static void GetAwgVerticalHeight(SystemServiceClient service, HObject _image)
{
double rRow = 941;
double rColumn = 601;
double rPhi = -1.57;
double rLength1 = 75;
double rLength2 = 383;
HTuple minScaleValue = 130;
HTuple maxScaleValue = 190;
visionFun.scale_image_range(_image, out HObject scaleImage, minScaleValue, maxScaleValue);
visionFun.findline(scaleImage, out HObject line, rRow, rColumn, rPhi, rLength1, rLength2, "nearest_neighbor", 1.5, 30, "positive", "first");
HOperatorSet.AreaCenter(line, out HTuple area, out HTuple row, out HTuple column);
HOperatorSet.GetRegionPoints(line, out HTuple rows, out HTuple columns);
visionFun.HObject2Bpp8(_image, out Bitmap bitmap);
var rtnImage = BitMapZd.DrawLine(bitmap, columns[0], rows[0], columns[columns.Length - 1], rows[rows.Length - 1], 40, Color.LightGreen);
service.__SSC_ShowImage(rtnImage);
bitmap.Dispose();
Console.WriteLine($"the awg height is {row.D},");
Console.WriteLine($"the awg vertical offset is {row.D-954},");
}
static void GetPdOffset(HObject _image, ref double pdX, ref double pdY, ref double pdAngle, out Bitmap pdresult)
{
try
{
// _image = camTop.SnapShot();
HObject ho_Region, ho_RegionErosion;
HObject ho_ConnectedRegions, ho_SelectedRegions, ho_RegionDilation;
HObject ho_RegionFillUp, ho_ImageReduced, ho_Region1, ho_RegionErosion1;
HObject ho_ConnectedRegions1, ho_SelectedRegions1, ho_RegionUnion;
HObject ho_RegionTrans, ho_ImageReduced1, ho_Region2, ho_RegionFillUp1;
HObject ho_ImageReduced2, ho_Region3, ho_RegionErosion2;
HObject ho_ConnectedRegions2, ho_SelectedRegions2, ho_RegionTrans1;
HObject ho_RegionUnion1, ho_RegionTrans2, ho_Cross;
// Local control variables
HTuple hv_Area = null, hv_Row = null, hv_Column = null;
HTuple hv_Value = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionDilation);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region1);
HOperatorSet.GenEmptyObj(out ho_RegionErosion1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_RegionUnion);
HOperatorSet.GenEmptyObj(out ho_RegionTrans);
HOperatorSet.GenEmptyObj(out ho_ImageReduced1);
HOperatorSet.GenEmptyObj(out ho_Region2);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_ImageReduced2);
HOperatorSet.GenEmptyObj(out ho_Region3);
HOperatorSet.GenEmptyObj(out ho_RegionErosion2);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_RegionTrans1);
HOperatorSet.GenEmptyObj(out ho_RegionUnion1);
HOperatorSet.GenEmptyObj(out ho_RegionTrans2);
HOperatorSet.GenEmptyObj(out ho_Cross);
ho_Region.Dispose();
HOperatorSet.Threshold(_image, out ho_Region, 0, 155);
ho_RegionErosion.Dispose();
HOperatorSet.ErosionCircle(ho_Region, out ho_RegionErosion, 6.5);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionErosion, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "area",
"and", 500000, 99999999);
ho_RegionDilation.Dispose();
HOperatorSet.DilationCircle(ho_SelectedRegions, out ho_RegionDilation, 3.5);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUpShape(ho_RegionDilation, out ho_RegionFillUp, "area", 1, 300000);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(_image, ho_RegionFillUp, out ho_ImageReduced);
ho_Region1.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region1, 240, 255);
HOperatorSet.WriteImage(ho_ImageReduced, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "01.bmp");
ho_RegionErosion1.Dispose();
HOperatorSet.ErosionCircle(ho_Region1, out ho_RegionErosion1, 1.5);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionErosion1, out ho_ConnectedRegions1);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions1, "area",
"and", 700, 99999);
ho_RegionUnion.Dispose();
HOperatorSet.Union1(ho_SelectedRegions1, out ho_RegionUnion);
ho_RegionTrans.Dispose();
HOperatorSet.ShapeTrans(ho_RegionUnion, out ho_RegionTrans, "rectangle2");
ho_ImageReduced1.Dispose();
