏移后原图像
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int CorrectXAxisRotation(int[] heightData, SPointCloudHead pcHead, double anglex, int CeberY, bool isHeigh, int[] dstheightData);
/*************************************************
Function: ImageRotate
Description: 图像旋转
Input: @heightData 原始图像
@pcHead 点云头
@rotateType 旋转方式
Output: @dstheightData 偏移后原图像
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int ImageRotate(int[] heightData, int[] dstheightData, ref SPointCloudHead pcHead, ROTATE_TYPE rotateType);
#endregion
#region 工具类
/*************************************************
Function: ArrayFilter
Description: 数组数据筛选
Input: @data 输入数组
@dataSize 数组大小
@filterType 极值(0:正常，1:极大值，2:极小值)
@valueType 结果计算方式(0:平均值，1:中位数)
@delPara 阈值m，大于等于1按个数，小于1按比例
@samPara 阈值n，大于等于1按个数，小于1按比例
@upper 数值上限
@lower 数值下限
Output: @outValue 剔除后数值
@outData 剔除后数组
@outDataSize剔除后数组大小
Return: <0: 失败.
=0: 成功
Others: 正常：去除最大m个点，去除最小n个点；
极大值：去除最大m个点；
极小值：去除最小m个点；
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int ArrayFilter(
double[] data,
int dataSize,
int filterType,
int valueType,
double delPara,
double samPara,
double upper,
double lower,
ref double outValue,
double[] outData,
ref int outDataSize);
/*************************************************
Function: RoiArea
Description: 求ROI面积大小，用于提取ROI内点时候申请内存
Input: @roi 输入ROI
Output:
Return: <0: 失败.
>0: ROI像素面积.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int RoiArea(SRoi roiInfo);
/*************************************************
Function: Point3DFilter
Description: 3D点数组数据筛选
Input: @points 输入数组
@ptSize 数组大小
@filterType 极值(0:正常，1:极大值，2:极小值)
@valueType 结果计算方式(0:平均值，1:中位数)
@priorityType 优先级（0:X方向，1:Y方向，2:Z方向）
@delPara 阈值m，大于等于1按个数，小于1按比例
@samPara 阈值n，大于等于1按个数，小于1按比例
@upper 数值上限
@lower 数值下限
Output: @outValue 剔除后数值
@outPoints 剔除后数组
@outPtSize 剔除后数组大小
Return: <0: 失败.
=0: 成功
Others: 正常：去除最大m个点，去除最小n个点；
极大值：去除最大m个点；
极小值：去除最小m个点；
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Point3DFilter(
SPoint3D[] points,
int ptSize,
int filterType,
int valueType,
int priorityType,
double delPara,
double samPara,
ref SPoint3D outValue,
SPoint3D[] outPoints,
ref int outPtSize,
double upper = INVALID_VALUE_MAX,
double lower = INVALID_VALUE_MIN);
/*************************************************
Function: GetAllPointsFromRoi
Description: ROI内点提取
Input: @data 高度数据
@pcHead 点云头结构
@roiInfo ROI
@accelerate 降采样比率，默认填1
Output: @roiData 输出ROI内3D点（SPoint3D[]）
@dstanum 3D点数组大小
Return: <0: 失败.
=0: 成功
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetAllPointsFromRoi(int[] heightImage, SPointCloudHead pcHead, SRoi roiInfo, IntPtr roiData, ref int dstanum, int accelerate = 1);
/*************************************************
Function: GetFilteredPointFromROI
Description: ROi获取单点高度
Input: @heightImage高度数据
@pcHead 点云头结构
@roiInfo ROI
@accelerate 降采样比率，默认填1
@filterType 极值(0:正常，1:极大值，2:极小值)
@valueType 结果计算方式(0:平均值，1:中位数)
@delPara 阈值m，大于等于1按个数，小于1按比例
@samPara 阈值n，大于等于1按个数，小于1按比例
@upper 数值上限
@lower 数值下限
Output: @outValue 剔除后数值
@outPoints 剔除后数组
@outPtSize 剔除后数组大小
Return: <0: 失败.
