/// <summary>
///
/// </summary>
/// <param name="window"></param>
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
//ROI矩形
HalconDotNet.HObject rec;
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(_phi),
new HalconDotNet.HTuple(_length1),
new HalconDotNet.HTuple(_length2));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
for (int i = 0; i < NumHandles; i++)
{
//ROI矩形的操作柄
HalconDotNet.HObject rec2;
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(rows[i].D),
new HalconDotNet.HTuple(cols[i].D),
new HalconDotNet.HTuple(_phi),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
}
//注：矩形右边的中点坐标(_locateRow-_length1*Sine(angle),_locateCol+_length2*Cosine(angle)),为使箭头超出一点，故而用系数1.3修正
HalconDotNet.HOperatorSet.DispArrow(hwndHandle,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(_locateRow - (1.3 * _length1 * Math.Sin(_phi))),
new HalconDotNet.HTuple(_locateCol + 1.3 * (_length1 * Math.Cos(_phi))),
new HalconDotNet.HTuple(2));
}
private static void SetColorsInObjectModel3D(HalconDotNet.HTuple objectModel3D, HalconDotNet.HObject RGB, HalconDotNet.HObject zReduced)
{
var domain = new HalconDotNet.HObject();
var rows = new HalconDotNet.HTuple();
var cols = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.GetDomain(zReduced, out domain);
HalconDotNet.HOperatorSet.GetRegionPoints(domain, out rows, out cols);
var objectRed = new HalconDotNet.HObject();
var objectGreen = new HalconDotNet.HObject();
var objectBlue = new HalconDotNet.HObject();
HalconDotNet.HOperatorSet.AccessChannel(RGB, out objectRed, 1);
HalconDotNet.HOperatorSet.AccessChannel(RGB, out objectGreen, 1);
HalconDotNet.HOperatorSet.AccessChannel(RGB, out objectBlue, 1);
var tupleRed = new HalconDotNet.HTuple();
var tupleGreen = new HalconDotNet.HTuple();
var tupleBlue = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.GetGrayval(objectRed, rows, cols, out tupleRed);
HalconDotNet.HOperatorSet.GetGrayval(objectGreen, rows, cols, out tupleGreen);
HalconDotNet.HOperatorSet.GetGrayval(objectBlue, rows, cols, out tupleBlue);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "red", "points", tupleRed);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "green", "points", tupleGreen);
HalconDotNet.HOperatorSet.SetObjectModel3dAttribMod(objectModel3D, "blue", "points", tupleBlue);
}
/// <summary>
/// 方法：初始化相机资源
/// </summary>
private void InitCamera()
{
if (_cameraList != null &&
_cameraList.Count > 0)
{
for (int i = 0; i < _cameraList.Count; i++)
{
//设置采集模式:触发采集,软触发每次1帧-OK
if (!CamHandleList[_cameraList[i].ID].SetAcquisitionMode(ProCommon.Communal.AcquisitionMode.SoftTrigger, 1))
{
continue;
}
////设置触发信号边缘:上升沿-OK,硬触发时启用
//if (!CamHandleList[_cameraList[i].ID].SetTriggerActivation(ProCommon.Communal.TriggerLogic.RaiseEdge))
// continue;
//设置采集帧率:-OK
if (!CamHandleList[_cameraList[i].ID].SetFrameRate(_cameraList[i].FPS))
{
continue;
}
////设置相机曝光时间:-OK
//if (!CamHandleList[_cameraList[i].ID].SetExposureTime(_cameraList[i].ExposureTime))
// continue;
////设置相机增益:-OK
//if (!CamHandleList[_cameraList[i].ID].SetGain(_cameraList[i].Gain))
// continue;
//设置相机触发采集延时：
//if (!CamHandleListNew[_cameraList[i].ID].SetTriggerDelay(100.0f))
// continue;
//注册相机图像采集到事件回调函数
if (!CamHandleList[_cameraList[i].ID].RegisterImageGrabbedCallBack())
{
continue;
}
//注意:HikVision相机提供断线重连功能,Baumer相机暂无.因此,HikVision相机不需要定时器重连相机
if (!CamHandleList[_cameraList[i].ID].RegisterExceptionCallBack())
{
continue;
}
//设置相机开始采集
if (!CamHandleList[_cameraList[i].ID].StartGrab())
{
continue;
}
}
}
