public override bool LoadConfig(string str_parm_all)
{
string[] sArray = str_parm_all.Split('_');
OffsetXY = Convert.ToInt32(sArray[0]);
AngleRange = Convert.ToInt32(sArray[1]);
EnableRotateCenter = Convert.ToBoolean(sArray[2]);
CalibDataFileName = sArray[3];
XMaxDeviation = Convert.ToDouble(sArray[4]);
YMaxDeviation = Convert.ToDouble(sArray[5]);
CenterRow = Convert.ToDouble(sArray[6]);
CenterColumn = Convert.ToDouble(sArray[7]);
DistanceMax = Convert.ToDouble(sArray[8]);
int count = Convert.ToInt32(sArray[9]) * 4 + 9;
for (int i = 10; i <= count;)
{
in_pixel_column.Append(Convert.ToDouble(sArray[i++]));
in_pixel_row.Append(Convert.ToDouble(sArray[i++]));
in_world_x.Append(Convert.ToDouble(sArray[i++]));
in_world_y.Append(Convert.ToDouble(sArray[i++]));
}
return(true);
}
/// <summary>
/// 根据错误码优先级对错误进行输出，当错误优先级设置为一样时可以输出多个错误码
/// </summary>
/// <param name="SToM"></param>单个芯片 多个不重复的错误码
/// <param name="DefectPriority"></param>芯片错误码优先级
/// <param name="SToS"></param> 单个芯片根据优先级输出错误码
public static void TranDefect(int[] SToM, Dictionary <int, int[]> DefectPriority, out HTuple SToS)
{
List <int []> tempPriority = new List <int []>();
List <int> tempIndex = new List <int>();
SToS = new HTuple();
for (int i = 0; i < SToM.Length; i++)
{
if (DefectPriority.ContainsKey(SToM[i]))
{
tempPriority.Add(DefectPriority[SToM[i]]);
tempIndex.Add(DefectPriority[SToM[i]][0]);
}
else
{
SToS = -1;
return;
}
}
//
for (int ind = 0; ind < tempIndex.Count; ind++)
{
if (tempPriority[ind][0] == tempIndex.Min())
{
SToS.Append(tempPriority[ind][1]);
}
}
}
/// <summary>
/// 拷贝整个model文件夹信息
/// </summary>
/// <param name="oriModel"></param>
/// <returns></returns>
public bool CopyModel(Model oriModel)
{
try
{
for (int i = 0; i < oriModel.modelID.Length; i++)
{
modelID.Append(Vision.CopyModel(oriModel.modelID[i], oriModel.modelType));
}
modelType = oriModel.modelType;
defRows = oriModel.defRows;
defCols = oriModel.defCols;
scoreThresh = oriModel.scoreThresh;
angleStart = oriModel.angleStart;
angleExtent = oriModel.angleExtent;
if (oriModel.showContour.IsInitialized())
{
showContour = oriModel.showContour.CopyObj(1, -1);
}
if (oriModel.showImage.IsInitialized())
{
showImage = oriModel.showImage.CopyObj(1, -1);
}
if (oriModel.matchRegion.IsInitialized())
{
matchRegion = oriModel.matchRegion.CopyObj(1, -1);
}
return(true);
}
catch (Exception)
{
this.Dispose();
return(false);
}
}
/**获取变换矩阵集合，不包含最初的初始变换矩阵
* **/
public HTuple GetTransformMatrix()
{
HTuple HomMat3DStart;
/**生成一个标准变换矩阵
* 1 0 0 0
* 0 1 0 0
* 0 0 1 0
* 0 0 0 1
* **/
HOperatorSet.HomMat3dIdentity(out HomMat3DStart);
HTuple transformMat = new HTuple();
//pose转Mat的临时存储
HTuple tempPoseMat;
for (int i = 0; i < pairRegesters.Count; i++)
{
//Regester得到的pose转换成矩阵，既三维的变换矩阵
HOperatorSet.PoseToHomMat3d(pairRegesters[i].pose, out tempPoseMat);
//当前矩阵与对应的三维变换矩阵，计算出变换到标准点云所需要的变换矩阵
HOperatorSet.HomMat3dCompose(HomMat3DStart, tempPoseMat, out HomMat3DStart);
transformMat.Append(HomMat3DStart);
}
return(transformMat);
}
private void GetRegion(object sender, HMouseEventArgs e)
{
if (e.Button == MouseButtons.Left)
{
SelectRegionRows.Append(e.Y);
SelectRegionCols.Append(e.X);
}
}
// Short Description: Get all image files under the given path
private static void ListImageFiles(ref HTuple hv_ImageFiles, string imgSaveFolder)
{
string[] imageNames = Directory.GetFiles(imgSaveFolder, "*.bmp");
for (int i = 0; i < imageNames.Length; i++)
{
hv_ImageFiles.Append(imageNames[i]);
}
}
/**获取所有点云的句柄集合
* **/
public HTuple GetModels()
{
HTuple modelHandle = new HTuple();
for (int i = 0; i < registePointsList.Count; i++)
{
modelHandle.Append(registePointsList[i].Pointclouds);
}
return(modelHandle);
}
/**
* Display all available interfaces that have at least one device available.
*
* @return List of the detected interfaces.
*/
static HTuple showAvailableInterfaces()
{
HTuple deviceInfo, deviceValue, interfacesAll, temp;
HTuple interfaces = new HTuple();
Console.WriteLine(System.Environment.NewLine +
"Detect and show all available interfaces..." +
System.Environment.NewLine);
interfacesAll = HInfo.GetParamInfo("info_framegrabber", "Name", "values");
if (interfacesAll.Length > 0)
{
Console.WriteLine("Available interfaces:");
}
else
{
Console.WriteLine("Found no interfaces.");
return(interfaces);
}
ErrorModes errorMode = GetErrorMode();
// Disable error dialog boxes on interface detection.
SetErrorMode(ErrorModes.SEM_FAILCRITICALERRORS |
ErrorModes.SEM_NOGPFAULTERRORBOX |
ErrorModes.SEM_NOOPENFILEERRORBOX);
for (int i = 0; i < interfacesAll.Length; i++)
{
try
{
temp = interfacesAll.TupleSelect(i);
deviceInfo = HInfo.InfoFramegrabber(temp.S.ToString(), "device",
out deviceValue);
}
catch (HalconException)
{
// Interface not available.
continue;
}
if (deviceValue.Length > 0)
{
interfaces.Append(interfacesAll.TupleSelect(i));
Console.WriteLine(interfaces.Length + ")" +
interfacesAll.TupleSelect(i).S.ToString());
}
}
// Restore previous error mode.
SetErrorMode(errorMode);
return(interfaces);
}
/// <summary>
/// 获取DGV某个行列范围内的数据，赋值给tuple
/// </summary>
/// <param name="dgv"></param>
/// <param name="rowInd">起始行与终止行数组</param>
/// <param name="colInd">起始列与终止列数组</param>
/// <param name="tuple"></param>
private void GetDGVValue(DataGridView dgv, int[] rowInd, int[] colInd, ref HTuple tuple)
{
tuple = new HTuple();
for (int i = rowInd[0]; i < rowInd[1] - rowInd[0] + 1; i++)
{
for (int j = colInd[0]; j < colInd[1] - colInd[0] + 1; j++)
{
tuple.Append(Convert.ToDouble(dgv.Rows[i].Cells[j].Value));
}
}
}
/// <summary>
/// 加载标定节点数据到实例
/// </summary>
/// <param name="unit"></param>
private void AppendCalibData(XmlNode unit)
{
Type type = GetType();
FieldInfo[] fields = type.GetFields();
foreach (var item in fields)
{
string xpath = "/Calibration/unit[@name=\"" + CalibName + "\"]/field[@name=\"" + item.Name + "\"]";
XmlNode node = unit.SelectSingleNode(xpath);
if (node == null)
{
continue;
}
object value = null;
string strValue = ((XmlElement)node).GetAttribute("value");
// 类型转换
TypeConverter converter = TypeDescriptor.GetConverter(item.FieldType);
if (converter.CanConvertFrom(strValue.GetType()))
{
value = converter.ConvertFrom(strValue);
}
else
{
converter = TypeDescriptor.GetConverter(strValue);
if (converter.CanConvertTo(item.FieldType))
{
value = converter.ConvertTo(item, item.FieldType);
}
}
if (value != null)
{
item.SetValue(this, value);
}
else
{
// 解析无法进行类型转换的类型
if (((XmlElement)node).GetAttribute("name") == nameof(HomMat2D))
{
HomMat2D = new HTuple();
string[] array = strValue.Replace("[", "").Replace("]", "").Split(',');
foreach (var i in array)
{
HomMat2D.Append(Convert.ToDouble(i.Trim()));
}
}
}
}
}
/**当前Pose集合-》变换矩阵集合
* **/
private HTuple Pose2Mat()
{
HTuple PoseMat = new HTuple();
HTuple tempPoseMat;
for (int i = 0; i < pairRegesters.Count; i++)
{
HOperatorSet.PoseToHomMat3d(pairRegesters[i].pose, out tempPoseMat);
PoseMat.Append(tempPoseMat);
}
return(PoseMat);
}
/// <summary>Concatenates all tuples stored in the vector</summary>
public HTuple ConvertVectorToTuple()
{
if (this.mDimension <= 0)
{
return(this.mTuple);
}
HTuple htuple = new HTuple();
for (int index = 0; index < this.Length; ++index)
{
htuple.Append(this[index].ConvertVectorToTuple());
}
return(htuple);
}
private async void button1_Click(object sender, EventArgs e)
{
HTuple calibratedata = VisionManager.Instance.Calibrate.CalibrateData;
if (calibratedata != null)
{
HOperatorSet.AffineTransPoint2d(calibratedata, 1024, 1536, out HTuple x, out HTuple y);
// RobotPos robotPos = AbbRobot.GetRobotPos();
double robotY, robotZ;
FormToolPosition form = new FormToolPosition();
if (form.ShowDialog() == DialogResult.OK)
{
robotY = form.RobotY;
robotZ = form.RobotZ;
}
else
{
return;
}
offx = robotY - x;
offy = robotZ - y;
HTuple hTuple = new HTuple();
hTuple.Append(offx);
hTuple.Append(offy);
string _path = AppDomain.CurrentDomain.BaseDirectory + "CalibrateData";
VisionManager.Instance.Calibrate.ToolOffsetX = offx;
VisionManager.Instance.Calibrate.ToolOffsetY = offy;
if (!Directory.Exists(_path))
{
Directory.CreateDirectory(_path);
}
HOperatorSet.WriteTuple(hTuple, _path + "\\tooloffset.tup");
// HOperatorSet.WriteTuple(hTuple, _path + "\\tooloffset.tup");
// HOperatorSet.WriteTuple(hTuple, _path + "\\tooloffset.tup");
}
}
private void btn_SavePointData_Click(object sender, EventArgs e)
{
HTuple cameraX = new HTuple();
HTuple cameraY = new HTuple();
HTuple robotX = new HTuple();
HTuple robotY = new HTuple();
for (int i = 0; i < 9; i++)
{
DataGridViewRow dataGridViewRow = dGV_RobotPos.Rows[i];
if (dataGridViewRow.Cells[1].Value == null || dataGridViewRow.Cells[2].Value == null)
{
MessageBox.Show($"机器人第{(i + 1).ToString()}行点位信息为空", "提示");
return;
}
robotX.Append(dataGridViewRow.Cells[1].Value.ToString());
robotY.Append(dataGridViewRow.Cells[2].Value.ToString());
}
for (int i = 0; i < 9; i++)
{
DataGridViewRow dataGridViewRow = dGV_CameraPos.Rows[i];
if (dataGridViewRow.Cells[1].Value == null || dataGridViewRow.Cells[2].Value == null)
{
MessageBox.Show($"机器人第{(i + 1).ToString()}行点位信息为空", "提示");
return;
}
cameraX.Append(dataGridViewRow.Cells[1].Value.ToString());
cameraY.Append(dataGridViewRow.Cells[2].Value.ToString());
}
string _path = AppDomain.CurrentDomain.BaseDirectory + "CalibrateData";
if (!Directory.Exists(_path))
{
Directory.CreateDirectory(_path);
}
HOperatorSet.WriteTuple(cameraX, _path + "\\cameraX.tup");
HOperatorSet.WriteTuple(cameraY, _path + "\\cameraY.tup");
HOperatorSet.WriteTuple(robotX, _path + "\\robotX.tup");
HOperatorSet.WriteTuple(robotY, _path + "\\robotY.tup");
}
public HRegion Process(HRegion region)
{
HTuple features = new HTuple();
HTuple min = new HTuple();
HTuple max = new HTuple();
string operation = Operation.ToHalconString();
HRegion selectedRegion = region;
foreach (var entry in Items)
{
var feature = entry.Feature.ToHalconString();
features.Append(feature);
min.Append(entry.Min);
max.Append(entry.Max);
}
region = selectedRegion.SelectShape(features, operation, min, max);
return(region);
}
public void FindEdge(HObject image, HTuple row, HTuple column, HTuple radian, out HTuple edgeRow1, out HTuple edgeColumn1, out HTuple edgeRow2, out HTuple edgeColumn2)
{
HTuple homMat2D, rowTrans, columnTrans;
//测量外边缘
edgeRow1 = 0;
edgeColumn1 = 0;
edgeRow2 = 0;
edgeColumn2 = 0;
