public InspectionPattern()
{
PatternProc = new CogPMAlignTool();
PatternProc.Pattern.TrainAlgorithm = CogPMAlignTrainAlgorithmConstants.PatQuick;
PatternProc.RunParams.ContrastThreshold = 5;
PatternResults = new CogPMAlignResults();
}
private void AssignToolResult(CogPMAlignTool cogPMAlign)
{
CogPMAlignResults cogPMAlignResults = cogPMAlign.Results;
if (cogPMAlignResults != null)
{
AssignToolResult(cogPMAlign.Name, cogPMAlignResults);
}
}
private void AssignToolResult(string parent, CogPMAlignResults results)
{
AddResult(parent + ".Count", results.Count);
for (int i = 0; i < results.Count; i++)
{
AddResult(string.Format("{0}[{1}].Score", parent, i), results[i].Score);
AddResult(string.Format("{0}[{1}].TranslationX", parent, i), results[i].GetPose().TranslationX);
AddResult(string.Format("{0}[{1}].TranslationY", parent, i), results[i].GetPose().TranslationY);
AddResult(string.Format("{0}[{1}].Rotation", parent, i), results[i].GetPose().Rotation);
}
}
public bool RunTool_Pattern(int cameraModule) //no need
{
bool runStatus = true;
String colResult;
CogToolResultConstants toolColResult;
int i;
if (this.cogToolRun[cameraModule] != null)
{
//configure the vision tool
this.cogToolRun[cameraModule].Inputs["InputImage"].Value = grabImage[cameraModule] as CogImage8Grey;
this.cogToolRun[cameraModule].Inputs["SaveImage"].Value = true;
this.cogToolRun[cameraModule].Inputs["ImageDirectoryPath"].Value = "c:\\Seagate\\vision\\";
this.cogToolRun[cameraModule].Run();
ICogRunStatus cogStatus = this.cogToolRun[cameraModule].RunStatus;
if (cogStatus.Result == CogToolResultConstants.Error)
{
runStatus = false;
// error default all to invalid
for (i = 0; i < MAX_RESULT; i++)
{
this.inspectResult[cameraModule, i] = HGAStatus.Unknown;
}
}
else
{
double[] score = { 0, 0, 0, 0, 0, 0 };
double[] centerofmass_X = { 0, 0, 0, 0, 0, 0 };
cogpmaligntool = (CogPMAlignTool)this.cogToolRun[cameraModule].Tools["PatternTool"];
CogPMAlignResults resultcollection = cogpmaligntool.Results;
for (int x = 0; x < resultcollection.Count; x++)
{
score[x] = resultcollection[x].Score;
centerofmass_X[x] = resultcollection[x].GetPose().TranslationX;
}
}
}
else
{
runStatus = false;
}
return(runStatus);
}
private void GetResult()
{
PatternResults = new CogPMAlignResults();
PatternResults = PatternProc.Results;
}
public InspectionMultiPattern()
{
PatternProc = new CogPMAlignTool();
PatternResults = new CogPMAlignResults();
AnglePointProc = new CogAnglePointPointTool();
}
private void btnFindSearchArea_Click(object sender, EventArgs e)
{
double _OffsetX = MapDataParam.Unit.PatternAreaOriginX - MapDataParam.Unit.PatternAreaCenterX;
double _OffsetY = MapDataParam.Unit.PatternAreaOriginY - MapDataParam.Unit.PatternAreaCenterY;
InspPattern.SetPatternReference(MapDataParam.Info.UnitPattern);
InspPattern.SetMatchingParameter(MapDataParam.Info.FindCount, MapDataParam.Info.FindScore);
if (false == InspPattern.Run(OriginImage))
{
MessageBox.Show("Pattern Not Found"); return;
}
CogPMAlignResults _PatternResult = InspPattern.GetResults();
if (null == _PatternResult)
{
return;
}
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
MapDataParam.Info.UnitListWidth.Clear();
MapDataParam.Info.UnitListHeight.Clear();
if (_PatternResult.Count > 0)
