public static void dispImage(HWindowControl hWC, HObject HImage)
{
HTuple hv_Width = null, hv_Height = null, hv_picWHRatio = null;
HTuple hv_winWHRatio = null, hv_dispWidth = new HTuple();
HTuple hv_dispHeight = new HTuple();
// Initialize local and output iconic variables
HTuple hv_winWidth = hWC.Width; HTuple hv_winHeight = hWC.Height;
HOperatorSet.SetSystem("int_zooming", "true");
HOperatorSet.GetImageSize(HImage, out hv_Width, out hv_Height);
hv_picWHRatio = (1.0 * hv_Width) / hv_Height;
hv_winWHRatio = (1.0 * hv_winWidth) / hv_winHeight;
if (new HTuple(hv_Width.TupleGreater(hv_winWidth)).TupleOr(new HTuple(hv_Height.TupleGreater(
hv_winHeight))) != 0)
{
//如果图片宽高比 大于 窗口宽高比
//则宽度方向顶格
if (new HTuple(hv_picWHRatio.TupleGreaterEqual(hv_winWHRatio)) != 0)
{
hv_dispWidth = hv_Width.Clone();
hv_dispHeight = hv_Width / hv_winWHRatio;
HOperatorSet.SetPart(hWC.HalconWindow, 0, 0, hv_dispHeight, hv_dispWidth);
HOperatorSet.DispObj(HImage, hWC.HalconWindow);
}
//如果图片宽高比 小于 窗口宽高比
//则高度方向顶格
if (new HTuple(hv_picWHRatio.TupleLess(hv_winWHRatio)) == 0)
{
return;
}
hv_dispWidth = hv_Height * hv_winWHRatio;
hv_dispHeight = hv_Height.Clone();
HOperatorSet.SetPart(hWC.HalconWindow, 0, 0, hv_dispHeight, hv_dispWidth);
HOperatorSet.DispObj(HImage, hWC.HalconWindow);
}
else
{
//如果图片的长和宽都小于窗口，则以图片的原真实尺寸显示
HOperatorSet.SetPart(hWC.HalconWindow, 0, 0, hv_winWidth, hv_winHeight);
HOperatorSet.DispObj(HImage, hWC.HalconWindow);
}
return;
////////////////////////////////////////////////////////////////////////////test-end
}
// Local procedures
public static void Get_11_Point_Coordinates(HObject ho_Image, HTuple hv_Diameter, HTuple hv_Threshold,
out HTuple hv_isFind, out HTuple hv_Rows_cc, out HTuple hv_Cols_cc)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_ImageOut = null, ho_Region, ho_RegionOpening;
HObject ho_ConnectedRegions, ho_Regions_11_Circles, ho_RegionUnion100;
HObject ho_RegionClosing, ho_Regions_9_Circles, ho_Regions_2_Circles;
// Local control variables
HTuple hv_Channels = null, hv_Areas11 = null;
HTuple hv_Rows11 = null, hv_Columns11 = null, hv_Indices0 = null;
HTuple hv_x1 = null, hv_y1 = null, hv_x3 = null, hv_y3 = null;
HTuple hv_Dist1_3 = null, hv_Areas = null, hv_Rows = null;
HTuple hv_Columns = null, hv_Distances = null, hv_i = null;
HTuple hv_Dist = new HTuple(), hv_Indices = null, hv_x9 = null;
HTuple hv_y9 = null, hv_x7 = null, hv_y7 = null, hv_x5_ = null;
HTuple hv_y5_ = null, hv_x5 = null, hv_y5 = null, hv_x2_ = null;
HTuple hv_y2_ = null, hv_x2 = null, hv_y2 = null, hv_x6_ = null;
HTuple hv_y6_ = null, hv_x6 = null, hv_y6 = null, hv_x8_ = null;
HTuple hv_y8_ = null, hv_x8 = null, hv_y8 = null, hv_x4_ = null;
HTuple hv_y4_ = null, hv_x4 = null, hv_y4 = null, hv_Areas2 = null;
HTuple hv_Rows2 = null, hv_Columns2 = null, hv_x11 = null;
HTuple hv_y11 = null, hv_x10 = null, hv_y10 = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_ImageOut);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_Regions_11_Circles);
HOperatorSet.GenEmptyObj(out ho_RegionUnion100);
HOperatorSet.GenEmptyObj(out ho_RegionClosing);
HOperatorSet.GenEmptyObj(out ho_Regions_9_Circles);
HOperatorSet.GenEmptyObj(out ho_Regions_2_Circles);
hv_Rows_cc = new HTuple();
hv_Cols_cc = new HTuple();
try
{
//说明：
//1、Diameter指的是常规的9个圆的直径大小（以像素计量），如果懒得设置，可以令Diameter := 0。isFind ==1 表示成功找到11个圆。
//2、每个黑圆中央必须有一个小白点清晰可见,并且黑圆的个数必须为11个,否则函数将计算失败。
//3、当标定板摆正时，圆的排序“先从左到右，再从上到下”，最小的圆是圆1,最大的圆是圆3
//4、标定板可以任意角度摆放，不一定需要摆正。标定板表面不得有其他脏污，否则可能计算失败。标定板图像需黑白分明。
//5、halcon的x、y（Rows_cc和Cols_cc）和其他编程语言中的图像中x、y值刚好是相反的。具体使用时，要把x、y的值调换顺序。
//6、圆10和圆11必须离圆1-9比较远
//7、如程序执行异常需要优化，可联系[email protected]
ho_ImageOut.Dispose();
ho_ImageOut = ho_Image.CopyObj(1, -1);
hv_isFind = 0;
HOperatorSet.CountChannels(ho_ImageOut, out hv_Channels);
if ((int)(new HTuple(hv_Channels.TupleGreaterEqual(3))) != 0)
{
{
HObject ExpTmpOutVar_0;
HOperatorSet.Rgb1ToGray(ho_ImageOut, out ExpTmpOutVar_0);
ho_ImageOut.Dispose();
ho_ImageOut = ExpTmpOutVar_0;
}
}
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageOut, out ho_Region, 0, hv_Threshold);
{
HObject ExpTmpOutVar_0;
HOperatorSet.FillUp(ho_Region, out ExpTmpOutVar_0);
ho_Region.Dispose();
ho_Region = ExpTmpOutVar_0;
}
ho_RegionOpening.Dispose();
HOperatorSet.OpeningCircle(ho_Region, out ho_RegionOpening, 4.0);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionOpening, out ho_ConnectedRegions);
ho_Regions_11_Circles.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_Regions_11_Circles, (new HTuple("circularity")).TupleConcat(
"area"), "and", (new HTuple(0.9)).TupleConcat(10000), (new HTuple(1.0)).TupleConcat(
9999999999));
if ((int)(new HTuple(hv_Diameter.TupleNotEqual(0))) != 0)
{
{
HObject ExpTmpOutVar_0;
HOperatorSet.SelectShape(ho_Regions_11_Circles, out ExpTmpOutVar_0, "width",
"and", hv_Diameter * 0.3, hv_Diameter * 3);
ho_Regions_11_Circles.Dispose();
ho_Regions_11_Circles = ExpTmpOutVar_0;
}
}
HOperatorSet.AreaCenter(ho_Regions_11_Circles, out hv_Areas11, out hv_Rows11,
out hv_Columns11);
ho_RegionUnion100.Dispose();
HOperatorSet.Union1(ho_Regions_11_Circles, out ho_RegionUnion100);
if ((int)(new HTuple((new HTuple(hv_Areas11.TupleLength())).TupleNotEqual(11))) != 0)
{
hv_isFind = 0;
ho_ImageOut.Dispose();
ho_Region.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_Regions_11_Circles.Dispose();
ho_RegionUnion100.Dispose();
ho_RegionClosing.Dispose();
ho_Regions_9_Circles.Dispose();
ho_Regions_2_Circles.Dispose();
return;
}
HOperatorSet.TupleSortIndex(hv_Areas11, out hv_Indices0);
//直径最小的是圆1
hv_x1 = hv_Rows11.TupleSelect(hv_Indices0.TupleSelect(0));
hv_y1 = hv_Columns11.TupleSelect(hv_Indices0.TupleSelect(0));
//直径最大的是圆3
hv_x3 = hv_Rows11.TupleSelect(hv_Indices0.TupleSelect((new HTuple(hv_Areas11.TupleLength()
)) - 1));
hv_y3 = hv_Columns11.TupleSelect(hv_Indices0.TupleSelect((new HTuple(hv_Areas11.TupleLength()
)) - 1));
HOperatorSet.DistancePp(hv_x1, hv_y1, hv_x3, hv_y3, out hv_Dist1_3);
ho_RegionClosing.Dispose();
HOperatorSet.ClosingCircle(ho_RegionUnion100, out ho_RegionClosing, 5 + (hv_Dist1_3 / 4));
{
HObject ExpTmpOutVar_0;
HOperatorSet.FillUp(ho_RegionClosing, out ExpTmpOutVar_0);
ho_RegionClosing.Dispose();
ho_RegionClosing = ExpTmpOutVar_0;
}
{
HObject ExpTmpOutVar_0;
HOperatorSet.Connection(ho_RegionClosing, out ExpTmpOutVar_0);
ho_RegionClosing.Dispose();
ho_RegionClosing = ExpTmpOutVar_0;
}
{
HObject ExpTmpOutVar_0;
HOperatorSet.SelectShapeStd(ho_RegionClosing, out ExpTmpOutVar_0, "max_area",
70);
ho_RegionClosing.Dispose();
ho_RegionClosing = ExpTmpOutVar_0;
}
ho_Regions_9_Circles.Dispose();
HOperatorSet.SelectShapeProto(ho_Regions_11_Circles, ho_RegionClosing, out ho_Regions_9_Circles,
"overlaps_rel", 80, 100);
HOperatorSet.AreaCenter(ho_Regions_9_Circles, out hv_Areas, out hv_Rows, out hv_Columns);
if ((int)(new HTuple((new HTuple(hv_Areas.TupleLength())).TupleNotEqual(9))) != 0)
{
hv_isFind = 0;
ho_ImageOut.Dispose();
ho_Region.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_Regions_11_Circles.Dispose();
ho_RegionUnion100.Dispose();
ho_RegionClosing.Dispose();
ho_Regions_9_Circles.Dispose();
ho_Regions_2_Circles.Dispose();
return;
}
//离圆1最远的是圆9
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x1, hv_y1, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x9 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(8));
hv_y9 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(8));
//离圆3最远的是圆7
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x3, hv_y3, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x7 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(8));
hv_y7 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(8));
//圆1、9中间的是圆5
hv_x5_ = (hv_x1 + hv_x9) / 2;
hv_y5_ = (hv_y1 + hv_y9) / 2;
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x5_, hv_y5_, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x5 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(0));
hv_y5 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(0));
//圆1、3中间的是圆2
hv_x2_ = (hv_x1 + hv_x3) / 2;
hv_y2_ = (hv_y1 + hv_y3) / 2;
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x2_, hv_y2_, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x2 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(0));
hv_y2 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(0));
//圆3、9中间的是圆6
hv_x6_ = (hv_x3 + hv_x9) / 2;
hv_y6_ = (hv_y3 + hv_y9) / 2;
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x6_, hv_y6_, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x6 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(0));
hv_y6 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(0));
//圆7、9中间的是圆8
hv_x8_ = (hv_x7 + hv_x9) / 2;
hv_y8_ = (hv_y7 + hv_y9) / 2;
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x8_, hv_y8_, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x8 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(0));
hv_y8 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(0));
//圆1、7中间的是圆4
hv_x4_ = (hv_x1 + hv_x7) / 2;
hv_y4_ = (hv_y1 + hv_y7) / 2;
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x4_, hv_y4_, hv_Rows.TupleSelect(hv_i), hv_Columns.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x4 = hv_Rows.TupleSelect(hv_Indices.TupleSelect(0));
hv_y4 = hv_Columns.TupleSelect(hv_Indices.TupleSelect(0));
hv_Rows_cc = new HTuple();
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x1);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x2);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x3);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x4);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x5);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x6);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x7);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x8);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x9);
hv_Cols_cc = new HTuple();
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y1);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y2);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y3);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y4);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y5);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y6);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y7);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y8);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y9);
//找最后两个点
ho_Regions_2_Circles.Dispose();
HOperatorSet.SelectShapeProto(ho_Regions_11_Circles, ho_RegionClosing, out ho_Regions_2_Circles,
"overlaps_rel", 0, 30);
HOperatorSet.AreaCenter(ho_Regions_2_Circles, out hv_Areas2, out hv_Rows2,
out hv_Columns2);
if ((int)(new HTuple((new HTuple(hv_Areas2.TupleLength())).TupleNotEqual(2))) != 0)
{
hv_isFind = 0;
ho_ImageOut.Dispose();
ho_Region.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_Regions_11_Circles.Dispose();