HOperatorSet.GenMeasureRectangle2(row + DisHanldeRow, column /*+ DisHanldeColumn*/, Radian + Math.PI / 2, 20, 40,
ImageWidth, ImageHeight, Interpolation, out HandleLine);
for (int i = 0; i <= 5; i++)
{
//设置幅度值
HTuple threshold = Threshold - 10 - i * 2;
if (threshold < 1)
{
threshold = 1;
}
HTuple rows = new HTuple();
HTuple columns = new HTuple();
for (int j = 0; j < PinCount; j++)
{
HTuple rowEdge, columnEdge, amplitude, distance;
//变换检测位置
//HTuple homMat2D, rowTrans, columnTrans;
HOperatorSet.HomMat2dIdentity(out homMat2D);
HOperatorSet.HomMat2dTranslate(homMat2D, DisHanldeRow, j * PinDistance, out homMat2D);
HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);
HOperatorSet.TranslateMeasure(HandleLine, rowTrans, columnTrans);
HOperatorSet.MeasurePos(image, HandleLine, Sigma, threshold, "negative", "first",
out rowEdge, out columnEdge, out amplitude, out distance);
if (rowEdge.Length > 0)
{
rows.Append(rowEdge);
columns.Append(columnEdge);
}
}
if (rows.Length >= PinCount / 2)
{
//生成轮廓
HObject contour;
HTuple nr, nc, dist;
HOperatorSet.GenContourPolygonXld(out contour, rows, columns);
//拟合
HOperatorSet.FitLineContourXld(contour, "tukey", -1, 0, 5, 2,
out edgeRow1, out edgeColumn1, out edgeRow2, out edgeColumn2,
out nr, out nc, out dist);
//生成直线，用于显示
contour?.Dispose();
HOperatorSet.GenContourPolygonXld(out contour, new HTuple(edgeRow1, edgeRow2), new HTuple(edgeColumn1, edgeColumn2));
HOperatorSet.ConcatObj(LineEdge, contour, out LineEdge);
break;
}
}
HOperatorSet.CloseMeasure(HandleLine);
}
public void MeasurePos(HObject image, HObject edgeContour)
{
//记录测量数量
int meaCount = 0;
try
{
HTuple row = CenterRow;
HTuple column = CenterColumn;
HTuple radian = Radian;
HTuple homMat2D, rowTrans, columnTrans;
/*
* HOperatorSet.HomMat2dIdentity(out homMat2D);
* HOperatorSet.HomMat2dTranslate(homMat2D, 0, PinDistance * PinCount / 2, out homMat2D);
* HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
* HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);
*
* HObject rect;
* HOperatorSet.GenRectangle2(out rect, rowTrans, columnTrans, radian, PinDistance * PinCount / 2 + Width, 100);
* HOperatorSet.ReduceDomain(image, rect, out image);
*
* HOperatorSet.AnisotropicDiffusion(image, out image, "weickert", 5, 1, 10);
* HOperatorSet.Emphasize(image, out image, 15, 15, 1);
*
* HOperatorSet.ConcatObj(LineEdge, image, out LineEdge);
*/
//HTuple edgeRow1, edgeColumn1, edgeRow2, edgeColumn2;
//FindEdge(image, row, column, radian, out edgeRow1, out edgeColumn1, out edgeRow2, out edgeColumn2);
HOperatorSet.ConcatObj(LineEdge, edgeContour, out LineEdge);
//测量所有碳碳点
for (int i = 0; i < PinCount; i++)
{
//变换检测位置
//HTuple homMat2D, rowTrans, columnTrans;
HOperatorSet.HomMat2dIdentity(out homMat2D);
HOperatorSet.HomMat2dTranslate(homMat2D, 0, i * PinDistance, out homMat2D);
HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);
//检测碳点
HObject contour;
HTuple diameterMax, diameterMin, disLeft, disRight, edgeRow, edgeColumn;
MeasureCircle(image, rowTrans, columnTrans, radian, out diameterMax, out diameterMin, out disLeft, out disRight,
out edgeRow, out edgeColumn, out contour);
//测量碳点到玻璃边缘的距离
HTuple disTop, distanceMax;
//HOperatorSet.DistancePl(edgeRow, edgeColumn, edgeRow1, edgeColumn1, edgeRow2, edgeColumn2, out disTop);
HOperatorSet.DistancePc(edgeContour, edgeRow, edgeColumn, out disTop, out distanceMax);
//像素转毫米
double maxDiameter = Math.Round((PlatformCalibData.PixelToMm(diameterMax) + MeasureMgr.GetInstance().OffsetDia), 2);
double minDiameter = Math.Round(PlatformCalibData.PixelToMm(diameterMin), 2);
double leftPos = Math.Round(PlatformCalibData.PixelToMm(disLeft), 2);
double reghtPos = Math.Round(PlatformCalibData.PixelToMm(disRight), 2);
double topPos = Math.Round(PlatformCalibData.PixelToMm(disTop), 2);
//优先判断面积NG，后判断位置NG
double LimiteMax = PlatformCalibData.PixelToMm(PinDistance);
if (maxDiameter > LimiteDiameterMax || maxDiameter < LimiteDiameterMin)
{
HOperatorSet.ConcatObj(ContourAreaNG, contour, out ContourAreaNG);
CountAreaNG++;
}
else if (leftPos < LimiteLeft || leftPos > LimiteMax ||
reghtPos < LimiteRight || reghtPos > LimiteMax ||
topPos < LimiteTopMin || topPos > LimiteTopMax)
{
HOperatorSet.ConcatObj(ContourPosNG, contour, out ContourPosNG);
CountPosNG++;
}
else
{
HOperatorSet.ConcatObj(ContourOk, contour, out ContourOk);
CountOK++;
}
//添加到参数列表
DiameterMax.Append(maxDiameter);
DiameterMin.Append(minDiameter);
DisLeft.Append(leftPos);
DisRight.Append(reghtPos);
DisTop.Append(topPos);
//计数
meaCount++;
}
}
catch (Exception e)
{
throw e;
}
finally
{
//未测量完成计入面积NG
if (PinCount != meaCount)
{
CountAreaNG += PinCount - meaCount;
}
}
}
// Main procedure
private HTuple action()
{
// Local iconic variables
HObject ho_Image, ho_ImageRotate, ho_GrayImage;
HObject ho_ImageMedian, ho_Region, ho_ConnectedRegions;
HObject ho_SelectedRegions, ho_SelectedRegions2, ho_SelectedRegions1;
HObject ho_SelectedRegions3, ho_SortedRegions, ho_RegionUnion;
HObject ho_Rectangle, ho_ImageReduced, ho_GrayImageA, ho_GragImageA;
HObject ho_RegionsA_temp, ho_ConnectedRegionsA_temp, ho_SelectedRegionsA_temp;
HObject ho_ImageAffineTrans, ho_RegionsA, ho_RegionDilationA;
HObject ho_ConnectedRegionsA, ho_SelectedRegionsA, ho_RegionsA1;
HObject ho_RegionOpeningA, ho_SelectedRegionsA1, ho_RegionUnionA;
HObject ho_SelectedRegionsA2, ho_RegionsB, ho_ConnectedRegionsB;
HObject ho_SelectedRegionsB, ho_RectangleB1, ho_RectangleB2;
HObject ho_RegionDifferenceB, ho_ImageReducedB1, ho_RegionB1;
HObject ho_ConnectedRegionsB2, ho_SelectedRegionsB2, ho_outContours;
HObject ho_SelectedContours, ho_SortedContours, ho_Region1;
HObject ho_ConnectedRegions1, ho_SelectedRegions4, ho_SelectedRegions5;
HObject ho_SelectedRegions6, ho_Contours, ho_SortedContours3;
HObject ho_obj = null, ho_objj = null, ho_ContoursSplit = null;
HObject ho_SelectedXLD = null, ho_SortedContours1 = null, ho_M = null;
HObject ho_Contour = null, ho_SelectedXLD1 = null, ho_SortedContours2 = null;
HObject ho_ObjectSelectedB = null;
// Local control variables
HTuple hv_NumberB = null, hv_Row1 = null, hv_Column1 = null;
HTuple hv_Phi = null, hv_Length1 = null, hv_Length2 = null;
HTuple hv_Phi_temp = null, hv_Area_temp = null, hv_Row_temp = null;
HTuple hv_Column_temp = null, hv_HomMat2D = null, hv_RowA1 = null;
HTuple hv_ColumnA1 = null, hv_RowA2 = null, hv_ColumnA2 = null;
HTuple hv_RowA3 = null, hv_ColumnA3 = null, hv_RowA4 = null;
HTuple hv_ColumnA4 = null, hv_RowB16 = null, hv_ColumnB16 = null;
HTuple hv_PhiB3 = null, hv_LengthB1 = null, hv_LengthB2 = null;
HTuple hv_AreaB = null, hv_RowB2 = null, hv_ColumnB2 = null;
HTuple hv_Number = null, hv_Number3 = null, hv_A1 = null;
HTuple hv_A2 = null, hv_B1 = null, hv_B2 = null, hv_C1 = null;
HTuple hv_C2 = null, hv_C3 = null, hv_C4 = null, hv_i = null;
HTuple hv_Ro1 = new HTuple(), hv_Co1 = new HTuple(), hv_MinBR = new HTuple();
HTuple hv_MaxBR = new HTuple(), hv_MinBC = new HTuple();
HTuple hv_MaxBC = new HTuple(), hv_BR = new HTuple(), hv_BC = new HTuple();
HTuple hv_j = new HTuple(), hv_Number1 = new HTuple();
HTuple hv_a = new HTuple(), hv_Ro2 = new HTuple(), hv_Co2 = new HTuple();
HTuple hv_LUC = new HTuple(), hv_RUC = new HTuple(), hv_Ro3 = new HTuple();
HTuple hv_Co3 = new HTuple(), hv_LDC = new HTuple(), hv_RDC = new HTuple();
HTuple hv_RowBegin = new HTuple(), hv_ColBegin = new HTuple();
HTuple hv_RowEnd = new HTuple(), hv_ColEnd = new HTuple();
HTuple hv_Nr = new HTuple(), hv_Nc = new HTuple(), hv_Dist = new HTuple();
HTuple hv_Rowc = new HTuple(), hv_Colc = new HTuple();
HTuple hv_MeanR = new HTuple(), hv_H1 = new HTuple(), hv_H3 = new HTuple();
HTuple hv_Number2 = new HTuple(), hv_b = new HTuple();
HTuple hv_Ro4 = new HTuple(), hv_Co4 = new HTuple(), hv_LUR = new HTuple();
HTuple hv_LDR = new HTuple(), hv_Ro5 = new HTuple(), hv_Co5 = new HTuple();
HTuple hv_RUR = new HTuple(), hv_RDR = new HTuple(), hv_MeanC = new HTuple();
HTuple hv_H4 = new HTuple(), hv_H2 = new HTuple(), hv_Distance1 = new HTuple();
HTuple hv_Distance2 = new HTuple(), hv_AreaA = null, hv_RowA = null;
HTuple hv_ColumnA = null, hv_phi = null, hv_paozhengwei = null;
HTuple hv_k = null, hv_Indices = null, hv_liebo = null;
HTuple hv_NumB = null, hv_count = null, hv_I = new HTuple();
HTuple hv_AreaB1 = new HTuple(), hv_RowB3 = new HTuple();
HTuple hv_ColumnB3 = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_ImageRotate);
HOperatorSet.GenEmptyObj(out ho_GrayImage);
HOperatorSet.GenEmptyObj(out ho_ImageMedian);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions3);
HOperatorSet.GenEmptyObj(out ho_SortedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_GrayImageA);
HOperatorSet.GenEmptyObj(out ho_GragImageA);
HOperatorSet.GenEmptyObj(out ho_RegionsA_temp);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsA_temp);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA_temp);
HOperatorSet.GenEmptyObj(out ho_ImageAffineTrans);
HOperatorSet.GenEmptyObj(out ho_RegionsA);
HOperatorSet.GenEmptyObj(out ho_RegionDilationA);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsA);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA);
HOperatorSet.GenEmptyObj(out ho_RegionsA1);
HOperatorSet.GenEmptyObj(out ho_RegionOpeningA);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA1);
HOperatorSet.GenEmptyObj(out ho_RegionUnionA);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsA2);
HOperatorSet.GenEmptyObj(out ho_RegionsB);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsB);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsB);
HOperatorSet.GenEmptyObj(out ho_RectangleB1);
HOperatorSet.GenEmptyObj(out ho_RectangleB2);
HOperatorSet.GenEmptyObj(out ho_RegionDifferenceB);
HOperatorSet.GenEmptyObj(out ho_ImageReducedB1);
HOperatorSet.GenEmptyObj(out ho_RegionB1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegionsB2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegionsB2);
HOperatorSet.GenEmptyObj(out ho_outContours);
HOperatorSet.GenEmptyObj(out ho_SelectedContours);
HOperatorSet.GenEmptyObj(out ho_SortedContours);
HOperatorSet.GenEmptyObj(out ho_Region1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions4);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions5);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions6);
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_SortedContours3);
HOperatorSet.GenEmptyObj(out ho_obj);
HOperatorSet.GenEmptyObj(out ho_objj);