{
double[] _OriginX, _OriginY, _CenterX, _CenterY, _Width, _Height;
_OriginX = new double[_PatternResult.Count];
_OriginY = new double[_PatternResult.Count];
_CenterX = new double[_PatternResult.Count];
_CenterY = new double[_PatternResult.Count];
_Width = new double[_PatternResult.Count];
_Height = new double[_PatternResult.Count];
uint _RowCount = Convert.ToUInt32(numUpDownUnitRowCount.Value);
uint _ColCount = Convert.ToUInt32(numUpDownUnitColumnCount.Value);
CenterPoint[] _CenterPointArray = new CenterPoint[_RowCount * _ColCount];
for (int iLoopCount = 0; iLoopCount < _PatternResult.Count; ++iLoopCount)
{
_OriginX[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationX;
_OriginY[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationY;
_CenterX[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationX - _OffsetX;
_CenterY[iLoopCount] = _PatternResult[iLoopCount].GetPose().TranslationY - _OffsetY;
_Width[iLoopCount] = _PatternResult.GetTrainArea().Width;
_Height[iLoopCount] = _PatternResult.GetTrainArea().Height;
CogRectangle _FindPattern = new CogRectangle();
_FindPattern.SetCenterWidthHeight(_CenterX[iLoopCount], _CenterY[iLoopCount], MapDataParam.Unit.SearchAreaWidth, MapDataParam.Unit.SearchAreaHeight);
kpTeachDisplay.DrawStaticShape(_FindPattern, "SearchArea" + (iLoopCount + 1));
CogPointMarker _OriginPoint = new CogPointMarker();
_OriginPoint.SetCenterRotationSize(_OriginX[iLoopCount], _OriginY[iLoopCount], 0, 2);
kpTeachDisplay.DrawStaticShape(_OriginPoint, "PatternOrigin" + (iLoopCount + 1), CogColorConstants.Green, 12);
MapDataParam.Info.UnitListCenterX.Add(_CenterX[iLoopCount]);
MapDataParam.Info.UnitListCenterY.Add(_CenterY[iLoopCount]);
MapDataParam.Info.UnitListWidth.Add(_Width[iLoopCount]);
MapDataParam.Info.UnitListHeight.Add(_Height[iLoopCount]);
if (_CenterPointArray.Length > iLoopCount)
{
_CenterPointArray[iLoopCount] = new CenterPoint();
_CenterPointArray[iLoopCount].X = _CenterX[iLoopCount];
_CenterPointArray[iLoopCount].Y = _CenterY[iLoopCount];
}
}
if ((_RowCount * _ColCount) != _PatternResult.Count)
{
MessageBox.Show("Unit 개수와 Find Result 개수가 맞지 않습니다.");
return;
}
else
{
CenterPoint[,] _SortedCenterPoint = CenterPointSort(_RowCount, _ColCount, _CenterPointArray);
MapDataParam.Info.UnitListCenterX.Clear();
MapDataParam.Info.UnitListCenterY.Clear();
for (int iLoopCount = 0; iLoopCount < _RowCount; ++iLoopCount)
{
for (int jLoopCount = 0; jLoopCount < _ColCount; ++jLoopCount)
{
MapDataParam.Info.UnitListCenterX.Add(_SortedCenterPoint[iLoopCount, jLoopCount].X);
MapDataParam.Info.UnitListCenterY.Add(_SortedCenterPoint[iLoopCount, jLoopCount].Y);
}
}
SelectingRectName = SelectedRectName = "";
IsDrawPatterns = true;
MessageBox.Show("Pattern Find Complete");
}
}
}
//#region "when the tool group is run"
// The GroupRun function is called when the tool group is run. The default
// implementation provided here is equivalent to the normal behavior of the
// tool group. Modifying this function will allow you to change the behavior
// when the tool group is run.
public override bool GroupRun(ref string message, ref CogToolResultConstants result)
{
// To let the execution stop in this script when a debugger is attached, uncomment the following lines.
