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Samples: Update CaptureHalconViaZivid
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Reduce the total capture time when using Zivid API in combination with
HALCON. The improvements can be seen in `CaptureHalconViaZivid` sample.
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@csu-bot-zivid @chrisasc
csu-bot-zivid authored and chrisasc committed Nov 14, 2023
1 parent e0924ca commit f12aaa8
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Showing 2 changed files with 48 additions and 41 deletions.
81 changes: 44 additions & 37 deletions source/Camera/Advanced/CaptureHalconViaZivid/CaptureHalconViaZivid.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,19 @@ static int Main()
return 0;
}

private static HalconDotNet.HTuple arrayToHalconDouble(params double[] arr)
{
var htup = new HalconDotNet.HTuple((double)0);
htup.DArr = arr;
return htup;
}
private static HalconDotNet.HTuple arrayToHalconInt(params int[] arr)
{
var htup = new HalconDotNet.HTuple((int)0);
htup.IArr = arr;
return htup;
}

private static void SaveHalconPointCloud(HalconDotNet.HObjectModel3D model, string fileName)
{
model.WriteObjectModel3d("ply", fileName, "invert_normals", "false");
Expand Down Expand Up @@ -79,35 +92,22 @@ private static HalconDotNet.HObjectModel3D ZividToHalconPointCloud(Zivid.NET.Poi
// tupleXYZMapping is of shape [width, height, rows[], cols[]], and is used for creating xyz mapping.
// See more at: https://www.mvtec.com/doc/halcon/13/en/set_object_model_3d_attrib.html

var tuplePointsX = new HalconDotNet.HTuple();
var tuplePointsY = new HalconDotNet.HTuple();
var tuplePointsZ = new HalconDotNet.HTuple();
var tuplePointsX = new double[numberOfValidPoints];
var tuplePointsY = new double[numberOfValidPoints];
var tuplePointsZ = new double[numberOfValidPoints];

var tupleNormalsX = new HalconDotNet.HTuple();
var tupleNormalsY = new HalconDotNet.HTuple();
var tupleNormalsZ = new HalconDotNet.HTuple();
var tupleNormalsX = new double[numberOfValidPoints];
var tupleNormalsY = new double[numberOfValidPoints];
var tupleNormalsZ = new double[numberOfValidPoints];

var tupleColorsR = new HalconDotNet.HTuple();
var tupleColorsG = new HalconDotNet.HTuple();
var tupleColorsB = new HalconDotNet.HTuple();
var tupleColorsR = new int[numberOfValidPoints];
var tupleColorsG = new int[numberOfValidPoints];
var tupleColorsB = new int[numberOfValidPoints];

var tupleXYZMapping = new HalconDotNet.HTuple();
var tupleXYZMapping = new int[2 * numberOfValidPoints + 2];

tuplePointsX[numberOfValidPoints - 1] = (float)0;
tuplePointsY[numberOfValidPoints - 1] = (float)0;
tuplePointsZ[numberOfValidPoints - 1] = (float)0;

tupleNormalsX[numberOfValidPoints - 1] = (float)0;
tupleNormalsY[numberOfValidPoints - 1] = (float)0;
tupleNormalsZ[numberOfValidPoints - 1] = (float)0;

tupleColorsR[numberOfValidPoints - 1] = (byte)0;
tupleColorsG[numberOfValidPoints - 1] = (byte)0;
tupleColorsB[numberOfValidPoints - 1] = (byte)0;

tupleXYZMapping[2 * numberOfValidPoints + 2 - 1] = (uint)0;
tupleXYZMapping[0] = (uint)width;
tupleXYZMapping[1] = (uint)height;
tupleXYZMapping[0] = (int)width;
tupleXYZMapping[1] = (int)height;