HOperatorSet.ReduceDomain(ho_ImageReduced, ho_RegionTrans, out ho_ImageReduced1
);
HOperatorSet.WriteImage(ho_ImageReduced1, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "02.bmp");
ho_Region2.Dispose();
HOperatorSet.Threshold(ho_ImageReduced1, out ho_Region2, 148, 255);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_Region2, out ho_RegionFillUp1);
ho_ImageReduced2.Dispose();
HOperatorSet.ReduceDomain(ho_ImageReduced1, ho_RegionFillUp1, out ho_ImageReduced2
);
ho_Region3.Dispose();
HOperatorSet.Threshold(ho_ImageReduced2, out ho_Region3, 0, 140);
ho_RegionErosion2.Dispose();
HOperatorSet.ErosionCircle(ho_Region3, out ho_RegionErosion2, 1.5);
ho_ConnectedRegions2.Dispose();
HOperatorSet.Connection(ho_RegionErosion2, out ho_ConnectedRegions2);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions2, out ho_SelectedRegions2, "area",
"and", 250, 800);
HOperatorSet.SelectShape(ho_SelectedRegions2, out HObject ho_SelectedRegions3, "outer_radius", "and", 10, 25);
ho_RegionTrans1.Dispose();
HOperatorSet.ShapeTrans(ho_SelectedRegions3, out ho_RegionTrans1, "outer_circle");
ho_RegionUnion1.Dispose();
HOperatorSet.Union1(ho_RegionTrans1, out ho_RegionUnion1);
ho_RegionTrans2.Dispose();
HOperatorSet.ShapeTrans(ho_RegionUnion1, out ho_RegionTrans2, "rectangle2");
HOperatorSet.AreaCenter(ho_RegionTrans2, out hv_Area, out hv_Row, out hv_Column);
ho_Cross.Dispose();
// HOperatorSet.GenCrossContourXld(out ho_Cross, hv_Row, hv_Column, 50, 0.785398);
HOperatorSet.RegionFeatures(ho_RegionTrans2, "rect2_phi", out hv_Value);
// hv_Value = (hv_Value * 180) / 3.1415926;
visionFun.HObject2Bpp8(_image, out Bitmap bitmap);
pdresult = BitMapZd.DrawCross(bitmap, (float)hv_Column.D, (float)hv_Row.D, 45, 30, 10, Color.Red);
Console.WriteLine($"pd row value{hv_Row.D}");
Console.WriteLine($"pd column value{hv_Column.D}");
pdX = (hv_Row - pdOriginX) / 236 * 200;
pdY = (hv_Column - pdOriginY) / 236 * 200;
pdAngle = (pdOriginAngle - hv_Value) * 180 / Math.PI;
Console.WriteLine("pd x offset: " + pdX.ToString("F6"));
Console.WriteLine("pd y offset: " + pdY.ToString("F6"));
Console.WriteLine("pd angle offset: " + pdAngle.ToString("F6"));
ho_Region.Dispose();
ho_RegionErosion.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionDilation.Dispose();
ho_RegionFillUp.Dispose();
ho_ImageReduced.Dispose();
ho_Region1.Dispose();
ho_RegionErosion1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionUnion.Dispose();
ho_RegionTrans.Dispose();
ho_ImageReduced1.Dispose();
ho_Region2.Dispose();
ho_RegionFillUp1.Dispose();
ho_ImageReduced2.Dispose();
ho_Region3.Dispose();
ho_RegionErosion2.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_RegionTrans1.Dispose();
ho_RegionUnion1.Dispose();
ho_RegionTrans2.Dispose();
ho_Cross.Dispose();
// RegionX regionX1 = new RegionX(corss, "green");
// RegionX regionX2 = new RegionX(arrow, "green");
// ShowImage(hDisplay1, _image, new List<RegionX>() { regionX1, regionX2 });
// SetTextBox(txt_pdx, pdX.ToString("F6"));
// SetTextBox(txt_pdy, pdY.ToString("F6"));
// SetTextBox(txt_pdangle, pdAngle.ToString("F6"));
// offsetX = awgX + pdX;
// offsetY = awgY + pdY;
// SetTextBox(txt_x, offsetX.ToString("F6"));
// SetTextBox(txt_y, offsetY.ToString("F6"));
}
catch (Exception ex)
{
HOperatorSet.WriteImage(_image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "pd.bmp");
throw ex;
// MessageBox.Show(ex.Message);
}
}
static void GetAwgOffset(HObject _image, ref double awgX, ref double awgY, ref double awgAngle, out Bitmap resultImage)
{
try
{
HOperatorSet.Threshold(_image, out HObject region1, 120, 255);
HOperatorSet.ErosionCircle(region1, out HObject region2, 5.5);
region1.Dispose();
HOperatorSet.DilationCircle(region2, out HObject region3, 5.5);
region2.Dispose();
HOperatorSet.Connection(region3, out HObject connectedregins1);
region3.Dispose();