ho_RegionUnion100.Dispose();
ho_RegionClosing.Dispose();
ho_Regions_9_Circles.Dispose();
ho_Regions_2_Circles.Dispose();
return;
}
//离圆1最远的是圆11
hv_Distances = new HTuple();
for (hv_i = 0; (int)hv_i <= (int)((new HTuple(hv_Areas2.TupleLength())) - 1); hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_x1, hv_y1, hv_Rows2.TupleSelect(hv_i), hv_Columns2.TupleSelect(
hv_i), out hv_Dist);
hv_Distances = hv_Distances.TupleConcat(hv_Dist);
}
HOperatorSet.TupleSortIndex(hv_Distances, out hv_Indices);
hv_x11 = hv_Rows2.TupleSelect(hv_Indices.TupleSelect(1));
hv_y11 = hv_Columns2.TupleSelect(hv_Indices.TupleSelect(1));
//另一个点就是最近的
hv_x10 = hv_Rows2.TupleSelect(hv_Indices.TupleSelect(0));
hv_y10 = hv_Columns2.TupleSelect(hv_Indices.TupleSelect(0));
hv_Rows_cc = new HTuple();
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x1);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x2);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x3);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x4);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x5);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x6);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x7);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x8);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x9);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x10);
hv_Rows_cc = hv_Rows_cc.TupleConcat(hv_x11);
hv_Cols_cc = new HTuple();
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y1);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y2);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y3);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y4);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y5);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y6);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y7);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y8);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y9);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y10);
hv_Cols_cc = hv_Cols_cc.TupleConcat(hv_y11);
hv_isFind = 1;
ho_ImageOut.Dispose();
ho_Region.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_Regions_11_Circles.Dispose();
ho_RegionUnion100.Dispose();
ho_RegionClosing.Dispose();
ho_Regions_9_Circles.Dispose();
ho_Regions_2_Circles.Dispose();
return;
}
catch (HalconException HDevExpDefaultException)
{
ho_ImageOut.Dispose();
ho_Region.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_Regions_11_Circles.Dispose();
ho_RegionUnion100.Dispose();
ho_RegionClosing.Dispose();
ho_Regions_9_Circles.Dispose();
ho_Regions_2_Circles.Dispose();
throw HDevExpDefaultException;
}
}
private void action()
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_Rectangle, ho_ImageReduced;
HObject ho_Region, ho_ConnectedRegions, ho_SelectedRegions;
HObject ho_Rectangle1, ho_ImageRotate, ho_Region1, ho_RegionAffineTrans;
HObject ho_Region2, ho_RegionUnionu, ho_RegionUniond, ho_Contours;
HObject ho_SelectedContours, ho_SmoothedContours1, ho_ClippedContoursu;
HObject ho_ClippedContoursd, ho_Rectangle2, ho_ClippedContoursuObjectSelected = null;
HObject ho_ClippedContoursdObjectSelected = null, ho_Circle = null;
HObject ho_Circle1 = null, ho_ConnectedRegions1, ho_SelectedRegions1;
HObject ho_SortedRegionssdj, ho_Region3, ho_ConnectedRegions2;
HObject ho_SelectedRegions2, ho_SortedRegionsxdj, ho_RegionLines = null;
HObject ho_RegionAffineTrans1;
// Local control variables
HTuple hv_Width = null, hv_Height = null;
HTuple hv_jd = null, hv_Row = null, hv_Column = null, hv_Phi = null;
HTuple hv_Length1 = null, hv_Length2 = null, hv_HomMat2DIdentity = null;
HTuple hv_HomMat2DRotate = null, hv_Row1 = null, hv_Column1 = null;
HTuple hv_Row2 = null, hv_Column2 = null, hv_Rown = null;
HTuple hv_Rowu = null, hv_Columnu = null, hv_Phiu = null;
HTuple hv_Length1u = null, hv_Length2u = null, hv_MeasureHandleu = null;
HTuple hv_GrayValuesu = null, hv_Sigmau = null, hv_Functionu = null;
HTuple hv_SmoothedFunctionu = null, hv_FirstDerivativeu = null;
HTuple hv_ZeroCrossingsu = null, hv_RowStartu = null, hv_ColStartu = null;
HTuple hv_RowEndu = null, hv_ColEndu = null, hv_iu = null;
HTuple hv_Rowd = null, hv_Columnd = null, hv_Phid = null;
HTuple hv_Length1d = null, hv_Length2d = null, hv_MeasureHandled = null;
HTuple hv_GrayValuesd = null, hv_Sigmad = null, hv_Functiond = null;
HTuple hv_SmoothedFunctiond = null, hv_FirstDerivatived = null;
HTuple hv_ZeroCrossingsd = null, hv_RowStartd = null, hv_ColStartd = null;
HTuple hv_RowEndd = null, hv_ColEndd = null, hv_id = null;
HTuple hv_RowIntuAll = null, hv_ColumnIntuAll = null, hv_u1 = null;
HTuple hv_i = null, hv_Length = new HTuple(), hv_Indices1 = new HTuple();
HTuple hv_RowIntu = new HTuple(), hv_ColumnIntu = new HTuple();
HTuple hv_IsOverlappingu = new HTuple(), hv_RowIntdAll = null;
HTuple hv_ColumnIntdAll = null, hv_j = null, hv_RowIntd = new HTuple();
HTuple hv_ColumnIntd = new HTuple(), hv_IsOverlappingd = new HTuple();
HTuple hv_Sortedu = null, hv_Sortedd = null, hv_RowIntuu = null;
HTuple hv_ColumnIntuu = null, hv_RowIntud = null, hv_ColumnIntud = null;
HTuple hv_uu = null, hv_ud = null, hv_ub1 = null, hv_RowIntdu = null;
HTuple hv_ColumnIntdu = null, hv_RowIntdd = null, hv_ColumnIntdd = null;
HTuple hv_du = null, hv_dd = null, hv_db1 = null, hv_Areasdj = null;
HTuple hv_Rowsdj = null, hv_Columnsdj = null, hv_sdj = null;
HTuple hv_Areaxdj = null, hv_Rowxdj = null, hv_Columnxdj = null;
HTuple hv_xdj = null, hv_djsl1 = null, hv_djsl = null;
HTuple hv_Mean1 = null, hv_Mean2 = null, hv_Mean3 = null;
HTuple hv_Mean4 = null, hv_Columnuu = null, hv_Columndd = null;
HTuple hv_AngleAll = null, hv_l = null, hv_Angle = new HTuple();
HTuple hv_DegAll = null, hv_Mean5 = null, hv_Mean8 = null;
HTuple hv_Columnuum = null, hv_uum1 = null, hv_uus = null;
HTuple hv_Columnddm = null, hv_ddm = null, hv_dds = null;
HTuple hv_ColumnmArr = null, hv_Mean9 = null, hv_Mean10 = null;
HTuple hv_Sorteda = null, hv_Ai = null, hv_Ax = null, hv_pixeldist = null;
HTuple hv_L = null, hv_D = null, hv_Dmax = null, hv_Dmin = null;
HTuple hv_d = null, hv_dmax = null, hv_dmin = null, hv_LS = null;
HTuple hv_HomMat2DIdentity1 = null, hv_HomMat2DRotate1 = null;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Rectangle);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Region);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_Rectangle1);
HOperatorSet.GenEmptyObj(out ho_ImageRotate);
HOperatorSet.GenEmptyObj(out ho_Region1);
HOperatorSet.GenEmptyObj(out ho_RegionAffineTrans);
HOperatorSet.GenEmptyObj(out ho_Region2);
HOperatorSet.GenEmptyObj(out ho_RegionUnionu);
HOperatorSet.GenEmptyObj(out ho_RegionUniond);
HOperatorSet.GenEmptyObj(out ho_Contours);
HOperatorSet.GenEmptyObj(out ho_SelectedContours);
HOperatorSet.GenEmptyObj(out ho_SmoothedContours1);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursu);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursd);
HOperatorSet.GenEmptyObj(out ho_Rectangle2);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursuObjectSelected);
HOperatorSet.GenEmptyObj(out ho_ClippedContoursdObjectSelected);
HOperatorSet.GenEmptyObj(out ho_Circle);
HOperatorSet.GenEmptyObj(out ho_Circle1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SortedRegionssdj);
HOperatorSet.GenEmptyObj(out ho_Region3);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SortedRegionsxdj);
HOperatorSet.GenEmptyObj(out ho_RegionLines);
HOperatorSet.GenEmptyObj(out ho_RegionAffineTrans1);
HOperatorSet.Union1(algorithm.Region, out RegionToDisp);
try
{
HOperatorSet.GetImageSize(Image, out hv_Width, out hv_Height);
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, DRow1m, DCol1m, DRow2m, DCol2m);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(Image, ho_Rectangle, out ho_ImageReduced);
//*
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 0, 128);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShapeStd(ho_ConnectedRegions, out ho_SelectedRegions, "max_area",
70);
//hv_jd = 0;
HOperatorSet.SmallestRectangle2(ho_SelectedRegions, out hv_Row, out hv_Column,
out hv_Phi, out hv_Length1, out hv_Length2);
ho_Rectangle1.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle1, hv_Row, hv_Column, hv_Phi, hv_Length1,
hv_Length2);
ho_ImageRotate.Dispose();
HOperatorSet.RotateImage(Image, out ho_ImageRotate, -(hv_Phi.TupleDeg()),
"constant");
//*
ho_Region1.Dispose();
HOperatorSet.Threshold(ho_ImageRotate, out ho_Region1, 0, 128);
//*
HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity);
HOperatorSet.HomMat2dRotate(hv_HomMat2DIdentity, -hv_Phi, hv_Height / 2, hv_Width / 2,
out hv_HomMat2DRotate);
ho_RegionAffineTrans.Dispose();
HOperatorSet.AffineTransRegion(ho_Rectangle1, out ho_RegionAffineTrans, hv_HomMat2DRotate,
"nearest_neighbor");
HOperatorSet.SmallestRectangle1(ho_RegionAffineTrans, out hv_Row1, out hv_Column1,
out hv_Row2, out hv_Column2);
//***
ho_Region2.Dispose();
HOperatorSet.GenRegionPoints(out ho_Region2, hv_Row1, hv_Column1);
ho_RegionUnionu.Dispose();
HOperatorSet.Union1(ho_Region2, out ho_RegionUnionu);
ho_RegionUniond.Dispose();
HOperatorSet.Union1(ho_Region2, out ho_RegionUniond);
ho_Contours.Dispose();
HOperatorSet.GenContourRegionXld(ho_Region1, out ho_Contours, "border");
ho_SelectedContours.Dispose();
HOperatorSet.SelectContoursXld(ho_Contours, out ho_SelectedContours, "contour_length",
20, 2000000, -1, 1);
ho_SmoothedContours1.Dispose();
HOperatorSet.SmoothContoursXld(ho_SelectedContours, out ho_SmoothedContours1,
13);
//*
hv_Rown = (hv_Row1 + hv_Row2) / 2;
ho_ClippedContoursu.Dispose();
HOperatorSet.ClipContoursXld(ho_SmoothedContours1, out ho_ClippedContoursu, hv_Row1,
hv_Column1, hv_Rown, hv_Column2);
ho_ClippedContoursd.Dispose();
HOperatorSet.ClipContoursXld(ho_SmoothedContours1, out ho_ClippedContoursd, hv_Rown,
hv_Column1, hv_Row2, hv_Column2);
hv_Rowu = (hv_Row1 + hv_Rown) / 2;
hv_Columnu = (hv_Column1 + hv_Column2) / 2;
hv_Phiu = 0;
hv_Length1u = (hv_Column2 - hv_Column1) / 2;
hv_Length2u = (hv_Rown - hv_Row1) / 2;
//dev_set_draw ('margin')
HOperatorSet.GenMeasureRectangle2(hv_Rowu, hv_Columnu, hv_Phiu, hv_Length1u,
hv_Length2u, hv_Width, hv_Height, "bilinear", out hv_MeasureHandleu);
ho_Rectangle2.Dispose();
HOperatorSet.GenRectangle2(out ho_Rectangle2, hv_Rowu, hv_Columnu, hv_Phiu, hv_Length1u,
hv_Length2u);
HOperatorSet.MeasureProjection(ho_ImageRotate, hv_MeasureHandleu, out hv_GrayValuesu);
hv_Sigmau = 5;
HOperatorSet.CreateFunct1dArray(hv_GrayValuesu, out hv_Functionu);
HOperatorSet.SmoothFunct1dGauss(hv_Functionu, hv_Sigmau, out hv_SmoothedFunctionu);
HOperatorSet.DerivateFunct1d(hv_SmoothedFunctionu, "first", out hv_FirstDerivativeu);
HOperatorSet.ZeroCrossingsFunct1d(hv_FirstDerivativeu, out hv_ZeroCrossingsu);
hv_RowStartu = hv_Rowu - (hv_Length2u / 2);