HOperatorSet.GenEmptyObj(out ho_ContoursSplit);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD);
HOperatorSet.GenEmptyObj(out ho_SortedContours1);
HOperatorSet.GenEmptyObj(out ho_M);
HOperatorSet.GenEmptyObj(out ho_Contour);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD1);
HOperatorSet.GenEmptyObj(out ho_SortedContours2);
HOperatorSet.GenEmptyObj(out ho_ObjectSelectedB);
ho_Image.Dispose();
if (!this.index)
{
HOperatorSet.ReadImage(out ho_Image, "test.bmp");
}
else
{
HOperatorSet.ReadImage(out ho_Image, "PersonImg\\xiaosy.png");
}
//*******************************************第一组预处理***********************************************
ho_ImageRotate.Dispose();
HOperatorSet.RotateImage(ho_Image, out ho_ImageRotate, 45, "constant");
ho_GrayImage.Dispose();
HOperatorSet.Rgb1ToGray(ho_ImageRotate, out ho_GrayImage);
ho_ImageMedian.Dispose();
HOperatorSet.MedianImage(ho_GrayImage, out ho_ImageMedian, "circle", 3, "mirrored");
ho_Region.Dispose();
HOperatorSet.Threshold(ho_GrayImage, out ho_Region, 200, 255);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area",
"and", 150, 99999);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions, out ho_SelectedRegions2, "circularity",
"and", 0.37, 0.7);
ho_SelectedRegions1.Dispose();
HOperatorSet.ClosingRectangle1(ho_SelectedRegions2, out ho_SelectedRegions1,
5, 5);
ho_SelectedRegions3.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions1, out ho_SelectedRegions3, "holes_num",
"and", 1, 99);
ho_SortedRegions.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions3, out ho_SortedRegions, "first_point",
"true", "column");
HOperatorSet.CountObj(ho_SelectedRegions3, out hv_NumberB);
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_SelectedRegions3, out ho_RegionUnion);
HOperatorSet.SmallestRectangle2(ho_RegionUnion, out hv_Row1, out hv_Column1,
out hv_Phi, out hv_Length1, out hv_Length2);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle, hv_Row1, hv_Column1, hv_Phi, hv_Length1,
hv_Length2);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_GrayImage, ho_Rectangle, out ho_ImageReduced);
//*******************************************第二组预处理***********************************************
ho_GrayImageA.Dispose();
HOperatorSet.Rgb1ToGray(ho_Image, out ho_GrayImageA);
ho_GragImageA.Dispose();
HOperatorSet.GrayDilationRect(ho_GrayImageA, out ho_GragImageA, 4, 4);
ho_RegionsA_temp.Dispose();
HOperatorSet.Threshold(ho_GrayImageA, out ho_RegionsA_temp, 116, 218);
ho_ConnectedRegionsA_temp.Dispose();
HOperatorSet.Connection(ho_RegionsA_temp, out ho_ConnectedRegionsA_temp);
ho_SelectedRegionsA_temp.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegionsA_temp, out ho_SelectedRegionsA_temp,
"area", "and", 108357, 495042);
HOperatorSet.OrientationRegion(ho_SelectedRegionsA_temp, out hv_Phi_temp);
HOperatorSet.AreaCenter(ho_SelectedRegionsA_temp, out hv_Area_temp, out hv_Row_temp,
out hv_Column_temp);
HOperatorSet.VectorAngleToRigid(hv_Row_temp, hv_Column_temp, hv_Phi_temp, hv_Row_temp,
hv_Column_temp, (new HTuple(0)).TupleRad(), out hv_HomMat2D);
ho_ImageAffineTrans.Dispose();
HOperatorSet.AffineTransImage(ho_GrayImageA, out ho_ImageAffineTrans, hv_HomMat2D,
"constant", "false");
ho_RegionsA.Dispose();
HOperatorSet.Threshold(ho_ImageAffineTrans, out ho_RegionsA, 116, 218);
ho_RegionDilationA.Dispose();
HOperatorSet.DilationRectangle1(ho_RegionsA, out ho_RegionDilationA, 2, 2);
ho_ConnectedRegionsA.Dispose();
HOperatorSet.Connection(ho_RegionDilationA, out ho_ConnectedRegionsA);
ho_SelectedRegionsA.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegionsA, out ho_SelectedRegionsA, "circularity",
"and", 0.001, 0.03);
ho_RegionsA1.Dispose();
HOperatorSet.Threshold(ho_GrayImageA, out ho_RegionsA1, 227, 255);
ho_RegionOpeningA.Dispose();
HOperatorSet.OpeningCircle(ho_RegionsA1, out ho_RegionOpeningA, 5.5);
ho_ConnectedRegionsA.Dispose();
HOperatorSet.Connection(ho_RegionOpeningA, out ho_ConnectedRegionsA);
ho_SelectedRegionsA1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegionsA, out ho_SelectedRegionsA1, "row",
"and", 513.2, 601.23);
ho_RegionUnionA.Dispose();
HOperatorSet.Union1(ho_SelectedRegionsA1, out ho_RegionUnionA);
HOperatorSet.SmallestRectangle1(ho_RegionUnionA, out hv_RowA1, out hv_ColumnA1,
out hv_RowA2, out hv_ColumnA2);
ho_SelectedRegionsA2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegionsA, out ho_SelectedRegionsA2, "width",
"and", 92.694, 100);
HOperatorSet.InnerRectangle1(ho_SelectedRegionsA2, out hv_RowA3, out hv_ColumnA3,
out hv_RowA4, out hv_ColumnA4);
ho_ConnectedRegionsA.Dispose();
HOperatorSet.Connection(ho_RegionsA1, out ho_ConnectedRegionsA);
//*******************************************第三组预处理*********************************************
ho_RegionsB.Dispose();
HOperatorSet.Threshold(ho_Image, out ho_RegionsB, 131, 153);
ho_ConnectedRegionsB.Dispose();
HOperatorSet.Connection(ho_RegionsB, out ho_ConnectedRegionsB);
ho_SelectedRegionsB.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegionsB, out ho_SelectedRegionsB, "max_area",
70);
HOperatorSet.SmallestRectangle2(ho_SelectedRegionsB, out hv_RowB16, out hv_ColumnB16,
out hv_PhiB3, out hv_LengthB1, out hv_LengthB2);
ho_RectangleB1.Dispose();
HOperatorSet.GenRectangle2(out ho_RectangleB1, hv_RowB16 - 5, hv_ColumnB16, hv_PhiB3,
hv_LengthB1 - 5, hv_LengthB2 - 5);
ho_RectangleB2.Dispose();
HOperatorSet.GenRectangle2(out ho_RectangleB2, hv_RowB16 - 3, hv_ColumnB16, hv_PhiB3,
hv_LengthB1 - 5, hv_LengthB2 - 18);
ho_RegionDifferenceB.Dispose();
HOperatorSet.Difference(ho_RectangleB1, ho_RectangleB2, out ho_RegionDifferenceB
);
ho_ImageReducedB1.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_RegionDifferenceB, out ho_ImageReducedB1
);
ho_RegionB1.Dispose();
HOperatorSet.Threshold(ho_ImageReducedB1, out ho_RegionB1, 200, 255);
ho_ConnectedRegionsB2.Dispose();
HOperatorSet.Connection(ho_RegionB1, out ho_ConnectedRegionsB2);
ho_SelectedRegionsB2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegionsB2, out ho_SelectedRegionsB2, "area",
"and", 26.01, 200);
HOperatorSet.AreaCenter(ho_SelectedRegionsB2, out hv_AreaB, out hv_RowB2, out hv_ColumnB2);
//*****************************************花瓣ABC**************************************************
//边缘轮廓检测
ho_outContours.Dispose();
HOperatorSet.GenContourRegionXld(ho_SelectedRegions3, out ho_outContours, "border");
ho_SelectedContours.Dispose();
HOperatorSet.SelectContoursXld(ho_outContours, out ho_SelectedContours, "contour_length",
60, 600, -0.5, 0.5);
ho_SortedContours.Dispose();
HOperatorSet.SortContoursXld(ho_SelectedContours, out ho_SortedContours, "upper_left",
"true", "column");
HOperatorSet.CountObj(ho_SortedContours, out hv_Number);
//中心轮廓检测
ho_Region1.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region1, 0, 135);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_Region1, out ho_ConnectedRegions1);
ho_SelectedRegions4.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions4, "area",
"and", 230, 600);
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions4, out ho_SelectedRegions5, "ratio",
"and", 0.7, 1.352);
ho_SelectedRegions6.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions5, out ho_SelectedRegions6, "circularity",
"and", 0.2, 1);
ho_Contours.Dispose();
HOperatorSet.GenContourRegionXld(ho_SelectedRegions6, out ho_Contours, "border");
ho_SortedContours3.Dispose();
HOperatorSet.SortContoursXld(ho_Contours, out ho_SortedContours3, "upper_left",
"true", "row");
HOperatorSet.CountObj(ho_SortedContours3, out hv_Number3);
if ((int)(new HTuple((((hv_Number + hv_Number3) % 2)).TupleEqual(1))) != 0)
{
//这里需要在C#输出无法检测的信息
HDevelopStop();
}
//里面的轮廓 A1左上到右下 A2左下到右上
hv_A1 = new HTuple();
hv_A2 = new HTuple();
//外面的轮廓 B1垂直方向 B2水平方向
hv_B1 = new HTuple();
hv_B2 = new HTuple();
//c1到c4顺时针顺序的四个花瓣长度
hv_C1 = new HTuple();
hv_C2 = new HTuple();
hv_C3 = new HTuple();
hv_C4 = new HTuple();
//B的检测
HTuple end_val103 = hv_Number;
HTuple step_val103 = 1;
for (hv_i = 1; hv_i.Continue(end_val103, step_val103); hv_i = hv_i.TupleAdd(step_val103))
{
ho_obj.Dispose();
HOperatorSet.SelectObj(ho_SortedContours, out ho_obj, hv_i);
HOperatorSet.GetContourXld(ho_obj, out hv_Ro1, out hv_Co1);
HOperatorSet.TupleMin(hv_Ro1, out hv_MinBR);
HOperatorSet.TupleMax(hv_Ro1, out hv_MaxBR);
HOperatorSet.TupleMin(hv_Co1, out hv_MinBC);
HOperatorSet.TupleMax(hv_Co1, out hv_MaxBC);
hv_BR = hv_MaxBR - hv_MinBR;
hv_BC = hv_MaxBC - hv_MinBC;
hv_B1 = hv_B1.TupleConcat(hv_BR);
hv_B2 = hv_B2.TupleConcat(hv_BC);
//A的检测
HTuple end_val118 = hv_Number3;
HTuple step_val118 = 1;
for (hv_j = 1; hv_j.Continue(end_val118, step_val118); hv_j = hv_j.TupleAdd(step_val118))
{
if ((int)(new HTuple(hv_i.TupleEqual(hv_j))) != 0)
{
ho_objj.Dispose();
HOperatorSet.SelectObj(ho_SortedContours3, out ho_objj, hv_j);
//C的检测
ho_ContoursSplit.Dispose();
HOperatorSet.SegmentContoursXld(ho_objj, out ho_ContoursSplit, "lines",
5, 4, 2);
ho_SelectedXLD.Dispose();
HOperatorSet.SelectShapeXld(ho_ContoursSplit, out ho_SelectedXLD, "width",
"and", 13, 99);
ho_SortedContours1.Dispose();
HOperatorSet.SortContoursXld(ho_SelectedXLD, out ho_SortedContours1, "upper_left",
"true", "row");
HOperatorSet.CountObj(ho_SortedContours1, out hv_Number1);
HTuple end_val130 = hv_Number1;
HTuple step_val130 = 1;
for (hv_a = 1; hv_a.Continue(end_val130, step_val130); hv_a = hv_a.TupleAdd(step_val130))
{
ho_M.Dispose();
HOperatorSet.SelectObj(ho_SortedContours1, out ho_M, hv_a);
if ((int)(new HTuple(hv_a.TupleEqual(1))) != 0)
{
HOperatorSet.GetContourXld(ho_M, out hv_Ro2, out hv_Co2);
HOperatorSet.TupleMin(hv_Co2, out hv_LUC);
HOperatorSet.TupleMax(hv_Co2, out hv_RUC);
}
else
{
HOperatorSet.GetContourXld(ho_M, out hv_Ro3, out hv_Co3);
HOperatorSet.TupleMin(hv_Co3, out hv_LDC);
HOperatorSet.TupleMax(hv_Co3, out hv_RDC);
}
HOperatorSet.FitLineContourXld(ho_M, "huber", -1, 0, 5, 2, out hv_RowBegin,
out hv_ColBegin, out hv_RowEnd, out hv_ColEnd, out hv_Nr, out hv_Nc,
out hv_Dist);
ho_Contour.Dispose();
HOperatorSet.GenContourPolygonXld(out ho_Contour, hv_RowBegin.TupleConcat(
hv_RowEnd), hv_ColBegin.TupleConcat(hv_ColEnd));
HOperatorSet.GetContourXld(ho_Contour, out hv_Rowc, out hv_Colc);
HOperatorSet.TupleMean(hv_Rowc, out hv_MeanR);
if ((int)(new HTuple(hv_a.TupleEqual(1))) != 0)
{
hv_H1 = hv_MeanR - hv_MinBR;
hv_C1 = hv_C1.TupleConcat(hv_H1);
}
