├── README.md ├── .gitignore ├── package.xml ├── CMakeLists.txt ├── cmake └── FindHalcon.cmake ├── License.txt ├── include └── asr_halcon_bridge │ ├── halcon_pointcloud.h │ └── halcon_image.h ├── src └── asr_halcon_bridge │ ├── halcon_image.cpp │ └── halcon_pointcloud.cpp └── licenses └── third_party_licenses.txt /README.md: -------------------------------------------------------------------------------- 1 | # asr_halcon_bridge 2 | Documentation: http://wiki.ros.org/asr_halcon_bridge 3 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # General 2 | .directory 3 | .deps 4 | .libs 5 | *.pyc 6 | *.pcd 7 | *.cfgc 8 | *.autosave 9 | *~ 10 | *.svn 11 | *.swp 12 | *__init__.py 13 | *.o 14 | *.la 15 | *.lo 16 | *.kdev[0-9] 17 | msg_gen/ 18 | srv_gen/ 19 | cfg/cpp/ 20 | 21 | # Build directories 22 | build/ 23 | _build* 24 | 25 | # Visual Studio 26 | *.opensdf 27 | *.sdf 28 | *.suo 29 | 30 | # KDevelop 31 | *.kate-swp 32 | *.kdev4 33 | 34 | # Qt Creator 35 | *.creator* 36 | *.files 37 | *.includes 38 | *.user 39 | qtcreator-* 40 | 41 | # Eclipse 42 | .project 43 | .cproject 44 | 45 | # Emacs 46 | .#* 47 | 48 | # Ignore generated docs 49 | docs/ 50 | *.wikidoc -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | asr_halcon_bridge 4 | 1.0.0 5 | This package is used to convert between image-messages of the ROS environment and HALCON-images. 6 | Allgeyer Tobias 7 | Meißner Pascal 8 | BSD 9 | http://ros.org/wiki/asr_halcon_bridge 10 | 11 | catkin 12 | roscpp 13 | sensor_msgs 14 | 15 | roscpp 16 | sensor_msgs 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(asr_halcon_bridge) 3 | 4 | set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake) 5 | 6 | find_package(Halcon) 7 | if(NOT ${Halcon_FOUND}) 8 | message(WARNING "Skip processing ${PROJECT_NAME}, because HALCON library is missing!!! (see http://wiki.ros.org/asr_halcon_bridge)") 9 | return() 10 | endif() 11 | 12 | find_package(catkin REQUIRED COMPONENTS 13 | roscpp 14 | sensor_msgs 15 | ) 16 | 17 | catkin_package( 18 | CATKIN_DEPENDS roscpp sensor_msgs 19 | LIBRARIES ${PROJECT_NAME} 20 | INCLUDE_DIRS include 21 | DEPENDS Halcon 22 | ) 23 | 24 | include_directories( 25 | include 26 | ${Halcon_INCLUDE_DIRS} 27 | ${catkin_INCLUDE_DIRS} 28 | ) 29 | 30 | add_library(${PROJECT_NAME} 31 | src/${PROJECT_NAME}/halcon_image.cpp 32 | src/${PROJECT_NAME}/halcon_pointcloud.cpp 33 | ) 34 | 35 | target_link_libraries(${PROJECT_NAME} 36 | ${CATKIN_LIBRARIES} 37 | ${Halcon_LIBRARIES} 38 | ) 39 | 40 | install(TARGETS ${PROJECT_NAME} 41 | ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 42 | LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} 43 | RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} 44 | ) 45 | 46 | install(DIRECTORY include/${PROJECT_NAME}/ 47 | DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} 48 | ) 49 | -------------------------------------------------------------------------------- /cmake/FindHalcon.cmake: -------------------------------------------------------------------------------- 1 | include(FindPackageHandleStandardArgs) 2 | 3 | find_path (Halcon_INCLUDE_DIR halconcpp/HalconCpp.h 4 | PATHS 5 | $ENV{HALCON_ROOT}/include 6 | /usr/local/include 7 | /usr/include 8 | /sw/include 9 | /opt/halcon/include 10 | ) 11 | 12 | find_library (Halcon_ENGINE_LIBRARY hdevenginecpp 13 | PATHS 14 | $ENV{HALCON_ROOT}/lib/x64-linux 15 | /usr/local/lib/x64-linux 16 | /usr/lib/x64-linux 17 | /lib/x64-linux 18 | /sw/lib/x64-linux 19 | /opt/halcon/lib/x64-linux 20 | ) 21 | 22 | find_library (Halcon_CPP_LIBRARY halconcpp 23 | PATHS 24 | $ENV{HALCON_ROOT}/lib/x64-linux 25 | /usr/local/lib/x64-linux 26 | /usr/lib/x64-linux 27 | /lib/x64-linux 28 | /sw/lib/x64-linux 29 | /opt/halcon/lib/x64-linux 30 | ) 31 | 32 | find_library (Halcon_LIBRARY halcon 33 | PATHS 34 | $ENV{HALCON_ROOT}/lib/x64-linux 35 | /usr/local/lib/x64-linux 36 | /usr/lib/x64-linux 37 | /lib/x64-linux 38 | /sw/lib/x64-linux 39 | /opt/halcon/lib/x64-linux 40 | ) 41 | 42 | 43 | find_package_handle_standard_args(Halcon 44 | DEFAULT_MSG 45 | Halcon_INCLUDE_DIR 46 | Halcon_LIBRARY 47 | ) 48 | 49 | if(Halcon_FOUND) 50 | set(Halcon_LIBRARIES ${Halcon_LIBRARY} ${Halcon_ENGINE_LIBRARY} ${Halcon_CPP_LIBRARY}) 51 | set(Halcon_INCLUDE_DIRS ${Halcon_INCLUDE_DIR}) 52 | endif() 53 | 54 | mark_as_advanced(Halcon_INCLUDE_DIRS 55 | Halcon_LIBRARIES 56 | ) 57 | -------------------------------------------------------------------------------- /License.txt: -------------------------------------------------------------------------------- 1 | Copyright (c) 2016, Allgeyer Tobias 2 | All rights reserved. 3 | 4 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 5 | 6 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 7 | 8 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 9 | 10 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 11 | 12 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 13 | 14 | -------------------------------------------------------------------------------- /include/asr_halcon_bridge/halcon_pointcloud.h: -------------------------------------------------------------------------------- 1 | /** 2 | 3 | Copyright (c) 2016, Allgeyer Tobias 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 9 | 10 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 11 | 12 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 15 | 16 | */ 17 | 18 | #include 19 | #include 20 | #include 21 | 22 | namespace halcon_bridge { 23 | 24 | 25 | 26 | 27 | class HalconPointcloud; 28 | 29 | typedef boost::shared_ptr HalconPointcloudPtr; 30 | 31 | /** 32 | * \brief PointCloud message class that is interoperable with sensor_msgs/PointCloud2 but uses a HObjectModel3D representation for the point cloud data. 33 | * 34 | * @author Allgeyer Tobias 35 | */ 36 | class HalconPointcloud { 37 | public: 38 | std_msgs::Header header; 39 | HalconCpp::HTuple curvature; 40 | HalconCpp::HObjectModel3D *model; 41 | 42 | ~HalconPointcloud(); 43 | 44 | /** 45 | * \brief Convert this message to a ROS sensor_msgs::PointCloud2 message. 46 | * 47 | * The returned sensor_msgs::PointCloud2 message contains a copy of the Halcon-ObjectModel data. 48 | */ 49 | sensor_msgs::PointCloud2Ptr toPointcloudMsg() const; 50 | 51 | 52 | /** 53 | * \brief Copy the message data to a ROS sensor_msgs::PointCloud2 message. 54 | * 55 | */ 56 | void toPointcloudMsg(sensor_msgs::PointCloud2& ros_pointcloud) const; 57 | }; 58 | 59 | 60 | /** 61 | * \brief Convert a sensor_msgs::PointCloud2 message to a Halcon-compatible HObjectModel3D, copying the 62 | * point cloud data. 63 | * 64 | * \param source A shared_ptr to a sensor_msgs::PointCloud2 message 65 | * 66 | */ 67 | HalconPointcloudPtr toHalconCopy(const sensor_msgs::PointCloud2ConstPtr& source); 68 | 69 | 70 | /** 71 | * \brief Convert a sensor_msgs::PointCloud2 message to a Halcon-compatible HObjectModel3D, copying the 72 | * point cloud data. 73 | * 74 | * \param source A sensor_msgs::PointCloud2 message 75 | * 76 | */ 77 | HalconPointcloudPtr toHalconCopy(const sensor_msgs::PointCloud2& source); 78 | 79 | 80 | 81 | } 82 | 83 | -------------------------------------------------------------------------------- /include/asr_halcon_bridge/halcon_image.h: -------------------------------------------------------------------------------- 1 | /** 2 | 3 | Copyright (c) 2016, Allgeyer Tobias 