hv_ColStartu = (hv_Columnu - hv_Length1u) + hv_ZeroCrossingsu;
hv_RowEndu = hv_Rowu + (hv_Length2u / 2);
hv_ColEndu = (hv_Columnu - hv_Length1u) + hv_ZeroCrossingsu;
hv_iu = new HTuple(hv_ZeroCrossingsu.TupleLength());
hv_Rowd = (hv_Rown + hv_Row2) / 2;
hv_Columnd = (hv_Column1 + hv_Column2) / 2;
hv_Phid = 0;
hv_Length1d = (hv_Column2 - hv_Column1) / 2;
hv_Length2d = (hv_Row2 - hv_Rown) / 2;
HOperatorSet.GenMeasureRectangle2(hv_Rowd, hv_Columnd, hv_Phid, hv_Length1d,
hv_Length2d, hv_Width, hv_Height, "bilinear", out hv_MeasureHandled);
HOperatorSet.MeasureProjection(ho_ImageRotate, hv_MeasureHandled, out hv_GrayValuesd);
//
hv_Sigmad = 5;
HOperatorSet.CreateFunct1dArray(hv_GrayValuesd, out hv_Functiond);
HOperatorSet.SmoothFunct1dGauss(hv_Functiond, hv_Sigmad, out hv_SmoothedFunctiond);
HOperatorSet.DerivateFunct1d(hv_SmoothedFunctiond, "first", out hv_FirstDerivatived);
HOperatorSet.ZeroCrossingsFunct1d(hv_FirstDerivatived, out hv_ZeroCrossingsd);
HOperatorSet.CloseMeasure(hv_MeasureHandleu);
HOperatorSet.CloseMeasure(hv_MeasureHandled);
hv_RowStartd = hv_Rowd - (hv_Length2d / 2);
hv_ColStartd = (hv_Columnd - hv_Length1d) + hv_ZeroCrossingsd;
hv_RowEndd = hv_Rowd + (hv_Length2d / 2);
hv_ColEndd = (hv_Columnd - hv_Length1d) + hv_ZeroCrossingsd;
hv_id = new HTuple(hv_ZeroCrossingsd.TupleLength());
hv_RowIntuAll = new HTuple();
hv_ColumnIntuAll = new HTuple();
hv_u1 = 0;
HTuple end_val96 = hv_iu - 1;
HTuple step_val96 = 1;
for (hv_i = 0; hv_i.Continue(end_val96, step_val96); hv_i = hv_i.TupleAdd(step_val96))
{
HOperatorSet.LengthXld(ho_ClippedContoursu, out hv_Length);
HOperatorSet.TupleFind(hv_Length, hv_Length.TupleMax(), out hv_Indices1);
ho_ClippedContoursuObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_ClippedContoursu, out ho_ClippedContoursuObjectSelected,
hv_Indices1 + 1);
HOperatorSet.IntersectionLineContourXld(ho_ClippedContoursuObjectSelected,
hv_RowStartu, hv_ColStartu.TupleSelect(hv_i), hv_RowEndu, hv_ColEndu.TupleSelect(
hv_i), out hv_RowIntu, out hv_ColumnIntu, out hv_IsOverlappingu);
//*gen_cross_contour_xld (Cross1u, RowIntu, ColumnIntu, 12, 0)//根据每个输入点交叉的形状创键一个XLD轮廓(contour)
hv_RowIntuAll = hv_RowIntuAll.TupleConcat(hv_RowIntu);
hv_ColumnIntuAll = hv_ColumnIntuAll.TupleConcat(hv_ColumnIntu);
hv_u1 = hv_u1 + 1;
}
hv_RowIntdAll = new HTuple();
hv_ColumnIntdAll = new HTuple();
HTuple end_val109 = hv_id - 1;
HTuple step_val109 = 1;
for (hv_j = 0; hv_j.Continue(end_val109, step_val109); hv_j = hv_j.TupleAdd(step_val109))
{
HOperatorSet.LengthXld(ho_ClippedContoursd, out hv_Length);
HOperatorSet.TupleFind(hv_Length, hv_Length.TupleMax(), out hv_Indices1);
ho_ClippedContoursdObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_ClippedContoursd, out ho_ClippedContoursdObjectSelected,
hv_Indices1 + 1);
HOperatorSet.IntersectionLineContourXld(ho_ClippedContoursdObjectSelected,
hv_RowStartd, hv_ColStartd.TupleSelect(hv_j), hv_RowEndd, hv_ColEndd.TupleSelect(
hv_j), out hv_RowIntd, out hv_ColumnIntd, out hv_IsOverlappingd);
//*gen_cross_contour_xld (Cross1d, RowIntd, ColumnIntd, 12, 0)//根据每个输入点交叉的形状创键一个XLD轮廓(contour)
hv_RowIntdAll = hv_RowIntdAll.TupleConcat(hv_RowIntd);
hv_ColumnIntdAll = hv_ColumnIntdAll.TupleConcat(hv_ColumnIntd);
}
//stop ()
HOperatorSet.TupleSort(hv_RowIntuAll, out hv_Sortedu);
HOperatorSet.TupleSort(hv_RowIntdAll, out hv_Sortedd);
hv_RowIntuu = new HTuple();
hv_ColumnIntuu = new HTuple();
hv_RowIntud = new HTuple();
hv_ColumnIntud = new HTuple();
hv_uu = 0;
hv_ud = 0;
for (hv_ub1 = 0; (int)hv_ub1 <= (int)((new HTuple(hv_Sortedu.TupleLength())) - 1); hv_ub1 = (int)hv_ub1 + 1)
{
if ((int)(new HTuple(((hv_RowIntuAll.TupleSelect(hv_ub1))).TupleLess(((((hv_Sortedu.TupleSelect(
0)) * 2) + (hv_Sortedu.TupleSelect((new HTuple(hv_Sortedu.TupleLength())) - 1))) / 3) + 3))) != 0)
{
hv_RowIntuu = hv_RowIntuu.TupleConcat(hv_RowIntuAll.TupleSelect(hv_ub1));
hv_ColumnIntuu = hv_ColumnIntuu.TupleConcat(hv_ColumnIntuAll.TupleSelect(
hv_ub1));
ho_Circle.Dispose();
HOperatorSet.GenCircle(out ho_Circle, hv_RowIntuAll.TupleSelect(hv_ub1),
hv_ColumnIntuAll.TupleSelect(hv_ub1), 1);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUnionu, ho_Circle, out ExpTmpOutVar_0);
ho_RegionUnionu.Dispose();
ho_RegionUnionu = ExpTmpOutVar_0;
}
hv_uu = hv_uu + 1;
}
if ((int)(new HTuple(((hv_RowIntuAll.TupleSelect(hv_ub1))).TupleGreater((((hv_Sortedu.TupleSelect(
0)) + ((hv_Sortedu.TupleSelect((new HTuple(hv_Sortedu.TupleLength())) - 1)) * 2)) / 3) - 3))) != 0)
{
hv_RowIntud = hv_RowIntud.TupleConcat(hv_RowIntuAll.TupleSelect(hv_ub1));
hv_ColumnIntud = hv_ColumnIntud.TupleConcat(hv_ColumnIntuAll.TupleSelect(
hv_ub1));
hv_ud = hv_ud + 1;
}
}
//stop ()
hv_RowIntdu = new HTuple();
hv_ColumnIntdu = new HTuple();
hv_RowIntdd = new HTuple();
hv_ColumnIntdd = new HTuple();
hv_du = 0;
hv_dd = 0;
for (hv_db1 = 0; (int)hv_db1 <= (int)((new HTuple(hv_Sortedd.TupleLength())) - 1); hv_db1 = (int)hv_db1 + 1)
{
if ((int)(new HTuple(((hv_RowIntdAll.TupleSelect(hv_db1))).TupleLess(((((hv_Sortedd.TupleSelect(
0)) * 2) + (hv_Sortedd.TupleSelect((new HTuple(hv_Sortedd.TupleLength())) - 1))) / 3) + 3))) != 0)
{
hv_RowIntdu = hv_RowIntdu.TupleConcat(hv_RowIntdAll.TupleSelect(hv_db1));
hv_ColumnIntdu = hv_ColumnIntdu.TupleConcat(hv_ColumnIntdAll.TupleSelect(
hv_db1));
hv_du = hv_du + 1;
}
if ((int)(new HTuple(((hv_RowIntdAll.TupleSelect(hv_db1))).TupleGreater((((hv_Sortedd.TupleSelect(
0)) + ((hv_Sortedd.TupleSelect((new HTuple(hv_Sortedd.TupleLength())) - 1)) * 2)) / 3) - 3))) != 0)
{
hv_RowIntdd = hv_RowIntdd.TupleConcat(hv_RowIntdAll.TupleSelect(hv_db1));
hv_ColumnIntdd = hv_ColumnIntdd.TupleConcat(hv_ColumnIntdAll.TupleSelect(
hv_db1));
ho_Circle1.Dispose();
HOperatorSet.GenCircle(out ho_Circle1, hv_RowIntdAll.TupleSelect(hv_db1),
hv_ColumnIntdAll.TupleSelect(hv_db1), 1);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_RegionUniond, ho_Circle1, out ExpTmpOutVar_0);
ho_RegionUniond.Dispose();
ho_RegionUniond = ExpTmpOutVar_0;
}
hv_dd = hv_dd + 1;
}
}
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionUnionu, out ho_ConnectedRegions1);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions1, "area",
"and", 3, 99999);
ho_SortedRegionssdj.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions1, out ho_SortedRegionssdj, "upper_left",
"true", "column");
HOperatorSet.AreaCenter(ho_SortedRegionssdj, out hv_Areasdj, out hv_Rowsdj, out hv_Columnsdj);
ho_Region3.Dispose();
HOperatorSet.GenRegionPoints(out ho_Region3, hv_Rowsdj.TupleSelect(0), hv_Columnsdj.TupleSelect(
0));
hv_sdj = new HTuple(hv_Columnsdj.TupleLength());
ho_ConnectedRegions2.Dispose();
HOperatorSet.Connection(ho_RegionUniond, out ho_ConnectedRegions2);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions2, out ho_SelectedRegions2, "area",
"and", 3, 99999);
ho_SortedRegionsxdj.Dispose();
HOperatorSet.SortRegion(ho_SelectedRegions2, out ho_SortedRegionsxdj, "upper_left",
"true", "column");
HOperatorSet.AreaCenter(ho_SortedRegionsxdj, out hv_Areaxdj, out hv_Rowxdj, out hv_Columnxdj);
hv_xdj = new HTuple(hv_Columnxdj.TupleLength());
hv_djsl1 = new HTuple();
hv_djsl1 = hv_djsl1.TupleConcat(hv_sdj);
hv_djsl1 = hv_djsl1.TupleConcat(hv_xdj);
HOperatorSet.TupleMin(hv_djsl1, out hv_djsl);
HOperatorSet.TupleMean(hv_RowIntuu, out hv_Mean1);
HOperatorSet.TupleMean(hv_RowIntud, out hv_Mean2);
HOperatorSet.TupleMean(hv_RowIntdu, out hv_Mean3);
HOperatorSet.TupleMean(hv_RowIntdd, out hv_Mean4);
hv_Columnuu = new HTuple();
hv_Columndd = new HTuple();
hv_AngleAll = new HTuple();
HTuple end_val191 = hv_djsl - 1;
HTuple step_val191 = 1;
for (hv_l = 0; hv_l.Continue(end_val191, step_val191); hv_l = hv_l.TupleAdd(step_val191))
{
ho_RegionLines.Dispose();
HOperatorSet.GenRegionLine(out ho_RegionLines, hv_Rowsdj.TupleSelect(hv_l),
hv_Columnsdj.TupleSelect(hv_l), hv_Rowxdj.TupleSelect(hv_l), hv_Columnxdj.TupleSelect(
hv_l));
{
HObject ExpTmpOutVar_0;
HOperatorSet.Union2(ho_Region3, ho_RegionLines, out ExpTmpOutVar_0);
ho_Region3.Dispose();
ho_Region3 = ExpTmpOutVar_0;
}
HOperatorSet.AngleLx(hv_Rowsdj.TupleSelect(hv_l), hv_Columnsdj.TupleSelect(
hv_l), hv_Rowxdj.TupleSelect(hv_l), hv_Columnxdj.TupleSelect(hv_l), out hv_Angle);
hv_AngleAll = hv_AngleAll.TupleConcat(0 - hv_Angle);
if ((int)(new HTuple(hv_l.TupleGreater(0))) != 0)
{
hv_Columnuu = hv_Columnuu.TupleConcat((hv_ColumnIntuu.TupleSelect(hv_l)) - (hv_ColumnIntuu.TupleSelect(
hv_l - 1)));
hv_Columndd = hv_Columndd.TupleConcat((hv_ColumnIntdd.TupleSelect(hv_l)) - (hv_ColumnIntdd.TupleSelect(
hv_l - 1)));
}
//stop ()
}
HOperatorSet.TupleDeg(hv_AngleAll, out hv_DegAll);
HOperatorSet.TupleMean(hv_Columnuu, out hv_Mean5);
HOperatorSet.TupleMean(hv_Columndd, out hv_Mean8);
//**过滤
hv_Columnuum = new HTuple();
hv_uum1 = 0;
for (hv_uus = 0; (int)hv_uus <= (int)((new HTuple(hv_Columnuu.TupleLength())) - 1); hv_uus = (int)hv_uus + 1)
{
if ((int)((new HTuple(hv_Columnuu.TupleLessEqual(hv_Mean5 * 1.1))).TupleAnd(new HTuple(hv_Columnuu.TupleGreaterEqual(
hv_Mean5 * 0.9)))) != 0)
{
hv_Columnuum = hv_Columnuum.TupleConcat(hv_Columnuu.TupleSelect(hv_uus));
hv_uum1 = hv_uum1 + 1;
}
}
hv_Columnddm = new HTuple();
hv_ddm = 0;
for (hv_dds = 0; (int)hv_dds <= (int)((new HTuple(hv_Columndd.TupleLength())) - 1); hv_dds = (int)hv_dds + 1)
{
if ((int)((new HTuple(hv_Columndd.TupleLessEqual(hv_Mean8 * 1.1))).TupleAnd(new HTuple(hv_Columndd.TupleGreaterEqual(
hv_Mean8 * 0.9)))) != 0)
{
hv_Columnddm = hv_Columnddm.TupleConcat(hv_Columndd.TupleSelect(hv_dds));
hv_ddm = hv_ddm + 1;
}
}
hv_ColumnmArr = new HTuple();
hv_ColumnmArr = hv_ColumnmArr.TupleConcat(hv_Columnuum);
hv_ColumnmArr = hv_ColumnmArr.TupleConcat(hv_Columnddm);
HOperatorSet.TupleMean(hv_ColumnmArr, out hv_Mean9);
HOperatorSet.TupleMean(hv_DegAll, out hv_Mean10);
HOperatorSet.TupleSort(hv_DegAll, out hv_Sorteda);
hv_Ai = hv_Sorteda[0];
hv_Ax = hv_Sorteda[(new HTuple(hv_Sorteda.TupleLength())) - 1];
hv_pixeldist = 1;
hv_L = ((hv_Columnsdj.TupleSelect(hv_djsl - 1)) - (hv_Columnsdj.TupleSelect(0))) * hv_pixeldist;
hv_D = (hv_Mean4 - hv_Mean1) * hv_pixeldist;
hv_Dmax = ((hv_RowIntdd.TupleMax()) - (hv_RowIntuu.TupleMin())) * hv_pixeldist;
hv_Dmin = ((hv_RowIntdd.TupleMin()) - (hv_RowIntuu.TupleMax())) * hv_pixeldist;
hv_d = (hv_Mean3 - hv_Mean2) * hv_pixeldist;
hv_dmax = ((hv_RowIntdu.TupleMax()) - (hv_RowIntud.TupleMin())) * hv_pixeldist;
hv_dmin = ((hv_RowIntdu.TupleMin()) - (hv_RowIntud.TupleMax())) * hv_pixeldist;
hv_LS = hv_Mean9 * hv_pixeldist;
//*区域旋转
HOperatorSet.HomMat2dIdentity(out hv_HomMat2DIdentity1);
HOperatorSet.HomMat2dRotate(hv_HomMat2DIdentity1, hv_Phi, hv_Height / 2, hv_Width / 2,
out hv_HomMat2DRotate1);
ho_RegionAffineTrans1.Dispose();
HOperatorSet.AffineTransRegion(ho_Region3, out ho_RegionAffineTrans1, hv_HomMat2DRotate1,
"nearest_neighbor");
HOperatorSet.Union1(ho_RegionAffineTrans1, out RegionToDisp);
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("齿数");
