/*********************************************************** * File generated by the HALCON-Compiler hcomp version 20.11 * Usage: Interface to C++ * * Software by: MVTec Software GmbH, www.mvtec.com ***********************************************************/ #ifndef HCPP_HCALIBDATA #define HCPP_HCALIBDATA namespace HalconCpp { // Represents an instance of a camera calibration model. class LIntExport HCalibData : public HHandle { public: // Create an uninitialized instance HCalibData():HHandle() {} // Copy constructor HCalibData(const HCalibData& source) : HHandle(source) {} // Copy constructor HCalibData(const HHandle& handle); // Create HCalibData from handle, taking ownership explicit HCalibData(Hlong handle); bool operator==(const HHandle& obj) const { return HHandleBase::operator==(obj); } bool operator!=(const HHandle& obj) const { return HHandleBase::operator!=(obj); } protected: // Verify matching semantic type ('calib_data')! virtual void AssertType(Hphandle handle) const; public: // Deep copy of all data represented by this object instance HCalibData Clone() const; /***************************************************************************** * Operator-based class constructors *****************************************************************************/ // read_calib_data: Restore a calibration data model from a file. explicit HCalibData(const HString& FileName); // read_calib_data: Restore a calibration data model from a file. explicit HCalibData(const char* FileName); #ifdef _WIN32 // read_calib_data: Restore a calibration data model from a file. explicit HCalibData(const wchar_t* FileName); #endif // create_calib_data: Create a HALCON calibration data model. explicit HCalibData(const HString& CalibSetup, Hlong NumCameras, Hlong NumCalibObjects); // create_calib_data: Create a HALCON calibration data model. explicit HCalibData(const char* CalibSetup, Hlong NumCameras, Hlong NumCalibObjects); #ifdef _WIN32 // create_calib_data: Create a HALCON calibration data model. explicit HCalibData(const wchar_t* CalibSetup, Hlong NumCameras, Hlong NumCalibObjects); #endif /*************************************************************************** * Operators * ***************************************************************************/ // Free the memory of a calibration data model. void ClearCalibData() const; // Deserialize a serialized calibration data model. void DeserializeCalibData(const HSerializedItem& SerializedItemHandle); // Serialize a calibration data model. HSerializedItem SerializeCalibData() const; // Restore a calibration data model from a file. void ReadCalibData(const HString& FileName); // Restore a calibration data model from a file. void ReadCalibData(const char* FileName); #ifdef _WIN32 // Restore a calibration data model from a file. void ReadCalibData(const wchar_t* FileName); #endif // Store a calibration data model into a file. void WriteCalibData(const HString& FileName) const; // Store a calibration data model into a file. void WriteCalibData(const char* FileName) const; #ifdef _WIN32 // Store a calibration data model into a file. void WriteCalibData(const wchar_t* FileName) const; #endif // Perform a hand-eye calibration. HTuple CalibrateHandEye() const; // Determine all camera parameters by a simultaneous minimization process. double CalibrateCameras() const; // Remove a data set from a calibration data model. void RemoveCalibData(const HString& ItemType, const HTuple& ItemIdx) const; // Remove a data set from a calibration data model. void RemoveCalibData(const HString& ItemType, Hlong ItemIdx) const; // Remove a data set from a calibration data model. void RemoveCalibData(const char* ItemType, Hlong ItemIdx) const; #ifdef _WIN32 // Remove a data set from a calibration data model. void RemoveCalibData(const wchar_t* ItemType, Hlong ItemIdx) const; #endif // Set data in a calibration data model. void SetCalibData(const HString& ItemType, const HTuple& ItemIdx, const HString& DataName, const HTuple& DataValue) const; // Set data in a calibration data model. void SetCalibData(const HString& ItemType, Hlong ItemIdx, const HString& DataName, const HString& DataValue) const; // Set data in a calibration data model. void SetCalibData(const char* ItemType, Hlong ItemIdx, const char* DataName, const char* DataValue) const; #ifdef _WIN32 // Set data in a calibration data model. void SetCalibData(const wchar_t* ItemType, Hlong ItemIdx, const wchar_t* DataName, const wchar_t* DataValue) const; #endif // Find the HALCON calibration plate and set the extracted points and contours in a calibration data model. void FindCalibObject(const HImage& Image, Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx, const HTuple& GenParamName, const HTuple& GenParamValue) const; // Remove observation data from a calibration data model. void RemoveCalibDataObserv(Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx) const; // Get contour-based observation data from a calibration data model. HXLDCont GetCalibDataObservContours(const HString& ContourName, Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx) const; // Get