/// <summary>
/// 计算出每个Pin针的偏移量
/// </summary>
/// <param name="InspectPinParamIn"></param>
/// <param name="PinRows"></param>
/// <param name="PinCols"></param>
/// <param name="OffSetRows"></param>
/// <param name="OffSetCols"></param>
/// <param name="OffSetDist"></param>
/// <returns></returns>
public static bool CalculatePinOffset(St_InspectPinParam InspectPinParamIn, HTuple PinRows, HTuple PinCols, out HTuple OffSetRows, out HTuple OffSetCols, out HTuple OffSetDist)
{
OffSetRows = new HTuple();
OffSetCols = new HTuple();
OffSetDist = new HTuple();
HTuple TeachPinRows = new HTuple(), TeachPinCols = new HTuple();
for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
{
HTuple row0 = new HTuple(), col0 = new HTuple();
MyVisionBase.ListToHTuple(InspectPinParamIn.ListRows[i], out row0);
MyVisionBase.ListToHTuple(InspectPinParamIn.ListCols[i], out col0);
TeachPinRows = TeachPinRows.TupleConcat(row0);
TeachPinCols = TeachPinCols.TupleConcat(col0);
}
HTuple HomMat = new HTuple();
HOperatorSet.VectorToHomMat2d(TeachPinCols, TeachPinRows, PinCols, PinRows, out HomMat); //计算平移矩阵
HTuple TargetRows = new HTuple(), TargetCols = new HTuple();
HOperatorSet.AffineTransPixel(HomMat, TeachPinCols, TeachPinRows, out TargetCols, out TargetRows); //平移示教点的坐标
if (TargetRows.Length != TeachPinRows.Length)
{
return(false);
}
HTuple OffSetRows0 = new HTuple(), OffSetCols0 = new HTuple(), OffSetDist0 = new HTuple();
OffSetCols0 = PinCols - TargetCols;
OffSetRows0 = PinRows - TargetRows;
HOperatorSet.DistancePp(TargetRows, TargetCols, PinRows, PinCols, out OffSetDist0); //计算出偏移量
OffSetRows = OffSetRows0;
OffSetCols = OffSetCols0;
OffSetDist = OffSetDist0;
return(true);
}
public SubFrmPinInspect(St_InspectPinParam inspectPinParamIn, HWindow InHWindow, HObject ImgIn, Action <bool> drawRoiInHWindow)
{
InitializeComponent();
TeachInspectPinParam = inspectPinParamIn;
ShowWindow = InHWindow;
ActionIsDrawingRoi = drawRoiInHWindow;
if (ImgIn != null && ImgIn.IsInitialized())
{
HOperatorSet.CopyImage(ImgIn, out GrabedImg);
}
}
private void ClearParaBtn_Click(object sender, EventArgs e)
{
DialogResult rlt = MessageBox.Show("真的要清除参数？", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (rlt != DialogResult.Yes)
{
return;
}
int initLineCount = 1;
if (true)
{
rlt = MessageBox.Show("示教3条线？", "线数量确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (rlt == DialogResult.Yes)
{
initLineCount = 3;
}
if (initLineCount != 3)
{
rlt = MessageBox.Show("示教2条线？", "线数量确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (rlt == DialogResult.Yes)
{
initLineCount = 2;
}
else
{
rlt = MessageBox.Show("示教1条线？", "线数量确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
if (rlt == DialogResult.Yes)
{
initLineCount = 1;
}
else
{
MessageBox.Show("即将示教4条线。", "线数量确认");
initLineCount = 4;
}
}
}
}
TeachInspectPinParam = new St_InspectPinParam(initLineCount, true);
InitCombox();
}
/// <summary>
/// 计算出所有Pin针的坐标
/// </summary>
/// <param name="InspectPinParamIn"></param>
/// <param name="ImgIn"></param>
/// <param name="PinRows"></param>
/// <param name="PinCols"></param>
/// <returns></returns>
public static bool FindPinPos(St_InspectPinParam InspectPinParamIn, HObject ImgIn, out HTuple PinRows, out HTuple PinCols)
{
PinRows = new HTuple();
PinCols = new HTuple();
//1.0获得最新图片PIN针的中心坐标
#region //定义参数
if (InspectPinParamIn.Elements.Count() == 0 || InspectPinParamIn.Elements == null)
{
return(false);
}
double Element = InspectPinParamIn.Elements[0];
double DetectHight = InspectPinParamIn.DetectHeights[0];
double DtetectWidth = InspectPinParamIn.DetectWidths[0];
double LineRow1 = InspectPinParamIn.Row1s[0];
double LineCol1 = InspectPinParamIn.Col1s[0];