hv_result = hv_result.TupleConcat(hv_djsl.D);
hv_result = hv_result.TupleConcat("螺纹长度");
hv_result = hv_result.TupleConcat(hv_L.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹大径平均值");
hv_result = hv_result.TupleConcat(hv_D.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹大径最小值");
hv_result = hv_result.TupleConcat(hv_Dmin.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹大径最大值");
hv_result = hv_result.TupleConcat(hv_Dmax.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹小径平均值");
hv_result = hv_result.TupleConcat(hv_d.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹小径最小值");
hv_result = hv_result.TupleConcat(hv_dmin.D * pixeldist);
hv_result = hv_result.TupleConcat("螺纹小径最大值");
hv_result = hv_result.TupleConcat(hv_dmax.D * pixeldist);
hv_result = hv_result.TupleConcat("牙距");
hv_result = hv_result.TupleConcat(hv_LS.D * pixeldist);
hv_result = hv_result.TupleConcat("平均牙倾角");
hv_result = hv_result.TupleConcat(hv_Mean10.D);
hv_result = hv_result.TupleConcat("最小牙倾角");
hv_result = hv_result.TupleConcat(hv_Ai.D);
hv_result = hv_result.TupleConcat("最大牙倾角");
hv_result = hv_result.TupleConcat(hv_Ax.D);
result = hv_result.Clone();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_Rectangle1.Dispose();
ho_ImageRotate.Dispose();
ho_Region1.Dispose();
ho_RegionAffineTrans.Dispose();
ho_Region2.Dispose();
ho_RegionUnionu.Dispose();
ho_RegionUniond.Dispose();
ho_Contours.Dispose();
ho_SelectedContours.Dispose();
ho_SmoothedContours1.Dispose();
ho_ClippedContoursu.Dispose();
ho_ClippedContoursd.Dispose();
ho_Rectangle2.Dispose();
ho_ClippedContoursuObjectSelected.Dispose();
ho_ClippedContoursdObjectSelected.Dispose();
ho_Circle.Dispose();
ho_Circle1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_SortedRegionssdj.Dispose();
ho_Region3.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegionsxdj.Dispose();
ho_RegionLines.Dispose();
ho_RegionAffineTrans1.Dispose();
algorithm.Region.Dispose();
}
catch
{
HTuple hv_result = GetHv_result();
hv_result = hv_result.TupleConcat("齿数");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹长度");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹大径平均值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹大径最小值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹大径最大值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹小径平均值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹小径最小值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("螺纹小径最大值");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("牙距");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("平均牙倾角");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("最小牙倾角");
hv_result = hv_result.TupleConcat(0);
hv_result = hv_result.TupleConcat("最大牙倾角");
hv_result = hv_result.TupleConcat(0);
result = hv_result.Clone();
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_Rectangle1.Dispose();
ho_ImageRotate.Dispose();
ho_Region1.Dispose();
ho_RegionAffineTrans.Dispose();
ho_Region2.Dispose();
ho_RegionUnionu.Dispose();
ho_RegionUniond.Dispose();
ho_Contours.Dispose();
ho_SelectedContours.Dispose();
ho_SmoothedContours1.Dispose();
ho_ClippedContoursu.Dispose();
ho_ClippedContoursd.Dispose();
ho_Rectangle2.Dispose();
ho_ClippedContoursuObjectSelected.Dispose();
ho_ClippedContoursdObjectSelected.Dispose();
ho_Circle.Dispose();
ho_Circle1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_SortedRegionssdj.Dispose();
ho_Region3.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegionsxdj.Dispose();
ho_RegionLines.Dispose();
ho_RegionAffineTrans1.Dispose();
algorithm.Region.Dispose();
}
finally
{
ho_Rectangle.Dispose();
ho_ImageReduced.Dispose();
ho_Region.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions.Dispose();
ho_Rectangle1.Dispose();
ho_ImageRotate.Dispose();
ho_Region1.Dispose();
ho_RegionAffineTrans.Dispose();
ho_Region2.Dispose();
ho_RegionUnionu.Dispose();
ho_RegionUniond.Dispose();
ho_Contours.Dispose();
ho_SelectedContours.Dispose();
ho_SmoothedContours1.Dispose();
ho_ClippedContoursu.Dispose();
ho_ClippedContoursd.Dispose();
ho_Rectangle2.Dispose();
ho_ClippedContoursuObjectSelected.Dispose();
ho_ClippedContoursdObjectSelected.Dispose();
ho_Circle.Dispose();
ho_Circle1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions1.Dispose();
ho_SortedRegionssdj.Dispose();
ho_Region3.Dispose();
ho_ConnectedRegions2.Dispose();
ho_SelectedRegions2.Dispose();
ho_SortedRegionsxdj.Dispose();
ho_RegionLines.Dispose();
ho_RegionAffineTrans1.Dispose();
algorithm.Region.Dispose();
}
}
public void CombinImage(HObject RawImage, int SubImageWidth, int SubImageHeight)
{
ho_Rectangle.Dispose();
HOperatorSet.GenRectangle1(out ho_Rectangle, 0, 7436, 97, 7706);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(RawImage, ho_Rectangle, out ho_ImageReduced);
ho_Region.Dispose();
HOperatorSet.Threshold(ho_ImageReduced, out ho_Region, 35, 255);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_Region, out ho_ConnectedRegions);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions, "rectangularity", "and", 0.9, 1);
HOperatorSet.AreaCenter(ho_SelectedRegions, out hv_Area, out hv_Row, out hv_Column);
// 判断图像开始位置
if ((int)((new HTuple(hv_Area.TupleGreaterEqual(50))).TupleAnd(new HTuple(hv_Area.TupleLess(50000)))) != 0)
{
if ((int)(new HTuple(((hv_ImageIndex - hv_TempIndex)).TupleNotEqual(1))) != 0)
{
hv_flag = hv_flag + 1;
}
hv_TempIndex = hv_ImageIndex.Clone();
}
//构建图像队列
if ((int)((new HTuple(hv_flag.TupleEqual(1))).TupleOr(new HTuple(hv_flag.TupleEqual(2)))) != 0)
{
{
HObject ExpTmpOutVar_0;
HOperatorSet.ConcatObj(ho_TotalImage, RawImage, out ExpTmpOutVar_0);
ho_TotalImage.Dispose();
ho_TotalImage = ExpTmpOutVar_0;
}
hv_ImageCount = hv_ImageCount + 1;
}
//判断图像结束位置
HTuple hv_StartRow = new HTuple(), hv_StartColumn = new HTuple();
HTuple hv_Row1 = new HTuple(), hv_Column1 = new HTuple(), hv_Row2 = new HTuple(), hv_Column2 = new HTuple();
HTuple hv_j = new HTuple();
if ((int)(new HTuple(hv_flag.TupleEqual(2))) != 0)
{
hv_flag = 1;
HTuple end_val459 = hv_ImageCount - 1;
HTuple step_val459 = 1;
for (hv_j = 0; hv_j.Continue(end_val459, step_val459); hv_j = hv_j.TupleAdd(step_val459))
{
if (hv_StartRow == null)
{
hv_StartRow = new HTuple();
}
hv_StartRow[hv_j] = SubImageHeight * hv_j;
if (hv_StartColumn == null)
{
hv_StartColumn = new HTuple();
}
hv_StartColumn[hv_j] = 0;
if (hv_Row1 == null)
{
hv_Row1 = new HTuple();
}
hv_Row1[hv_j] = -1;
if (hv_Column1 == null)
{
hv_Column1 = new HTuple();
}
hv_Column1[hv_j] = -1;
if (hv_Row2 == null)
{
hv_Row2 = new HTuple();
}
hv_Row2[hv_j] = -1;
if (hv_Column2 == null)
{
hv_Column2 = new HTuple();
}
hv_Column2[hv_j] = -1;
}
HOperatorSet.TileImagesOffset(ho_TotalImage, out ho_TiledImage, hv_StartRow, hv_StartColumn, hv_Row1, hv_Column1, hv_Row2, hv_Column2, SubImageWidth, SubImageHeight * hv_ImageCount);
HOperatorSet.CopyImage(ho_TiledImage, out Model.RawImageSequence[AcquisionImageCount]);
if (AcquisionImageCount == 0)
{
Model.AccessImageIndex = 0;
}
else if (AcquisionImageCount == 1)
{
Model.AccessImageIndex = 1;
}
else if (AcquisionImageCount == 2)
{
Model.AccessImageIndex = 2;
}
else if (AcquisionImageCount == 3)
{
Model.AccessImageIndex = 3;
}
//SaveImage(CommonModuleClass.RawImageSequence[AcquisionImageCount], false);
hv_ImageCount = 1;
ho_TiledImage.Dispose();
ho_TotalImage.Dispose();
HOperatorSet.CopyImage(RawImage, out ho_TotalImage);
if (ho_CopyImage != null)
{
HOperatorSet.ClearWindow(Model.MainUI_Camera_WindowID);
HOperatorSet.DispObj(Model.RawImageSequence[AcquisionImageCount], Model.MainUI_Camera_WindowID);
}
AcquisionImageCount++;
if (AcquisionImageCount == 4)
{
AcquisionImageCount = 0;
}
}
hv_ImageIndex++;
}
/// <summary>
/// Extracts the calibration plate and the marks on this plate
/// for the supplied image
/// </summary>
public void find_caltab_edges(HObject ho_Image,
out HObject ho_Caltab,
out HObject ho_Marks,
HTuple hv_DescriptionFileName)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_ImageMean, ho_RegionDynThresh, ho_RegionBorder;
HObject ho_RegionOpening1, ho_ConnectedRegions1, ho_SelectedRegions4;
HObject ho_SelectedRegions5, ho_RegionBorder2, ho_RegionTrans;
HObject ho_RegionErosion, ho_RegionBorder1, ho_RegionDilation2;
HObject ho_RegionDifference1, ho_RegionOpening, ho_ConnectedRegions;
HObject ho_SelectedRegions2, ho_SelectedRegions, ho_RegionFillUp;
HObject ho_SelectedRegions1, ho_RegionIntersection, ho_RegionFillUp1;
HObject ho_RegionDifference, ho_CaltabCandidates, ho_ObjectSelected = null;
HObject ho_ConnectedMarks = null, ho_ObjectSelectedCaltab = null;
HObject ho_RegionFillUpCand, ho_MarksCand, ho_RegionDilation1;
HObject ho_ImageReduced, ho_DefaultEdges, ho_UnionContours;
HObject ho_SelectedXLD, ho_SelectedXLD1;
// Local control variables
HTuple hv_Width, hv_Height, hv_EstimatedCaltabSize;
HTuple hv_EstimatedMarkSize, hv_Number, hv_X, hv_Y, hv_Z;
HTuple hv_NumDescrMarks, hv_Index, hv_NumberMarks = new HTuple();
HTuple hv_Anisometry = new HTuple(), hv_Bulkiness = new HTuple();
HTuple hv_StructureFactor = new HTuple(), hv_AreaMarks = new HTuple();
HTuple hv_Row = new HTuple(), hv_Column = new HTuple(), hv_Rectangularity;
HTuple hv_SortedIndex, hv_IndexBest, hv_MinContrast, hv_NumberCand;
HTuple hv_Area, hv_Dummy, hv_DummyS, hv_AreaMedian;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Caltab);
HOperatorSet.GenEmptyObj(out ho_Marks);
HOperatorSet.GenEmptyObj(out ho_ImageMean);
HOperatorSet.GenEmptyObj(out ho_RegionDynThresh);
HOperatorSet.GenEmptyObj(out ho_RegionBorder);
HOperatorSet.GenEmptyObj(out ho_RegionOpening1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions4);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions5);
HOperatorSet.GenEmptyObj(out ho_RegionBorder2);
HOperatorSet.GenEmptyObj(out ho_RegionTrans);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_RegionBorder1);
HOperatorSet.GenEmptyObj(out ho_RegionDilation2);
HOperatorSet.GenEmptyObj(out ho_RegionDifference1);
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_RegionIntersection);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_RegionDifference);
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_ConnectedMarks);
HOperatorSet.GenEmptyObj(out ho_ObjectSelectedCaltab);
HOperatorSet.GenEmptyObj(out ho_RegionFillUpCand);
HOperatorSet.GenEmptyObj(out ho_MarksCand);
HOperatorSet.GenEmptyObj(out ho_RegionDilation1);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_DefaultEdges);
HOperatorSet.GenEmptyObj(out ho_UnionContours);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD1);
//
ho_Marks.Dispose();
HOperatorSet.GenEmptyObj(out ho_Marks);
ho_Caltab.Dispose();
HOperatorSet.GenEmptyObj(out ho_Caltab);
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
hv_EstimatedCaltabSize = (((((hv_Width.TupleConcat(hv_Height))).TupleMax()) / 2.5)).TupleRound()