#if DEBUG
if (System.Diagnostics.Debugger.IsAttached)
{
System.Diagnostics.Debugger.Break();
}
#endif
histCntr = 0;
CogGraphicLabel myBaslerLabel = new CogGraphicLabel();
CogGraphicLabel myAreaLabel = new CogGraphicLabel();
CogGraphicLabel myFlirLabel = new CogGraphicLabel();
CogPointMarker baslerMarker; //= new CogPointMarker();
double blobAngle = 0;
double blobAngleRadians = 0;
//Get references to the tools
//CogBlobTool blobBaslerTool = (CogBlobTool) toolGroup.Tools["FindWrappersInBasler"];
CogBlobTool blobFlirTool = (CogBlobTool)toolGroup.Tools["PopsicleBlobFinder"];
CogPMAlignTool patternBaslerTool = (CogPMAlignTool)toolGroup.Tools["FindWrapperPatterns"];
CogHistogramTool popsicleHistTool = (CogHistogramTool)toolGroup.Tools["PopsicleHistogramTool"];
CogCaliperTool xDistEdgeFinder = (CogCaliperTool)toolGroup.Tools["CogCaliperTool_XDist"];
//Define the regions
CogRectangleAffine popsicleRegion = blobFlirTool.Region as CogRectangleAffine;
CogRectangleAffine histogramRegion = blobFlirTool.Region as CogRectangleAffine;
//Define the fonts
System.Drawing.Font myBaslerFont = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
System.Drawing.Font myAreaFont = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
System.Drawing.Font myFlirFont = new System.Drawing.Font("Microsoft Sans Serif", 12F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
//Reset stats
angleFailures = 0;
thermalFailures = 0;
//Reset any labels and rectangles from previous runs
BaslerLabels.Clear();
FlirLabels.Clear();
FlirRectangles.Clear();
AreaLabel.Clear();
//***** Run the tools to perform the search in the basler image *****
//Update status strings for Visual Studio. Do not popup a message box for errors, this causes confusion with the operators.
toolGroup.SetScriptTerminalData("BaslerStatus", "OK");
toolGroup.SetScriptTerminalData("FlirStatus", "OK");
bool acquireException = false;
try
{
//Aquire an image from the Basler, send Exception to Visual Studio
toolGroup.RunTool(toolGroup.Tools["BaslerAcqFifo"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Check power connections and communication cables.");
acquireException = true;
}
try
{
//Aquire an image from the Flir, send Exception to Visual Studio
toolGroup.RunTool(toolGroup.Tools["FlirAcqFifo"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Check power connections and communication cables.");
acquireException = true;
}
if (acquireException)
{
return(false);
}
try
{
// Scale the Flir image to zoom in to smaller temperature range
toolGroup.RunTool(toolGroup.Tools["ScaleFlirImagePmap"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Failed: ScaleFlirImagePmap");
return(false);
}
try
{
// Transform the images to calibrated space
toolGroup.RunTool(toolGroup.Tools["CalBasler"], ref message, ref result);
toolGroup.RunTool(toolGroup.Tools["CalFlir"], ref message, ref result);
}
catch (Exception ex)
{
//MessageBox.Show("Calibration tool error: " + ex.Message, "Script Exception");
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: CalBasler");
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Failed: CalFlir");
return(false);
}
try
{
toolGroup.RunTool(toolGroup.Tools["CogPixelMapBasler"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: CogPixelMapBasler");
return(false);
}
try
{
// Run the Flir hist tool
toolGroup.RunTool(toolGroup.Tools["PopsicleHistogramTool"], ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("FlirStatus", "Script Error: " + ex.Message + " Failed: PopsicleHistogramTool");
return(false);
}
try
{
// Run the blob tool and get a reference to the results.