//更新相机的标定方案中的仿射变换矩阵
if (_cameraForArmband != null)
{
if (_cameraForArmband.CalibrationSolution != null)
{
double[] homMat2DArr = _cameraForArmband.CalibrationSolution.ResultOfCaliPoint.PC2WCHomMat2D;
_homMat2DForCameraArmband = new HalconDotNet.HTuple(homMat2DArr);
}
}
}
public override void DisplayActiveHandle(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rec = new HalconDotNet.HObject();
rec.Dispose();
switch (ActiveHandleIdx)
{
case 0:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
case 1:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
default:
break;
}
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rgCircle = new HalconDotNet.HObject();
rgCircle.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgCircle, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radius));
HalconDotNet.HOperatorSet.DispObj(rgCircle, hwndHandle);
HalconDotNet.HObject rec1 = new HalconDotNet.HObject(), rec2 = new HalconDotNet.HObject();
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
rec2.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject line = new HalconDotNet.HObject(), rec1 = new HalconDotNet.HObject(), rec2 = new HalconDotNet.HObject();
line.Dispose();
HalconDotNet.HOperatorSet.GenRegionLine(out line,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_extentRow),
new HalconDotNet.HTuple(_extentCol));
HalconDotNet.HOperatorSet.DispObj(line, hwndHandle);
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
rec2.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
HalconDotNet.HOperatorSet.DispObj(_arrowHandle, hwndHandle);
}
}
protected internal virtual void InitFieldAndProperty()
{
_isCtrlKeyPressed = false;
_isAltKeyPressed = false;
this.rdbtnNone.Checked = false;
this.rdbtnNone.Checked = true;
_ROIManager = new ProVision.InteractiveROI.ROIManager();
_HwndCtrller = new ProVision.InteractiveROI.HWndCtrller(this.hWndcDisplay);
_HwndCtrller.RegisterHwndCtrlMouseEvents();
_HwndCtrller.SetViewMode(ProVision.InteractiveROI.HWndCtrller.VIEW_MODE_NONE);
_HwndCtrller.RegisterROICtroller(_ROIManager);
_ROIManager.SetActiveROISign(ProVision.InteractiveROI.ROIManager.ROI_MODE_POS);
//引用变量复位
_hoRawRegion = null;
_hoBrushRegion = null;
_hoResultRegion = null;
_imgWidth = null;
_imgHeight = null;
_brushColor = "white";
_resultRegionColor = "yellow";
_selectedRegionColor = "green";
_isErasingRegion = false;
_isErasedRegion = false;
_isObtainedResultRegion = false;
_brushZoomFactor = 15.0d;
}
/// <summary>
/// Initializes the image dimension, mouse delegation,
/// and the graphical context setup of the instance.
/// </summary>
/// <param name="hwndctrl"></param>
public HWndCtrller(HalconDotNet.HWindowControl hwndctrl)
{
_hWndCtrl = hwndctrl;
_viewMode = HWndCtrller.VIEW_MODE_NONE;
_windowWidth = _hWndCtrl.Size.Width;
_windowHeight = _hWndCtrl.Size.Height;
ZoomWndFactor = (double)_imageWidth / _hWndCtrl.Width;
ZoomAddOn = System.Math.Pow(0.9, 5);
_zoomWndSize = 150;
_ROIPaintMode = HWndCtrller.PAINT_MODE_INCLUDE_ROI;
NotifyInfoObserver = new InformationUpdatedDelegate(DummyS);
IconicUpdatedEvt = new IconicUpdatedDelegate(OnIconicUpdated);
/* Graphical Stack */
_hObjEntityList = new System.Collections.ArrayList(20);
_grpCntx = new GraphicContext();
_grpCntx.NotifyGraphicContext = new GraphicContextDelegate(ExceptionGC);
_msgLineList = new System.Collections.Generic.List <Communal.MessageLine>();
_defaultRowlEdge = 10;
_rowlEdge = new HalconDotNet.HTuple();
/*GUI绘制窗口用参数的初始值*/
_compRangeX = new int[] { 0, 100 };
_compRangeY = new int[] { 0, 100 };