;
hv_EstimatedMarkSize = ((hv_EstimatedCaltabSize / 12.0)).TupleRound();
ho_ImageMean.Dispose();
HOperatorSet.MeanImage(ho_Image, out ho_ImageMean, hv_EstimatedMarkSize * 3, hv_EstimatedMarkSize * 3);
ho_RegionDynThresh.Dispose();
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionDynThresh, 3,
"light");
ho_RegionBorder.Dispose();
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionBorder, 20, "dark");
ho_RegionOpening1.Dispose();
HOperatorSet.OpeningCircle(ho_RegionBorder, out ho_RegionOpening1, 1.5);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionOpening1, out ho_ConnectedRegions1);
ho_SelectedRegions4.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions4, "compactness",
"and", 17, 50);
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions4, out ho_SelectedRegions5, "anisometry",
"and", 1, 1.4);
ho_RegionBorder2.Dispose();
HOperatorSet.Boundary(ho_SelectedRegions5, out ho_RegionBorder2, "outer");
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_RegionBorder2, out ho_SelectedRegions5, "circularity",
"and", 0.006, 1);
ho_RegionTrans.Dispose();
HOperatorSet.ShapeTrans(ho_SelectedRegions5, out ho_RegionTrans, "rectangle2");
ho_RegionErosion.Dispose();
HOperatorSet.ErosionCircle(ho_RegionTrans, out ho_RegionErosion, (hv_Width / 640.0) * 5.5);
ho_RegionBorder1.Dispose();
HOperatorSet.Boundary(ho_RegionErosion, out ho_RegionBorder1, "inner");
ho_RegionDilation2.Dispose();
HOperatorSet.DilationCircle(ho_RegionBorder1, out ho_RegionDilation2, 3.5);
ho_RegionDifference1.Dispose();
HOperatorSet.Difference(ho_RegionDynThresh, ho_RegionDilation2, out ho_RegionDifference1
);
ho_RegionOpening.Dispose();
HOperatorSet.OpeningCircle(ho_RegionDifference1, out ho_RegionOpening, (hv_Width / 640) * 1.5);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionOpening, out ho_ConnectedRegions);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions2, "area",
"and", (hv_EstimatedCaltabSize.TuplePow(2)) / 10, (hv_EstimatedCaltabSize.TuplePow(
2)) * 5);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions2, out ho_SelectedRegions, "compactness",
"and", 1.4, 10);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_SelectedRegions, out ho_RegionFillUp);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp, out ho_SelectedRegions1, "rectangularity",
"and", 0.6, 1);
ho_RegionIntersection.Dispose();
HOperatorSet.Intersection(ho_SelectedRegions1, ho_RegionDynThresh, out ho_RegionIntersection
);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_RegionIntersection, out ho_RegionFillUp1);
ho_RegionDifference.Dispose();
HOperatorSet.Difference(ho_RegionFillUp1, ho_RegionIntersection, out ho_RegionDifference
);
HOperatorSet.CountObj(ho_RegionDifference, out hv_Number);
ho_CaltabCandidates.Dispose();
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
HOperatorSet.CaltabPoints(hv_DescriptionFileName, out hv_X, out hv_Y, out hv_Z);
hv_NumDescrMarks = new HTuple(hv_X.TupleLength());
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_RegionDifference, out ho_ObjectSelected, hv_Index);
ho_ConnectedMarks.Dispose();
HOperatorSet.Connection(ho_ObjectSelected, out ho_ConnectedMarks);
HOperatorSet.CountObj(ho_ConnectedMarks, out hv_NumberMarks);
HOperatorSet.Eccentricity(ho_ConnectedMarks, out hv_Anisometry, out hv_Bulkiness,
out hv_StructureFactor);
HOperatorSet.AreaCenter(ho_ConnectedMarks, out hv_AreaMarks, out hv_Row, out hv_Column);
ho_ObjectSelectedCaltab.Dispose();
HOperatorSet.SelectObj(ho_RegionIntersection, out ho_ObjectSelectedCaltab,
hv_Index);
if ((int)((new HTuple((new HTuple((new HTuple(hv_NumberMarks.TupleGreaterEqual(
10))).TupleAnd(new HTuple(hv_NumberMarks.TupleLess(hv_NumDescrMarks + 20))))).TupleAnd(
new HTuple(((((hv_Anisometry.TupleSort())).TupleSelect((new HTuple(hv_Anisometry.TupleLength()
)) / 2))).TupleLess(2))))).TupleAnd(new HTuple((new HTuple(hv_AreaMarks.TupleMean()
)).TupleGreater(20)))) != 0)
{
HOperatorSet.ConcatObj(ho_CaltabCandidates, ho_ObjectSelectedCaltab, out OTemp[0]
);
ho_CaltabCandidates.Dispose();
ho_CaltabCandidates = OTemp[0];
}
}
ho_RegionFillUpCand.Dispose();
HOperatorSet.FillUp(ho_CaltabCandidates, out ho_RegionFillUpCand);
HOperatorSet.Rectangularity(ho_RegionFillUpCand, out hv_Rectangularity);
if ((int)(new HTuple((new HTuple(hv_Rectangularity.TupleLength())).TupleEqual(
0))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
hv_SortedIndex = hv_Rectangularity.TupleSortIndex();
hv_IndexBest = (((hv_SortedIndex.TupleInverse())).TupleSelect(0)) + 1;
ho_Caltab.Dispose();
HOperatorSet.SelectObj(ho_RegionFillUpCand, out ho_Caltab, hv_IndexBest);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_Caltab, out ho_RegionFillUp);
ho_MarksCand.Dispose();
HOperatorSet.Difference(ho_RegionFillUp, ho_RegionDynThresh, out ho_MarksCand
);
ho_RegionBorder.Dispose();
HOperatorSet.Boundary(ho_MarksCand, out ho_RegionBorder, "inner");
ho_RegionDilation1.Dispose();
HOperatorSet.DilationCircle(ho_RegionBorder, out ho_RegionDilation1, 9.5);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_RegionDilation1, out ho_ImageReduced);
hv_MinContrast = 10;
ho_DefaultEdges.Dispose();
HOperatorSet.EdgesSubPix(ho_ImageReduced, out ho_DefaultEdges, "canny", 2, hv_MinContrast / 2,
hv_MinContrast);
HOperatorSet.CountObj(ho_DefaultEdges, out hv_NumberCand);
if ((int)(new HTuple(hv_NumberCand.TupleLess(10))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
ho_UnionContours.Dispose();
HOperatorSet.UnionCocircularContoursXld(ho_DefaultEdges, out ho_UnionContours,
0.5, 0.1, 0.2, 30, 10, 10, "true", 1);
ho_SelectedXLD.Dispose();
HOperatorSet.SelectShapeXld(ho_UnionContours, out ho_SelectedXLD, "area", "and",
30, 10000);
ho_SelectedXLD1.Dispose();
HOperatorSet.SelectShapeXld(ho_SelectedXLD, out ho_SelectedXLD1, "circularity",
"and", 0.4, 1);
ho_MarksCand.Dispose();
HOperatorSet.SelectShapeXld(ho_SelectedXLD1, out ho_MarksCand, "compactness",
"and", 1, 1.5);
HOperatorSet.AreaCenterXld(ho_MarksCand, out hv_Area, out hv_Dummy, out hv_Dummy,
out hv_DummyS);
HOperatorSet.CountObj(ho_MarksCand, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleLess(4))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
hv_AreaMedian = ((hv_Area.TupleSort())).TupleSelect(hv_Number / 2);
ho_Marks.Dispose();
HOperatorSet.SelectShapeXld(ho_MarksCand, out ho_Marks, "area", "and", hv_AreaMedian - (hv_AreaMedian * 0.5),
hv_AreaMedian + (hv_AreaMedian * 0.5));
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
/// <summary>
/// Extracts the calibration plate and the marks on this plate
/// for the supplied image
/// </summary>
public void find_caltab_edges(HObject ho_Image,
out HObject ho_Caltab,
out HObject ho_Marks,
HTuple hv_DescriptionFileName)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
long SP_O = 0;
// Local iconic variables
HObject ho_ImageMean, ho_RegionDynThresh, ho_RegionBorder;
HObject ho_RegionOpening1, ho_ConnectedRegions1, ho_SelectedRegions4;
HObject ho_SelectedRegions5, ho_RegionBorder2, ho_RegionTrans;
HObject ho_RegionErosion, ho_RegionBorder1, ho_RegionDilation2;
HObject ho_RegionDifference1, ho_RegionOpening, ho_ConnectedRegions;
HObject ho_SelectedRegions2, ho_SelectedRegions, ho_RegionFillUp;
HObject ho_SelectedRegions1, ho_RegionIntersection, ho_RegionFillUp1;
HObject ho_RegionDifference, ho_CaltabCandidates, ho_ObjectSelected = null;
HObject ho_ConnectedMarks = null, ho_ObjectSelectedCaltab = null;
HObject ho_RegionFillUpCand, ho_MarksCand, ho_RegionDilation1;
HObject ho_ImageReduced, ho_DefaultEdges, ho_UnionContours;
HObject ho_SelectedXLD, ho_SelectedXLD1;
// Local control variables
HTuple hv_ExpDefaultCtrlDummyVar, hv_Width;
HTuple hv_Height, hv_EstimatedCaltabSize, hv_EstimatedMarkSize;
HTuple hv_Number, hv_X, hv_Y, hv_Z, hv_NumDescrMarks, hv_Index;
HTuple hv_NumberMarks = new HTuple(), hv_Anisometry = new HTuple();
HTuple hv_Bulkiness = new HTuple(), hv_StructureFactor = new HTuple();
HTuple hv_AreaMarks = new HTuple(), hv_Row = new HTuple();
HTuple hv_Column = new HTuple(), hv_Rectangularity, hv_SortedIndex;
HTuple hv_IndexBest, hv_MinContrast, hv_NumberCand, hv_Area;
HTuple hv_Dummy, hv_DummyS, hv_AreaMedian;
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Caltab);
HOperatorSet.GenEmptyObj(out ho_Marks);
HOperatorSet.GenEmptyObj(out ho_ImageMean);
HOperatorSet.GenEmptyObj(out ho_RegionDynThresh);
HOperatorSet.GenEmptyObj(out ho_RegionBorder);
HOperatorSet.GenEmptyObj(out ho_RegionOpening1);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions1);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions4);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions5);
HOperatorSet.GenEmptyObj(out ho_RegionBorder2);
HOperatorSet.GenEmptyObj(out ho_RegionTrans);
HOperatorSet.GenEmptyObj(out ho_RegionErosion);
HOperatorSet.GenEmptyObj(out ho_RegionBorder1);
HOperatorSet.GenEmptyObj(out ho_RegionDilation2);
HOperatorSet.GenEmptyObj(out ho_RegionDifference1);
HOperatorSet.GenEmptyObj(out ho_RegionOpening);
HOperatorSet.GenEmptyObj(out ho_ConnectedRegions);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions2);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp);
HOperatorSet.GenEmptyObj(out ho_SelectedRegions1);
HOperatorSet.GenEmptyObj(out ho_RegionIntersection);
HOperatorSet.GenEmptyObj(out ho_RegionFillUp1);
HOperatorSet.GenEmptyObj(out ho_RegionDifference);
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
HOperatorSet.GenEmptyObj(out ho_ObjectSelected);
HOperatorSet.GenEmptyObj(out ho_ConnectedMarks);
HOperatorSet.GenEmptyObj(out ho_ObjectSelectedCaltab);
HOperatorSet.GenEmptyObj(out ho_RegionFillUpCand);
HOperatorSet.GenEmptyObj(out ho_MarksCand);
HOperatorSet.GenEmptyObj(out ho_RegionDilation1);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_DefaultEdges);
HOperatorSet.GenEmptyObj(out ho_UnionContours);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD);
HOperatorSet.GenEmptyObj(out ho_SelectedXLD1);
//
ho_Marks.Dispose();
HOperatorSet.GenEmptyObj(out ho_Marks);
ho_Caltab.Dispose();
HOperatorSet.GenEmptyObj(out ho_Caltab);
HOperatorSet.GetImagePointer1(ho_Image, out hv_ExpDefaultCtrlDummyVar, out hv_ExpDefaultCtrlDummyVar,
out hv_Width, out hv_Height);
hv_EstimatedCaltabSize = (((((hv_Width.TupleConcat(hv_Height))).TupleMax()) / 2.5)).TupleRound()
;
hv_EstimatedMarkSize = ((hv_EstimatedCaltabSize / 12.0)).TupleRound();
ho_ImageMean.Dispose();
HOperatorSet.MeanImage(ho_Image, out ho_ImageMean, hv_EstimatedMarkSize * 3, hv_EstimatedMarkSize * 3);
ho_RegionDynThresh.Dispose();
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionDynThresh, 3,
"light");
ho_RegionBorder.Dispose();
HOperatorSet.DynThreshold(ho_Image, ho_ImageMean, out ho_RegionBorder, 20, "dark");
ho_RegionOpening1.Dispose();
HOperatorSet.OpeningCircle(ho_RegionBorder, out ho_RegionOpening1, 1.5);
ho_ConnectedRegions1.Dispose();