toolGroup.RunTool(patternBaslerTool, ref message, ref result);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error: " + ex.Message + " Failed: Basler patternBaslerTool");
return(false);
}
CogPMAlignResults patternResults = patternBaslerTool.Results;
// Clear list before starting loop
malBlobPoses.Clear();
Crosshairs.Clear();
// Get group input terminal data
try
{
disableHist = (bool)toolGroup.GetScriptTerminalData("DisableHistogramInspection");
minPickAngle = (double)toolGroup.GetScriptTerminalData("MinPickAngle");
maxPickAngle = (double)toolGroup.GetScriptTerminalData("MaxPickAngle");
minPopsicleHistCount = (double)toolGroup.GetScriptTerminalData("MinPopsicleHistCount");
VisStudio_Running = (bool)toolGroup.GetScriptTerminalData("VS_Running");
showArea = (bool)toolGroup.GetScriptTerminalData("ShowArea");
showHist = (bool)toolGroup.GetScriptTerminalData("ShowHistCount");
visSideXLength = (double)toolGroup.GetScriptTerminalData("VisSideXLength");
visSideYLength = (double)toolGroup.GetScriptTerminalData("VisSideYLength");
visXwindowMin = (double)toolGroup.GetScriptTerminalData("VisXwindowMin");
visXwindowMax = (double)toolGroup.GetScriptTerminalData("VisXwindowMax");
visFlirRegionXadj = (double)toolGroup.GetScriptTerminalData("VisFlirRegionXadj");
visFlirRegionYadj = (double)toolGroup.GetScriptTerminalData("VisFlirRegionYadj");
}
catch (Exception ex)
{
//MessageBox.Show("Getting terminal data exception: ", ex.Message);
toolGroup.SetScriptTerminalData("BaslerStatus", "Getting script data: " + ex.Message);
}
// Set run variables for manual triggering
if (!VisStudio_Running)
{
minPopsicleHistCount = 0;
minPickAngle = -20;
maxPickAngle = 20;
showArea = true;
showHist = true;
visSideXLength = 200;
visSideYLength = 70;
visXwindowMin = -2000;
visXwindowMax = 2000;
visFlirRegionXadj = 0;
visFlirRegionYadj = 0;
}
// ***************************************
// ******** Process the patterns *********
// ***************************************
try
{
foreach (CogPMAlignResult patternResult in patternResults)
{
// Set the transform for collections
CogTransform2DLinear l2d = new CogTransform2DLinear();
l2d.TranslationX = patternResult.GetPose().TranslationX;
l2d.TranslationY = patternResult.GetPose().TranslationY;
l2d.Rotation = patternResult.GetPose().Rotation;
blobAngleRadians = patternResult.GetPose().Rotation;
// Check for clipped Patterns
if ((l2d.TranslationX < visXwindowMin) || (l2d.TranslationX > visXwindowMax))
{
//MessageBox.Show("Fail");
continue;
}
// Setup the Caliper tool
xDistEdgeFinder.Region.CenterX = l2d.TranslationX;
xDistEdgeFinder.Region.CenterY = l2d.TranslationY;
xDistEdgeFinder.Region.Rotation = l2d.Rotation;
// Run the Caliper tool and get a reference to the results.
toolGroup.RunTool(xDistEdgeFinder, ref message, ref result);
//MessageBox.Show("Caliper result: "+xDistEdgeFinder.Results[0].PositionX.ToString());
//MessageBox.Show("Diff: "+Math.Abs(xDistEdgeFinder.Results[0].PositionX - l2d.TranslationX).ToString());
//MessageBox.Show("Caliper width: "+xDistEdgeFinder.Results[0].Width.ToString());
// Check for low width (end to end product that matched)
if (xDistEdgeFinder.Results[0].Width < 150)
{
continue;
}
// Adjust the X based on Caliper tool result
l2d.TranslationX = xDistEdgeFinder.Results[0].PositionX;
// Crosshair setup for the Basler
baslerMarker = new CogPointMarker();
baslerMarker.X = l2d.TranslationX;
baslerMarker.Y = l2d.TranslationY;
baslerMarker.Color = CogColorConstants.Green;
baslerMarker.GraphicType = CogPointMarkerGraphicTypeConstants.Crosshair;
// Flir region
CogRectangleAffine myFlirRegion = new CogRectangleAffine();
myFlirRegion.CenterX = l2d.TranslationX + visFlirRegionXadj;
myFlirRegion.CenterY = l2d.TranslationY + visFlirRegionYadj;
myFlirRegion.Rotation = l2d.Rotation;
myFlirRegion.SideXLength = (double)visSideXLength;
myFlirRegion.SideYLength = (double)visSideYLength;
blobFlirTool.Region = myFlirRegion;
toolGroup.RunTool(blobFlirTool, ref message, ref result);