else
{
hv_H3 = hv_MaxBR - hv_MeanR;
hv_C3 = hv_C3.TupleConcat(hv_H3);
}
}
ho_SelectedXLD1.Dispose();
HOperatorSet.SelectShapeXld(ho_ContoursSplit, out ho_SelectedXLD1, "height",
"and", 13, 99);
ho_SortedContours2.Dispose();
HOperatorSet.SortContoursXld(ho_SelectedXLD1, out ho_SortedContours2, "upper_left",
"true", "column");
HOperatorSet.CountObj(ho_SortedContours2, out hv_Number2);
HTuple end_val157 = hv_Number2;
HTuple step_val157 = 1;
for (hv_b = 1; hv_b.Continue(end_val157, step_val157); hv_b = hv_b.TupleAdd(step_val157))
{
ho_M.Dispose();
HOperatorSet.SelectObj(ho_SortedContours2, out ho_M, hv_b);
if ((int)(new HTuple(hv_b.TupleEqual(1))) != 0)
{
HOperatorSet.GetContourXld(ho_M, out hv_Ro4, out hv_Co4);
HOperatorSet.TupleMin(hv_Ro4, out hv_LUR);
HOperatorSet.TupleMax(hv_Ro4, out hv_LDR);
}
else
{
HOperatorSet.GetContourXld(ho_M, out hv_Ro5, out hv_Co5);
HOperatorSet.TupleMin(hv_Ro5, out hv_RUR);
HOperatorSet.TupleMax(hv_Ro5, out hv_RDR);
}
HOperatorSet.FitLineContourXld(ho_M, "huber", -1, 0, 5, 2, out hv_RowBegin,
out hv_ColBegin, out hv_RowEnd, out hv_ColEnd, out hv_Nr, out hv_Nc,
out hv_Dist);
ho_Contour.Dispose();
HOperatorSet.GenContourPolygonXld(out ho_Contour, hv_RowBegin.TupleConcat(
hv_RowEnd), hv_ColBegin.TupleConcat(hv_ColEnd));
HOperatorSet.GetContourXld(ho_Contour, out hv_Rowc, out hv_Colc);
HOperatorSet.TupleMean(hv_Colc, out hv_MeanC);
if ((int)(new HTuple(hv_b.TupleEqual(1))) != 0)
{
hv_H4 = hv_MeanC - hv_MinBC;
hv_C4 = hv_C4.TupleConcat(hv_H4);
}
else
{
hv_H2 = hv_MaxBC - hv_MeanC;
hv_C2 = hv_C2.TupleConcat(hv_H2);
}
}
HOperatorSet.DistancePp(hv_LUC, hv_LUR, hv_RDC, hv_RDR, out hv_Distance1);
HOperatorSet.DistancePp(hv_RUC, hv_RUR, hv_LDC, hv_LDR, out hv_Distance2);
hv_A1 = hv_A1.TupleConcat(hv_Distance1);
hv_A2 = hv_A2.TupleConcat(hv_Distance2);
}
}
}
//*********************************倾斜角度 跑针位 k*******************************************
HOperatorSet.AreaCenter(ho_SelectedRegionsA, out hv_AreaA, out hv_RowA, out hv_ColumnA);
HOperatorSet.OrientationRegion(ho_SelectedRegionsA, out hv_Phi);
hv_Phi = hv_Phi.TupleDeg();
hv_phi = ((90 - (hv_Phi.TupleAbs()))).TupleAbs();
hv_paozhengwei = (hv_RowA3 - ((hv_RowA2 / 2) + (hv_RowA1 / 2))) - 4;
hv_k = (hv_RowA2 - hv_RowA1) + 4;
//***************************************裂箔****************************************************
HOperatorSet.TupleSortIndex(hv_AreaB, out hv_Indices);
hv_liebo = new HTuple();
hv_NumB = new HTuple(hv_Indices.TupleLength());
hv_count = 0;
if ((int)(new HTuple(hv_NumB.TupleGreater(0))) != 0)
{
HTuple end_val208 = hv_NumB;
HTuple step_val208 = 1;
for (hv_I = 1; hv_I.Continue(end_val208, step_val208); hv_I = hv_I.TupleAdd(step_val208))
{
ho_ObjectSelectedB.Dispose();
HOperatorSet.SelectObj(ho_SelectedRegionsB2, out ho_ObjectSelectedB, hv_I);
HOperatorSet.AreaCenter(ho_ObjectSelectedB, out hv_AreaB1, out hv_RowB3,
out hv_ColumnB3);
if ((int)(new HTuple(hv_AreaB1.TupleGreater(30))) != 0)
{
hv_count = hv_count + 1;
}
else
{
}
}
}
else
{
}
if (hv_liebo == null)
{
hv_liebo = new HTuple();
}
hv_liebo[0] = hv_count;
HTuple result = new HTuple();
result.Append(hv_A1[0]);
result.Append(hv_A2[0]);
result.Append(hv_B1[0]);
result.Append(hv_B2[0]);
result.Append(hv_C1[0]);
result.Append(hv_C2[0]);
result.Append(hv_C3[0]);
result.Append(hv_C4[0]);
result.Append(hv_phi[0]);
result.Append(hv_paozhengwei[0]);
result.Append(hv_liebo[0]);
//**************************************************************************************************
ho_Image.Dispose();
ho_ImageRotate.Dispose();
ho_GrayImage.Dispose();
ho_ImageMedian.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions1.Dispose();
ho_SelectedRegions3.Dispose();
ho_SortedRegions.Dispose();
ho_RegionUnion.Dispose();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_GrayImageA.Dispose();
ho_GragImageA.Dispose();
ho_RegionsA_temp.Dispose();
ho_ConnectedRegionsA_temp.Dispose();
ho_SelectedRegionsA_temp.Dispose();
ho_ImageAffineTrans.Dispose();
ho_RegionsA.Dispose();
ho_RegionDilationA.Dispose();
ho_ConnectedRegionsA.Dispose();
ho_SelectedRegionsA.Dispose();
ho_RegionsA1.Dispose();
ho_RegionOpeningA.Dispose();
ho_SelectedRegionsA1.Dispose();
ho_RegionUnionA.Dispose();
ho_SelectedRegionsA2.Dispose();
ho_RegionsB.Dispose();
ho_ConnectedRegionsB.Dispose();
ho_SelectedRegionsB.Dispose();
ho_RectangleB1.Dispose();
ho_RectangleB2.Dispose();
ho_RegionDifferenceB.Dispose();
ho_ImageReducedB1.Dispose();
ho_RegionB1.Dispose();
ho_ConnectedRegionsB2.Dispose();
ho_SelectedRegionsB2.Dispose();
ho_outContours.Dispose();
ho_SelectedContours.Dispose();
ho_SortedContours.Dispose();
ho_Region1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_SelectedRegions6.Dispose();
ho_Contours.Dispose();
ho_SortedContours3.Dispose();
ho_obj.Dispose();
ho_objj.Dispose();
ho_ContoursSplit.Dispose();
ho_SelectedXLD.Dispose();
ho_SortedContours1.Dispose();
ho_M.Dispose();
ho_Contour.Dispose();
ho_SelectedXLD1.Dispose();
ho_SortedContours2.Dispose();
ho_ObjectSelectedB.Dispose();
return(result);
}
/// <summary>
/// The section of the user process.
/// 用户自定义流程函数。
///
/// Please write your process in the following method.
/// 请在以下函数中定义您的工艺流程。
///
/// </summary>
/// <param name="Service"></param>
/// <returns></returns>
static void BenchMarkSet(SystemServiceClient Service, CamRemoteAccessContractClient Camera = null)
{
string message = "";
double pdX = 0, pdY = 0, pdAngle = 0;
double offsetX, offsetY, offsetAngle;
Camera.SetExposure("AWG", 30000);
Camera.SetExposure("Left", 16000);
try
{
if (!Directory.Exists(programDataFile))
{
Directory.CreateDirectory(programDataFile);
}
if (!File.Exists(programDataFile + "\\calibratedata.tup"))
{
throw new Exception("cannot find the calibratedata file");
}
if (!File.Exists(programDataFile + "\\Model"))
{
throw new Exception("cannot find the model file");
}
HOperatorSet.ReadTuple(programDataFile + "\\calibratedata.tup", out calibratedata);
HOperatorSet.ReadShapeModel(programDataFile + "\\Model", out HTuple model);
PointInfo pdOriginAngle = new PointInfo();
pdOriginAngle.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "R"));
pdOriginAngle.Aliger = Aliger;
pdOriginAngle.PointName = "pd初始角度";
pdOriginAngle.Save(programDataFile, "pd初始角度.json");
PointInfo awgCouplingLower = new PointInfo();
awgCouplingLower.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Z", 20));
awgCouplingLower.Aliger = Aliger;
awgCouplingLower.PointName = "Awg耦合低位";
awgCouplingLower.Save(programDataFile, "Awg耦合低位.json");
Service.__SSC_MoveAxis(Aliger, "Z", SSC_MoveMode.REL, 100, -500);
PointInfo awgCouplingHigher = new PointInfo();
awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "X"));
awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Y"));
awgCouplingHigher.AxisInfos.Add(GenerateSingleAxisInfo(Service, Aliger, "Z", 100, 2));
awgCouplingHigher.Aliger = Aliger;
awgCouplingHigher.PointName = "Awg耦合高位";
awgCouplingHigher.Save(programDataFile, "Awg耦合高位.json");
#region pd初始位置获取并保存
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "pd拍照位置");
var image2 = Camera.GrabOneFrame("Left");
HObject pdImage;
visionFun.Bitmap2HObjectBpp32(image2, out pdImage);
GetPdOriginPosition(pdImage, out double pdx, out double pdy, out double pdangle, out Bitmap pdresultImage);
Service.__SSC_ShowImage(pdresultImage);
HTuple PdOrigin = new HTuple();
PdOrigin.Append(pdx);
PdOrigin.Append(pdy);
PdOrigin.Append(pdangle);
HOperatorSet.WriteTuple(PdOrigin, programDataFile + "\\PdOrigin.tup");
#endregion
#region awg初始位置获取并保存
Service.__SSC_MoveToPresetPosition(Conditions.ALIGNER, "awg拍照位置");
Thread.Sleep(100);
var image1 = Camera.GrabOneFrame("AWG");
HObject awgImage;
visionFun.Bitmap2HObjectBpp32(image1, out awgImage);
GetAwgOriginPosition(awgImage, out double awgX, out double awgY, out double awgAngle, out Bitmap awgimage);
Service.__SSC_ShowImage(awgimage);
HTuple AwgOrigin = new HTuple();
AwgOrigin.Append(awgX);
AwgOrigin.Append(awgY);
AwgOrigin.Append(awgAngle);
HOperatorSet.WriteTuple(AwgOrigin, programDataFile + "\\AwgOrigin.tup");
#endregion
}
catch (Exception ex)
{
Service.__SSC_LogError(ex.Message);
}
System.Threading.Thread.Sleep(100);
}
private static bool DepthFromFocusProc(HImage image, string imgSaveFolder, string imgSaveName)
{
bool ret = false;
try
{
HObject ho_img1 = new HObject();
HObject ho_img2 = new HObject();
HObject ho_img3 = new HObject();
HOperatorSet.Decompose3(image, out ho_img1, out ho_img2, out ho_img3);
HTuple filter = new HTuple("highpass");
filter.Append(7);
filter.Append(7);
HTuple selection = new HTuple("next_maximum");
HOperatorSet.ChannelsToImage(ho_img1, out ho_img1);
HObject ho_Depth1 = new HObject();
HObject ho_Confidence1 = new HObject();
HOperatorSet.DepthFromFocus(ho_img1, out ho_Depth1, out ho_Confidence1, filter, selection);
//Construct sharp image
HObject ho_DepthHighConf1 = new HObject();
HOperatorSet.MeanImage(ho_Depth1, out ho_DepthHighConf1, 11, 11);
HObject ho_SharpImage1 = new HObject();
HOperatorSet.SelectGrayvaluesFromChannels(ho_img1, ho_DepthHighConf1, out ho_SharpImage1);
//Smooth depth map
//HObject ho_ImageScaleMax1 = new HObject();
//HOperatorSet.ScaleImageMax(ho_DepthHighConf1, out ho_ImageScaleMax1);
//HObject ho_DepthMean1 = new HObject();
//HOperatorSet.MeanImage(ho_ImageScaleMax1, out ho_DepthMean1, 51, 51);
//HOperatorSet.WriteImage(ho_SharpImage1, "bmp", 0, imgSaveFolder + "\\SharpImage1.bmp");
HOperatorSet.ChannelsToImage(ho_img2, out ho_img2);
HObject ho_Depth2 = new HObject();
HObject ho_Confidence2 = new HObject();
HOperatorSet.DepthFromFocus(ho_img2, out ho_Depth2, out ho_Confidence2, filter, selection);
//Construct sharp image
HObject ho_DepthHighConf2 = new HObject();
HOperatorSet.MeanImage(ho_Depth2, out ho_DepthHighConf2, 11, 11);
HObject ho_SharpImage2 = new HObject();
HOperatorSet.SelectGrayvaluesFromChannels(ho_img2, ho_DepthHighConf2, out ho_SharpImage2);
//Smooth depth map
//HObject ho_ImageScaleMax2 = new HObject();
//HOperatorSet.ScaleImageMax(ho_DepthHighConf2, out ho_ImageScaleMax2);
//HObject ho_DepthMean2 = new HObject();
//HOperatorSet.MeanImage(ho_ImageScaleMax2, out ho_DepthMean2, 51, 51);
//HOperatorSet.WriteImage(ho_SharpImage2, "bmp", 0, imgSaveFolder + "\\SharpImage2.bmp");
HOperatorSet.ChannelsToImage(ho_img3, out ho_img3);
HObject ho_Depth3 = new HObject();
HObject ho_Confidence3 = new HObject();