HOperatorSet.Connection(ho_RegionOpening1, out ho_ConnectedRegions1);
ho_SelectedRegions4.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions1, out ho_SelectedRegions4, "compactness",
"and", 17, 50);
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions4, out ho_SelectedRegions5, "anisometry",
"and", 1, 1.4);
ho_RegionBorder2.Dispose();
HOperatorSet.Boundary(ho_SelectedRegions5, out ho_RegionBorder2, "outer");
ho_SelectedRegions5.Dispose();
HOperatorSet.SelectShape(ho_RegionBorder2, out ho_SelectedRegions5, "circularity",
"and", 0.006, 1);
ho_RegionTrans.Dispose();
HOperatorSet.ShapeTrans(ho_SelectedRegions5, out ho_RegionTrans, "rectangle2");
ho_RegionErosion.Dispose();
HOperatorSet.ErosionCircle(ho_RegionTrans, out ho_RegionErosion, (hv_Width / 640.0) * 5.5);
ho_RegionBorder1.Dispose();
HOperatorSet.Boundary(ho_RegionErosion, out ho_RegionBorder1, "inner");
ho_RegionDilation2.Dispose();
HOperatorSet.DilationCircle(ho_RegionBorder1, out ho_RegionDilation2, 3.5);
ho_RegionDifference1.Dispose();
HOperatorSet.Difference(ho_RegionDynThresh, ho_RegionDilation2, out ho_RegionDifference1
);
ho_RegionOpening.Dispose();
HOperatorSet.OpeningCircle(ho_RegionDifference1, out ho_RegionOpening, (hv_Width / 640) * 1.5);
ho_ConnectedRegions.Dispose();
HOperatorSet.Connection(ho_RegionOpening, out ho_ConnectedRegions);
ho_SelectedRegions2.Dispose();
HOperatorSet.SelectShape(ho_ConnectedRegions, out ho_SelectedRegions2, "area",
"and", (hv_EstimatedCaltabSize.TuplePow(2)) / 10, (hv_EstimatedCaltabSize.TuplePow(
2)) * 5);
ho_SelectedRegions.Dispose();
HOperatorSet.SelectShape(ho_SelectedRegions2, out ho_SelectedRegions, "compactness",
"and", 1.4, 10);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_SelectedRegions, out ho_RegionFillUp);
ho_SelectedRegions1.Dispose();
HOperatorSet.SelectShape(ho_RegionFillUp, out ho_SelectedRegions1, "rectangularity",
"and", 0.6, 1);
ho_RegionIntersection.Dispose();
HOperatorSet.Intersection(ho_SelectedRegions1, ho_RegionDynThresh, out ho_RegionIntersection
);
ho_RegionFillUp1.Dispose();
HOperatorSet.FillUp(ho_RegionIntersection, out ho_RegionFillUp1);
ho_RegionDifference.Dispose();
HOperatorSet.Difference(ho_RegionFillUp1, ho_RegionIntersection, out ho_RegionDifference
);
HOperatorSet.CountObj(ho_RegionDifference, out hv_Number);
ho_CaltabCandidates.Dispose();
HOperatorSet.GenEmptyObj(out ho_CaltabCandidates);
HOperatorSet.CaltabPoints(hv_DescriptionFileName, out hv_X, out hv_Y, out hv_Z);
hv_NumDescrMarks = new HTuple(hv_X.TupleLength());
for (hv_Index = 1; hv_Index.Continue(hv_Number, 1); hv_Index = hv_Index.TupleAdd(1))
{
ho_ObjectSelected.Dispose();
HOperatorSet.SelectObj(ho_RegionDifference, out ho_ObjectSelected, hv_Index);
ho_ConnectedMarks.Dispose();
HOperatorSet.Connection(ho_ObjectSelected, out ho_ConnectedMarks);
HOperatorSet.CountObj(ho_ConnectedMarks, out hv_NumberMarks);
HOperatorSet.Eccentricity(ho_ConnectedMarks, out hv_Anisometry, out hv_Bulkiness,
out hv_StructureFactor);
HOperatorSet.AreaCenter(ho_ConnectedMarks, out hv_AreaMarks, out hv_Row, out hv_Column);
ho_ObjectSelectedCaltab.Dispose();
HOperatorSet.SelectObj(ho_RegionIntersection, out ho_ObjectSelectedCaltab,
hv_Index);
if ((int)((new HTuple((new HTuple((new HTuple(hv_NumberMarks.TupleGreaterEqual(
10))).TupleAnd(new HTuple(hv_NumberMarks.TupleLess(hv_NumDescrMarks + 20))))).TupleAnd(
new HTuple(((((hv_Anisometry.TupleSort())).TupleSelect((new HTuple(hv_Anisometry.TupleLength()
)) / 2))).TupleLess(2))))).TupleAnd(new HTuple((new HTuple(hv_AreaMarks.TupleMean()
)).TupleGreater(20)))) != 0)
{
OTemp[SP_O] = ho_CaltabCandidates.CopyObj(1, -1);
SP_O++;
ho_CaltabCandidates.Dispose();
HOperatorSet.ConcatObj(OTemp[SP_O - 1], ho_ObjectSelectedCaltab, out ho_CaltabCandidates
);
OTemp[SP_O - 1].Dispose();
SP_O = 0;
}
}
ho_RegionFillUpCand.Dispose();
HOperatorSet.FillUp(ho_CaltabCandidates, out ho_RegionFillUpCand);
HOperatorSet.Rectangularity(ho_RegionFillUpCand, out hv_Rectangularity);
if ((int)(new HTuple((new HTuple(hv_Rectangularity.TupleLength())).TupleEqual(
0))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
hv_SortedIndex = hv_Rectangularity.TupleSortIndex();
hv_IndexBest = (((hv_SortedIndex.TupleInverse())).TupleSelect(0)) + 1;
ho_Caltab.Dispose();
HOperatorSet.SelectObj(ho_RegionFillUpCand, out ho_Caltab, hv_IndexBest);
ho_RegionFillUp.Dispose();
HOperatorSet.FillUp(ho_Caltab, out ho_RegionFillUp);
ho_MarksCand.Dispose();
HOperatorSet.Difference(ho_RegionFillUp, ho_RegionDynThresh, out ho_MarksCand
);
ho_RegionBorder.Dispose();
HOperatorSet.Boundary(ho_MarksCand, out ho_RegionBorder, "inner");
ho_RegionDilation1.Dispose();
HOperatorSet.DilationCircle(ho_RegionBorder, out ho_RegionDilation1, 9.5);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_Image, ho_RegionDilation1, out ho_ImageReduced);
hv_MinContrast = 10;
ho_DefaultEdges.Dispose();
HOperatorSet.EdgesSubPix(ho_ImageReduced, out ho_DefaultEdges, "canny", 2, hv_MinContrast / 2,
hv_MinContrast);
HOperatorSet.CountObj(ho_DefaultEdges, out hv_NumberCand);
if ((int)(new HTuple(hv_NumberCand.TupleLess(10))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
ho_UnionContours.Dispose();
HOperatorSet.UnionCocircularContoursXld(ho_DefaultEdges, out ho_UnionContours,
0.5, 0.1, 0.2, 30, 10, 10, "true", 1);
ho_SelectedXLD.Dispose();
HOperatorSet.SelectShapeXld(ho_UnionContours, out ho_SelectedXLD, "area", "and",
30, 10000);
ho_SelectedXLD1.Dispose();
HOperatorSet.SelectShapeXld(ho_SelectedXLD, out ho_SelectedXLD1, "circularity",
"and", 0.4, 1);
ho_MarksCand.Dispose();
HOperatorSet.SelectShapeXld(ho_SelectedXLD1, out ho_MarksCand, "compactness",
"and", 1, 1.5);
HOperatorSet.AreaCenterXld(ho_MarksCand, out hv_Area, out hv_Dummy, out hv_Dummy,
out hv_DummyS);
HOperatorSet.CountObj(ho_MarksCand, out hv_Number);
if ((int)(new HTuple(hv_Number.TupleLess(4))) != 0)
{
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
hv_AreaMedian = ((hv_Area.TupleSort())).TupleSelect(hv_Number / 2);
ho_Marks.Dispose();
HOperatorSet.SelectShapeXld(ho_MarksCand, out ho_Marks, "area", "and", hv_AreaMedian - (hv_AreaMedian * 0.5),
hv_AreaMedian + (hv_AreaMedian * 0.5));
ho_ImageMean.Dispose();
ho_RegionDynThresh.Dispose();
ho_RegionBorder.Dispose();
ho_RegionOpening1.Dispose();
ho_ConnectedRegions1.Dispose();
ho_SelectedRegions4.Dispose();
ho_SelectedRegions5.Dispose();
ho_RegionBorder2.Dispose();
ho_RegionTrans.Dispose();
ho_RegionErosion.Dispose();
ho_RegionBorder1.Dispose();
ho_RegionDilation2.Dispose();
ho_RegionDifference1.Dispose();
ho_RegionOpening.Dispose();
ho_ConnectedRegions.Dispose();
ho_SelectedRegions2.Dispose();
ho_SelectedRegions.Dispose();
ho_RegionFillUp.Dispose();
ho_SelectedRegions1.Dispose();
ho_RegionIntersection.Dispose();
ho_RegionFillUp1.Dispose();
ho_RegionDifference.Dispose();
ho_CaltabCandidates.Dispose();
ho_ObjectSelected.Dispose();
ho_ConnectedMarks.Dispose();
ho_ObjectSelectedCaltab.Dispose();
ho_RegionFillUpCand.Dispose();
ho_MarksCand.Dispose();
ho_RegionDilation1.Dispose();
ho_ImageReduced.Dispose();
ho_DefaultEdges.Dispose();
ho_UnionContours.Dispose();
ho_SelectedXLD.Dispose();
ho_SelectedXLD1.Dispose();
return;
}
public void GetParallelLineFromDistance(HTuple hv_LineInRow, HTuple hv_LineInCol,
HTuple hv_LineInRow1, HTuple hv_LineInCol1, HTuple hv_Distance, HTuple hv_Direction,
HTuple hv_Polarity, out HTuple hv_LineOutRow, out HTuple hv_LineOutCol, out HTuple hv_LineOutRow1,
out HTuple hv_LineOutCol1, out HTuple hv_k, out HTuple hv_b)
{
// Local control variables
HTuple hv_RealDeltaCol, hv_RealDeltaRow, hv_kIn;
HTuple hv_bIn, hv_k1, hv_b1, hv_k2, hv_b2, hv_Sqrt1, hv_Sqrt2;
HTuple hv_row1, hv_col1, hv_rowTemp1, hv_colTemp1, hv_row2;
HTuple hv_col2, hv_rowTemp2, hv_colTemp2;
// Initialize local and output iconic variables
hv_LineOutRow = new HTuple();
hv_LineOutCol = new HTuple();
hv_LineOutRow1 = new HTuple();
hv_LineOutCol1 = new HTuple();
HOperatorSet.TupleReal(hv_LineInCol1 - hv_LineInCol, out hv_RealDeltaCol);
HOperatorSet.TupleReal(hv_LineInRow1 - hv_LineInRow, out hv_RealDeltaRow);
hv_kIn = hv_RealDeltaCol / hv_RealDeltaRow;
hv_bIn = hv_LineInCol - (hv_kIn * hv_LineInRow);
hv_k = hv_kIn.Clone();
hv_b = hv_bIn.Clone();
hv_k1 = -1 / hv_kIn;
hv_b1 = ((hv_LineInRow * hv_kIn) + hv_bIn) - (hv_k1 * hv_LineInRow);
hv_k2 = hv_k1.Clone();
hv_b2 = ((hv_LineInRow1 * hv_kIn) + hv_bIn) - (hv_k2 * hv_LineInRow1);
//找出目标点
HOperatorSet.TupleSqrt((hv_Distance * hv_Distance) / ((hv_k1 * hv_k1) + 1), out hv_Sqrt1);
HOperatorSet.TupleSqrt((hv_Distance * hv_Distance) / ((hv_k2 * hv_k2) + 1), out hv_Sqrt2);
hv_row1 = hv_Sqrt1 + hv_LineInRow;
hv_col1 = (hv_k1 * hv_row1) + hv_b1;
hv_rowTemp1 = hv_Sqrt2 + hv_LineInRow1;
hv_colTemp1 = (hv_k2 * hv_rowTemp1) + hv_b2;
//另一条平行线
hv_row2 = (-hv_Sqrt1) + hv_LineInRow;
hv_col2 = (hv_k1 * hv_row2) + hv_b1;
hv_rowTemp2 = (-hv_Sqrt2) + hv_LineInRow1;
hv_colTemp2 = (hv_k2 * hv_rowTemp2) + hv_b2;
if ((int)(new HTuple(hv_Direction.TupleEqual("row"))) != 0)
{
if ((int)(new HTuple(hv_Polarity.TupleGreaterEqual(0))) != 0)
{
hv_LineOutRow = hv_row1.Clone();
hv_LineOutCol = hv_col1.Clone();
hv_LineOutRow1 = hv_rowTemp1.Clone();
hv_LineOutCol1 = hv_colTemp1.Clone();
}
else
{
hv_LineOutRow = hv_row2.Clone();
hv_LineOutCol = hv_col2.Clone();
hv_LineOutRow1 = hv_rowTemp2.Clone();
hv_LineOutCol1 = hv_colTemp2.Clone();
}
}
if ((int)(new HTuple(hv_Direction.TupleEqual("col"))) != 0)
{
if ((int)(new HTuple(hv_Polarity.TupleGreaterEqual(0))) != 0)
{
if ((int)(new HTuple(hv_col1.TupleGreaterEqual(hv_LineInCol))) != 0)
{
hv_LineOutCol = hv_col1.Clone();
hv_LineOutRow = hv_row1.Clone();
hv_LineOutRow1 = hv_rowTemp1.Clone();
hv_LineOutCol1 = hv_colTemp1.Clone();
}
else
{
hv_LineOutCol = hv_col2.Clone();
hv_LineOutRow = hv_row2.Clone();
hv_LineOutRow1 = hv_rowTemp2.Clone();
hv_LineOutCol1 = hv_colTemp2.Clone();
}
}
else
{
if ((int)(new HTuple(hv_col1.TupleGreaterEqual(hv_LineInCol))) != 0)
{
hv_LineOutCol = hv_col2.Clone();
hv_LineOutRow = hv_row2.Clone();
hv_LineOutRow1 = hv_rowTemp2.Clone();
hv_LineOutCol1 = hv_colTemp2.Clone();
}
else
{
hv_LineOutCol = hv_col1.Clone();
hv_LineOutRow = hv_row1.Clone();
hv_LineOutRow1 = hv_rowTemp1.Clone();
hv_LineOutCol1 = hv_colTemp1.Clone();
}
}
}
return;
}
// Local procedures
public void GetVerticalFromDistance(HTuple hv_FootRow, HTuple hv_FootCol, HTuple hv_LineRowStart,
HTuple hv_LineColStart, HTuple hv_LineRowEnd, HTuple hv_LineColEnd, HTuple hv_Distance,
HTuple hv_Direction, HTuple hv_Polarity, out HTuple hv_TargetRow, out HTuple hv_TargetCol,
out HTuple hv_k, out HTuple hv_b, out HTuple hv_kIn, out HTuple hv_bIn)
{
// Local control variables
HTuple hv_RealDeltaCol, hv_RealDeltaRow, hv_Sqrt;
HTuple hv_row1, hv_col1, hv_row2, hv_col2, hv_TargetCo1 = new HTuple();
// Initialize local and output iconic variables
hv_TargetRow = new HTuple();
