public override void UpdateVisionControl(VisionControl ctl)
{
ctl.LockDisplay();
try
{
if (imgSrc != null && imgSrc.IsInitialized() && imgSrc.Key != IntPtr.Zero)
{
if (imgSrc != null)
{
HOperatorSet.DispObj(imgSrc, ctl.GetHalconWindow());
}
while (ctl.getStack().Count > 0)
{
HOperatorSet.DispObj(ctl.getStack().Pop(), ctl.GetHalconWindow());
}
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
HOperatorSet.SetColor(ctl.GetHalconWindow(), "blue");
HOperatorSet.DispObj(mea.LineEdge, ctl.GetHalconWindow());
HOperatorSet.SetColor(ctl.GetHalconWindow(), "green");
HOperatorSet.DispObj(mea.ContourOk, ctl.GetHalconWindow());
HOperatorSet.SetColor(ctl.GetHalconWindow(), "red");
HOperatorSet.DispObj(mea.ContourAreaNG, ctl.GetHalconWindow());
HOperatorSet.SetColor(ctl.GetHalconWindow(), "magenta");
HOperatorSet.DispObj(mea.ContourPosNG, ctl.GetHalconWindow());
}
HOperatorSet.SetColor(ctl.GetHalconWindow(), "blue");
//HTuple hv_Width, hv_Height;
//HOperatorSet.GetImageSize(m_image, out hv_Width, out hv_Height);
//HObject ht_CrossLineV, ht_CrossLineH;
//HOperatorSet.SetColor(ctl.GetHalconWindow(), "red");
//HOperatorSet.GenRegionLine(out ht_CrossLineV, 0, hv_Width / 2, hv_Height, hv_Width / 2);
//HOperatorSet.GenRegionLine(out ht_CrossLineH, hv_Height / 2, 0, hv_Height / 2, hv_Width);
//HOperatorSet.DispObj(ht_CrossLineV, ctl.GetHalconWindow());
//HOperatorSet.DispObj(ht_CrossLineH, ctl.GetHalconWindow());
}
}
catch (HalconException HDevExpDefaultException1)
{
System.Diagnostics.Debug.WriteLine(HDevExpDefaultException1.ToString());
}
catch (AccessViolationException e)
{
System.Diagnostics.Debug.WriteLine(e.ToString());
}
catch (Exception e)
{
System.Diagnostics.Debug.WriteLine(e.ToString());
}
finally
{
ctl.UnlockDisplay();
}
}
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;
}
}
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
//清理数据
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
mea.ClearResult();
}
ctl.clearObj();
ctl.DisplayResults();
//保存图像
//string imageName = $"{DateTime.Now:HHmmss}.tiff";
//if (AutoForm._autoForm.Param.IsSaveImageAll)
//{
// //保存原图
// string path = $@"{ProductMgr.GetInstance().ProductPath}Images\Robot\{DateTime.Now:yyMMdd}\Source\";
// if (!System.IO.Directory.Exists(path))
// {
// System.IO.Directory.CreateDirectory(path);
// }
// string fileName = $"{path}{imageName}";
// HDevelopExport.WriteImage(imgSrc, fileName);
//}
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
//if (ProductMgr.GetInstance().Param.IsPerprocess)
//{
// image = HDevelopExport.Preprocess(image, ProductMgr.GetInstance().Param.Emphasize, false);
//}
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
if (result && ProductMgr.GetInstance().Param.IsSecondPos)
{
HTuple transRow, transColumn, transRadian;
result = HDevelopExport.FindPinCenter(imgSrc, row, column, angle, out transRow, out transColumn, out transRadian);
if (result)
{
row = transRow;
column = transColumn;
angle = transRadian;
}
//ctl.DisplayResults();
}
if (!result)
{
Log.Show("查找模板失败");
return(false);
}
//*************相对位置**************
//HTuple relRow, relColumn;
//relRow = PlatformCalibData.MarkRow - row;
//relColumn = PlatformCalibData.MarkColumn - column;
//SendData.X = PlatformCalibData.PixelToMm(relColumn);
//SendData.Y = PlatformCalibData.PixelToMm(relRow);
//用矩阵获得Mark点的世界坐标和模板的世界坐标，求差值
HTuple colMark, rowMark, rowTrans, colTrans;
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, PlatformCalibData.MarkColumn, PlatformCalibData.MarkRow, out colMark, out rowMark);
HOperatorSet.AffineTransPixel(PlatformCalibData.HomMat2D, column, row, out colTrans, out rowTrans);
SendData.X = colMark - colTrans;
SendData.Y = rowMark - rowTrans;
Log.Show($"目标位置：X:{SendData.X:F2},Y:{SendData.Y:F2}");
//***********************测量****************************
MeasureMgr.GetInstance().MeasureAll(image, row, column, angle);
//显示数据
int hasCount = 0, meaCount = 0;
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
hasCount += mea.PinCount;
meaCount += mea.CountOK + mea.CountAreaNG + mea.CountPosNG;
//发送的数据
SendData.CountAreaNG += mea.CountAreaNG;
SendData.CountPosNG += mea.CountPosNG;
if (mea.DiameterMax.Length > 0)
{
//显示和保存数据