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 9 | 10 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 11 | 12 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 15 | 16 | */ 17 | 18 | #include 19 | #include 20 | #include 21 | 22 | namespace halcon_bridge { 23 | 24 | class Exception: public std::runtime_error { 25 | public: 26 | Exception(const std::string& description) : 27 | std::runtime_error(description) { 28 | } 29 | }; 30 | 31 | 32 | class HalconImage; 33 | 34 | typedef boost::shared_ptr HalconImagePtr; 35 | 36 | /** 37 | * \brief Image message class that is interoperable with sensor_msgs/Image but uses a HImage representation for the image data. 38 | * 39 | * @author Allgeyer Tobias 40 | */ 41 | class HalconImage { 42 | public: 43 | std_msgs::Header header; 44 | std::string encoding; 45 | HalconCpp::HImage *image; 46 | 47 | ~HalconImage(); 48 | 49 | /** 50 | * \brief Convert this message to a ROS sensor_msgs::Image message. 51 | * 52 | * The returned sensor_msgs::Image message contains a copy of the image data. 53 | */ 54 | sensor_msgs::ImagePtr toImageMsg() const; 55 | 56 | /** 57 | * \brief Copy the message data to a ROS sensor_msgs::Image message. 58 | * 59 | * This overload is intended mainly for aggregate messages such as stereo_msgs::DisparityImage, 60 | * which contains a sensor_msgs::Image as a data member. 61 | */ 62 | void toImageMsg(sensor_msgs::Image& ros_image) const; 63 | }; 64 | 65 | 66 | /** 67 | * \brief Convert a sensor_msgs::Image message to a Halcon-compatible HImage, copying the 68 | * image data. 69 | * 70 | * \param source A shared_ptr to a sensor_msgs::Image message 71 | */ 72 | HalconImagePtr toHalconCopy(const sensor_msgs::ImageConstPtr& source); 73 | 74 | /** 75 | * \brief Convert a sensor_msgs::Image message to a Halcon-compatible HImage, copying the 76 | * image data. 77 | * 78 | * \param source A sensor_msgs::Image message 79 | */ 80 | HalconImagePtr toHalconCopy(const sensor_msgs::Image& source); 81 | 82 | 83 | 84 | } 85 | -------------------------------------------------------------------------------- /src/asr_halcon_bridge/halcon_image.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | 3 | Copyright (c) 2016, Allgeyer Tobias 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 9 | 10 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 11 | 12 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 15 | 16 | */ 17 | 18 | #include 19 | #include 20 | #include 21 | 22 | namespace halcon_bridge { 23 | 24 | const char* INVALID = "invalid"; 25 | const char* RGB = "rgb"; 26 | const char* BGR = "bgr"; 27 | 28 | int getHalconTypeSize(const std::string& type) { 29 | 30 | if ((type == "byte") || (type == "int1")) return 1; 31 | if ((type == "uint2") || (type == "int2")) return 2; 32 | if ((type == "int4") || (type == "real")) return 4; 33 | if (type == "int8") return 8; 34 | 35 | return -1; 36 | } 37 | 38 | const char* getHalconEncoding(const std::string& encoding) { 39 | // 3/4-channel encodings 40 | if (encoding == sensor_msgs::image_encodings::BGR8) return "bgr"; 41 | if (encoding == sensor_msgs::image_encodings::RGB8) return "rgb"; 42 | if (encoding == sensor_msgs::image_encodings::BGRA8) return "bgrx"; 43 | if (encoding == sensor_msgs::image_encodings::RGBA8) return "rgbx"; 44 | 45 | // 1-channel encoding 46 | if (encoding == sensor_msgs::image_encodings::MONO8) return "mono"; 47 | 48 | // Other formats are not supported 49 | return INVALID; 50 | } 51 | 52 | 53 | 54 | const char* getHalconChannelLength(const std::string& encoding) { 55 | 56 | if ((encoding == sensor_msgs::image_encodings::BGR8) || (encoding == sensor_msgs::image_encodings::RGB8) || 