hv_TargetCol = new HTuple();
HOperatorSet.TupleReal(hv_LineColEnd - hv_LineColStart, out hv_RealDeltaCol);
HOperatorSet.TupleReal(hv_LineRowEnd - hv_LineRowStart, out hv_RealDeltaRow);
hv_kIn = hv_RealDeltaCol / hv_RealDeltaRow;
hv_bIn = hv_FootCol - (hv_kIn * hv_FootRow);
hv_k = -1 / hv_kIn;
hv_b = ((hv_FootRow * hv_kIn) + hv_bIn) - (hv_k * hv_FootRow);
//找出目标点
HOperatorSet.TupleSqrt((hv_Distance * hv_Distance) / ((hv_k * hv_k) + 1), out hv_Sqrt);
hv_row1 = hv_Sqrt + hv_FootRow;
hv_col1 = (hv_k * hv_row1) + hv_b;
hv_row2 = (-hv_Sqrt) + hv_FootRow;
hv_col2 = (hv_k * hv_row2) + hv_b;
if ((int)(new HTuple(hv_Direction.TupleEqual("row"))) != 0)
{
if ((int)(new HTuple(hv_Polarity.TupleGreaterEqual(0))) != 0)
{
hv_TargetRow = hv_row1.Clone();
hv_TargetCol = hv_col1.Clone();
}
else
{
hv_TargetRow = hv_row2.Clone();
hv_TargetCol = hv_col2.Clone();
}
}
if ((int)(new HTuple(hv_Direction.TupleEqual("col"))) != 0)
{
if ((int)(new HTuple(hv_Polarity.TupleGreaterEqual(0))) != 0)
{
if ((int)(new HTuple(hv_col1.TupleGreaterEqual(hv_FootCol))) != 0)
{
hv_TargetCo1 = hv_col1.Clone();
hv_TargetRow = hv_row1.Clone();
}
else
{
hv_TargetCo1 = hv_col2.Clone();
hv_TargetRow = hv_row1.Clone();
}
}
else
{
if ((int)(new HTuple(hv_col1.TupleGreaterEqual(hv_FootCol))) != 0)
{
hv_TargetCo1 = hv_col2.Clone();
hv_TargetRow = hv_row2.Clone();
}
else
{
hv_TargetCo1 = hv_col1.Clone();
hv_TargetRow = hv_row1.Clone();
}
}
}
return;
}
// Main procedure
private void RunPick(bool leftpallet, bool lastlayer)
{
// Stack for temporary objects
HObject[] OTemp = new HObject[20];
// Local iconic variables
HObject ho_Image, ho_ImageRectified = null, ho_FOV;
HObject ho_Box, ho_ImageReduced, ho_Objects, ho_Cross = null;
HObject ho_GripPoint = null, ho_ImageReducedGripPoint = null;
HObject ho_ImageMedian = null, ho_ObjectGripPoint = null, ho_Cross1 = null;
HObject ho_Arrow = null, ho_Cross2 = null, ho_ContCircle;
// Local control variables
HTuple hv_AcqHandle = null, hv_pi = null, hv_angle = null;
HTuple hv_CamParam = null, hv_CamPose = null, hv_GMMHandle = null;
HTuple hv_Width = null, hv_Height = null, hv_CamParamOut = null;
HTuple hv_Classes1 = null, hv_Row1 = null, hv_Column1 = null;
HTuple hv_Row2 = null, hv_Column2 = null, hv_Diameter = null;
HTuple hv_Area1 = null, hv_Row3 = null, hv_Column3 = null;
HTuple hv_len_area = null, hv_MAX = new HTuple(), hv_index = new HTuple();
HTuple hv_out = new HTuple(), hv_Length = new HTuple();
HTuple hv_i = new HTuple(), hv_INDEX = new HTuple(), hv_j = new HTuple();
HTuple hv_pom = new HTuple(), hv_DevDia = new HTuple();
HTuple hv_joint = new HTuple(), hv_x_ = new HTuple(), hv_y_ = new HTuple();
HTuple hv_w_ = new HTuple(), hv_a = new HTuple(), hv_b = new HTuple();
HTuple hv_k = new HTuple(), hv_x_cross = new HTuple();
HTuple hv_y_cross = new HTuple(), hv_WorldPose = new HTuple();
HTuple hv_HomMat3D = new HTuple(), hv_HomMat3DRotate = new HTuple();
HTuple hv_Area2 = new HTuple();
HTuple hv_Row5 = new HTuple(), hv_Column5 = new HTuple();
HTuple hv_SumX = new HTuple(), hv_SumY = new HTuple();
HTuple hv_GripPointX = new HTuple(), hv_GripPointY = new HTuple();
HTuple hv_maxdist = new HTuple(), hv_distgrippoints = new HTuple();
HTuple hv_indexgrip = new HTuple(), hv_distgrip = new HTuple();
HTuple hv_OrientX = new HTuple(), hv_OrientY = new HTuple();
HTuple hv_maxX = new HTuple(), hv_diff01 = new HTuple();
HTuple hv_diff02 = new HTuple(), hv_diff12 = new HTuple();
HTuple hv_mindiff = new HTuple(), hv_GX = new HTuple();
HTuple hv_GY = new HTuple(), hv_OX = new HTuple(), hv_OY = new HTuple();
HTuple hv_DY = new HTuple(), hv_DX = new HTuple(), hv_theta = new HTuple();
HTuple hv_anglerad = new HTuple();
//
HTuple hv_Pixel1Y = new HTuple(), hv_Pixel2X = new HTuple(), hv_Pixel1X = new HTuple();
HTuple hv_Pixel2Y = new HTuple(), hv_distance = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Image);
HOperatorSet.GenEmptyObj(out ho_ImageRectified);
HOperatorSet.GenEmptyObj(out ho_FOV);
HOperatorSet.GenEmptyObj(out ho_Box);
HOperatorSet.GenEmptyObj(out ho_ImageReduced);
HOperatorSet.GenEmptyObj(out ho_Objects);
HOperatorSet.GenEmptyObj(out ho_Cross);
HOperatorSet.GenEmptyObj(out ho_GripPoint);
HOperatorSet.GenEmptyObj(out ho_ImageReducedGripPoint);
HOperatorSet.GenEmptyObj(out ho_ImageMedian);
HOperatorSet.GenEmptyObj(out ho_ObjectGripPoint);
HOperatorSet.GenEmptyObj(out ho_Cross1);
HOperatorSet.GenEmptyObj(out ho_Arrow);
HOperatorSet.GenEmptyObj(out ho_Cross2);
HOperatorSet.GenEmptyObj(out ho_ContCircle);
// Set Default Variables
hv_angledeg = 0;
// Wait for CAM4 thread to be closed
_waitHandleCam1.WaitOne();
// Close te thread DOOR
_waitHandleCam1.Reset();
//Image Acquisition
try
{
HOperatorSet.OpenFramegrabber("GigEVision", 0, 0, 0, 0, 0, 0, "default", -1, "default", -1, "false", "default", "RobotPick", 0, -1, out hv_AcqHandleCam1);
HOperatorSet.SetFramegrabberParam(hv_AcqHandleCam1, "ExposureAuto", "Continuous");
}
catch (HalconException exceptionCameraNotConnected)
{
}
// Constants
hv_pi = 3.14159265359;
hv_angle = (0 * hv_pi) / 180;
// Pallet calibration selection
if (leftpallet)
{
// Relative path to file
string IntrinsicsFileName = "CamParametersLeft.cal";
string IntrinsicsPath = Path.Combine(Environment.CurrentDirectory, @"CamPar", IntrinsicsFileName);
//
string ExtrinsicsFileName = "CamPoseLeft.dat";
string ExtrinsicsPath = Path.Combine(Environment.CurrentDirectory, @"CamPar", ExtrinsicsFileName);
HOperatorSet.ReadCamPar(IntrinsicsPath, out hv_CamParam);
HOperatorSet.ReadPose(ExtrinsicsPath, out hv_CamPose);
}
else
{
// Relative path to file
string IntrinsicsFileName = "CamParametersRight.cal";
string IntrinsicsPath = Path.Combine(Environment.CurrentDirectory, @"CamPar", IntrinsicsFileName);
//
string ExtrinsicsFileName = "CamPoseRight.dat";
string ExtrinsicsPath = Path.Combine(Environment.CurrentDirectory, @"CamPar", ExtrinsicsFileName);
HOperatorSet.ReadCamPar(IntrinsicsPath, out hv_CamParam);
HOperatorSet.ReadPose(ExtrinsicsPath, out hv_CamPose);
}
//
string TrainegGmmFileName = "traineg_gmm_pick_1.4.ggc";
string TrainegGmmPath = Path.Combine(Environment.CurrentDirectory, @"Train", TrainegGmmFileName);
// Camera intrinsics and extrinsics call
HOperatorSet.ReadClassGmm(TrainegGmmPath, out hv_GMMHandle);
// Grab operator
ho_Image.Dispose();
HOperatorSet.GrabImage(out ho_Image, hv_AcqHandleCam1);
HOperatorSet.GetImageSize(ho_Image, out hv_Width, out hv_Height);
ho_FOV.Dispose();
HOperatorSet.GenRectangle1(out ho_FOV, 0, 0, hv_Height, hv_Width);
ho_Box.Dispose();
if (leftpallet)
{
HOperatorSet.GenRectangle1(out ho_Box, 190, 160, 870, 1130);
}
else
{
HOperatorSet.GenRectangle1(out ho_Box, 190, 160, 870, 1130);
}
HOperatorSet.ChangeRadialDistortionCamPar("adaptive", hv_CamParam, 0, out hv_CamParamOut);
ho_ImageRectified.Dispose();
HOperatorSet.ChangeRadialDistortionImage(ho_Image, ho_FOV, out ho_ImageRectified, hv_CamParam, hv_CamParamOut);
ho_ImageReduced.Dispose();
HOperatorSet.ReduceDomain(ho_ImageRectified, ho_Box, out ho_ImageReduced);
ho_ImageRectified.Dispose();
HOperatorSet.Illuminate(ho_ImageReduced, out ho_ImageRectified, 230, 230, 1.15);
ho_ImageMedian.Dispose();
HOperatorSet.MedianImage(ho_ImageRectified, out ho_ImageRectified, "circle", 3, "mirrored");
ho_ObjectGripPoint.Dispose();
//segmentacija i klasifikacija
ho_Objects.Dispose();
segment(ho_ImageRectified, out ho_Objects);
classify(ho_Objects, hv_GMMHandle, out hv_Classes1);
disp_obj_class(ho_Objects, hv_Classes1);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Connection(ho_Objects, out ExpTmpOutVar_0);
ho_Objects.Dispose();
ho_Objects = ExpTmpOutVar_0;
}
//prefiltriranje klasificiranih predmeta
{
HObject ExpTmpOutVar_0;
HOperatorSet.SelectShape(ho_Objects, out ExpTmpOutVar_0, "circularity", "and", 0.5, 1.0);
ho_Objects.Dispose();
ho_Objects = ExpTmpOutVar_0;
}
{
HObject ExpTmpOutVar_0;
HOperatorSet.SelectShape(ho_Objects, out ExpTmpOutVar_0, "area", "and", 1000, 100000);
ho_Objects.Dispose();
ho_Objects = ExpTmpOutVar_0;
}
//** Carolija ***
HOperatorSet.DiameterRegion(ho_Objects, out hv_Row1, out hv_Column1, out hv_Row2, out hv_Column2, out hv_Diameter);
HOperatorSet.AreaCenter(ho_Objects, out hv_Area1, out hv_Row3, out hv_Column3);
HOperatorSet.TupleLength(hv_Area1, out hv_len_area);
//* If objects exist sort them and find their 2D position
if ((int)(new HTuple(hv_len_area.TupleGreater(0))) != 0)
{
hv_MAX = 0;
hv_index = 0;
hv_out = 0;
HOperatorSet.TupleLength(hv_Diameter, out hv_Length);
HOperatorSet.DispObj(ho_ImageRectified, hv_ExpDefaultWinHandle);
HOperatorSet.DispLine(hv_ExpDefaultWinHandle, hv_Height / 2, 0, hv_Height / 2, hv_Width);
HOperatorSet.DispLine(hv_ExpDefaultWinHandle, 0, hv_Width / 2, hv_Height, hv_Width / 2);
hv_i = 1;
HOperatorSet.TupleGenSequence(0, hv_Length - 1, 1, out hv_INDEX);
while ((int)(new HTuple(hv_i.TupleLess(hv_Length))) != 0)
{
hv_j = hv_i.Clone();
while ((int)(new HTuple(((hv_Diameter.TupleSelect(hv_j - 1))).TupleLess(hv_Diameter.TupleSelect(hv_j)))) != 0)
{
hv_pom = hv_Diameter.TupleSelect(hv_j);
if (hv_Diameter == null)
{
hv_Diameter = new HTuple();
}
hv_Diameter[hv_j] = hv_Diameter.TupleSelect(hv_j - 1);
if (hv_Diameter == null)
{
hv_Diameter = new HTuple();
}
hv_Diameter[hv_j - 1] = hv_pom;
hv_pom = hv_INDEX.TupleSelect(hv_j);
if (hv_INDEX == null)
{
hv_INDEX = new HTuple();
}
hv_INDEX[hv_j] = hv_INDEX.TupleSelect(hv_j - 1);
if (hv_INDEX == null)
{
hv_INDEX = new HTuple();
}
hv_INDEX[hv_j - 1] = hv_pom;
hv_j = hv_j - 1;
if ((int)(new HTuple(hv_j.TupleEqual(0))) != 0)
{
break;
}
}
hv_i = hv_i + 1;
}
HOperatorSet.TupleMedian(hv_Diameter, out hv_MAX);
HOperatorSet.TupleDeviation(hv_Diameter, out hv_DevDia);
HTuple end_val75 = hv_Length;
HTuple step_val75 = 1;
for (hv_i = 1; hv_i.Continue(end_val75, step_val75); hv_i = hv_i.TupleAdd(step_val75))
{
if ((int)((new HTuple(((hv_Diameter.TupleSelect(hv_i - 1))).TupleGreaterEqual(
hv_MAX - (5 * hv_DevDia)))).TupleAnd(new HTuple(((hv_Diameter.TupleSelect(
hv_i - 1))).TupleLessEqual(hv_MAX + (5 * hv_DevDia))))) != 0)
{
if ((int)(new HTuple(hv_MAX.TupleGreaterEqual(2 * 300))) != 0)
{
hv_joint = 1;
}
hv_index = hv_index + 1;
}
}
//* w_ => weight factor for L1 norm **
//* row component weighting a => sort by column **
//* column component weighting b => sort by row **
hv_x_ = new HTuple();
hv_y_ = new HTuple();
hv_w_ = new HTuple();
hv_a = 0.2;
hv_b = 1.0;
HTuple end_val93 = hv_index;
HTuple step_val93 = 1;
for (hv_k = 1; hv_k.Continue(end_val93, step_val93); hv_k = hv_k.TupleAdd(step_val93))
{
if (hv_x_ == null)
{
hv_x_ = new HTuple();
}
hv_x_[hv_k - 1] = hv_Row3.TupleSelect(hv_k - 1);
if (hv_y_ == null)
{
hv_y_ = new HTuple();
}
hv_y_[hv_k - 1] = hv_Column3.TupleSelect(hv_k - 1);
if (hv_w_ == null)
{
hv_w_ = new HTuple();
}
hv_w_[hv_k - 1] = ((hv_x_.TupleSelect(hv_k - 1)) * hv_a) + ((hv_y_.TupleSelect(hv_k - 1)) * hv_b);