HOperatorSet.DepthFromFocus(ho_img3, out ho_Depth3, out ho_Confidence3, filter, selection);
//Construct sharp image
HObject ho_DepthHighConf3 = new HObject();
HOperatorSet.MeanImage(ho_Depth3, out ho_DepthHighConf3, 11, 11);
HObject ho_SharpImage3 = new HObject();
HOperatorSet.SelectGrayvaluesFromChannels(ho_img3, ho_DepthHighConf3, out ho_SharpImage3);
//Smooth depth map
//HObject ho_ImageScaleMax3 = new HObject();
//HOperatorSet.ScaleImageMax(ho_DepthHighConf3, out ho_ImageScaleMax3);
//HObject ho_DepthMean3 = new HObject();
//HOperatorSet.MeanImage(ho_ImageScaleMax3, out ho_DepthMean3, 51, 51);
//HOperatorSet.WriteImage(ho_SharpImage3, "bmp", 0, imgSaveFolder + "\\SharpImage3.bmp");
HObject ho_SharpImage = new HObject();
HOperatorSet.Compose3(ho_SharpImage1, ho_SharpImage2, ho_SharpImage3, out ho_SharpImage);
HOperatorSet.WriteImage(ho_SharpImage, "bmp", 0, imgSaveFolder + "\\" + imgSaveName);
ho_SharpImage.Dispose();
ret = true;
}
catch (HalconException hex)
{
Trace.WriteLine(hex.GetErrorMessage(), "HALCON error");
}
return(ret);
}
public bool FindCircle(HObject img)
{
HTuple Row = new HTuple();
HTuple Col = new HTuple();
HTuple Distance = new HTuple();
HTuple outRow = new HTuple();
HTuple outCol = new HTuple();
HTuple outAmp = new HTuple();
HTuple outDistance = new HTuple();
HRegion regionCount = new HRegion();
regionCount.GenEmptyRegion();
HXLDCont contour = new HXLDCont();
if (img == null)
{
return(false);
}
HTuple imgWidth, imgHeight;
HTuple hms = null;
HOperatorSet.GetImageSize(img, out imgWidth, out imgHeight);
double xCenter, yCenter, Center_radius, angle, angleSplit;
angle = 0;
//分割角度
angleSplit = 2 * 3.1415926 / (Hnum);
xCenter = in_col[0].D + data_col;
yCenter = in_row[0].D + data_row;
Center_radius = in_radius[0].D;
HHomMat2D hom = new HHomMat2D();
hom.HomMat2dIdentity();
hom = hom.HomMat2dRotate(angleSplit, yCenter, xCenter);
double rect_row, rect_col, angleStart, L1, L2;
//分割矩形的中心坐标
rect_row = yCenter;
rect_col = xCenter + Center_radius;
L1 = HLengh[0].D / 2;
L2 = Hwid[0].D / 2;
if (Hdirection != "in2out")
{
//由外向内
angleStart = angle + (new HTuple(180)).TupleRad();
}
else
{
angleStart = angle;
}
for (int i = 0; i < Hnum[0].I; ++i)
{
if (m_bShowRectang2)
{
contour.Dispose();
contour.GenRectangle2ContourXld(rect_row, rect_col, angleStart + angleSplit * i, L1, L2);
HRegion region;
region = contour.GenRegionContourXld("margin");
regionCount = regionCount.Union2(region);
region.Dispose();
}
try
{//out_row, out_col, out_radius;
HOperatorSet.GenMeasureRectangle2(rect_row, rect_col, angleStart + angleSplit * i, L1,
L2, imgWidth, imgHeight, "nearest_neighbor", out hms);
HOperatorSet.MeasurePos(img, hms, Hsomth, Hamp, Htransition, Hselect,
out outRow, out outCol, out outAmp, out outDistance);
}
catch { continue; }
if (Hselect == "all" && outRow.Length > 1)
{
HTuple hIndex = outAmp.TupleSortIndex();
int nMax = hIndex[hIndex.Length - 1];
Row.Append(outRow[nMax]);
Col.Append(outCol[nMax]);
}
else
{
Row.Append(outRow);
Col.Append(outCol);
}
hom.AffineTransPixel(rect_row, rect_col, out rect_row, out rect_col);
}
HOperatorSet.CloseMeasure(hms);
if (m_bShowRectang2)
{
m_hRectang2.Dispose();
m_hRectang2 = regionCount.GenContoursSkeletonXld(1, "filter");
}
if (Row.Length > Hnum[0].D / 3)
{
HXLDCont counter = new HXLDCont();
counter.GenContourPolygonXld(Row, Col);
HTuple startphi, endphi;
HTuple pointorder;
counter.FitCircleContourXld("atukey", -1, 0, 0, 3, 2,
out out_row, out out_col, out out_radius, out startphi, out endphi, out pointorder);
HTuple rowDrop = new HTuple();
HTuple colDrop = new HTuple();
if (Row.Length - 5 > m_nNumDropPoints && m_nNumDropPoints > 0)
{
HTuple distance = new HTuple();
for (int i = 0; i < Row.Length; ++i)
{
double dis = HMisc.DistancePp(Row[i], Col[i], xCenter, yCenter);
distance.Append(Math.Abs(dis - Center_radius));
}
HTuple index = distance.TupleSortIndex();
index = index.TupleInverse();
for (int i = 0; i < m_nNumDropPoints; ++i)
{
int n = index[i];
rowDrop.Append(Row[n]);
colDrop.Append(Col[n]);
}
index = index.TupleFirstN(m_nNumDropPoints - 1);
Row = Row.TupleRemove(index);
Col = Col.TupleRemove(index);
counter.GenContourPolygonXld(Row, Col);
counter.FitCircleContourXld("atukey", -1, 0, 0, 3, 2,
out out_row, out out_col, out out_radius, out startphi, out endphi, out pointorder);
}
m_hCircle.Dispose();
m_centerCross.Dispose();
if (m_bShowCircle)
{
HOperatorSet.GenCrossContourXld(out m_centerCross, out_row, out_col, (out_radius / 2) + 1, (new HTuple(0)).TupleRad());
HOperatorSet.GenCircleContourXld(out m_hCircle, out_row, out_col, out_radius,
0, 3.1415926 * 2, "positive", 1);
}
m_hCross.Dispose();
if (m_bShowCross)
{
HOperatorSet.GenCrossContourXld(out m_hCross, Row, Col, 17, (new HTuple(45)).TupleRad());
}
Result_Array[0] = out_row;
Result_Array[1] = out_col;
Result_Array[2] = out_radius;
return(true);
}
return(false);
}
public void FindEdge(HObject image, HTuple row, HTuple column, HTuple radian, out HTuple edgeRow1, out HTuple edgeColumn1, out HTuple edgeRow2, out HTuple edgeColumn2)
{
HTuple homMat2D, rowTrans, columnTrans;
//测量外边缘
edgeRow1 = 0;
edgeColumn1 = 0;
edgeRow2 = 0;
edgeColumn2 = 0;
/*
* // Local iconic variables
*
* //HObject ho_Image, ho_ImageEmphasize, ho_ROI_0;
* //HObject ho_ImageReduced, ho_ImageScaled, ho_Regions, ho_Connection;
* //HObject ho_RegionOpening, ho_RegionClosing, ho_ObjectSelected;
* //HObject ho_RegionTrans, ho_ImageMean, ho_ImageResult;
*
* // Local control variables
*
* HTuple hv_Area = null, hv_Row = null, hv_Column = null;
* HTuple hv_Indices = null, hv_Inverted = null;
*
* HOperatorSet.ScaleImage(image, out ho_ImageScaled, 4.25, -425);
* HOperatorSet.Threshold(ho_ImageScaled, out ho_Regions, 100, 255);
* HOperatorSet.OpeningCircle(ho_Regions, out ho_RegionOpening, 3.5);
* HOperatorSet.ClosingCircle(ho_RegionOpening, out ho_RegionClosing, 19.5);
* HOperatorSet.Connection(ho_RegionClosing, out ho_Connection);
* HOperatorSet.AreaCenter(ho_Connection, out hv_Area, out hv_Row, out hv_Column);
* HOperatorSet.TupleSortIndex(hv_Area, out hv_Indices);
* HOperatorSet.TupleInverse(hv_Indices, out hv_Inverted);
* HOperatorSet.SelectObj(ho_Connection, out ho_ObjectSelected, (hv_Inverted.TupleSelect(0)) + 1);
* HOperatorSet.ShapeTrans(ho_ObjectSelected, out ho_RegionTrans, "rectangle2");
* HOperatorSet.MeanImage(ho_ImageScaled, out ho_ImageMean, 15, 15);
* HOperatorSet.PaintRegion(ho_RegionTrans, ho_ImageMean, out ho_ImageResult, 255, "fill");
*/
HOperatorSet.GenMeasureRectangle2(row + DisHanldeRow, column /*+ DisHanldeColumn*/, Radian + Math.PI / 2, 20, 40,
ImageWidth, ImageHeight, Interpolation, out HandleLine);
for (int i = 0; i <= 5; i++)
{
//设置幅度值
HTuple threshold = Threshold - 10 - i * 2;
if (threshold < 1)
{
threshold = 1;
}
HTuple rows = new HTuple();
HTuple columns = new HTuple();
for (int j = 0; j < PinCount; j++)
{
HTuple rowEdge, columnEdge, amplitude, distance;
//变换检测位置
//HTuple homMat2D, rowTrans, columnTrans;
HOperatorSet.HomMat2dIdentity(out homMat2D);
HOperatorSet.HomMat2dTranslate(homMat2D, DisHanldeRow, j * PinDistance, out homMat2D);
HOperatorSet.HomMat2dRotate(homMat2D, radian, row, column, out homMat2D);
HOperatorSet.AffineTransPixel(homMat2D, row, column, out rowTrans, out columnTrans);
HOperatorSet.TranslateMeasure(HandleLine, rowTrans, columnTrans);
HOperatorSet.MeasurePos(image, HandleLine, Sigma, threshold, "negative", "first",
out rowEdge, out columnEdge, out amplitude, out distance);
//HOperatorSet.MeasurePos(ho_ImageResult, HandleLine, Sigma, threshold, "positive", "first",
// out rowEdge, out columnEdge, out amplitude, out distance);
if (rowEdge.Length > 0)
{
rows.Append(rowEdge);
columns.Append(columnEdge);
}
}
if (rows.Length >= PinCount / 2)
{
//生成轮廓
HObject contour;
HTuple nr, nc, dist;
HOperatorSet.GenContourPolygonXld(out contour, rows, columns);
//拟合
HOperatorSet.FitLineContourXld(contour, "tukey", -1, 0, 5, 2,
out edgeRow1, out edgeColumn1, out edgeRow2, out edgeColumn2,
out nr, out nc, out dist);
//生成直线，用于显示
contour?.Dispose();
HOperatorSet.GenContourPolygonXld(out contour, new HTuple(edgeRow1, edgeRow2), new HTuple(edgeColumn1, edgeColumn2));
HOperatorSet.ConcatObj(LineEdge, contour, out LineEdge);
break;
}
}
HOperatorSet.CloseMeasure(HandleLine);
}
/// <summary>
/// 在当前图像上按单元配置查找直线
/// </summary>
/// <param name="img"></param>
/// <param name="hFixTool"></param>
/// <returns></returns>
public bool FindLine(HObject img)
{
m_rowBegin = new HTuple();
m_colBegin = new HTuple();
m_rowEnd = new HTuple();
m_colEnd = new HTuple();
m_hLine.Dispose();
m_hCross.Dispose();
m_hCrossDrop.Dispose();
if (img == null)
{
return(false);
}
string strSelect = string.Empty;
if (Hselect == "strongest")
{
strSelect = "all";
}
else
{
strSelect = Hselect;
}
HTuple imgWidth, imgHeight;
HOperatorSet.GetImageSize(img, out imgWidth, out imgHeight);
m_imageWidth = imgWidth;
m_imageHeight = imgHeight;
double x1, y1, x2, y2;
HTuple in_phi_t = in_phi + data_from_phi + data_phi * 3.1415926 / 180;
double angle = in_phi_t[0].D + 3.1415926 / 2;
x1 = (in_col + data_col)[0].D + L2 * Math.Cos(angle);
x2 = (in_col + data_col)[0].D - L2 * Math.Cos(angle);
y1 = (in_row + data_row)[0].D - L2 * Math.Sin(angle);
y2 = (in_row + data_row)[0].D + L2 * Math.Sin(angle);
HHomMat2D hom = new HHomMat2D();
hom.HomMat2dIdentity();
hom = hom.HomMat2dTranslate((y2 - y1) / (Hnum - 1), (x2 - x1) / (Hnum - 1));
double rect_row = y1;
double rect_col = x1;
double rect_phi = in_phi_t[0].D;
double rect_len1 = L1;
double rect_len2 = (double)Hwid / 2.0;
HTuple hms = null;
HOperatorSet.GenMeasureRectangle2(rect_row, rect_col, rect_phi, rect_len1,
rect_len2, imgWidth, imgHeight, "nearest_neighbor", out hms);
HTuple Row = new HTuple();
HTuple Col = new HTuple();
HTuple Distance = new HTuple();
HTuple outRow = new HTuple();
HTuple outCol = new HTuple();
HTuple outAmp = new HTuple();
HTuple outDistance = new HTuple();
HRegion regionCount = new HRegion();
regionCount.GenEmptyRegion();
HXLDCont contour = new HXLDCont();
for (int i = 0; i < Hnum[0].I; ++i)
{
if (m_bShowRectang2)
{
contour.Dispose();
contour.GenRectangle2ContourXld(rect_row, rect_col, rect_phi, rect_len1, rect_len2);
HRegion region;
region = contour.GenRegionContourXld("margin");
regionCount = regionCount.Union2(region);
}
try
{
HOperatorSet.MeasurePos(img, hms, Hsomth, Hamp, Htransition, strSelect,