_prevCompX = _prevCompY = 0;
}
/// <summary>
/// 关闭设备
/// </summary>
/// <returns></returns>
protected override bool DoClose()
{
bool rt = false;
try
{
if (!AcqHandle.TupleEqual(new HalconDotNet.HTuple()))
{
HalconDotNet.HOperatorSet.CloseFramegrabber(AcqHandle);
AcqHandle = null;
rt = true;
}
}
catch (HalconDotNet.HalconException hex)
{
if (DriverExceptionDel != null)
{
DriverExceptionDel(string.Format("错误：Halcon模拟相机关闭设备失败!\n错误代码:{0}", hex.GetErrorCode()));
}
}
finally
{
}
return(rt);
}
public override void DisplayActiveHandle(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rec = new HalconDotNet.HObject();
rec.Dispose();
switch (ActiveHandleIdx)
{
//定位圆心
case 0:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//缩放边点
case 1:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//弧段起始角点
case 2:
{
HalconDotNet.HOperatorSet.GenRectangle2(out rec,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(10),
new HalconDotNet.HTuple(2));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
break;
//弧段终止角点(箭头)
case 3:
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
HalconDotNet.HOperatorSet.DispObj(_arrowHandle, hwndHandle);
}
break;
default:
break;
}
}
public void Repaint(HalconDotNet.HTuple hwndHandle)
{
try
{
int count = _hObjEntityList.Count;
InteractiveROI.HObjectEntity hobjentry;
HalconDotNet.HSystem.SetSystem("flush_graphic", "false"); //不更新图形变量
HalconDotNet.HOperatorSet.ClearWindow(hwndHandle);
_grpCntx.LastGCSettings.Clear();
//显示对应图形上下文的图形对象(图像)
for (int i = 0; i < count; i++)
{
hobjentry = (InteractiveROI.HObjectEntity)_hObjEntityList[i];
if (hobjentry.HObj != null &&
hobjentry.HObj.IsInitialized())
{
_grpCntx.ApplyGraphicSettings(hwndHandle, hobjentry.GCSettings);
HalconDotNet.HOperatorSet.DispObj(hobjentry.HObj, hwndHandle);
}
}
NotifyInfoObserver();
//显示ROI
if ((_ROICtrller != null) &&
(_ROIPaintMode == HWndCtrller.PAINT_MODE_INCLUDE_ROI))
{
_ROICtrller.PaintData(hwndHandle);
}
//显示信息条
if (_msgLineList != null)
{
count = _msgLineList.Count;
ProVision.Communal.MessageLine msgLine;
for (int i = 0; i < count; i++)
{
msgLine = _msgLineList[i];
//设置显示文本:
ProVision.Communal.Functions.SetDisplayFont(hwndHandle, msgLine.CtxSize, msgLine.CtxFont, msgLine.CtxBold, msgLine.CtxSlant);
//显示文本
ProVision.Communal.Functions.DispMessage(hwndHandle, msgLine.Context,
msgLine.CtxCoordinateSystem, msgLine.Row + RowlEdge * i, msgLine.Col, msgLine.CtxColor, new HalconDotNet.HTuple("false"));
}
}
HalconDotNet.HSystem.SetSystem("flush_graphic", "true"); //更新图形变量
HalconDotNet.HOperatorSet.SetColor(hwndHandle, new HalconDotNet.HTuple("black"));
HalconDotNet.HOperatorSet.DispLine(hwndHandle, -100.0, -100.0, -101.0, -101.0); //不知何用
}
catch (HalconDotNet.HalconException hex) { }
}
/// <summary>
/// 设置图形上下文
/// [HTuple型参数]
/// </summary>
/// <param name="mode"></param>
/// <param name="val"></param>
public void ChangeGraphicSettings(string mode, HalconDotNet.HTuple val)
{
switch (mode)
{
case GraphicContext.GC_LINESTYLE:
_grpCntx.SetLineStyleAttribute(val);
break;
}
}
/// <summary>
/// 计算基于特征点的标定转换矩阵
/// </summary>
public void CalculateCaliPointHomMatrix()
{
if (CaliSolution != null &&
CaliSolution.CalibrationPointPairBList.Count > 3)
{
HalconDotNet.HTuple row, col, axis1, axis2;
HalconDotNet.HTuple sx, sy, phi, theta, tx, ty;
HalconDotNet.HTuple tmp1, tmp2, pixelError, physicalError;
CaliSolution.IsEffective = false;
try
{
row = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].PC.Row);
col = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].PC.Col);