57 | (encoding == sensor_msgs::image_encodings::BGRA8) || (encoding == sensor_msgs::image_encodings::RGBA8) || 58 | (encoding == sensor_msgs::image_encodings::MONO8)) { 59 | return "byte"; 60 | } 61 | if ((encoding == sensor_msgs::image_encodings::BGR16) || (encoding == sensor_msgs::image_encodings::RGB16) || 62 | (encoding == sensor_msgs::image_encodings::BGRA16) || (encoding == sensor_msgs::image_encodings::RGBA16) || 63 | (encoding == sensor_msgs::image_encodings::MONO16)) { 64 | return "uint2"; 65 | } 66 | 67 | return INVALID; 68 | } 69 | 70 | 71 | 72 | const char* getColorChannelOrder(const std::string& encoding) { 73 | if ((encoding == sensor_msgs::image_encodings::BGR8) || (encoding == sensor_msgs::image_encodings::BGRA8) || 74 | (encoding == sensor_msgs::image_encodings::BGR16) || (encoding == sensor_msgs::image_encodings::BGRA16)) { 75 | return BGR; 76 | } 77 | if ((encoding == sensor_msgs::image_encodings::RGB8) || (encoding == sensor_msgs::image_encodings::RGBA8) || 78 | (encoding == sensor_msgs::image_encodings::RGB16) || (encoding == sensor_msgs::image_encodings::RGBA16)) { 79 | return RGB; 80 | } 81 | return INVALID; 82 | } 83 | 84 | 85 | 86 | 87 | HalconImage::~HalconImage() { 88 | delete image; 89 | } 90 | 91 | sensor_msgs::ImagePtr HalconImage::toImageMsg() const { 92 | sensor_msgs::ImagePtr ptr = boost::make_shared(); 93 | toImageMsg(*ptr); 94 | return ptr; 95 | } 96 | 97 | 98 | 99 | void HalconImage::toImageMsg(sensor_msgs::Image& ros_image) const { 100 | long width, height; 101 | width = image->Width(); 102 | height = image->Height(); 103 | 104 | int channel_count = image->CountChannels(); 105 | 106 | ros_image.height = height; 107 | ros_image.width = width; 108 | ros_image.encoding = encoding; 109 | ros_image.is_bigendian = false; 110 | ros_image.step = channel_count * width; 111 | 112 | 113 | HalconCpp::HString typeReturn; 114 | Hlong widthReturn; 115 | Hlong heightReturn; 116 | HalconCpp::HString type = image->GetImageType(); 117 | 118 | if (channel_count > 1) { 119 | 120 | //build interleaved image from 3-channel image 121 | 122 | HalconCpp::HImage *interleavedImage = new HalconCpp::HImage(type, width * 3, height); 123 | 124 | HalconCpp::HHomMat2D homMat; 125 | homMat = homMat.HomMat2dScale(1, 3, 0, 0); 126 | 127 | HalconCpp::HImage transImage = image->AffineTransImageSize(homMat, "constant", width * 3, height); 128 | 129 | HalconCpp::HImage imageRed; 130 | HalconCpp::HImage imageGreen; 131 | HalconCpp::HImage imageBlue; 132 | imageRed = transImage.Decompose3(&imageGreen, &imageBlue); 133 | 134 | 135 | HalconCpp::HRegion regionGrid; 136 | regionGrid.GenGridRegion(2 * height, 3, "lines", width * 3, height + 1); 137 | HalconCpp::HRegion movedRegion = regionGrid.MoveRegion(-1, 0); 138 | HalconCpp::HRegion clippedRegion = movedRegion.ClipRegion(0, 0, height - 1, (3 * width) - 1); 139 | 140 | if (getColorChannelOrder(encoding) == RGB) { 141 | imageRed = imageRed.ReduceDomain(clippedRegion); 142 | } else { 143 | imageBlue = imageBlue.ReduceDomain(clippedRegion); 144 | } 145 | movedRegion = regionGrid.MoveRegion(-1, 1); 146 | clippedRegion = movedRegion.ClipRegion(0, 0, height - 1, (3 * width) - 1); 147 | imageGreen = imageGreen.ReduceDomain(clippedRegion); 148 | movedRegion = regionGrid.MoveRegion(-1, 2); 149 | clippedRegion = movedRegion.ClipRegion(0, 0, height - 1, (3 * width) - 1); 150 | if (getColorChannelOrder(encoding) == RGB) { 151 | imageBlue = imageBlue.ReduceDomain(clippedRegion); 152 | } else { 153 | imageRed = imageRed.ReduceDomain(clippedRegion); 154 | } 155 | 156 | interleavedImage->OverpaintGray(imageRed); 157 | interleavedImage->OverpaintGray(imageGreen); 