private void btnCapture_Click(object sender, EventArgs e)
{
if (!(rdbFront.Checked || rdbRight.Checked))
{
MessageBox.Show("先选择使用的图片来源！", "取像提示");
return;
}
else if (rdbRight.Checked)
{
cameraID = 0;//右侧相机
FlashLogger.Info("当前图像时右侧-高位相机");
}
else
{
cameraID = 1;//前方向机
FlashLogger.Info("当前图像时前侧-低位相机");
}
Image <Bgr, byte> myImg = null;
OpenFileDialog openFileDialog = new OpenFileDialog();
if (openFileDialog.ShowDialog() == DialogResult.OK)
{
myImg = new Image <Bgr, byte>(openFileDialog.FileName);
}
if (myImg == null)
{
return;
}
imgInfo = CenterAndSlope.GetProductParamters(myImg.Bitmap, cameraID, 165);
bgrBinaryImg = new Image <Bgr, byte>(CenterAndSlope.BinaryImage.Bitmap);
foreach (var item in imgInfo.ImageCorner)
{
CvInvoke.Circle(myImg, new Point((int)item.X, (int)item.Y), 10, new MCvScalar(0, 255, 33), 10);
}
#region 可视化
//画点
Dictionary <Point, int> upLine = new Dictionary <Point, int>();
Dictionary <Point, int> bottomLine = new Dictionary <Point, int>();
Dictionary <Point, int> rightLine = new Dictionary <Point, int>();
Dictionary <Point, int> leftLine = new Dictionary <Point, int>();
//foreach (var item in CenterAndSlope.segmentLines)
//{
// if (item.Values.Where(a=>a=="Up"))
// {
//upLine = CenterAndSlope.segmentUpLines.Keys.ToArray()[0];
// }
// else if (item.Value == "Bottom")
// {
bottomLine = CenterAndSlope.segmentBottomLines.Keys.ToArray()[0];
foreach (var item in bottomLine)
{
File.AppendAllText("bottomLine.txt", "X = " + item.Key.X.ToString() + "\tY = " + item.Key.Y.ToString() + "\tID = " + item.Value.ToString() + "\r\n");
}
// }
// else if (item.Value == "Right")
// {
//rightLine = CenterAndSlope.segmentRightLines.Keys.ToArray()[0];
// }
// else
// {
//leftLine = CenterAndSlope.segmentLeftLines.Keys.ToArray()[0];
//foreach (var item in leftLine)
//{
// File.AppendAllText("leftLine.txt", "X = " + item.Key.X.ToString() + "Y = " + item.Key.Y.ToString() + "ID = " + item.Value.ToString() + "\r\n");
//}
// }
//}
FlashLogger.Info("Up-Num =>" + upLine.Count.ToString());
FlashLogger.Info("Bottom-Num =>" + bottomLine.Count.ToString());
FlashLogger.Info("Right-Num =>" + rightLine.Count.ToString());
FlashLogger.Info("Left-Num =>" + leftLine.Count.ToString());
CvInvoke.Circle(myImg, new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), 10, new MCvScalar(255, 25, 100), 10);
//=========BOTTOM==================
foreach (var item in bottomLine.Where(a => a.Value == 0))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 1))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 2))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 3))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
}
foreach (var item in bottomLine.Where(a => a.Value == 4))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 10, 255), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 10, 255), 3);
CvInvoke.Line(bgrBinaryImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 10, 255), 3);
}
////++++++++++++up++++++++++++++++++++
//foreach (var item in CenterAndSlope.DividedContours.Where(a => a.Value == 0).ToDictionary(a => a.Key, a => a.Value))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
// //CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 1))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 2))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 3))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
//}
//foreach (var item in upLine.Where(a => a.Value == 4))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 120, 255), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 120, 255), 3);
//}
////++++++++++++Right++++++++++++++++++++
//foreach (var item in rightLine.Where(a => a.Value == 0))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 1))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 255), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 2))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 255, 5), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 3))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
