＜C#&Halcon＞基于指针的图像拼接

最新推荐文章于 2023-12-14 10:18:12 发布
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最新推荐文章于 2023-12-14 10:18:12 发布
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分类专栏： # Halcon C# 文章标签： c# c++ 算法
原文链接：https://www.codenong.com/cs109119710/
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基于指针的图像拼接

转载地址：图像拼接
/// <summary>
/// 将两个指针拼接成一个数组
/// </summary>
/// <param name="lastPtr">上一次数据指针</param>
/// <param name="curPtr">本次数据指针</param>
/// <param name="imgWidth">图片宽度</param>
/// <param name="imgHeight">图片长度</param>
/// <param name="concatRowCount">拼接行数</param>
/// <param name="outputBytes">输出数组</param>
public static void ConcatGrayIntptr(IntPtr lastPtr, IntPtr curPtr, int imgWidth,
	int imgHeight, int concatRowCount, out byte[] outputBytes)
{
	outputBytes = new byte[(imgHeight + concatRowCount) * imgWidth];
	IntPtr offsetLastPtr = IntPtr.Zero;
	if (lastPtr != IntPtr.Zero)
	{
		if (IntPtr.Size == sizeof(Int64))
			offsetLastPtr = new IntPtr(lastPtr.ToInt64() + imgWidth * (imgHeight - concatRowCount));
		else
			offsetLastPtr = new IntPtr(lastPtr.ToInt32() + imgWidth * (imgHeight - concatRowCount));
	}
	if (offsetLastPtr != IntPtr.Zero)
	{
		System.Runtime.InteropServices.Marshal.Copy(offsetLastPtr, outputBytes, 0, concatRowCount * imgWidth);
	}
	System.Runtime.InteropServices.Marshal.Copy(curPtr, outputBytes, concatRowCount * imgWidth, imgWidth * imgHeight);
}

/// <summary>
/// 把多个指针拼接成一个数组，其中忽略掉重叠部分
/// </summary>
/// <param name="ptrs"></param>
/// <param name="imgWidth"></param>
/// <param name="imgHeight"></param>
/// <param name="concatRowCount"></param>
/// <param name="outputBytes"></param>
public static void ConcatGrayContinuesIntptr(IntPtr[] ptrs,int imgWidth,int imgHeight,int concatRowCount,out byte[] outputBytes)
{

	int oneImageSize = imgWidth * (imgHeight - concatRowCount);

	outputBytes = new byte[oneImageSize * ptrs.Length];

	int iCopyIndex = 0;
	foreach(IntPtr ptr in ptrs)
	{
		if (ptr != IntPtr.Zero)
		{
			IntPtr offsetPtr;
			if (IntPtr.Size == sizeof(Int64))
				offsetPtr = new IntPtr(ptr.ToInt64() + imgWidth *  concatRowCount);
			else
				offsetPtr = new IntPtr(ptr.ToInt32() + imgWidth *  concatRowCount);

			System.Runtime.InteropServices.Marshal.Copy(offsetPtr, outputBytes, iCopyIndex, oneImageSize);
		}
	 
		iCopyIndex += oneImageSize;
	}
}


/// <summary>
/// 拼接连续的几张图片成一张图片
/// </summary>
/// <param name="images">图片集合</param>
/// <param name="concatRowCount">其中每张图片重合的行数</param>
/// <param name="concatedImage">拼接后的图片</param>
/// <returns></returns>
public static bool ConcatGrayImage(HImage[] images,int concatRowCount,out HImage concatedImage)
{
	if(images.Length == 0)
	{
		concatedImage = null;
		return false;
	}
	List<IntPtr> ptrs = new List<IntPtr>();
	string type;
	int width = 0, height= 0;
	foreach(HImage img in images)
	{
		if (img == null)
		{
			ptrs.Add(IntPtr.Zero);
		}
		else
		{
			IntPtr ptr = img.GetImagePointer1(out type,out width, out height);
			ptrs.Add(ptr);
		}
	}
	byte[] pixelBytes;
	ConcatGrayContinuesIntptr(ptrs.ToArray(), width, height, concatRowCount, out pixelBytes);


	new Lhxzn.Halcon.CameraImageData2HImage().Transform(
		 new CameraImageDataByte(width, images.Length *(height-concatRowCount), PixelType.Mono8, pixelBytes), out concatedImage);
	return true;
}

/// <summary>
/// 拼接上一张图片的最后几行到本次图片中并输出
/// </summary>
/// <param name="lastImage">上一张图片</param>
/// <param name="curImage">本次的图片</param>
/// <param name="concatRowCount">需拼接的行数</param>
/// <param name="concatedImage">输出的图像</param>
/// <returns></returns>
public static bool ConcatGrayImage(HImage lastImage, HImage curImage, int concatRowCount, out HImage concatedImage)
{

	if (curImage == null || (lastImage == null && curImage == null))
	{
		concatedImage = null;
		return false;
	}
	else
	{
		string last_type, cur_type;
		int last_width, last_height, cur_width, cur_height;

		IntPtr lastPtr = IntPtr.Zero;
		if (lastImage != null)
			lastPtr = lastImage.GetImagePointer1(out last_type, out last_width, out last_height);
		IntPtr curPtr = curImage.GetImagePointer1(out cur_type, out cur_width, out cur_height);

		int new_width = cur_width, new_height = cur_height + concatRowCount;
		byte[] pixelBytes;
		ConcatGrayIntptr(lastPtr, curPtr, cur_width, cur_height, concatRowCount, out pixelBytes);