158 | interleavedImage->OverpaintGray(imageBlue); 159 | 160 | 161 | 162 | // copy data of interleaved image into sensor_msg 163 | unsigned char* colorData = (unsigned char*)interleavedImage->GetImagePointer1(&typeReturn, &widthReturn, &heightReturn); 164 | int interleavedHeight = interleavedImage->Height(); 165 | int interleavedWidth = interleavedImage->Width(); 166 | size_t size = interleavedHeight * interleavedWidth * getHalconTypeSize((std::string)typeReturn); 167 | ros_image.data.resize(size); 168 | memcpy((unsigned char*)(&ros_image.data[0]), colorData, size); 169 | 170 | interleavedImage->Clear(); 171 | imageRed.Clear(); 172 | imageGreen.Clear(); 173 | imageBlue.Clear(); 174 | homMat.Clear(); 175 | regionGrid.Clear(); 176 | clippedRegion.Clear(); 177 | movedRegion.Clear(); 178 | 179 | 180 | } else { 181 | 182 | // 1-channel image: copy data of original image 183 | unsigned char* colorData = (unsigned char*)image->GetImagePointer1(&typeReturn, &widthReturn, &heightReturn); 184 | size_t size = height * width * getHalconTypeSize((std::string)typeReturn); 185 | ros_image.data.resize(size); 186 | memcpy((unsigned char*)(&ros_image.data[0]), colorData, size); 187 | } 188 | 189 | } 190 | 191 | 192 | 193 | HalconImagePtr toHalconCopy(const sensor_msgs::ImageConstPtr& source) { 194 | return toHalconCopy(*source); 195 | } 196 | 197 | HalconImagePtr toHalconCopy(const sensor_msgs::Image& source) { 198 | HalconImagePtr ptr = boost::make_shared(); 199 | ptr->header = source.header; 200 | ptr->encoding = source.encoding; 201 | 202 | if (getHalconEncoding(ptr->encoding) == INVALID) { 203 | throw Exception("Encoding " + ptr->encoding + " not supported"); 204 | } 205 | 206 | long* pixeldata = (long*)const_cast(&source.data[0]); 207 | HalconCpp::HImage *img = new HalconCpp::HImage(); 208 | if ((std::string)getHalconEncoding(source.encoding) == "mono") { 209 | img->GenImage1(getHalconChannelLength(source.encoding), source.width, source.height, pixeldata); 210 | } else { 211 | img->GenImageInterleaved(pixeldata, getHalconEncoding(source.encoding), source.width, source.height, 0, 212 | getHalconChannelLength(source.encoding), source.width, source.height, 0, 0, -1, 0); 213 | } 214 | ptr->image = img; 215 | 216 | return ptr; 217 | } 218 | 219 | } 220 | 221 | 222 | -------------------------------------------------------------------------------- /src/asr_halcon_bridge/halcon_pointcloud.cpp: -------------------------------------------------------------------------------- 1 | /** 2 | 3 | Copyright (c) 2016, Allgeyer Tobias 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: 7 | 8 | 1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. 9 | 10 | 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. 11 | 12 | 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. 13 | 14 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 15 | 16 | */ 17 | 18 | #include 19 | #include 20 | 21 | #include 22 | #include 23 | 24 | namespace halcon_bridge { 25 | 26 | int getSizeFromDatatype(int datatype) { 27 | if (datatype == sensor_msgs::PointField::INT8) return 1; 28 | if (datatype == sensor_msgs::PointField::UINT8) return 1; 29 | if (datatype == sensor_msgs::PointField::INT16) return 2; 30 | if (datatype == sensor_msgs::PointField::UINT16) return 2; 31 | if (datatype == sensor_msgs::PointField::INT32) return 4; 32 | if (datatype == sensor_msgs::PointField::UINT32) return 4; 33 | if (datatype == sensor_msgs::PointField::FLOAT32) return 4; 34 | if (datatype == sensor_msgs::PointField::FLOAT64) return 8; 35 | 36 | return -1; 37 | } 38 | 39 | HalconPointcloud::~HalconPointcloud() { 40 | delete model; 41 | curvature.Clear(); 42 | } 43 | 44 | sensor_msgs::PointCloud2Ptr HalconPointcloud::toPointcloudMsg() const { 45 | sensor_msgs::PointCloud2Ptr ptr = boost::make_shared(); 46 | toPointcloudMsg(*ptr); 47 | return ptr; 48 | } 49 | 50 | void HalconPointcloud::toPointcloudMsg(sensor_msgs::PointCloud2& ros_pointcloud) const { 51 | ros_pointcloud.header = header; 52 | ros_pointcloud.height = 1; 53 | ros_pointcloud.width = (int)model->GetObjectModel3dParams("num_points")[0]; 54 | ros_pointcloud.is_dense = false; 55 | ros_pointcloud.is_bigendian = false; 56 | bool has_normals = ((HalconCpp::HString)model->GetObjectModel3dParams("has_point_normals")) == HalconCpp::HString("true"); 57 | std::vector fields; 58 | if (has_normals) { 59 | ros_pointcloud.point_step = 28; 60 | fields = std::vector(7); 61 | } else { 62 | ros_pointcloud.point_step = 12; 63 | fields = std::vector(3); 64 | } 65 | 66 | ros_pointcloud.row_step = ros_pointcloud.width * ros_pointcloud.point_step; 67 | 68 | 69 | sensor_msgs::PointField x_field; 70 | x_field.name = "x"; 71 | x_field.count = 1; 72 | x_field.datatype = sensor_msgs::PointField::FLOAT32; 73 | x_field.offset = 0; 74 | fields[0] = x_field; 75 | 76 | sensor_msgs::PointField y_field; 77 | y_field.name = "y"; 78 | y_field.count = 1; 79 | y_field.datatype = sensor_msgs::PointField::FLOAT32; 80 | y_field.offset = 4; 81 | fields[1] = y_field; 82 | 83 | sensor_msgs::PointField z_field; 84 | z_field.name = "z"; 85 | z_field.count = 1; 86 | z_field.datatype = sensor_msgs::PointField::FLOAT32; 87 | z_field.offset = 8; 88 | fields[2] = z_field; 89 | 90 | if (has_normals) { 91 | sensor_msgs::PointField x_normals_field; 92 | x_normals_field.name = "normal_x"; 93 | x_normals_field.count = 1; 94 | x_normals_field.datatype = sensor_msgs::PointField::FLOAT32; 95 | x_normals_field.offset = 12; 96 | fields[3] = x_normals_field; 97 | 98 | sensor_msgs::PointField y_normals_field; 99 | y_normals_field.name = "normal_y"; 100 | y_normals_field.count = 1; 101 | y_normals_field.datatype = sensor_msgs::PointField::FLOAT32; 102 | y_normals_field.offset = 16; 103 | fields[4] = y_normals_field; 104 | 105 | sensor_msgs::PointField z_normals_field; 106 | z_normals_field.name = "normal_z"; 107 | z_normals_field.count = 1; 108 | z_normals_field.datatype = sensor_msgs::PointField::FLOAT32; 109 | z_normals_field.offset = 20; 110 | fields[5] = z_normals_field; 111 | 112 | sensor_msgs::PointField curvature; 113 | curvature.name = "curvature"; 114 | curvature.count = 1; 115 | curvature.datatype = sensor_msgs::PointField::FLOAT32; 116 | curvature.offset = 24; 117 | fields[6] = curvature; 118 | } 119 | 120 | 121 | ros_pointcloud.fields = fields; 122 | 123 | 124 | HalconCpp::HTuple x_values = model->GetObjectModel3dParams("point_coord_x"); 125 | HalconCpp::HTuple y_values = model->GetObjectModel3dParams("point_coord_y"); 126 | HalconCpp::HTuple z_values = model->GetObjectModel3dParams("point_coord_z"); 127 | 128 | HalconCpp::HTuple x_normal_values; 129 | HalconCpp::HTuple y_normal_values; 130 | HalconCpp::HTuple z_normal_values; 131 | 132 | 133 | float *interleavedPoints; 134 | 135 | if (has_normals) { 136 | x_normal_values = model->GetObjectModel3dParams("point_normal_x"); 137 | y_normal_values = model->GetObjectModel3dParams("point_normal_y"); 138 | z_normal_values = model->GetObjectModel3dParams("point_normal_z"); 139 | interleavedPoints = new float[ros_pointcloud.width * 7]; 140 | } else { 141 | interleavedPoints = new float[ros_pointcloud.width * 3]; 142 | } 143 | 144 | for (size_t i = 0; i < ros_pointcloud.width; i++) { 145 | interleavedPoints[i * 3] = (float)x_values[i]; 146 | interleavedPoints[i * 3 + 1] = (float)y_values[i]; 147 | interleavedPoints[i * 3 + 2] = (float)z_values[i]; 148 | if (has_normals) { 149 | interleavedPoints[i * 3 + 3] = (float)x_normal_values[i]; 150 | interleavedPoints[i * 3 + 4] = (float)y_normal_values[i]; 151 | interleavedPoints[i * 3 + 5] = (float)z_normal_values[i]; 152 | interleavedPoints[i * 3 + 6] = (float)(curvature)[i]; 153 | } 154 | } 155 | 156 | size_t size; 157 | if (has_normals) { 158 | size = ros_pointcloud.width * 7 * 4; 159 | } else { 160 | size = ros_pointcloud.width * 3 * 4; 161 | } 162 | ros_pointcloud.data.resize(size); 163 | 164 | memcpy((float*)(&ros_pointcloud.data[0]), &interleavedPoints[0], size); 165 | 166 | 167 | } 168 | 169 | 170 | 171 | HalconPointcloudPtr toHalconCopy(const sensor_msgs::PointCloud2ConstPtr& source) { 172 | return toHalconCopy(*source); 173 | } 174 | 175 | HalconPointcloudPtr toHalconCopy(const sensor_msgs::PointCloud2& source) { 176 | HalconPointcloudPtr ptr = boost::make_shared(); 177 | ptr->header = source.header; 178 | 179 | 180 | int offset_x, offset_y, offset_z, offset_x_normal, offset_y_normal, offset_z_normal, offset_curvature; 181 | offset_x = offset_y = offset_z = offset_x_normal = offset_y_normal = offset_z_normal = offset_curvature = 0; 182 | int count_x_normal, count_y_normal, count_z_normal, count_curvature; 183 | count_x_normal = count_y_normal = count_z_normal = count_curvature = 0; 184 | 185 | for (unsigned int i = 0; i < source.fields.size(); i++) { 186 | sensor_msgs::PointField field = source.fields[i]; 187 | if (field.name == "x") { 188 | offset_x = field.offset; 189 | } 190 | if (field.name == "y") { 191 | offset_y = field.offset; 192 | } 193 | if (field.name == "z") { 194 | offset_z = field.offset; 195 | } 196 | if (field.name == "normal_x") { 197 | offset_x_normal = field.offset; 198 | count_x_normal = field.count; 199 | } 200 | if (field.name == "normal_y") { 201 | offset_y_normal = field.offset; 202 | count_y_normal = field.count; 203 | } 204 | if (field.name == "normal_z") { 205 | offset_z_normal = field.offset; 206 | count_z_normal = field.count; 207 | } 208 | if (field.name == "curvature") { 209 | offset_curvature = field.offset; 210 | count_curvature = field.count; 211 | } 212 | 213 | } 214 | 215 | HalconCpp::HTuple x_coords = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 216 | HalconCpp::HTuple y_coords = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 217 | HalconCpp::HTuple z_coords = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 218 | 219 | HalconCpp::HTuple x_normals = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 220 | HalconCpp::HTuple y_normals = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 221 | HalconCpp::HTuple z_normals = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 222 | 223 | HalconCpp::HTuple curvature = HalconCpp::HTuple::TupleGenConst((int)(source.width * source.height), 0); 224 | 225 | for (int i = 0; i < x_coords.Length(); i++) { 226 | x_coords[i] = *(float*)&source.data[(i * source.point_step) + offset_x]; 227 | y_coords[i] = *(float*)&source.data[(i * source.point_step) + offset_y]; 228 | z_coords[i] = *(float*)&source.data[(i * source.point_step) + offset_z]; 229 | 230 | if ((count_x_normal > 0) && (count_y_normal > 0) && (count_z_normal > 0)) { 231 | x_normals[i] = *(float*)&source.data[(i * source.point_step) + offset_x_normal]; 232 | y_normals[i] = *(float*)&source.data[(i * source.point_step) + offset_y_normal]; 233 | z_normals[i] = *(float*)&source.data[(i * source.point_step) + offset_z_normal]; 234 | } 235 | 236 | } 237 | ptr->model = new HalconCpp::HObjectModel3D(x_coords, y_coords, z_coords); 238 | 239 | if (source.fields.size() > 4) { 240 | HalconCpp::HTuple