axis1 = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].WC.X);
axis2 = new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[0].WC.Y);
int count = CaliSolution.CalibrationPointPairBList.Count;
for (int i = 1; i < count; i++)
{
row = row.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].PC.Row));
col = col.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].PC.Col));
axis1 = axis1.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].WC.X));
axis2 = axis2.TupleConcat(new HalconDotNet.HTuple(CaliSolution.CalibrationPointPairBList[i].WC.Y));
}
HalconDotNet.HOperatorSet.VectorToHomMat2d(row, col, axis1, axis2, out _p2whomMat2D);
HalconDotNet.HOperatorSet.VectorToHomMat2d(axis1, axis2, row, col, out _w2phomMat2D);
//1-根据转换关系,物理坐标系点转换为像素点
HalconDotNet.HOperatorSet.AffineTransPoint2d(_w2phomMat2D, axis1, axis2, out tmp1, out tmp2);
pixelError = ((row - tmp1) * (row - tmp1) + (col - tmp2) * (col - tmp2)).TupleMean();
//2-根据转换关系,像素坐标系点转换为物理点
HalconDotNet.HOperatorSet.AffineTransPoint2d(_p2whomMat2D, row, col, out tmp1, out tmp2);
physicalError = ((axis1 - tmp1) * (axis1 - tmp1) + (axis2 - tmp2) * (axis2 - tmp2)).TupleMean();
HalconDotNet.HOperatorSet.HomMat2dToAffinePar(_p2whomMat2D, out sx, out sy, out phi, out theta, out tx, out ty);
CaliSolution.ResultOfCaliPoint = new Communal.ResultOfCalibrationPoint();
CaliSolution.ResultOfCaliPoint.PC2WCHomMat2D = _p2whomMat2D.ToDArr();
CaliSolution.ResultOfCaliPoint.WC2PCHomMat2D = _w2phomMat2D.ToDArr();
CaliSolution.ResultOfCaliPoint.Sx = sx.D;
CaliSolution.ResultOfCaliPoint.Sy = sy.D;
CaliSolution.ResultOfCaliPoint.Phi = phi.D;
CaliSolution.ResultOfCaliPoint.Theta = theta.D;
CaliSolution.ResultOfCaliPoint.Tx = tx.D;
CaliSolution.ResultOfCaliPoint.Ty = ty.D;
CaliSolution.ResultOfCaliPoint.CalibrationPhysicalError = physicalError;
CaliSolution.ResultOfCaliPoint.CalibrationPixelError = pixelError;
CaliSolution.IsEffective = true;
}
catch { }
}
}
protected void GetImageSize(HalconDotNet.HObject img, out HalconDotNet.HTuple wdth, out HalconDotNet.HTuple hgh)
{
wdth = null;
hgh = null;
if (img != null &&
img.IsInitialized())
{
HalconDotNet.HOperatorSet.GetImageSize(img, out wdth, out hgh);
}
}
/// <summary>
/// Adds a value to the hashlist 'GraphicalSettings' for the
/// graphical mode, described by the parameter 'key'
/// </summary>
/// <param name="key">A graphical mode defined by the constant GC_*
/// </param>
/// <param name="val">
/// Defines the value as a HTuple for this
/// graphical mode 'key'
/// </param>
private void SetGraphicAttribute(string key, HalconDotNet.HTuple val)
{
if (_GCSettings.ContainsKey(key))
{
_GCSettings[key] = val;
}
else
{
_GCSettings.Add(key, val);
}
}
public override void Draw(HalconDotNet.HWindow window)
{
HalconDotNet.HTuple tmpRows = new HalconDotNet.HTuple(_sizeRows.ToArray <double>());
HalconDotNet.HTuple tmpCols = new HalconDotNet.HTuple(_sizeCols.ToArray <double>());
window.DispPolygon(tmpRows, tmpCols);
window.DispRectangle2(_locateRow, _locateCol, 0, 5, 5); //几何中心
for (int i = 0; i < this._numHandles; i++)
{
window.DispRectangle2(_sizeRows[i], _sizeCols[i], 0, 2, 2);
}
}
/// <summary>
/// 加载数据
/// </summary>
/// <param name="path"></param>
public static void ReadVisionPara(string path)
{
HalconDotNet.HTuple exist = null;
HalconDotNet.HOperatorSet.FileExists(path + "\\VisionPara.config", out exist);
if ((int)exist != 0)
{
ParameterSetting.Parameter.attri = global::Vision.Tool.Serialization.LoadFromXml(typeof(Attribute), path + "\\VisionPara.config") as Attribute;