popsicleHistTool.Region = myFlirRegion;
toolGroup.RunTool(popsicleHistTool, ref message, ref result);
// Get the histogram results from the bin
binHist = popsicleHistTool.Result.GetHistogram();
// Count total pixels
histCntr = 1;
for (int i = 0; i < blobFlirTool.RunParams.SegmentationParams.HardFixedThreshold; i++)
{
histCntr = histCntr + binHist[i];
}
myBaslerLabel = new CogGraphicLabel();
myBaslerLabel.SetXYText(0, 0, "");
myAreaLabel = new CogGraphicLabel();
myFlirLabel = new CogGraphicLabel();
myBaslerLabel.Font = new System.Drawing.Font("Microsoft Sans Serif", 14F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
myAreaLabel.Font = new System.Drawing.Font("Microsoft Sans Serif", 14F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
myFlirLabel.Font = new System.Drawing.Font("Microsoft Sans Serif", 14F, System.Drawing.FontStyle.Bold, System.Drawing.GraphicsUnit.Point, ((byte)(0)));
myFlirRegion.Visible = true;
myBaslerLabel.Alignment = CogGraphicLabelAlignmentConstants.BaselineCenter;
myFlirLabel.Alignment = CogGraphicLabelAlignmentConstants.BaselineCenter;
myAreaLabel.Alignment = CogGraphicLabelAlignmentConstants.BaselineCenter;
// Decide to add the popsicle blob to the collection list
if ((histCntr < minPopsicleHistCount) && (!disableHist))
{
myBaslerLabel.Color = CogColorConstants.Red;
myFlirRegion.Color = CogColorConstants.Red;
// Show the hist count in the Flir image
myFlirLabel.Color = CogColorConstants.Red;
if (showHist)
{
myFlirLabel.SetXYText(patternResult.GetPose().TranslationX, patternResult.GetPose().TranslationY, "Size: " + histCntr.ToString());
}
thermalFailures++;
}
else
{
myBaslerLabel.Color = CogColorConstants.Green;
myAreaLabel.Color = CogColorConstants.Green;
// If histogram check is disabled, draw rectangle in yellow, else green
if (disableHist)
{
myFlirRegion.Color = CogColorConstants.Yellow;
}
else
{
if ((histCntr > 1) && (patternResult.Score >= patternBaslerTool.RunParams.AcceptThreshold))
{
myFlirRegion.Color = CogColorConstants.Green;
}
else
{
myFlirRegion.Color = CogColorConstants.Yellow;
}
}
// Show the hist count in the Flir image
if (patternResult.Score >= patternBaslerTool.RunParams.AcceptThreshold)
{
myFlirLabel.Color = CogColorConstants.Green;
}
else
{
myFlirLabel.Color = CogColorConstants.Yellow;
}
if (showHist)
{
myFlirLabel.SetXYText(patternResult.GetPose().TranslationX, patternResult.GetPose().TranslationY, "Size: " + histCntr.ToString());
}
// Convert blob angle to degrees
blobAngle = patternResult.GetPose().Rotation * 180 / Math.PI;
//MessageBox.Show("blob.Angle:" + blobAngle.ToString());
if ((blobAngle > (double)minPickAngle) && (blobAngle < (double)maxPickAngle))
{
if (patternResult.Score >= patternBaslerTool.RunParams.AcceptThreshold)
{
malBlobPoses.Add(l2d);
}
else
{
myAreaLabel.Color = CogColorConstants.Red;
}
if (showArea)
{
myAreaLabel.SetXYText(l2d.TranslationX, l2d.TranslationY - 15, "Score: " + (patternResult.Score * 100).ToString("0"));
}
AreaLabel.Add(myAreaLabel);
}
else
{
myBaslerLabel.Color = CogColorConstants.Red;
myBaslerLabel.SetXYText(l2d.TranslationX, l2d.TranslationY, "Angle: " + blobAngle.ToString("0"));
myFlirLabel.Color = CogColorConstants.Red;
myFlirRegion.Color = CogColorConstants.Red;
angleFailures++;
}
}
myBaslerLabel.Rotation = blobAngleRadians;
BaslerLabels.Add(myBaslerLabel);
FlirLabels.Add(myFlirLabel);
FlirRectangles.Add(myFlirRegion);
Crosshairs.Add(baslerMarker);
}
// Update group output terminals
toolGroup.SetScriptTerminalData("AngleFailures", angleFailures);
toolGroup.SetScriptTerminalData("ThermalFailures", thermalFailures);
toolGroup.SetScriptTerminalData("BlobCollection", malBlobPoses);
}
catch (Exception ex)
{
toolGroup.SetScriptTerminalData("BaslerStatus", "Script Error during Pattern processing: " + ex.Message);
malBlobPoses.Clear(); // Clear positional data for this frame
}
// Returning False indicates we ran the tools in script, and they should not be
// run by VisionPro
return(false);
}