attrib_names("point_normal_x"); 241 | attrib_names.Append("point_normal_y"); 242 | attrib_names.Append("point_normal_z"); 243 | HalconCpp::HTuple attrib_values = (x_normals.TupleConcat(y_normals)).TupleConcat(z_normals); 244 | HalconCpp::HObjectModel3D p_n_model = ptr->model->SetObjectModel3dAttrib(attrib_names, "", attrib_values); 245 | *ptr->model = p_n_model; 246 | 247 | for (int i = 0; i < curvature.Length(); i++) { 248 | curvature[i] = *(float*)&source.data[(i * source.point_step) + offset_curvature]; 249 | } 250 | ptr->curvature = curvature; 251 | } 252 | 253 | return ptr; 254 | } 255 | 256 | } 257 | 258 | 259 | 260 | -------------------------------------------------------------------------------- /licenses/third_party_licenses.txt: -------------------------------------------------------------------------------- 1 | Halcon 2 | ============== 3 | 4 | The use of halcon_bridge requires a licence to the HALCON library. Please refer to the HALCON End User Legal Agreement (EULA) for details: 5 | 6 | 7 | MVTec Software GmbH - Software License Agreement for HALCON 8 | 9 | IMPORTANT - READ CAREFULLY: This Software License Agreement 10 | (Agreement) is a legal Agreement between you (either an individual or 11 | a single entity) and MVTec Software GmbH (MVTec) for the MVTec 12 | software product identified above, which includes computer software 13 | and may include associated media, printed materials and online or 14 | electronic documentation. YOU AGREE TO BE BOUND BY THE TERMS OF THIS 15 | AGREEMENT BY INSTALLING, COPYING, OR OTHERWISE USING THE PRODUCT. IF 16 | YOU DO NOT AGREE, DO NOT INSTALL OR USE THE PRODUCT. YOU MAY RECEIVE 17 | A REFUND OF THE AMOUNT YOU ORIGINALLY PAID IF YOU (1) DO NOT USE THE 18 | SOFTWARE AND (2) RETURN IT, WITH PROOF OF PAYMENT, TO THE LOCATION 19 | FROM WHICH IT WAS OBTAINED WITHIN THIRTY (30) DAYS OF THE PURCHASE 20 | DATE. 21 | 22 | 23 | MVTec grants you the rights described in this Agreement provided that 24 | you comply with all terms and conditions of this Agreement. 25 | 26 | 27 | 1. DEFINITIONS 28 | 29 | Software means all of the contents of the files, disk(s), CD-ROM(s), 30 | DVD(s) or other media with which this Agreement is provided, including 31 | but not limited to, MVTec or third party computer software, digital 32 | images, example programs and Documentation; this also includes 33 | upgrades, modified versions, updates, additions and copies of the 34 | Software, if any, licensed to you by MVTec. 35 | 36 | Documentation means the User's Guides, User's Manuals and Reference 37 | Manuals, if any, accompanying delivery of the Software. 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You agree that MVTec will 407 | have no responsibility of any nature, and you are solely responsible 408 | for any expense, loss, injury or damage incurred as a result of such 409 | use of the Software. 410 | 411 | 412 | 10. ENTIRE AGREEMENT/SEVERABILITY 413 | 414 | This Agreement contains the entire, final and exclusive understanding 415 | between MVTec and you, and may not be modified or amended except by 416 | written instrument, executed by authorized representatives of MVTec 417 | and you. If any provisions of this license is held to be illegal, 418 | invalid or enforceable for any reason, then such provision will be 419 | enforced to the maximum extent permissible and the remainder of the 420 | provisions of this license will remain in full force and effect. 421 | 422 | 423 | 11. APPLICABLE LAW 424 | 425 | This Software License Agreement is governed by the laws of Germany. 426 | 427 | 428 | --------------------------------------------------------------------------------