		DateTime start = DateTime.Now;

		new Lhxzn.Halcon.CameraImageData2HImage().Transform(
			new CameraImageDataByte(cur_width, new_height, PixelType.Mono8, pixelBytes), out concatedImage);
		double inter = (DateTime.Now - start).TotalMilliseconds;
		return true;
	}

}/// <summary>
/// 将两个指针拼接成一个数组
/// </summary>
/// <param name="lastPtr">上一次数据指针</param>
/// <param name="curPtr">本次数据指针</param>
/// <param name="imgWidth">图片宽度</param>
/// <param name="imgHeight">图片长度</param>
/// <param name="concatRowCount">拼接行数</param>
/// <param name="outputBytes">输出数组</param>
public static void ConcatGrayIntptr(IntPtr lastPtr, IntPtr curPtr, int imgWidth,
	int imgHeight, int concatRowCount, out byte[] outputBytes)
{
	outputBytes = new byte[(imgHeight + concatRowCount) * imgWidth];
	IntPtr offsetLastPtr = IntPtr.Zero;
	if (lastPtr != IntPtr.Zero)
	{
		if (IntPtr.Size == sizeof(Int64))
			offsetLastPtr = new IntPtr(lastPtr.ToInt64() + imgWidth * (imgHeight - concatRowCount));
		else
			offsetLastPtr = new IntPtr(lastPtr.ToInt32() + imgWidth * (imgHeight - concatRowCount));
	}
	if (offsetLastPtr != IntPtr.Zero)
	{
		System.Runtime.InteropServices.Marshal.Copy(offsetLastPtr, outputBytes, 0, concatRowCount * imgWidth);
	}
	System.Runtime.InteropServices.Marshal.Copy(curPtr, outputBytes, concatRowCount * imgWidth, imgWidth * imgHeight);
}

/// <summary>
/// 把多个指针拼接成一个数组，其中忽略掉重叠部分
/// </summary>
/// <param name="ptrs"></param>
/// <param name="imgWidth"></param>
/// <param name="imgHeight"></param>
/// <param name="concatRowCount"></param>
/// <param name="outputBytes"></param>
public static void ConcatGrayContinuesIntptr(IntPtr[] ptrs,int imgWidth,int imgHeight,int concatRowCount,out byte[] outputBytes)
{

	int oneImageSize = imgWidth * (imgHeight - concatRowCount);

	outputBytes = new byte[oneImageSize * ptrs.Length];

	int iCopyIndex = 0;
	foreach(IntPtr ptr in ptrs)
	{
		if (ptr != IntPtr.Zero)
		{
			IntPtr offsetPtr;
			if (IntPtr.Size == sizeof(Int64))
				offsetPtr = new IntPtr(ptr.ToInt64() + imgWidth *  concatRowCount);
			else
				offsetPtr = new IntPtr(ptr.ToInt32() + imgWidth *  concatRowCount);

			System.Runtime.InteropServices.Marshal.Copy(offsetPtr, outputBytes, iCopyIndex, oneImageSize);
		}
	 
		iCopyIndex += oneImageSize;
	}
}


/// <summary>
/// 拼接连续的几张图片成一张图片
/// </summary>
/// <param name="images">图片集合</param>
/// <param name="concatRowCount">其中每张图片重合的行数</param>
/// <param name="concatedImage">拼接后的图片</param>
/// <returns></returns>
public static bool ConcatGrayImage(HImage[] images,int concatRowCount,out HImage concatedImage)
{
	if(images.Length == 0)
	{
		concatedImage = null;
		return false;
	}
	List<IntPtr> ptrs = new List<IntPtr>();
	string type;
	int width = 0, height= 0;
	foreach(HImage img in images)
	{
		if (img == null)
		{
			ptrs.Add(IntPtr.Zero);
		}
		else
		{
			IntPtr ptr = img.GetImagePointer1(out type,out width, out height);
			ptrs.Add(ptr);
		}
	}
	byte[] pixelBytes;
	ConcatGrayContinuesIntptr(ptrs.ToArray(), width, height, concatRowCount, out pixelBytes);


	new Lhxzn.Halcon.CameraImageData2HImage().Transform(
		 new CameraImageDataByte(width, images.Length *(height-concatRowCount), PixelType.Mono8, pixelBytes), out concatedImage);
	return true;
}

/// <summary>
/// 拼接上一张图片的最后几行到本次图片中并输出
/// </summary>
/// <param name="lastImage">上一张图片</param>
/// <param name="curImage">本次的图片</param>
/// <param name="concatRowCount">需拼接的行数</param>
/// <param name="concatedImage">输出的图像</param>
/// <returns></returns>
public static bool ConcatGrayImage(HImage lastImage, HImage curImage, int concatRowCount, out HImage concatedImage)
{

	if (curImage == null || (lastImage == null && curImage == null))
	{
		concatedImage = null;
		return false;
	}
	else
	{
		string last_type, cur_type;
		int last_width, last_height, cur_width, cur_height;

		IntPtr lastPtr = IntPtr.Zero;
		if (lastImage != null)
			lastPtr = lastImage.GetImagePointer1(out last_type, out last_width, out last_height);
		IntPtr curPtr = curImage.GetImagePointer1(out cur_type, out cur_width, out cur_height);

		int new_width = cur_width, new_height = cur_height + concatRowCount;
		byte[] pixelBytes;
		ConcatGrayIntptr(lastPtr, curPtr, cur_width, cur_height, concatRowCount, out pixelBytes);

		DateTime start = DateTime.Now;

		new Lhxzn.Halcon.CameraImageData2HImage().Transform(
			new CameraImageDataByte(cur_width, new_height, PixelType.Mono8, pixelBytes), out concatedImage);
		double inter = (DateTime.Now - start).TotalMilliseconds;
		return true;
	}

}