var validPointIndex = 0;
for (uint i = 0; i < height; i++)
Expand All @@ -125,8 +125,8 @@ private static HalconDotNet.HObjectModel3D ZividToHalconPointCloud(Zivid.NET.Poi
tupleColorsR[validPointIndex] = colorsRGBA[i, j, 0];
tupleColorsG[validPointIndex] = colorsRGBA[i, j, 1];
tupleColorsB[validPointIndex] = colorsRGBA[i, j, 2];
tupleXYZMapping[2 + validPointIndex] = i;
tupleXYZMapping[2 + numberOfValidPoints + validPointIndex] = j;
tupleXYZMapping[2 + validPointIndex] = (int)i;
tupleXYZMapping[2 + numberOfValidPoints + validPointIndex] = (int)j;

if (!float.IsNaN(normal))
{
Expand All @@ -139,24 +139,31 @@ private static HalconDotNet.HObjectModel3D ZividToHalconPointCloud(Zivid.NET.Poi
}
}

var tuplePointsXH = arrayToHalconDouble(tuplePointsX);
var tuplePointsYH = arrayToHalconDouble(tuplePointsY);
var tuplePointsZH = arrayToHalconDouble(tuplePointsZ);
var tupleNormalsXH = arrayToHalconDouble(tupleNormalsX);
var tupleNormalsYH = arrayToHalconDouble(tupleNormalsY);
var tupleNormalsZH = arrayToHalconDouble(tupleNormalsZ);
var tupleColorsRH = arrayToHalconInt(tupleColorsR);
var tupleColorsGH = arrayToHalconInt(tupleColorsG);
var tupleColorsBH = arrayToHalconInt(tupleColorsB);

Console.WriteLine("Constructing ObjectModel3D based on XYZ data");
var objectModel3D = new HalconDotNet.HObjectModel3D(tuplePointsX, tuplePointsY, tuplePointsZ);
var objectModel3D = new HalconDotNet.HObjectModel3D(tuplePointsXH, tuplePointsYH, tuplePointsZH);

Console.WriteLine("Mapping ObjectModel3D data");
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "xyz_mapping", "object", tupleXYZMapping);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "xyz_mapping", "object", arrayToHalconInt(tupleXYZMapping));

Console.WriteLine("Adding normals to ObjectModel3D");
var normalsAttribNames = new HalconDotNet.HTuple("point_normal_x", "point_normal_y", "point_normal_z");
var normalsAttribValues = new HalconDotNet.HTuple(tupleNormalsX, tupleNormalsY, tupleNormalsZ);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D,
normalsAttribNames,
"points",
normalsAttribValues);
var normalsAttribValues = new HalconDotNet.HTuple(tupleNormalsXH, tupleNormalsYH, tupleNormalsZH);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, normalsAttribNames, "points", normalsAttribValues);

Console.WriteLine("Adding RGB to ObjectModel3D");
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "red", "points", tupleColorsR);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "green", "points", tupleColorsG);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "blue", "points", tupleColorsB);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "red", "points", tupleColorsRH);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "green", "points", tupleColorsGH);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "blue", "points", tupleColorsBH);

return objectModel3D;
}
Expand Down
8 changes: 4 additions & 4 deletions source/Camera/Basic/CaptureTutorial.md
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Expand Up @@ -159,8 +159,8 @@ As with all cameras there are settings that can be configured.

### Presets

The recommendation is to use [Zivid
Presets](https://support.zivid.com/latest/reference-articles/presets-settings.html)
The recommendation is to use
[Presets](https://support.zivid.com/latest/reference-articles/presets-settings.html)
available in Zivid Studio and as .yml files (see `load_yml_label`
below). Alternatively, you can use our Capture Assistant, or you may
configure the settings manually.
Expand Down Expand Up @@ -340,8 +340,8 @@ var settings2D = new Zivid.NET.Settings2D
Zivid Studio can store the current settings to .yml files. These can be
read and applied in the API. You may find it easier to modify the
settings in these (human-readable) yaml-files in your preferred editor.
Check out [Zivid
Presets](https://support.zivid.com/latest/reference-articles/presets-settings.html)
Check out
[Presets](https://support.zivid.com/latest/reference-articles/presets-settings.html)
for recommended .yml files tuned for your application.

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Expand Down

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