out outRow, out outCol, out outAmp, out outDistance);
}
catch { continue; }
if (strSelect == "all" && outRow.Length > 1)
{
HTuple hIndex = outAmp.TupleSortIndex();
int nMax = hIndex[hIndex.Length - 1];
Row.Append(outRow[nMax]);
Col.Append(outCol[nMax]);
}
else
{
Row.Append(outRow);
Col.Append(outCol);
}
hom.AffineTransPixel(rect_row, rect_col, out rect_row, out rect_col);
HOperatorSet.TranslateMeasure(hms, rect_row, rect_col);
}
HOperatorSet.CloseMeasure(hms);
if (m_bShowRectang2)
{
m_hRectang2 = regionCount.GenContoursSkeletonXld(1, "filter");
}
if (Row.Length > 1)
{
HXLDCont counter = new HXLDCont();
counter.GenContourPolygonXld(Row, Col);
HTuple nr, nc, dist;
counter.FitLineContourXld("tukey", -1, 0, 5, 2,
out m_rowBegin, out m_colBegin, out m_rowEnd, out m_colEnd, out nr, out nc, out dist);
HTuple rowDrop = new HTuple();
HTuple colDrop = new HTuple();
if (Row.Length - 3 > m_nNumDropPoints && m_nNumDropPoints > 0)
{
HTuple distance = new HTuple();
for (int i = 0; i < Row.Length; ++i)
{
double dis = HMisc.DistancePl(Row[i], Col[i], m_rowBegin, m_colBegin, m_rowEnd, m_colEnd);
distance.Append(dis);
}
HTuple index = distance.TupleSortIndex();
index = index.TupleInverse();
for (int i = 0; i < m_nNumDropPoints; ++i)
{
int n = index[i];
rowDrop.Append(Row[n]);
colDrop.Append(Col[n]);
}
index = index.TupleFirstN(m_nNumDropPoints - 1);
Row = Row.TupleRemove(index);
Col = Col.TupleRemove(index);
counter.GenContourPolygonXld(Row, Col);
counter.FitLineContourXld("tukey", -1, 0, 5, 2,
out m_rowBegin, out m_colBegin, out m_rowEnd, out m_colEnd, out nr, out nc, out dist);
}
if (m_bShowLine)
{
HTuple rrow = new HTuple(m_rowBegin);
HTuple ccol = new HTuple(m_colBegin);
rrow.Append(m_rowEnd);
ccol.Append(m_colEnd);
m_hLine.GenContourPolygonXld(rrow, ccol);
}
if (m_bShowCross)
{
m_hCross.GenEmptyObj();
m_hCross.GenCrossContourXld(Row, Col, 17, (new HTuple(45)).TupleRad());
}
if (m_bShowCrossDrop)
{
m_hCrossDrop.GenEmptyObj();
m_hCrossDrop.GenCrossContourXld(rowDrop, colDrop, 17, (new HTuple(45)).TupleRad());
}
Result_Array[0] = m_rowBegin;
Result_Array[1] = m_colBegin;
Result_Array[2] = m_rowEnd;
Result_Array[3] = m_colEnd;
return(true);
}
return(false);
}
public bool CalibrationMake(SourceBuffer _sourceBuffer, ExecuteBuffer _executeBuffer, out SourceBuffer outsourcebuffer, out ExecuteBuffer outexecutebuffer, HWndCtrl hWndCtrl, out string result_info)
{
outsourcebuffer = _sourceBuffer;
outexecutebuffer = _executeBuffer;
result_info = "";
HTuple hv_PixelSize = 0.00001;
HTuple hv_Message = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_Index = new HTuple();
HTuple hv_Error = null;
HObject ho_Contours = null, ho_Cross = null, hv_outimage = null;
HTuple hv_HomMat3DIdentity = null;
HTuple hv_cp1Hur1 = null, hv_cam2Hcp2 = null, hv_cam2Hul2 = null;
HTuple hv_PoseNewOrigin2 = null, hv_ULX = null, hv_ULY = null, hv_PoseNewOrigin = null;
double[] Get_actual_pixel = new double[7];
HTuple WorldPixelx, WorldPixely;
HTuple Heightx = new HTuple(), Widthx = new HTuple();
Heightx.Append(Height / 2);
Heightx.Append(Height / 2);
Heightx.Append(Height / 2 + 1);
Widthx.Append(Width / 2);
Widthx.Append(Width / 2 + 1);
Widthx.Append(Width / 2);
HTuple WorldLength1, WorldLength2;
HTuple ScaleForSimilarPixelSize = 0;
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_Cross);
HOperatorSet.GenEmptyObj(out hv_outimage);
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image参数为空或者未赋值");
result_info = " 二值化处理: 输入图像已经不存在，请重置设置输入图像";
return(false);
}
string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";
if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
{
if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
{
_executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
}
}
HTuple width, height;
int m = _executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"].CountObj();
HOperatorSet.GetImageSize(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], out width, out height);
int number = Convert.ToInt32(this.textBox1.Text.ToString());
if (!this.checkBox1.Checked)
{
if (Get_Cal_pixel)
{
Get_Cal_pixel = false;
}
if (number == 0)
{
hv_StartCamPar = new HTuple();
if (this.checkBox_focalize.Checked)
{
hv_StartCamPar.Append(0);
}
else
{
hv_StartCamPar.Append(Convert.ToDouble(this.textbox_lens.Text.ToString()) / 100);
}
hv_StartCamPar.Append(0);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_width.Text.ToString()) / 10000000);
hv_StartCamPar.Append(Convert.ToDouble(this.textBox_height.Text.ToString()) / 10000000);
hv_StartCamPar.Append(width / 2);
hv_StartCamPar.Append(height / 2);
hv_StartCamPar.Append(width);
hv_StartCamPar.Append(height);
hv_CalTabDescrFile = this.textBox_file.Text;
HOperatorSet.CreateCalibData("calibration_object", 1, 1, out CalibDataID);
if (this.checkBox_focalize.Checked)
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_telecentric_division", hv_StartCamPar);
}
else
{
HOperatorSet.SetCalibDataCamParam(CalibDataID, 0, "area_scan_division", hv_StartCamPar);
}
HOperatorSet.SetCalibDataCalibObject(CalibDataID, 0, hv_CalTabDescrFile);
}
try
{
HOperatorSet.FindCalibObject(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], CalibDataID, 0, 0, number, new HTuple(), new HTuple());
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "init_params", out hv_StartCamPar);
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, number, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
HOperatorSet.GetCalibDataObservContours(out ho_Contours, CalibDataID, "caltab", 0, 0, number);
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row, hv_Column, 6, 0.785398);
hWndCtrl.changeGraphicSettings(GraphicsContext.GC_COLOR, "orange");
hWndCtrl.addIconicVar(ho_Cross);
hWndCtrl.addIconicVar(ho_Contours);
hWndCtrl.repaint();
}
catch
{
MessageBox.Show("找不到标定板");
ho_Contours.Dispose();
ho_Cross.Dispose();
return(false);
}
if (number == hv_NumImages - 1)
{
Read_file = false;
HOperatorSet.CalibrateCameras(CalibDataID, out hv_Error);
HOperatorSet.GetCalibData(CalibDataID, "camera", 0, "params", out hv_CamParam);
HOperatorSet.GetCalibData(CalibDataID, "calib_obj_pose", (new HTuple(0)).TupleConcat(6), "pose", out hv_Pose);
HOperatorSet.HomMat3dIdentity(out hv_HomMat3DIdentity);
HOperatorSet.HomMat3dRotateLocal(hv_HomMat3DIdentity, ((-(hv_Pose.TupleSelect(5)))).TupleRad(), "z", out hv_cp1Hur1);
HOperatorSet.PoseToHomMat3d(hv_Pose, out hv_cam2Hcp2);
HOperatorSet.HomMat3dCompose(hv_cam2Hcp2, hv_cp1Hur1, out hv_cam2Hul2);
HOperatorSet.HomMat3dToPose(hv_cam2Hul2, out hv_PoseNewOrigin2);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_PoseNewOrigin2, 0, 0, "m", out hv_ULX, out hv_ULY);
HOperatorSet.SetOriginPose(hv_PoseNewOrigin2, hv_ULX, hv_ULY, 0, out hv_PoseNewOrigin);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParam, hv_Pose, Heightx, Widthx, 1, out WorldPixelx, out WorldPixely);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[1], WorldPixelx[1], out WorldLength1);
HOperatorSet.DistancePp(WorldPixely[0], WorldPixelx[0], WorldPixely[2], WorldPixelx[2], out WorldLength2);
ScaleForSimilarPixelSize = (WorldLength1 + WorldLength2) / 2;
HOperatorSet.GenImageToWorldPlaneMap(out ho_MapSingle1, hv_CamParam,
hv_PoseNewOrigin, width, height, width, height, ScaleForSimilarPixelSize, "bilinear");
HOperatorSet.WriteObject(ho_MapSingle1, this.textBox2.Text.ToString());
Read_file = true;
Get_Calibration = true;
this.checkBox1.Checked = true;
result_info = " 校正参数: 设置完成";
}
this.textBox1.Text = (number + 1).ToString();
}
if (this.checkBox1.Checked)
{
if (Read_file)
{
if (File.Exists(this.textBox2.Text))
{
HOperatorSet.ReadObject(out ho_MapSingle1, this.textBox2.Text);
}
else
{
MessageBox.Show("校正文件不存在 ，请检查");
return(false);
}
}
HOperatorSet.MapImage(_executeBuffer.imageBuffer[this.Input_image.SelectedItem.ToString() + ".img"], ho_MapSingle1, out hv_outimage);
_executeBuffer.imageBuffer[comboBox_imageoutname] = hv_outimage;
outexecutebuffer = _executeBuffer;
result_info = " 校正: 完成";
HTuple Distance;
if (!Get_Cal_pixel)
{
try
{
double all_number = 0;
HOperatorSet.FindCalibObject(hv_outimage, CalibDataID, 0, 0, 0, new HTuple(), new HTuple());
HOperatorSet.GetCalibDataObservPoints(CalibDataID, 0, 0, 0, out hv_Row, out hv_Column, out hv_Index, out hv_Pose);
for (int i = 0; i < 7; i++)
{
HOperatorSet.DistancePp(hv_Row[i * 7], hv_Column[i * 7], hv_Row[i * 7 + 6], hv_Column[i * 7 + 6], out Distance);
Get_actual_pixel[i] = Distance.D;
all_number = all_number + Get_actual_pixel[i];
}
Pixel_number = (Convert.ToDouble(this.textBox_pixel.Text)) / (all_number / 7);
Get_Cal_pixel = true;
this.label_pixel.Text = Pixel_number.ToString();
Pixel_Trans = Convert.ToDouble(Pixel_number.ToString());
}
catch
{
MessageBox.Show("请再次添加图像寻找计算像素比");
}
}
if (Read_file)
{
ho_MapSingle1.Dispose();
}
}
return(true);
}
public static void GenDefectRegions(Bitmap bitmap, List <Rectangle> rectangles, double radiusOfDilation, out List <SingleDefectRegion> defectRegions)
{
defectRegions = new List <SingleDefectRegion>();
HObject ho_image;
HObject ho_ConnectedDilations;
HTuple hv_Row1OfRectangles = new HTuple();
HTuple hv_Row2OfRectangles = new HTuple();
HTuple hv_Column1OfRectangles = new HTuple();
HTuple hv_Column2OfRectangles = new HTuple();
HTuple hv_RadiusOfDilation = new HTuple();
HTuple hv_IndexOfRectangles = new HTuple();
HTuple hv_NumberListOfRectangles = new HTuple();
// initialation
HOperatorSet.GenEmptyObj(out ho_image);
ho_image.Dispose();
ImageOperateTools.Bitmap8HObjectBpp8(bitmap, out ho_image);
for (int i = 0; i < rectangles.Count; i++)
{
var rectangle = rectangles[i];
hv_Row1OfRectangles.Append(new HTuple(rectangle.Top));
hv_Row2OfRectangles.Append(new HTuple(rectangle.Bottom));
hv_Column1OfRectangles.Append(new HTuple(rectangle.Left));
hv_Column2OfRectangles.Append(new HTuple(rectangle.Right));
}
hv_RadiusOfDilation = radiusOfDilation;
dilate_regions_pro(ho_image, out ho_ConnectedDilations, hv_Row1OfRectangles, hv_Row2OfRectangles, hv_Column1OfRectangles, hv_Column2OfRectangles, hv_RadiusOfDilation, out hv_IndexOfRectangles, out hv_NumberListOfRectangles);
List <int> defectInfoIndexList = new List <int>();
List <int> defectInfoNumberList = new List <int>();
if (hv_IndexOfRectangles.TupleLength() > 0 && hv_NumberListOfRectangles.TupleLength() > 0)
{
defectInfoIndexList.AddRange(hv_IndexOfRectangles.ToIArr());