double LineRow2 = InspectPinParamIn.Row2s[0];
double LineCol2 = InspectPinParamIn.Col2s[0];
HObject DetectRegions = new HObject();
HObject RoiContour = new HObject();
double DnThreshold = InspectPinParamIn.DnThresholds[0];
double UpThreshold = InspectPinParamIn.UpThresholds[0];
double MinArea = InspectPinParamIn.MinAreas[0];
double MaxArea = InspectPinParamIn.MaxAreas[0];
#endregion
HTuple PinRows0 = new HTuple(), PinCols0 = new HTuple();
for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
{
#region 参数赋值
Element = InspectPinParamIn.Elements[i];
DetectHight = InspectPinParamIn.DetectHeights[i];
DtetectWidth = InspectPinParamIn.DetectWidths[i];
LineRow1 = InspectPinParamIn.Row1s[i];
LineCol1 = InspectPinParamIn.Col1s[i];
LineRow2 = InspectPinParamIn.Row2s[i];
LineCol2 = InspectPinParamIn.Col2s[i];
DnThreshold = InspectPinParamIn.DnThresholds[i];
UpThreshold = InspectPinParamIn.UpThresholds[i];
MinArea = InspectPinParamIn.MinAreas[i];
MaxArea = InspectPinParamIn.MaxAreas[i];
#endregion
//1.1 生成单行Pin针ROI
MyVisionBase.gen_rake_ROI1(ImgIn, out DetectRegions, out RoiContour, Element, DetectHight,
DtetectWidth, LineRow1, LineCol1, LineRow2, LineCol2);
HObject ReduceImg;
HTuple area = new HTuple(), row = new HTuple(), col = new HTuple();
HObject CircleObj = new HObject();
HOperatorSet.GenCircle(out CircleObj, 10, 10, 5);
#region 找出每行Pin针的中心坐标
for (int j = 0; j < DetectRegions.CountObj(); j++) //计算每根针的中心
{
HObject RegionI = new HObject();
HOperatorSet.CopyObj(DetectRegions, out RegionI, j + 1, 1);
HOperatorSet.ReduceDomain(ImgIn, RegionI, out ReduceImg); RegionI.Dispose(); //获取目标区域的图像
HObject ThrdRegion;
HOperatorSet.Threshold(ReduceImg, out ThrdRegion, DnThreshold, UpThreshold); ReduceImg.Dispose(); //阈值分割
HObject ExpandRegion = new HObject();
HOperatorSet.ExpandRegion(ThrdRegion, CircleObj, out ExpandRegion, 3, "image"); ThrdRegion.Dispose(); //膨胀
HObject ConnectRegion;
HOperatorSet.Connection(ExpandRegion, out ConnectRegion); ExpandRegion.Dispose(); //链接
HObject SelectRegion = new HObject();
HOperatorSet.SelectShape(ConnectRegion, out SelectRegion, "area", "and", MinArea, MaxArea); ConnectRegion.Dispose(); //挑出目标区域
HTuple areaI, RowI, ColI;
HOperatorSet.AreaCenter(SelectRegion, out areaI, out RowI, out ColI); //获取Pin针中心坐标
if (RowI.Length > 0)
{
HTuple MaxValue = areaI.TupleMax();
int MaxIndex = areaI.TupleFind(MaxValue);
row[j] = RowI[MaxIndex].D;
col[j] = ColI[MaxIndex].D;
}
else
{
row[j] = 0;
col[j] = 0;
}
}
#endregion
PinRows0 = PinRows0.TupleConcat(row);
PinCols0 = PinCols0.TupleConcat(col);
CircleObj.Dispose();
}
PinRows = PinRows0;
PinCols = PinCols0;
return(true);
}
public static bool InspectPinPos(St_InspectPinParam InspectPinParamIn, HObject ImgIn, out HTuple OffSetRows, out HTuple OffSetCols, out HTuple OffSetDist, out HObject PinContour, out HObject ErrorContour)
{
//1.0获得最新图片PIN针的中心坐标
OffSetRows = new HTuple();
OffSetCols = new HTuple();
OffSetDist = new HTuple();
ErrorContour = new HObject();
PinContour = new HObject();
#region //定义参数
if (InspectPinParamIn.Elements.Count() == 0 || InspectPinParamIn.Elements == null)
{
return(false);
}
double Element = InspectPinParamIn.Elements[0];
double DetectHight = InspectPinParamIn.DetectHeights[0];
double DtetectWidth = InspectPinParamIn.DetectWidths[0];
double LineRow1 = InspectPinParamIn.Row1s[0];
double LineCol1 = InspectPinParamIn.Col1s[0];
double LineRow2 = InspectPinParamIn.Row2s[0];
double LineCol2 = InspectPinParamIn.Col2s[0];
HObject DetectRegions = new HObject();
HObject RoiContour = new HObject();
double DnThreshold = InspectPinParamIn.DnThresholds[0];
double UpThreshold = InspectPinParamIn.UpThresholds[0];
double MinArea = InspectPinParamIn.MinAreas[0];