}
//* Sort objects by cost value **
hv_i = 1;
while ((int)(new HTuple(hv_i.TupleLess(hv_index))) != 0)
{
hv_j = hv_i.Clone();
while ((int)(new HTuple(((hv_w_.TupleSelect(hv_j - 1))).TupleGreater(hv_w_.TupleSelect(hv_j)))) != 0)
{
hv_pom = hv_x_.TupleSelect(hv_j);
if (hv_x_ == null)
{
hv_x_ = new HTuple();
}
hv_x_[hv_j] = hv_x_.TupleSelect(hv_j - 1);
if (hv_x_ == null)
{
hv_x_ = new HTuple();
}
hv_x_[hv_j - 1] = hv_pom;
hv_pom = hv_y_.TupleSelect(hv_j);
if (hv_y_ == null)
{
hv_y_ = new HTuple();
}
hv_y_[hv_j] = hv_y_.TupleSelect(hv_j - 1);
if (hv_y_ == null)
{
hv_y_ = new HTuple();
}
hv_y_[hv_j - 1] = hv_pom;
hv_pom = hv_w_.TupleSelect(hv_j);
if (hv_w_ == null)
{
hv_w_ = new HTuple();
}
hv_w_[hv_j] = hv_w_.TupleSelect(hv_j - 1);
if (hv_w_ == null)
{
hv_w_ = new HTuple();
}
hv_w_[hv_j - 1] = hv_pom;
hv_j = hv_j - 1;
if ((int)(new HTuple(hv_j.TupleEqual(0))) != 0)
{
break;
}
}
hv_i = hv_i + 1;
}
//* Display detected objects **
HTuple end_val124 = hv_index;
HTuple step_val124 = 1;
for (hv_k = 1; hv_k.Continue(end_val124, step_val124); hv_k = hv_k.TupleAdd(step_val124))
{
hv_x_cross = hv_x_.TupleSelect(hv_k - 1);
hv_y_cross = hv_y_.TupleSelect(hv_k - 1);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
ho_Cross.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross, hv_x_cross, hv_y_cross, 200, 0);
HOperatorSet.DispObj(ho_Cross, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
HOperatorSet.SetTposition(hv_ExpDefaultWinHandle, hv_x_cross, hv_y_cross);
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, hv_k);
}
HOperatorSet.SetOriginPose(hv_CamPose, 0, 0, 0.00, out hv_WorldPose);
HOperatorSet.PoseToHomMat3d(hv_WorldPose, out hv_HomMat3D);
HOperatorSet.HomMat3dRotateLocal(hv_HomMat3D, hv_angle, "z", out hv_HomMat3DRotate);
HOperatorSet.HomMat3dToPose(hv_HomMat3DRotate, out hv_WorldPose);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParamOut, hv_WorldPose, hv_x_.TupleSelect(0), hv_y_.TupleSelect(0), "mm", out hv_X, out hv_Y);
// Diameter check // Still not working
//HOperatorSet.ImagePointsToWorldPlane(hv_CamParamOut, hv_WorldPose, hv_Row1, hv_Column1, "mm", out hv_Pixel1X, out hv_Pixel1Y);
//HOperatorSet.ImagePointsToWorldPlane(hv_CamParamOut, hv_WorldPose, hv_Row2, hv_Column2, "mm", out hv_Pixel2X, out hv_Pixel2Y);
//HOperatorSet.DistancePp(hv_Pixel1X, hv_Pixel1Y, hv_Pixel2X, hv_Pixel2Y, out hv_distance);
//HOperatorSet.TupleMean(hv_distance, out hv_distance_mean);
HOperatorSet.SetTposition(hv_ExpDefaultWinHandle, 100, 100);
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, hv_a);
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, ", ");
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, hv_b);
HOperatorSet.SetTposition(hv_ExpDefaultWinHandle, 20, 20);
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, hv_Length);
}
//* If objects not found check for layer holes
else if ((int)(new HTuple(hv_len_area.TupleGreater(0))) == 0 && lastlayer)
{
hv_X = 0;
hv_Y = 0;
hv_angledeg = 0;
HOperatorSet.ClearWindow(hv_ExpDefaultWinHandle);
HOperatorSet.DispObj(ho_ImageReduced, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
HOperatorSet.SetTposition(hv_ExpDefaultWinHandle, 120, 450);
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, "NA ZADNJEM SLOJU NISU PRONADENI KOMADI! ROBOT IDE NA IDUCU ULAZNU PALETU");
App.PaletaPrazna();
}
else
{
try
{
ho_GripPoint.Dispose();
HOperatorSet.GenRectangle1(out ho_GripPoint, 420, 520, 620, 770);
ho_ImageReducedGripPoint.Dispose();
HOperatorSet.ReduceDomain(ho_ImageRectified, ho_GripPoint, out ho_ImageReducedGripPoint);
ho_ImageMedian.Dispose();
HOperatorSet.MedianImage(ho_ImageReducedGripPoint, out ho_ImageMedian, "circle", 3, "mirrored");
ho_ObjectGripPoint.Dispose();
segment(ho_ImageMedian, out ho_ObjectGripPoint);
{
HObject ExpTmpOutVar_0;
HOperatorSet.Connection(ho_ObjectGripPoint, out ExpTmpOutVar_0);
ho_ObjectGripPoint.Dispose();
ho_ObjectGripPoint = ExpTmpOutVar_0;
}
{
HObject ExpTmpOutVar_0;
HOperatorSet.SelectShape(ho_ObjectGripPoint, out ExpTmpOutVar_0, "circularity", "and", 0.5,
1.0);
ho_ObjectGripPoint.Dispose();
ho_ObjectGripPoint = ExpTmpOutVar_0;
}
{
HObject ExpTmpOutVar_0;
HOperatorSet.SelectShape(ho_ObjectGripPoint, out ExpTmpOutVar_0, "area", "and", 100, 1000);
ho_ObjectGripPoint.Dispose();
ho_ObjectGripPoint = ExpTmpOutVar_0;
}
HOperatorSet.AreaCenter(ho_ObjectGripPoint, out hv_Area2, out hv_Row5, out hv_Column5);
HOperatorSet.TupleSum(hv_Row5, out hv_SumX);
HOperatorSet.TupleSum(hv_Column5, out hv_SumY);
hv_GripPointX = hv_SumX / 9;
hv_GripPointY = hv_SumY / 9;
ho_Cross1.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross1, hv_GripPointX, hv_GripPointY, 10, 0);
hv_maxdist = 0;
hv_distgrippoints = new HTuple();
hv_indexgrip = 0;
for (hv_i = 1; (int)hv_i <= 9; hv_i = (int)hv_i + 1)
{
HOperatorSet.DistancePp(hv_Row5.TupleSelect(hv_i - 1), hv_Column5.TupleSelect(hv_i - 1),
hv_GripPointX, hv_GripPointY, out hv_distgrip);
HOperatorSet.TupleConcat(hv_distgrippoints, hv_distgrip, out hv_distgrippoints);
if ((int)(new HTuple(hv_distgrip.TupleGreater(hv_maxdist))) != 0)
{
hv_indexgrip = hv_i - 1;
hv_maxdist = hv_distgrip.Clone();
}
}
hv_indexgrip = new HTuple();
for (hv_i = 1; (int)hv_i <= 9; hv_i = (int)hv_i + 1)
{
if ((int)(new HTuple(
((hv_distgrippoints.TupleSelect(hv_i - 1))).TupleGreater(0.9 * hv_maxdist))) != 0)
{
HOperatorSet.TupleConcat(hv_indexgrip, hv_i - 1, out hv_indexgrip);
}
}
hv_OrientX = 0;
hv_OrientY = 0;
hv_maxX = 0;
HOperatorSet.TupleAbs(
(hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(0))) -
(hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(1))), out hv_diff01);
HOperatorSet.TupleAbs(
(hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(0))) -
(hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(2))), out hv_diff02);
HOperatorSet.TupleAbs(
(hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(1))) -
(hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(2))), out hv_diff12);
HOperatorSet.TupleMin(((hv_diff01.TupleConcat(hv_diff02))).TupleConcat(hv_diff12), out hv_mindiff);
if ((int)(new HTuple(hv_mindiff.TupleEqual(hv_diff01))) != 0)
{
hv_OrientX = hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(2));
hv_OrientY = hv_Column5.TupleSelect(hv_indexgrip.TupleSelect(2));
}
else if ((int)(new HTuple(hv_mindiff.TupleEqual(hv_diff02))) != 0)
{
hv_OrientX = hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(1));
hv_OrientY = hv_Column5.TupleSelect(hv_indexgrip.TupleSelect(1));
}
else if ((int)(new HTuple(hv_mindiff.TupleEqual(hv_diff12))) != 0)
{
hv_OrientX = hv_Row5.TupleSelect(hv_indexgrip.TupleSelect(0));
hv_OrientY = hv_Column5.TupleSelect(hv_indexgrip.TupleSelect(0));
}
HOperatorSet.DispObj(ho_ImageReduced, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
ho_Arrow.Dispose();
gen_arrow_contour_xld(out ho_Arrow, hv_GripPointX, hv_GripPointY, hv_OrientX, hv_OrientY, 15, 15);
HOperatorSet.DispObj(ho_Arrow, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "green");
ho_Cross2.Dispose();
HOperatorSet.GenCrossContourXld(out ho_Cross2, hv_GripPointX, hv_GripPointY, 30, 0);
//HOperatorSet.DispObj(ho_Cross2, hv_ExpDefaultWinHandle);
HOperatorSet.SetOriginPose(hv_CamPose, 0, 0, 0.00, out hv_WorldPose);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParamOut, hv_WorldPose, hv_GripPointX, hv_GripPointY, "mm", out hv_GX, out hv_GY);
HOperatorSet.ImagePointsToWorldPlane(hv_CamParamOut, hv_WorldPose, hv_OrientX, hv_OrientY, "mm", out hv_OX, out hv_OY);
hv_DY = hv_OY - hv_GY;
hv_DX = hv_OX - hv_GX;
HOperatorSet.TupleAtan2(hv_DY, hv_DX, out hv_theta);
hv_theta = hv_theta.Clone();
hv_X = hv_GX;
hv_Y = hv_GY;
hv_angledeg = (hv_theta * 180) / hv_pi;
}
catch (HalconException exceptionLayerNotFound)
{
hv_X = 0;
hv_Y = 0;
hv_angledeg = 0;
HOperatorSet.ClearWindow(hv_ExpDefaultWinHandle);
HOperatorSet.DispObj(ho_ImageReduced, hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
HOperatorSet.SetTposition(hv_ExpDefaultWinHandle, 120, 512);
HOperatorSet.WriteString(hv_ExpDefaultWinHandle, "NA PALETI NISU PRONADENI KOMADI NI SLOJEVI!!!");
App.LayerNijePronaden();
}
}
// HOperatorSet.ClearWindow(hv_ExpDefaultWinHandle);
HOperatorSet.SetColor(hv_ExpDefaultWinHandle, "red");
ho_ContCircle.Dispose();
HOperatorSet.GenCircleContourXld(out ho_ContCircle, hv_Height / 2, hv_Width / 2, 100, 0, 6.28318, "positive", 10);
ho_Image.Dispose();
ho_ImageRectified.Dispose();
ho_FOV.Dispose();
ho_Box.Dispose();
ho_ImageReduced.Dispose();
ho_Objects.Dispose();
ho_Cross.Dispose();
ho_GripPoint.Dispose();
ho_ImageReducedGripPoint.Dispose();
ho_ImageMedian.Dispose();
ho_ObjectGripPoint.Dispose();
ho_Cross1.Dispose();
ho_Arrow.Dispose();
ho_Cross2.Dispose();
ho_ContCircle.Dispose();
HOperatorSet.CloseFramegrabber(hv_AcqHandleCam1);
// Open the thread DOOR
_waitHandleCam1.Set();
}
/// <summary>
/// 轮廓点拟合直线
/// </summary>
/// <param name="ho_Line"></param>
/// <param name="hv_Rows"></param>
/// <param name="hv_Cols"></param>
/// <param name="hv_ActiveNum"></param>
/// <param name="hv_Row1"></param>
/// <param name="hv_Column1"></param>
/// <param name="hv_Row2"></param>
/// <param name="hv_Column2"></param>
public static void pts_to_best_line(out HObject ho_Line, HTuple hv_Rows, HTuple hv_Cols,
HTuple hv_ActiveNum, out HTuple hv_Row1, out HTuple hv_Column1, out HTuple hv_Row2,
out HTuple hv_Column2)
{
// Local iconic variables
HObject ho_Contour = null;
// Local control variables
HTuple hv_Length = null, hv_Nr = new HTuple();
HTuple hv_Nc = new HTuple(), hv_Dist = new HTuple(), hv_Length1 = new HTuple();
// Initialize local and output iconic variables
HOperatorSet.GenEmptyObj(out ho_Line);
HOperatorSet.GenEmptyObj(out ho_Contour);
try
{
//初始化
hv_Row1 = 0;
hv_Column1 = 0;
hv_Row2 = 0;
hv_Column2 = 0;
//产生一个空的直线对象，用于保存拟合后的直线
ho_Line.Dispose();
HOperatorSet.GenEmptyObj(out ho_Line);
//计算边缘数量
HOperatorSet.TupleLength(hv_Cols, out hv_Length);
//当边缘数量不小于有效点数时进行拟合
if ((int)((new HTuple(hv_Length.TupleGreaterEqual(hv_ActiveNum))).TupleAnd(
new HTuple(hv_ActiveNum.TupleGreater(1)))) != 0)
{
//halcon的拟合是基于xld的，需要把边缘连接成xld
ho_Contour.Dispose();
HOperatorSet.GenContourPolygonXld(out ho_Contour, hv_Rows, hv_Cols);
//拟合直线。使用的算法是'tukey'，其他算法请参考fit_line_contour_xld的描述部分。
HOperatorSet.FitLineContourXld(ho_Contour, "tukey", -1, 0, 5, 2, out hv_Row1,
out hv_Column1, out hv_Row2, out hv_Column2, out hv_Nr, out hv_Nc, out hv_Dist);
//判断拟合结果是否有效：如果拟合成功，数组中元素的数量大于0
HOperatorSet.TupleLength(hv_Dist, out hv_Length1);
if ((int)(new HTuple(hv_Length1.TupleLess(1))) != 0)
{
ho_Contour.Dispose();
return;
}
//根据拟合结果，产生直线xld
ho_Line.Dispose();
HOperatorSet.GenContourPolygonXld(out ho_Line, hv_Row1.TupleConcat(hv_Row2),
hv_Column1.TupleConcat(hv_Column2));
}
ho_Contour.Dispose();
return;
}
catch (HalconException HDevExpDefaultException)
{
ho_Contour.Dispose();
throw HDevExpDefaultException;
}
}