defectInfoNumberList.AddRange(hv_NumberListOfRectangles.ToIArr());
}
else
{
return;
}
HOperatorSet.CountObj(ho_ConnectedDilations, out var hv_NumberOfDilations);
for (var index = 1; index <= hv_NumberOfDilations; ++index)
{
SingleDefectRegion defectRegion = new SingleDefectRegion();
HOperatorSet.SelectObj(ho_ConnectedDilations, out var ho_Dilation, index);
// DefectRegion.DefectInfoIndexList
for (var cnt = 0; cnt < defectInfoNumberList[index - 1]; ++cnt)
{
defectRegion.DefectInfoIndexList.Add(defectInfoIndexList[0]);
defectInfoIndexList.RemoveAt(0);
}
// DefectRegion.Xldxxx
convert_single_region_to_points(ho_Dilation, out var hv_posYs, out var hv_posXs, out var hv_pointsNum);
if (hv_posYs.TupleLength() > 0)
{
defectRegion.XldYs.AddRange(hv_posYs.ToDArr());
}
if (hv_posXs.TupleLength() > 0)
{
defectRegion.XldXs.AddRange(hv_posXs.ToDArr());
}
if (hv_pointsNum.TupleLength() > 0)
{
defectRegion.XldPointCount.AddRange(hv_pointsNum.ToIArr());
}
// DefectRegion.SmallestRect
HOperatorSet.SmallestRectangle1(ho_Dilation, out var hv_Row1, out var hv_Column1, out var hv_Row2, out var hv_Column2);
defectRegion.SmallestRect = Rectangle.FromLTRB(hv_Column1.I, hv_Row1.I, hv_Column2.I, hv_Row2.I);
defectRegions.Add(defectRegion);
}
return;
}
/// <summary>
/// 已测试
/// 软触发拍照下，计算相机的uv->xy坐标系变换的操作，如large相机
/// 要求之前设置好相机/光源/触发至“合理”状态
/// [x] = [ H1 H2 H3 ] [u]
/// [y] = [ H4 H5 H6 ] * [v]
/// [1]
/// </summary>
/// <param name="matUV2XY">uv->xy变换矩阵，将2*3的矩阵按照行堆叠的方式存储为1*6的数组, ref传递方式，需要数组有一个初始值</param>
/// <param name="cam">相机控制类，注意曝光时间需要设置合适。软触发拍照建议曝光时间在100ms左右</param>
/// <param name="modelID">匹配的ncc模板</param>
/// <param name="score_thresh">匹配分数，需要大于0.5</param>
/// <param name="axisPara">运动轴信息（xy插补），具体包括轴速，加速度</param>
/// <param name="initPoint">初始点，中间仅适用了xy信息，需要保证走到初始点时室内内包含完整的，可匹配的model</param>
/// <param name="lightInd">软触发拍照对应的光源id，需要事先设置好对应光源合适的时间</param>
/// <param name="axisInd">x，y轴号</param>
/// <param name="xyRange">计算变换时，以初始点为中心，随机走位的范围，单位mm</param>
/// <param name="nPoints">随机走位多少个点</param>
/// <param name="lightDelay">软触发拍照光源的延迟，单位us，典型值10us</param>
/// <param name="timeOut">单次运动的延迟，单位ms</param>
/// <param name="winID">(调试用）显示窗口ID</param>
/// <returns>操作是否成功</returns>
public bool calibUV2XY
(
int camInd,
ref HTuple matUV2XY,
Model model,
double xyRange,
int nPoints = 20
)
{
//if (model.ReadModel(CalibrUV2XYModelPath) == false)
//{
// HTUi.PopError("加载标定模版失败！");
// return false;
//}
string errMsg = "";
if (_station.operation.MultiAxisMove(_station.AxisXYZ, new double[] { _xUv2xy, _yUv2xy, _zUv2xy }, true, out errMsg) != 0)
{
HTUi.PopError("无法移动至标定点位置！");
return(false);
}
Thread.Sleep(200);
// App.obj_light.FlashMultiLight(LightUseFor.ScanPoint1st);
//if(_station.operation.SWPosTrig(_station.AxisX,out errMsg)!=0)
//{
// HTUi.PopError(errMsg);
// return false;
//}
Thread.Sleep(10);
if (image != null)
{
image.Dispose();
}
HOperatorSet.GenEmptyObj(out image);
if (_station.operation.CaputreOneImage(_station.CamereDev[camInd], "Halcon", out image, out errMsg) != 0)
{
HTUi.PopError("采集图像失败：" + errMsg);
return(false);
}
//3. match
HTuple u, v, angle;
bool status = matchModel(camInd, ref image, model, out u, out v, out angle);
HObject showRegion = new HObject();
showRegion.Dispose();
HOperatorSet.GenCrossContourXld(out showRegion, u, v, 512, 0);
_station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, image, showRegion);
//image.Dispose();
if (!status)
{
HTUi.PopError("获取匹配初始位置图像失败");
return(false);
}
HTuple xArr = new HTuple(), yArr = new HTuple(), uArr = new HTuple(), vArr = new HTuple();
Random rand = new Random();
//4. for ... snap , match, add <u,v,x,y>
for (int i = 0; i < nPoints; i++)
{
DateTime t1 = DateTime.Now;
//大于或等于 0.0 且小于 1.0 的双精度浮点数
double x = (rand.NextDouble() - 0.5) * xyRange + _xUv2xy;
double y = (rand.NextDouble() - 0.5) * xyRange + _yUv2xy;
if (_station.operation.MultiAxisMove(new string[] { _station.AxisXYZ[0], _station.AxisXYZ[1], }, new double[] { x, y }, true, out errMsg) != 0)
{
HTUi.PopError("无法移动至标定点位置！");
return(false);
}
Thread.Sleep(200);;
//if (_station.operation.SWPosTrig(_station.AxisX, out errMsg) != 0)
//{
// HTUi.PopError(errMsg);
// return false;
//}
Thread.Sleep(10);
if (image != null)
{
image.Dispose();
}
HOperatorSet.GenEmptyObj(out image);
if (_station.operation.CaputreOneImage(_station.CamereDev[camInd], "Halcon", out image, out errMsg) != 0)
{
HTUi.PopError("采集图像失败：" + errMsg);
return(false);
}
if (matchModel(camInd, ref image, model, out u, out v, out angle)) //found something
{
xArr.Append(x); yArr.Append(y); uArr.Append(u); vArr.Append(v);
}
showRegion.Dispose();
HOperatorSet.GenCrossContourXld(out showRegion, u, v, 512, 0);
_station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, image, showRegion);
//image.Dispose();
}
if (xArr.Length < 10)
{
HTUi.PopError("有效点数不够");
return(false);
}
//5. least square estimation
Matrix <double> In = Matrix <double> .Build.Dense(3, xArr.Length, 1.0); //by default In[2,:] = 1.0
Matrix <double> Out = Matrix <double> .Build.Dense(2, xArr.Length);
Out.SetRow(0, xArr.ToDArr());
Out.SetRow(1, yArr.ToDArr());
In.SetRow(0, uArr.ToDArr());
In.SetRow(1, vArr.ToDArr());
Matrix <double> A = vec2Mat(In, Out);
//6. move to center of uv space
double[] aArr = A.ToRowWiseArray(); //need to be tested
_station._calibrationUV2XYParameter = string.Join(",", aArr.ToArray());
//parse
if (matUV2XY == null)
{
matUV2XY = new HTuple();
}
for (int i = 0; i < 6; i++)
{
matUV2XY.Append(aArr[i]);
}
return(true);
}
public override bool process(HTuple window, HObject img)
{
try
{
#region 9点标定
if (PointCount <= 9)
{
if (PointCount != 9)
{
Result_Array[0] = (PointCount % 3 - 1) * OffsetXY; //x偏移量
Result_Array[1] = (PointCount / 3 - 1) * OffsetXY; //y偏移量
Result_Array[2] = 0; //angle偏移量
Result_Array[3] = 1; //标定状态 -1——标定失败，0——标定成功，1——9点标定，2——旋转中心标定
}
if (PointCount++ == 0)
{
ClearData();
return(true);
}
Refresh_in();
if (in_pixel_row.Length == 9)
{
HTuple qx, qy;
HOperatorSet.VectorToHomMat2d(in_pixel_column, in_pixel_row, in_world_x, in_world_y, out HomMat2D);
HOperatorSet.AffineTransPoint2d(HomMat2D, in_pixel_column, in_pixel_row, out qx, out qy);
XMaxDeviation = qx.TupleSub(in_world_x).TupleAbs().TupleMax();
YMaxDeviation = qy.TupleSub(in_world_y).TupleAbs().TupleMax();
if (!EnableRotateCenter)
{
HomMat2D.WriteTuple(CalibDataFileName.Replace("\\", "/"));
SaveConfig();
Result_Array[0] = 0;
Result_Array[1] = 0;
Result_Array[2] = 0;
Result_Array[3] = 0;
PointCount = 0;
return(true);
}
}
}
#endregion
#region 旋转中心标定
if (EnableRotateCenter && PointCount > 9)
{
if (PointCount <= 15)
{
Result_Array[0] = 0;
Result_Array[1] = 0;
Result_Array[2] = (AngleRange * 1.0 / 5) * (PointCount - 10);
Result_Array[3] = 2;
if (PointCount++ == 10)
{
return(true);
}
}
Refresh_in();
if (in_pixel_row.Length == 15)
{
HObject contour;
HTuple radius, startPhi, endPhi, pointOrder;
HTuple row = in_pixel_row.TupleSelectRange(9, 14);
HTuple col = in_pixel_column.TupleSelectRange(9, 14);
HOperatorSet.GenContourPolygonXld(out contour, row, col);
HOperatorSet.FitCircleContourXld(contour, "algebraic", -1, 0, 0, 3, 2,
out CenterRow, out CenterColumn, out radius, out startPhi, out endPhi, out pointOrder);
HOperatorSet.GenCircleContourXld(out contour, CenterRow, CenterColumn, radius, 0, 6.28318, "positive", 1);
HOperatorSet.DistancePc(contour, row, col, out DistanceMin, out DistanceMax);
HomMat2D.Append(CenterRow);
HomMat2D.Append(CenterColumn);
HomMat2D.WriteTuple(CalibDataFileName.Replace("\\", "/"));
SaveConfig();
Result_Array[0] = 0;
Result_Array[1] = 0;
Result_Array[2] = 0;
Result_Array[3] = 0;
PointCount = 0;
return(true);
}
}
#endregion
return(true);
}
catch (Exception)
{
PointCount = 0;
Result_Array[0] = 0;
Result_Array[1] = 0;
Result_Array[2] = 0;
Result_Array[3] = -1;
return(false);
}
}
private async void btnSaveCalibModel2D_Click(object sender, EventArgs e)
{
if (!this.mTmpFrm.tmpResult.createTmpOK)
{
HTUi.PopError("创建标定模板失败！");
return;
}
Form_Wait.ShowForm();
bool result = await Task.Run(() =>
{
try
{
this.aoiModels = new Model();
this.aoiModels.Dispose();
this.aoiModels.showContour = this.mTmpFrm.tmpResult.showContour.CopyObj(1, -1);
this.aoiModels.defRows = this.mTmpFrm.tmpResult.defRows;
this.aoiModels.defCols = this.mTmpFrm.tmpResult.defCols;
this.aoiModels.modelType = this.mTmpFrm.tmpResult.modelType;
this.aoiModels.modelID = Vision.CopyModel(this.mTmpFrm.tmpResult.modelID, this.mTmpFrm.tmpResult.modelType);
this.aoiModels.scoreThresh = this.mTmpFrm.mte_TmpPrmValues.Score;
this.aoiModels.angleStart = this.mTmpFrm.mte_TmpPrmValues.AngleStart;
this.aoiModels.angleExtent = this.mTmpFrm.mte_TmpPrmValues.AngleExtent;
//保存至硬盘
string folderPath = _station.SystemUV2XYDir + "\\Camera_" + _station.SelectedIndex;
_station.CalibrUV2XYModelPath = folderPath;
if (!this.aoiModels.WriteModel(folderPath))
{
HTLog.Error("保存标定模板失败！");
HTUi.PopError("保存标定模板失败！");
return(false);
}
string errMsg = "";
Pos_Uv2Xy = new HTuple();
double xUV2xy = 0, yUV2xy = 0, zUV2xy = 0;
if (!_station.GetAxisPosition(_station.AxisXYZ[0], out xUV2xy, out errMsg))
{
HTLog.Error(errMsg + "：保存获取X轴反馈坐标失败！");
HTUi.PopError(errMsg + "：保存获取X轴反馈坐标失败！");
return(false);
}
if (!_station.GetAxisPosition(_station.AxisXYZ[1], out yUV2xy, out errMsg))
{
HTLog.Error(errMsg + "：保存获取Y轴反馈坐标失败！");
HTUi.PopError(errMsg + "：保存获取Y轴反馈坐标失败！");
return(false);
}
if (!_station.GetAxisPosition(_station.AxisXYZ[2], out zUV2xy, out errMsg))
{
HTLog.Error(errMsg + "：保存获取Z轴反馈坐标失败！");
HTUi.PopError(errMsg + "：保存获取Z轴反馈坐标失败！");
return(false);
}
_station.operation.YUv2xy = yUV2xy;
_station.operation.XUv2xy = xUV2xy;
_station.operation.ZUv2xy = zUV2xy;
Pos_Uv2Xy.Append(_station.operation.XUv2xy);
Pos_Uv2Xy.Append(_station.operation.YUv2xy);
Pos_Uv2Xy.Append(_station.operation.ZUv2xy);
HOperatorSet.WriteTuple(Pos_Uv2Xy, folderPath + "\\Pos_Uv2Xy.tup");
HTUi.TipHint("保存标定模板成功！");
HTLog.Info("保存标定模板成功！");
return(true);
}
catch (Exception ex)
{
HTLog.Error(ex.ToString());
HTUi.PopError(ex.ToString());
return(false);
}
});
Form_Wait.CloseForm();
if (!result)
{
HTLog.Error("保存标定模板失败！");
HTUi.PopError("保存标定模板失败！");
return;
}
HTUi.TipHint("保存标定模板成功！");
HTLog.Info("保存标定模板成功！");
}
/// <summary>
/// 图像匹配函数，测试使用，可重新编写
/// 只实现了简单ncc匹配，不支持roi内匹配，只能匹配一个目标
/// </summary>
/// <param name="image">输入图像</param>
/// <param name="model">模型</param>