double MaxArea = InspectPinParamIn.MaxAreas[0];
#endregion
HTuple PinRows = new HTuple(), PinCols = new HTuple();
for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
{
#region 参数赋值
Element = InspectPinParamIn.Elements[i];
DetectHight = InspectPinParamIn.DetectHeights[i];
DtetectWidth = InspectPinParamIn.DetectWidths[i];
LineRow1 = InspectPinParamIn.Row1s[i];
LineCol1 = InspectPinParamIn.Col1s[i];
LineRow2 = InspectPinParamIn.Row2s[i];
LineCol2 = InspectPinParamIn.Col2s[i];
DnThreshold = InspectPinParamIn.DnThresholds[i];
UpThreshold = InspectPinParamIn.UpThresholds[i];
MinArea = InspectPinParamIn.MinAreas[i];
MaxArea = InspectPinParamIn.MaxAreas[i];
#endregion
//1.1 生成单行Pin针ROI
MyVisionBase.gen_rake_ROI1(ImgIn, out DetectRegions, out RoiContour, Element, DetectHight,
DtetectWidth, LineRow1, LineCol1, LineRow2, LineCol2);
HObject ReduceImg;
HTuple area = new HTuple(), row = new HTuple(), col = new HTuple();
HObject CircleObj = new HObject();
HOperatorSet.GenCircle(out CircleObj, 10, 10, 5);
#region 找出每行Pin针的中心坐标
for (int j = 0; j < DetectRegions.CountObj(); j++) //计算每根针的中心
{
HObject RegionI = new HObject();
HOperatorSet.CopyObj(DetectRegions, out RegionI, j + 1, 1);
HOperatorSet.ReduceDomain(ImgIn, RegionI, out ReduceImg); RegionI.Dispose(); //获取目标区域的图像
HObject ThrdRegion;
HOperatorSet.Threshold(ReduceImg, out ThrdRegion, DnThreshold, UpThreshold); ReduceImg.Dispose(); //阈值分割
HObject ExpandRegion = new HObject();
HOperatorSet.ExpandRegion(ThrdRegion, CircleObj, out ExpandRegion, 3, "image"); //膨胀
ThrdRegion.Dispose();;
HObject ConnectRegion;
HOperatorSet.Connection(ExpandRegion, out ConnectRegion); ExpandRegion.Dispose(); //链接
HObject SelectRegion = new HObject();
HOperatorSet.SelectShape(ConnectRegion, out SelectRegion, "area", "and", MinArea, MaxArea); ConnectRegion.Dispose(); //挑出目标区域
HTuple areaI, RowI, ColI;
HOperatorSet.AreaCenter(SelectRegion, out areaI, out RowI, out ColI); //获取Pin针中心坐标
if (RowI.Length > 0)
{
HTuple MaxValue = areaI.TupleMax();
int MaxIndex = areaI.TupleFind(MaxValue);
row[j] = RowI[MaxIndex].D;
col[j] = ColI[MaxIndex].D;
}
else
{
row[j] = 0;
col[j] = 0;
}
}
#endregion
PinRows = PinRows.TupleConcat(row);
PinCols = PinCols.TupleConcat(col);
CircleObj.Dispose();
}
HTuple TeachPinRows = new HTuple(), TeachPinCols = new HTuple();
for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
{
HTuple row0 = new HTuple(), col0 = new HTuple();
MyVisionBase.ListToHTuple(InspectPinParamIn.ListRows[i], out row0);
MyVisionBase.ListToHTuple(InspectPinParamIn.ListCols[i], out col0);
TeachPinRows = TeachPinRows.TupleConcat(row0);
TeachPinCols = TeachPinCols.TupleConcat(col0);
}
HTuple HomMat = new HTuple();
HOperatorSet.VectorToHomMat2d(TeachPinCols, TeachPinRows, PinCols, PinRows, out HomMat); //计算平移矩阵
HTuple TargetRows = new HTuple(), TargetCols = new HTuple();
HOperatorSet.AffineTransPixel(HomMat, TeachPinCols, TeachPinRows, out TargetCols, out TargetRows); //平移示教点的坐标
if (TargetRows.Length != TeachPinRows.Length)
{
return(false);
}
HTuple OffSetRows0 = new HTuple(), OffSetCols0 = new HTuple(), OffSetDist0 = new HTuple();
OffSetCols0 = PinCols - TargetCols;
OffSetRows0 = PinRows - TargetRows;
HOperatorSet.DistancePp(TargetRows, TargetCols, PinRows, PinCols, out OffSetDist0); //计算出偏移量
HTuple Max = OffSetDist0.TupleMax();
HTuple MaxIndex0 = OffSetDist0.TupleFind(Max);
HOperatorSet.GenCircleContourXld(out ErrorContour, PinRows[MaxIndex0[0].I], PinCols[MaxIndex0[0].I], 50, 0, Math.PI * 2, "positive", 1.0);
HOperatorSet.GenCrossContourXld(out PinContour, PinRows, PinCols, 50, 0);
OffSetRows = OffSetRows0;
OffSetCols = OffSetCols0;
OffSetDist = OffSetDist0;
return(true);
}