HOperatorSet.SelectShape(connectedregins1, out HObject selectedregions, "area", "and", 100000, 10000000);
connectedregins1.Dispose();
HOperatorSet.Union1(selectedregions, out HObject regionunion);
selectedregions.Dispose();
HOperatorSet.ShapeTrans(regionunion, out HObject regiontrans, "rectangle2");
regionunion.Dispose();
HOperatorSet.RegionToBin(regiontrans, out HObject _transimage, 255, 0, 3840, 2748);
regiontrans.Dispose();
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions, out HTuple columnJunctions, out HTuple coRRJunctions,
out HTuple coRCJunctions, out HTuple coCCJunctions, out HTuple rowArea, out HTuple columnArea, out HTuple coRRArea, out HTuple coRCArea, out HTuple coCCArea);
if (rowJunctions.Length < 2)
{
throw new Exception("awgCheck error in PointsFoerstner");
}
HTuple phi;
HTuple _angle;
HTuple _row, _column;
HOperatorSet.TupleRad(-75, out _angle);
int hypotenuselength = 730;
if (columnJunctions[0] < columnJunctions[1])
{
HOperatorSet.AngleLx(rowJunctions[0], columnJunctions[0], rowJunctions[1], columnJunctions[1], out phi);
_angle += phi;
_row = rowJunctions[1] + Math.Cos(_angle) * hypotenuselength;
_column = columnJunctions[1] + Math.Sin(_angle) * hypotenuselength;
}
else
{
HOperatorSet.AngleLx(rowJunctions[1], columnJunctions[1], rowJunctions[0], columnJunctions[0], out phi);
_angle += phi;
_row = rowJunctions[0] + Math.Cos(_angle) * hypotenuselength;
_column = columnJunctions[0] + Math.Sin(_angle) * hypotenuselength;
}
visionFun.scale_image_range(_image, out HObject imageScaled, 180, 230);
HOperatorSet.MeanImage(imageScaled, out HObject imageMean, 5, 5);
Vision.visionFun.findline(imageMean, out HObject line, _row, _column, phi, 150, 150, "nearest_neighbor", 2.5, 25, "positive", "last");
double rx = (rowJunctions[0] + rowJunctions[1]) / 2;
double ry = (columnJunctions[0] + columnJunctions[1]) / 2;
HOperatorSet.TupleRad(-90, out HTuple _angle90);
Vision.visionFun.findline(_image, out HObject line1, rx, ry, phi + _angle90, 300, 500, "nearest_neighbor", 2.5, 50, "positive", "first");
HOperatorSet.RegionToBin(line, out _transimage, 255, 0, 3840, 2748);
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions1, out HTuple columnJunctions1, out HTuple coRRJunctions1,
out HTuple coRCJunctions1, out HTuple coCCJunctions1, out HTuple rowArea1, out HTuple columnArea1, out HTuple coRRArea1, out HTuple coRCArea1, out HTuple coCCArea1);
HOperatorSet.RegionToBin(line1, out _transimage, 255, 0, 3840, 2748);
HOperatorSet.PointsFoerstner(_transimage, 1, 2, 3, 200, 0.3, "gauss", "false", out HTuple rowJunctions2, out HTuple columnJunctions2, out HTuple coRRJunctions2,
out HTuple coRCJunctions2, out HTuple coCCJunctions2, out HTuple rowArea2, out HTuple columnArea2, out HTuple coRRArea2, out HTuple coRCArea2, out HTuple coCCArea2);
_transimage.Dispose();
HOperatorSet.IntersectionLines(rowJunctions1[0], columnJunctions1[0], rowJunctions1[1], columnJunctions1[1], rowJunctions2[0], columnJunctions2[0], rowJunctions2[1], columnJunctions2[1], out HTuple finalRow, out HTuple finalColumn, out HTuple isoverlapping);
HOperatorSet.AffineTransPoint2d(calibratedata, finalRow, finalColumn, out HTuple x, out HTuple y);
Console.WriteLine($"awg row value: {finalRow.D}");
Console.WriteLine($"awg column value: {finalColumn.D}");
visionFun.HObject2Bpp8(_image, out Bitmap bitmap);
resultImage = BitMapZd.DrawCross(bitmap, (float)finalColumn.D, (float)finalRow.D, 45, 30, 10, Color.Red);
awgX = x - awgOriginX;
awgY = y - awgOriginY;
awgAngle = (awgOriginAngle - phi) * 180 / Math.PI;
Console.WriteLine("awg x offset: " + awgX.ToString("F6"));
Console.WriteLine("awg y offset: " + awgY.ToString("F6"));
Console.WriteLine("awg angle offset: " + awgAngle.ToString("F6"));
}
catch (Exception ex)
{
HOperatorSet.WriteImage(_image, "bmp", 0, AppDomain.CurrentDomain.BaseDirectory + "awg.bmp");
throw ex;
}
}