=0: 成功
Others: 正常：去除最大m个点，去除最小n个点；
极大值：去除最大m个点；
极小值：去除最小m个点；
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetFilteredPointFromROI(
int[] heightData,
SPointCloudHead pcHead,
SRoi roiInfo,
int filterType,
int valueType,
double delPara,
double samPara,
ref SPoint3D outValue,
IntPtr outPoints,
ref int outPtSize,
int accelerate = 1,
double upper = INVALID_VALUE_MAX,
double lower = INVALID_VALUE_MIN);
/*************************************************
Function: GetFilteredPointFromROIOnBasePlane
Description: ROi获取单点高度（基于平面）
Input: @heightImage高度数据
@pcHead 点云头结构
@roiInfo ROI
@accelerate 降采样比率，默认填1
@filterType 极值(0:正常，1:极大值，2:极小值)
@valueType 结果计算方式(0:平均值，1:中位数)
@delPara 阈值m，大于等于1按个数，小于1按比例
@samPara 阈值n，大于等于1按个数，小于1按比例
@upper 数值上限
@lower 数值下限
@plane 平面方程
Output: @outValue 剔除后数值
@outPoints 剔除后数组
@outPtSize 剔除后数组大小
Return: <0: 失败.
=0: 成功
Others: 正常：去除最大m个点，去除最小n个点；
极大值：去除最大m个点；
极小值：去除最小m个点；
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetFilteredPointFromROIOnBasePlane(
int[] heightImage,
SPointCloudHead pcHead,
SRoi roiInfo,
int filterType,
int valueType,
double delPara,
double samPara,
SPlane plane,
ref double outValue,
IntPtr outPoints,
ref int outPtSize,
int accelerate = 1,
double upper = INVALID_VALUE_MAX,
double lower = INVALID_VALUE_MIN);
/*************************************************
Function: GetMaskFromRoi
Description: 获取ROI区域Mask图
Input: @Roi 输入ROI
@pcHead 点云头
Output: @mask 输出Mask图，大小与原始点云一样；
Return: <0 失败.
=0 成功
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetMaskFromRoi(SRoi Roi, SPointCloudHead pcHead, byte[] mask);
/*************************************************
Function: GetMaskFromPoints
Description: 根据点坐标生成Mask图
Input: @pt 输入点坐标
@ptSize 点个数
@width 图像宽度
@height 图像高度
Output: @mask 输出Mask图；
Return: <0 失败.
=0 成功
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetMaskFromPoints(SPoint2D[] inPt, int ptSize, int width, int height, byte[] mask);
/*************************************************
Function: GenHeightImageFromMask
Description: 获取加掩膜以后的高度图图
Input: @mask Mask图
@pcHead 点云头
@data 高度数据
Output: @data 高度数据
Return: <0 失败.
=0 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GenHeightImageFromMask(SPointCloudHead pcHead, byte[] mask, int[] data);
#endregion
#region 图像转换类
/*************************************************
Function: CalUpperAndLower
Description: 求图像上下限
Input: @points 输入图像
@width height 图像长宽
Output: @upper lower 高度上下限，原始int高度，单位1/100000 mm
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int CalUpperAndLower(int[] points, uint hight, uint width, ref double upper, ref double lower);
/*************************************************
Function: PointToGrayData
Description: 高度转灰度
Input: @points 输入图像
@width height 图像长宽
@upper lower 高度上下限，原始int高度，单位1/100000 mm
Output: @grayData 灰度图
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PointToGrayData(int[] points, uint width, uint height, double upper, double lower, byte[] grayData);
/*************************************************
Function: PointToRGBData
Description: 高度转RGB显示
Input: @points 输入图像
@width height 模式：0 只通过高度计算RGB，1、2 通过高度分布计算RGB
@upper lower 高度上下限，原始int高度，单位1/100000 mm
Output: @R、G、B RBG颜色
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int PointToRGBData(int[] points, uint width, uint height, int mode, double upper, double lower, byte[] R, byte[] G, byte[] B);
/*************************************************
Function: GetPointCloudHead
Description: 读取ECD头文件
Input: @file 输入文件名
Output: @pcHead 输出头文件
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetPointCloudHead(char[] file, ref SPointCloudHead pcHead);
/*************************************************
Function: ReadEcd
Description: 读取ECD文件
Input: @file 输入文件名
Output: @pcHead 输出头文件
@heightImage 高度数据
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int ReadEcd(char[] file, int[] heightImage, ref SPointCloudHead pcHead);
/*************************************************
Function: WriteEcd
Description: 写入ECD头文件
Input: @file 输入文件名
Output: @pcHead 输出头文件
@heightImage 高度数据
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int WriteEcd(char[] file, int[] heightImage, SPointCloudHead pcHead);
/*************************************************
Function: WritePly
Description: 保存PLY
Input: @file 输入文件名
@points 点云数据
@pointSize 3D点数量
Output:
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int WritePly(char[] file, SPoint3D[] points, int pointSize);
/*************************************************
Function: SavePly
Description: 保存PLY
Input: @file 输入文件名
@pcHead 输出头文件
@heightImage 高度数据
Output:
Return: <0: 失败.