contour-based observation data from a calibration data model. HXLDCont GetCalibDataObservContours(const char* ContourName, Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx) const; #ifdef _WIN32 // Get contour-based observation data from a calibration data model. HXLDCont GetCalibDataObservContours(const wchar_t* ContourName, Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx) const; #endif // Get observed calibration object poses from a calibration data model. HPose GetCalibDataObservPose(Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx) const; // Set observed calibration object poses in a calibration data model. void SetCalibDataObservPose(Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx, const HPose& ObjInCameraPose) const; // Get point-based observation data from a calibration data model. void GetCalibDataObservPoints(Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx, HTuple* Row, HTuple* Column, HTuple* Index, HTuple* Pose) const; // Set point-based observation data in a calibration data model. void SetCalibDataObservPoints(Hlong CameraIdx, Hlong CalibObjIdx, Hlong CalibObjPoseIdx, const HTuple& Row, const HTuple& Column, const HTuple& Index, const HTuple& Pose) const; // Query information about the relations between cameras, calibration objects, and calibration object poses. HTuple QueryCalibDataObservIndices(const HString& ItemType, Hlong ItemIdx, HTuple* Index2) const; // Query information about the relations between cameras, calibration objects, and calibration object poses. HTuple QueryCalibDataObservIndices(const char* ItemType, Hlong ItemIdx, HTuple* Index2) const; #ifdef _WIN32 // Query information about the relations between cameras, calibration objects, and calibration object poses. HTuple QueryCalibDataObservIndices(const wchar_t* ItemType, Hlong ItemIdx, HTuple* Index2) const; #endif // Query data stored or computed in a calibration data model. HTuple GetCalibData(const HString& ItemType, const HTuple& ItemIdx, const HTuple& DataName) const; // Query data stored or computed in a calibration data model. HTuple GetCalibData(const HString& ItemType, Hlong ItemIdx, const HString& DataName) const; // Query data stored or computed in a calibration data model. HTuple GetCalibData(const char* ItemType, Hlong ItemIdx, const char* DataName) const; #ifdef _WIN32 // Query data stored or computed in a calibration data model. HTuple GetCalibData(const wchar_t* ItemType, Hlong ItemIdx, const wchar_t* DataName) const; #endif // Define a calibration object in a calibration model. void SetCalibDataCalibObject(Hlong CalibObjIdx, const HTuple& CalibObjDescr) const; // Define a calibration object in a calibration model. void SetCalibDataCalibObject(Hlong CalibObjIdx, double CalibObjDescr) const; // Set type and initial parameters of a camera in a calibration data model. void SetCalibDataCamParam(const HTuple& CameraIdx, const HTuple& CameraType, const HCamPar& CameraParam) const; // Set type and initial parameters of a camera in a calibration data model. void SetCalibDataCamParam(const HTuple& CameraIdx, const HString& CameraType, const HCamPar& CameraParam) const; // Set type and initial parameters of a camera in a calibration data model. void SetCalibDataCamParam(const HTuple& CameraIdx, const char* CameraType, const HCamPar& CameraParam) const; #ifdef _WIN32 // Set type and initial parameters of a camera in a calibration data model. void SetCalibDataCamParam(const HTuple& CameraIdx, const wchar_t* CameraType, const HCamPar& CameraParam) const; #endif // Create a HALCON calibration data model. void CreateCalibData(const HString& CalibSetup, Hlong NumCameras, Hlong NumCalibObjects); // Create a HALCON calibration data model. void CreateCalibData(const char* CalibSetup, Hlong NumCameras, Hlong NumCalibObjects); #ifdef _WIN32 // Create a HALCON calibration data model. void CreateCalibData(const wchar_t* CalibSetup, Hlong NumCameras, Hlong NumCalibObjects); #endif }; // forward declarations and types for internal array implementation template class HSmartPtr; template class HHandleBaseArrayRef; typedef HHandleBaseArrayRef HCalibDataArrayRef; typedef HSmartPtr< HCalibDataArrayRef > HCalibDataArrayPtr; // Represents multiple tool instances class LIntExport HCalibDataArray : public HHandleBaseArray { public: // Create empty array HCalibDataArray(); // Create array from native array of tool instances HCalibDataArray(HCalibData* classes, Hlong length); // Copy constructor HCalibDataArray(const HCalibDataArray &tool_array); // Destructor virtual ~HCalibDataArray(); // Assignment operator HCalibDataArray &operator=(const HCalibDataArray &tool_array); // Clears array and all tool instances virtual void Clear(); // Get array of native tool instances const HCalibData* Tools() const; // Get number of tools virtual Hlong Length() const; // Create tool array from tuple of handles virtual void SetFromTuple(const HTuple& handles); // Get tuple of handles for tool array virtual HTuple ConvertToTuple() const; protected: // Smart pointer to internal data container HCalibDataArrayPtr *mArrayPtr; }; } #endif