//}
//foreach (var item in rightLine.Where(a => a.Value == 4))
//{
// CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 120, 255), 3);//Blue
// CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 120, 255), 3);
//}
//++++++++++++Left++++++++++++++++++++
foreach (var item in leftLine.Where(a => a.Value == 0))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 0, 255), 3);//Red
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(0, 0, 255), 3);
}
foreach (var item in leftLine.Where(a => a.Value == 1))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 255), 3);//Yellow
}
foreach (var item in leftLine.Where(a => a.Value == 2))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(0, 255, 5), 3);//Green
}
foreach (var item in leftLine.Where(a => a.Value == 3))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 0, 0), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 0, 0), 3);
}
foreach (var item in leftLine.Where(a => a.Value == 4))
{
CvInvoke.Circle(myImg, new Point(item.Key.X, item.Key.Y), 5, new MCvScalar(255, 120, 255), 3);//Blue
CvInvoke.Line(myImg, new Point(item.Key.X, item.Key.Y), new Point((int)imgInfo.CenterOfImg.X, (int)imgInfo.CenterOfImg.Y), new MCvScalar(255, 120, 255), 3);
}
#endregion
for (int i = 0; i < imgInfo.MotorShift.Length; i++)
{
textBox1.Text += "#【" + i + "】" + imgInfo.MotorShift[i].ToString() + "\r\n";
}
//x=0
int y0 = (int)(imgInfo.CenterOfImg.Y - Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * imgInfo.CenterOfImg.X);
int y5472 = (int)(imgInfo.CenterOfImg.Y + Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * (5472 - imgInfo.CenterOfImg.X));
CvInvoke.Line(myImg, new Point(0, y0), new Point(5472, y5472), new MCvScalar(23, 25, 200), 10);
CvInvoke.Line(bgrBinaryImg, new Point(0, y0), new Point(5472, y5472), new MCvScalar(0, 0, 255), 10);
//y=0
int x0 = (int)(imgInfo.CenterOfImg.X + Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * imgInfo.CenterOfImg.Y);
int x3648 = (int)(imgInfo.CenterOfImg.X - Math.Tan(imgInfo.RotatedAngle / 180f * Math.PI) * (3648 - imgInfo.CenterOfImg.Y));
CvInvoke.Line(myImg, new Point(x0, 0), new Point(x3648, 3648), new MCvScalar(0, 0, 255), 10);
CvInvoke.Line(bgrBinaryImg, new Point(x0, 0), new Point(x3648, 3648), new MCvScalar(0, 0, 255), 10);
//x=0
int y0rect = (int)(imgInfo.RectCenterOfImg.Y - Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * imgInfo.RectCenterOfImg.X);
int y5472rect = (int)(imgInfo.RectCenterOfImg.Y + Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * (5472 - imgInfo.RectCenterOfImg.X));
CvInvoke.Line(myImg, new Point(0, y0rect), new Point(5472, y5472rect), new MCvScalar(225, 0, 0), 2);
CvInvoke.Line(bgrBinaryImg, new Point(0, y0rect), new Point(5472, y5472rect), new MCvScalar(225, 00), 2);
//y=0
int x0rect = (int)(imgInfo.RectCenterOfImg.X + Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * imgInfo.RectCenterOfImg.Y);
int x3648rect = (int)(imgInfo.RectCenterOfImg.X - Math.Tan(imgInfo.RectRotatedAngle / 180f * Math.PI) * (3648 - imgInfo.RectCenterOfImg.Y));
CvInvoke.Line(myImg, new Point(x0rect, 0), new Point(x3648rect, 3648), new MCvScalar(255, 0, 0), 10);
CvInvoke.Line(bgrBinaryImg, new Point(x0rect, 0), new Point(x3648rect, 3648), new MCvScalar(255, 0, 0), 10);
FlashLogger.Info("X-Y均值计算质心：" + imgInfo.CenterOfImg.ToString() + "\r\n外接矩形中心：" + imgInfo.RectCenterOfImg.ToString() + "\r\nHu矩计算质心：" + imgInfo.GravityCenterOfImg.ToString() + "\r\n");;
FlashLogger.Info("最小二乘法拟合直线斜率：" + imgInfo.RotatedAngle.ToString() + "\r\n外接矩形斜率：" + imgInfo.RectRotatedAngle.ToString() + "\r\n");
FlashLogger.Info("24电机位移\r\n" + textBox1.Text);
pictureBox1.Image = myImg.ToBitmap();
pictureBox1.Update();
}
public Form1()
{
InitializeComponent();
FlashLogger.Instance().Register();
}