PointDescrModel::PointDescrModel(DXFReader* dxf, Signature* sig) :
Descriptor(((ShapeModel*)sig->GetElement(0, DESCRIPTOR_SHAPE))->GetClass()),
m_DescriptoHandel(-1),
m_Config(new XMLTag(XML_NODE_POINTDESCRCONFIG))
{
/* Load necessary information from the signature*/
ShapeModel* sm = (ShapeModel*)sig->GetElement(0, DESCRIPTOR_SHAPE);
if(sm == NULL)
throw "No shape model available";
Image* img = sm->GetLastMatchedImage();
if(img == NULL)
throw "No matched image available";
ShapeModelParamSet* pm = sm->GetParamSet();
Calibration* calib = pm->m_calib;
calib->SaveTo(m_Config);
if(calib == NULL)
throw "No Calibration found";
if(dxf == NULL)
throw "No DXF-information available";
/* Create the overlapping region, where the 2d points have to be searched*/
try
{
#ifdef HALCONIMG
if(sig->GetObjectPose() == NULL)
throw "No Pose Available";
Halcon::Hobject xld = sm->GetContour(*sig->GetObjectPose());
try
{
m_objectPose = RelPoseFactory::CloneRelPose(sig->GetObjectPose());
}
catch(...)
{
printf("Tying to copy a singular position\n");
m_objectPose = RelPoseFactory::FRelPoseWorld();
}
int num = 0;
Halcon::count_obj(xld, (Hlong*)&num);
Halcon::Hobject region;
/* Generate region for descriptor extraction*/
Halcon::gen_empty_region(®ion);
for(int i = 0; i < num; i++)
{
Halcon::Hobject obj;
Halcon::gen_region_contour_xld(xld, &obj ,"filled");
Halcon::union2(obj, region, ®ion);
}
Halcon::connection(region, ®ion);
Halcon::fill_up(region, ®ion);
Halcon::Hobject reducedimg;
Halcon::reduce_domain(*img->GetHImage(), region, &reducedimg);
/* Get Camparam */
Halcon::HTuple camparam = calib->CamParam();
/* Prepare 3d and 2d point in htuples */
std::vector<face3dTransformed> vec = dxf->m_3dFaceData;
Halcon::HTuple ox, oy, oz;
Halcon::HTuple r, c;
Halcon::Hobject reg;
Halcon::gen_empty_region(®);
/* Visibility Test for all points...*/
for(std::vector<face3dTransformed>::const_iterator iter = vec.begin(); iter != vec.end(); iter++)
{
Halcon::Hobject obj;
Halcon::HTuple x, y, z;
Halcon::HTuple rpoly, cpoly, test;
x.Append((*iter).m_x1);
y.Append((*iter).m_y1);
z.Append((*iter).m_z1);
x.Append((*iter).m_x2);
y.Append((*iter).m_y2);
z.Append((*iter).m_z2);
x.Append((*iter).m_x3);
y.Append((*iter).m_y3);
z.Append((*iter).m_z3);
x.Append((*iter).m_x4);
y.Append((*iter).m_y4);
z.Append((*iter).m_z4);
Halcon::project_3d_point(x,y,z, camparam, &rpoly,&cpoly);
Halcon::HTuple rb, cb;
rb = rpoly[0].D();
cb = cpoly[0].D();
rpoly.Append(rb);
cpoly.Append(cb);
Halcon::test_region_point(reg, rb,cb, &test);
bool b = test[0].I() == 0;
rb = rpoly[1].D();
cb = cpoly[1].D();
Halcon::test_region_point(reg, rb,cb, &test);
b = b || test[0].I() == 0;
rb = rpoly[2].D();
cb = cpoly[2].D();
Halcon::test_region_point(reg, rb,cb, &test);
b = b || test[0].I() == 0;
rb = rpoly[3].D();
cb = cpoly[3].D();
Halcon::test_region_point(reg, rb,cb, &test);
b = b || test[0].I() == 0;
if(b)
{
ox.Append((*iter).m_ox1);
oy.Append((*iter).m_oy1);
oz.Append((*iter).m_oz1);
r.Append(rpoly[0].D());
c.Append(cpoly[0].D());
ox.Append((*iter).m_ox2);
oy.Append((*iter).m_oy2);
oz.Append((*iter).m_oz2);
r.Append(rpoly[1].D());
c.Append(cpoly[1].D());
ox.Append((*iter).m_ox3);
oy.Append((*iter).m_oy3);
oz.Append((*iter).m_oz3);
r.Append(rpoly[2].D());
c.Append(cpoly[2].D());
ox.Append((*iter).m_ox3);
oy.Append((*iter).m_oy3);
oz.Append((*iter).m_oz3);
r.Append(rpoly[2].D());
c.Append(cpoly[2].D());
ox.Append((*iter).m_ox4);
oy.Append((*iter).m_oy4);
oz.Append((*iter).m_oz4);
r.Append(rpoly[3].D());
c.Append(cpoly[3].D());
ox.Append((*iter).m_ox1);
oy.Append((*iter).m_oy1);
oz.Append((*iter).m_oz1);
r.Append(rpoly[0].D());
c.Append(cpoly[0].D());
}
Halcon::gen_region_polygon_filled(&obj, rpoly, cpoly);
Halcon::union2(reg, obj, ®);
}
/* Get the 2d points*/
//Halcon::project_3d_point(x,y,z, camparam, &r,&c);
Halcon::HTuple modelID, empty, hommat;
m_objectPose->GetHommat(&hommat, NULL);
/* Create the descriptor model */
Halcon::create_descriptor_model_3d_calib(reducedimg, "harris", empty,empty,
"randomized_fern", empty, empty, 42,ox,oy,oz,r,c, camparam, hommat ,&modelID);
m_DescriptoHandel = modelID[0].L();
printf("Write Descriptor Model to File\n");
std::string stFileName("descr_obj.dcm");
Halcon::write_descriptor_model_3d(modelID, stFileName.c_str());
m_Config->AddProperty(XML_ATTRIBUTE_POINTDESCRFILE, stFileName);
}
catch(Halcon::HException ex)
{
printf("Error while Learning: %s\n", ex.message);
throw "Error in Point DescrModel";
#endif
}
catch(...)
{
printf("Error while Learning: ---- unknown error ---\n");
throw "Error in Point DescrModel";
}
delete calib;
}