=0: 成功
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int SavePly(char[] file, int[] heightImage, SPointCloudHead pcHead);
/*************************************************
Function: SavePcd
Description: 保存Ply格式
Input: @file 文件名
@heightImage 高度数据
@PointCloudHead 头文件
Output:
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int SavePcd(char[] file, int[] heightImage, SPointCloudHead pcHead);
/*************************************************
Function: Save32Tif
Description: 保存32位Tiff格式
Input: @file 文件名
@heightImage 高度数据
@PointCloudHead 头文件
Output:
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Save32Tif(char[] file, int[] heightImage, SPointCloudHead pcHead);
/*************************************************
Function: Save16Tif
Description: 保存16位Tiff格式
Input: @file 文件名
@heightImage 高度数据
@PointCloudHead 头文件
@HeightMax、HeightMin 高度上下限区间（参考对应相机景深范围）
Output: @z_scale 返回缩放比例
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Save16Tif(char[] file, int[] heightImage, SPointCloudHead pcHead, double HeightMax, double HeightMin, ref double z_scale);
/*************************************************
Function: Save16Tif
Description: 保存16位Tiff格式
Input: @file 文件名
@heightImage 高度数据
@PointCloudHead 头文件
@z_scale 输入缩放比例
Output: 无
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Save16TifOfScale(char[] file, int[] heightImage, SPointCloudHead pcHead, double z_scale);
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Save16TifOfShort(char[] file, short[] heightImage, SPointCloudHead pcHead, double z_scale, int isSigned);
/*************************************************
Function: GetTifField
Description: 获取tiff图片字段信息
Input: @file 文件名
Output: @tiffield 字段信息
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int GetTifField(char[] file, ref STifField tiffield);
/*************************************************
Function: Read32Tif
Description: 读取32位tiff图片
Input: @file 文件名
Output: @data 高度信息
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Read32Tif(char[] file, int[] heightImage);
/*************************************************
Function: Read32Tif
Description: 读取32位tiff图片
Input: @file 文件名
@zInterval 缩放比率
Output: @dataheightImage 高度信息
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Read16Tif(char[] file, double zInterval, int[] heightImage);
/*************************************************
Function: ReadBmp
Description: 读取Bmp图片
Input: @file 文件名
Output: @imageData 图像数据
@width、height 图像长宽
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int ReadBmp(char[] file, byte[] imageData,ref int width,ref int height);
/*************************************************
Function: SaveBmp
Description: 保存Bmp图片
Input: @file 文件名
@imageData 图像数据
@width、height 图像长宽
Output: 无
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int SaveBmp(char[] file, byte[] imageData, int width, int height);
/*************************************************
Function: Save24Bmp
Description: 保存3通道24bitBmp图片
Input: @file 文件名
@DataR、DataG、DataR 图像rgb数据
@width、height 图像长宽
Output: 无
Return: <0: 失败.
=0: 成功.
Others: 无
*************************************************/
[DllImport("SImagePro.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Save24Bmp(char[] file, byte[] DataR, byte[] DataG, byte[] DataB, int width, int height);
#endregion
#region 3D显示
/*************************************************
Function: Show3DPoint
Description: 显示3D点
Input: @Points 需要显示的点集 SDisplay3DPoint[]
@PointsSize 每块点云数量
@PointsNum 点云块数量
@streamline 精简点数
@width 窗口宽度
@height 窗口高度
@left 窗口左边距
@top 窗口右边距
Output:
Return: <0: 失败.
=0: 成功.
Others: 无
Author: FYX
Date: 2024-05-31
*************************************************/
[DllImport("SShow3DImage.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Show3DPoint(
SDisplay3DPoint[] Points,
int[] PointsSize,
int PointsNum,
int streamline = 1,
int width = 960,
int height = 720,
int left = 50,
int top = 50);
/*************************************************
Function: Show3DPoint
Description: 显示3D点
Input: @Points 需要显示的点集
@PointsSize 每块点云数量
@Num 点云块数量
@streamline 精简点数
@width 窗口宽度
@height 窗口高度
@left 窗口左边距
@top 窗口右边距
Output:
Return: <0: 失败.
=0: 成功.
Others: 无
Author: FYX
Date: 2024-05-31
*************************************************/
[DllImport("SShow3DImage.dll", CallingConvention = CallingConvention.Cdecl)]
internal static extern int Show3DImage(
int[] heightImage,
int ImageWidth,
int ImageHeight,
double ImageXinterval,
double ImageYinterval,
int streamline = 1,
int width = 960,
int height = 720,
int left = 50,
int top = 50);
#endregion
}
}