Data.Show(i, mea.DiameterMax.ToDArr(), mea.DisLeft.ToDArr(), mea.DisRight.ToDArr(), mea.DisTop.ToDArr());
}
}
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
//显示数据到窗口
HTuple degree;
HOperatorSet.TupleDeg(angle, out degree);
Log.Show($"查找模板:row:{row.D:F2},column:{column.D:F2},degree:{degree.D:F2},分数：{score.D:F2}");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置：{row.D:F2},{column.D:F2},{degree.D:F2}", "window", 10, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"分数：{score.D:F2}", "window", 30, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"X:{SendData.X:F2},Y:{SendData.Y:F2}", "window", 150, -1, "green", "false");
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"{hasCount}-{meaCount}", "window", 170, -1, "green", "false");
if (SendData.CountAreaNG > 0)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"面积NG:{SendData.CountAreaNG}", "window", 190, -1, "red", "false");
}
if (SendData.CountPosNG > 0)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"位置NG:{SendData.CountPosNG}", "window", 210, -1, "magenta", "false");
}
//显示日志
Log.Show($"面积NG:{SendData.CountAreaNG}，位置NG:{SendData.CountPosNG}");
//保存窗口图像和原图
result = result && SendData.CountAreaNG == 0 && SendData.CountPosNG == 0;
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(true);
}
catch (Exception)
{
return(false);
}
}
public override bool ProcessImage(VisionControl ctl)
{
try
{
//清理数据
foreach (var mea in MeasureMgr.GetInstance().MeasureList)
{
mea.ClearResult();
}
ctl.clearObj();
ctl.DisplayResults();
//图像预处理
HObject image;
if (ProductMgr.GetInstance().Param.PlatformRegion != null)
{
HOperatorSet.ReduceDomain(imgSrc, ProductMgr.GetInstance().Param.PlatformRegion, out image);
}
else
{
image = imgSrc;
}
//查找模板
HTuple row, column, angle, scale, score;
bool result = HDevelopExport.FindScaleShapeModel(image, out row, out column, out angle, out scale, out score);
//显示轮廓
HDevelopExport.dev_display_shape_matching_results(ctl.GetHalconWindow(),
ProductMgr.GetInstance().Param.ModelID, "blue", row, column, angle, scale, scale, 0);
if (!result)
{
Log.Show("查找模板失败");
return(false);
}
//***********************测量****************************
image = MeasureMgr.GetInstance().ImagePre(image);
MeasureMgr.GetInstance().MeasureAll(image, row, column, angle);
//ctl.AddToStack(image);
//显示数据
bool resRoi = true;//每个测量区域都做判断
int hasCount = 0, meaCount = 0;
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
if (mea.PinCount != mea.CountPinMea)
{
resRoi = false;
}
hasCount += mea.PinCount;
//meaCount += mea.CountOK + mea.CountAreaNG + mea.CountPosNG;
meaCount += mea.CountPinMea;
//发送的数据
//SendData.CountAreaNG += mea.CountAreaNG;
//SendData.CountPosNG += mea.CountPosNG;
//if (mea.DiameterMax.Length > 0)
//{
// //显示和保存数据
// Data.Show(i, mea.DiameterMax.ToDArr(), mea.DisLeft.ToDArr(), mea.DisRight.ToDArr(), mea.DisTop.ToDArr());
//}
}
string color = "green";
if (resRoi && hasCount == meaCount)
{
color = "green";
SendData.PinCountOK = true;
}
else
{
color = "red";
SendData.PinCountOK = false;
}
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelContours);
ctl.AddToStack(ProductMgr.GetInstance().Param.ModelOriginContours);
//ctl.AddToStack(ProductMgr.GetInstance().Param.MarkContours);
ctl.DisplayResults();
for (int i = 0; i < MeasureMgr.GetInstance().MeasureList.Count; i++)
{
var mea = MeasureMgr.GetInstance().MeasureList[i];
if (mea.PinCount == mea.CountPinMea)
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"ROI{i}数量：{mea.PinCount}，测量数量：{mea.CountPinMea}", "window", 10 + 20 * i, -1, "green", "false");
}
else
{
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"ROI{i}数量：{mea.PinCount}，测量数量：{mea.CountPinMea}", "window", 10 + 20 * i, -1, "red", "false");
}
}
HDevelopExport.disp_message(ctl.GetHalconWindow(), $"总数量：{hasCount}，测量数量：{meaCount}", "window", 10 + 20 * MeasureMgr.GetInstance().MeasureList.Count, -1, color, "false");
//保存窗口图像和原图
result = result && SendData.CountAreaNG == 0 && SendData.CountPosNG == 0;
if (AutoForm._autoForm.Param.IsSaveImageAll)
{
SaveImage(ctl.GetHalconWindow(), result);
}
else
{
if (AutoForm._autoForm.Param.IsSaveImageNG && !result)
{
SaveImage(ctl.GetHalconWindow(), result);
}
}
return(true);
}
catch (Exception)
{
return(false);
}
}