/// <param name="u">返回匹配行坐标，pixel，如果失败为null</param>
/// <param name="v">返回匹配列坐标，pixel，如果失败为null</param>
/// <param name="angle">返回匹配角度，弧度，如果失败为null</param>
/// <returns>是否匹配成功</returns>
public bool matchModel(int camInd, ref HObject image, Model model, out HTuple u, out HTuple v, out HTuple angle)
{
//HTuple _u = new HTuple(), _v = new HTuple(), _angle = new HTuple();
//bool matched = matchModel(image, model.modelID, model.scoreThresh.D, out _u, out _v, out _angle);
//u = _u; v = _v; angle = _angle;
//return matched;
u = null;
v = null;
angle = null;
try
{
HTuple scores = new HTuple();
// HTuple a = new HTuple(); HTuple b = new HTuple();
HTuple us = new HTuple(), vs = new HTuple();
HTuple score;
HObject cross = null;
HOperatorSet.GenEmptyObj(out cross);
HObject updateShowCont = null;
HOperatorSet.GenEmptyObj(out updateShowCont);
HTuple updateDefRow = new HTuple(), updateDefCol = new HTuple(), hom2d, iFlag = new HTuple();
HObject matchRegion = (model.matchRegion != null && model.matchRegion.IsInitialized()) ? model.matchRegion : image;
//HOperatorSet.FindNccModel(image, modelID, -0.39, 0.78, 0.5, 1, 0.5, "true", 0, out u, out v, out angle, out score);
//模版句柄
for (int i = 0; i < model.modelID.Length; i++)
{
updateShowCont.Dispose();
HOperatorSet.GenEmptyObj(out model.showContour);
//匹配起始角度为-1rad，范围为2rad,阈值为0.5
ToolKits.FunctionModule.Vision.find_model(image, matchRegion, model.showContour, out updateShowCont, model.modelType, model.modelID[i], -0.1, 0.2,
0.5, 1, model.defRows[i], model.defCols[i], out u, out v, out angle, out score, out updateDefRow, out updateDefCol,
out hom2d, out iFlag);
if (iFlag.I == 0)
{
scores.Append(score);
us.Append(updateDefRow);
vs.Append(updateDefCol);
}
else
{
us.Append(0);
vs.Append(0);
scores.Append(0);
updateShowCont.Dispose();
cross.Dispose();
return(false);
}
}
HTuple sortInd;
//排数 从小到大
HOperatorSet.TupleSortIndex(scores, out sortInd);
//sortInd ？？？
HTuple maxInd = sortInd[sortInd.Length - 1];
score = scores[maxInd];
bool status = false;
//double
if (score.D < 0.01)
{
u = null;
v = null;
angle = null;
return(false);
}
else
{
u = us[maxInd];
v = vs[maxInd];
angle = 0;
status = true;
}
if (this.GrabImageDoneHandler != null && camInd >= 0)
{
//Show _show = new Show();
//_show.CamInd = camInd;
//_show.Image = image.CopyObj(1, -1);
//_show.Mode = 2;
//_show.Row = status ? u.D : 0;
//_show.Column = status ? v.D : 0;
//;
//this.GrabImageDoneHandler(null, _show);
}
HOperatorSet.GenCrossContourXld(out cross, updateDefRow, updateDefCol, 300, 0);
//App.mainWindow.ShowImage(frmCalibration.Instance.htWindowCalibration, image, cross);
if (ImageSrc != null)
{
ImageSrc.Dispose();
}
HOperatorSet.GenEmptyObj(out ImageSrc);
//for (int i = 0; i < imageNum; i++)
//{
// //从acq里取图并保存图片，行号-列号.tiff
HOperatorSet.SelectObj(image, out ImageSrc, 1);
////frmCalibration.Instance.ShowImage(frmCalibration.Instance.htWindowCalibration, image, cross);
_station._rtUi._fm.ShowImage(_station._rtUi._fm.htWindowCalibration, ImageSrc, cross);
//HOperatorSet.WriteContourXldDxf(updateShowCont, "D://CONT");
//htWindow.RefreshWindow(image, cross, "");
cross.Dispose();
updateShowCont.Dispose();
return(status);
}
catch (HalconException EXP)
{
string errMsg = EXP.Message;
return(false);
}
}
public bool Puzzle_tezheng(ExecuteBuffer _executeBuffer, out ExecuteBuffer outexecutebuffer, out string result_info, Dictionary <int, PointName> Pointlist)
{
outexecutebuffer = _executeBuffer;
result_info = "";
HObject image1, image2, image3, image4, image5, image6, image7, image8, image9;
double X_shu = Convert.ToDouble(this.textBox_x.Text.ToString()) / Convert.ToDouble(this.textBox_bi.Text.ToString());
double Y_shu = Convert.ToDouble(this.textBox_y.Text.ToString()) / Convert.ToDouble(this.textBox_bi.Text.ToString());
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image1.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像1已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像1已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image1.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image1参数为空或者未赋值");
result_info = " 二值化处理: 输入图像1已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image2.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像2已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像2已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image2.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image2参数为空或者未赋值");
result_info = " 二值化处理: 输入图像2已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image3.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像3已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像3已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image3.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image3参数为空或者未赋值");
result_info = " 二值化处理: 输入图像3已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image4.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像4已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像4已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image4.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image4参数为空或者未赋值");
result_info = " 二值化处理: 输入图像4已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image5.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像5已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像5已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image5.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image5参数为空或者未赋值");
result_info = " 二值化处理: 输入图像5已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image6.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像6已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像6已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image6.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image6参数为空或者未赋值");
result_info = " 二值化处理: 输入图像6已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image7.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像7已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像7已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image7.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image7参数为空或者未赋值");
result_info = " 二值化处理: 输入图像7已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image8.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像8已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像8已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image8.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image8参数为空或者未赋值");
result_info = " 二值化处理: 输入图像8已经不存在，请重置设置输入图像";
return(false);
}
if (!_executeBuffer.imageBuffer.ContainsKey(this.Input_image9.SelectedItem.ToString() + ".img"))
{
MessageBox.Show("二值化处理: 输入图像9已经不存在，请重置设置输入图像");
result_info = " 二值化处理: 输入图像9已经不存在，请重置设置输入图像";
return(false);
}
if (_executeBuffer.imageBuffer[this.Input_image9.SelectedItem.ToString() + ".img"] == null)
{
MessageBox.Show("二值化处理: image9参数为空或者未赋值");
result_info = " 二值化处理: 输入图像9已经不存在，请重置设置输入图像";
return(false);
}
string comboBox_imageoutname = this.Output_image.Text.ToString() + ".img";
if (_executeBuffer.imageBuffer[comboBox_imageoutname] != null)
{
if (_executeBuffer.imageBuffer[comboBox_imageoutname].IsInitialized())
{
_executeBuffer.imageBuffer[comboBox_imageoutname].Dispose();
}
}
HObject imagex;
HOperatorSet.GenEmptyObj(out imagex);
// image1 = _executeBuffer.imageBuffer[this.Input_image1.SelectedItem.ToString() + ".img"];
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image1.SelectedItem.ToString() + ".img"], out image1);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image2.SelectedItem.ToString() + ".img"], out image2);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image3.SelectedItem.ToString() + ".img"], out image3);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image4.SelectedItem.ToString() + ".img"], out image4);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image5.SelectedItem.ToString() + ".img"], out image5);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image6.SelectedItem.ToString() + ".img"], out image6);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image7.SelectedItem.ToString() + ".img"], out image7);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image8.SelectedItem.ToString() + ".img"], out image8);
HOperatorSet.CopyImage(_executeBuffer.imageBuffer[this.Input_image9.SelectedItem.ToString() + ".img"], out image9);
/*
* image2 = _executeBuffer.imageBuffer[this.Input_image2.SelectedItem.ToString() + ".img"];
* image3 = _executeBuffer.imageBuffer[this.Input_image3.SelectedItem.ToString() + ".img"];
* image4 = _executeBuffer.imageBuffer[this.Input_image4.SelectedItem.ToString() + ".img"];
* image5 = _executeBuffer.imageBuffer[this.Input_image5.SelectedItem.ToString() + ".img"];
* image6 = _executeBuffer.imageBuffer[this.Input_image6.SelectedItem.ToString() + ".img"];
* image7 = _executeBuffer.imageBuffer[this.Input_image7.SelectedItem.ToString() + ".img"];
* image8 = _executeBuffer.imageBuffer[this.Input_image8.SelectedItem.ToString() + ".img"];
* image9 = _executeBuffer.imageBuffer[this.Input_image9.SelectedItem.ToString() + ".img"];
* */
HOperatorSet.ConcatObj(imagex, image1, out imagex);
HOperatorSet.ConcatObj(imagex, image2, out imagex);
HOperatorSet.ConcatObj(imagex, image3, out imagex);
HOperatorSet.ConcatObj(imagex, image4, out imagex);
HOperatorSet.ConcatObj(imagex, image5, out imagex);
HOperatorSet.ConcatObj(imagex, image6, out imagex);
HOperatorSet.ConcatObj(imagex, image7, out imagex);
HOperatorSet.ConcatObj(imagex, image8, out imagex);
HOperatorSet.ConcatObj(imagex, image9, out imagex);
HObject ho_TiledImage;
HOperatorSet.GenEmptyObj(out ho_TiledImage);
HTuple width, height;
HOperatorSet.GetImageSize(image1, out width, out height);
HTuple Pal_1 = new HTuple(), Pal_2 = new HTuple(), Pal_3 = new HTuple();
for (int i = 0; i < 9; i++)
{
Pal_3.Append(-1);
if (i % 3 == 0)
{
Pal_2.Append(0);
}
else if (i % 3 == 1)
{
Pal_2.Append(width + 20);
}
else
{
Pal_2.Append(2 * width + 40);
}
if ((int)i / 3 < 1)
{
Pal_1.Append(0);
}
else if ((int)i / 3 < 2)
{
Pal_1.Append(height + 20);
}
else
{
Pal_1.Append(2 * height + 40);
}
}
HOperatorSet.TileImagesOffset(imagex, out ho_TiledImage, Pal_1, Pal_2, Pal_3, Pal_3, Pal_3, Pal_3, (width * 3 + 2 * 20), height * 3 + 2 * 20);
HTuple From = new HTuple(1, 1, 1, 2, 2, 2, 3, 4, 4, 4, 5, 5, 5, 6);
HTuple End = new HTuple(4, 5, 2, 5, 6, 3, 6, 7, 8, 5, 8, 9, 6, 9);
return(true);
}