if (ParameterSetting.Parameter.attri == null)
{
ParameterSetting.Parameter.attri = new Attribute();
}
}
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rec1, rec2, rec3, rec4, rec5, rec;
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_upLeftRow),
new HalconDotNet.HTuple(_botRightCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_upLeftRow),
new HalconDotNet.HTuple(_upLeftCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec3,
new HalconDotNet.HTuple(_botRightRow),
new HalconDotNet.HTuple(_upLeftCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec3, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec4,
new HalconDotNet.HTuple(_botRightRow),
new HalconDotNet.HTuple(_botRightCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec4, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec5,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec5, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle1(out rec,
new HalconDotNet.HTuple(_upLeftRow),
new HalconDotNet.HTuple(_upLeftCol),
new HalconDotNet.HTuple(_botRightRow),
new HalconDotNet.HTuple(_botRightCol));
HalconDotNet.HOperatorSet.DispObj(rec, hwndHandle);
}
public bool AddRoi(RoiType type)
{
bool isSuccess = false;
try
{
switch (type)
{
case RoiType.Rectangle:
mHDrawRegions.Add(new HalconDotNet.HDrawingObject());
mHDrawRegions.Last().CreateDrawingObjectRectangle1(100, 100, 500, 500);
break;
case RoiType.Circle:
mHDrawRegions.Add(new HalconDotNet.HDrawingObject());
mHDrawRegions.Last().CreateDrawingObjectCircle(100, 100, 250);
break;
case RoiType.Polygon: // 先不要用，目前還不知道怎麼定形
mHDrawRegions.Add(new HalconDotNet.HDrawingObject());
mHDrawRegions.Last().CreateDrawingObjectXld(new HalconDotNet.HTuple(new int[] { 100, 150 }), new HalconDotNet.HTuple(new int[] { 100, 150 }));
break;
}
HalconDotNet.HDrawingObject.HDrawingObjectCallback test = Callback;
IntPtr callback = System.Runtime.InteropServices.Marshal.GetFunctionPointerForDelegate(test);
HalconDotNet.HTuple listenTo = new HalconDotNet.HTuple("on_select", "on_attach", "on_detach", "on_drag", "on_resize"); // in order to try order events
//HalconDotNet.HTuple listenTo = new HalconDotNet.HTuple("on_select");
if (mHWindow != null)
{
mHWindow.AttachDrawingObjectToWindow(mHDrawRegions.Last());
}
mHDrawRegions.Last().SetDrawingObjectCallback(listenTo, new HalconDotNet.HTuple(callback));
mCurrentRoiId = mHDrawRegions.Last().ID;
isSuccess = true;
}
catch (HalconDotNet.HalconException ex)
{
Console.WriteLine($"{ex.StackTrace}");
}
catch (System.Exception ex)
{
Console.WriteLine($"{ex.StackTrace}");
}
return(isSuccess);
}
private static HalconDotNet.HTuple GetFirstAvailableZividDevice()
{
var devices = new HalconDotNet.HTuple();
var information = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.InfoFramegrabber("GenICamTL", "device", out information, out devices);
var zividDevices = devices.TupleRegexpSelect("Zivid");
if (zividDevices.Length == 0)
{
throw new System.InvalidOperationException("No Zivid devices found. Please check your setup.");
}
return(zividDevices[0]);
}
/// <summary>
/// 物理坐标转换为像素坐标
/// </summary>
/// <param name="physicalP"></param>
/// <param name="pixelP"></param>
public void TransferPhysicalToPixel(ProVision.Communal.WorldCoordinate physicalP, out ProVision.Communal.PixelCoordinate pixelP)
{
pixelP = new Communal.PixelCoordinate()
{
Row = 0, Col = 0
};
if (CaliSolution != null &&
CaliSolution.IsEffective)
{
HalconDotNet.HTuple row, col, x, y;
x = new HalconDotNet.HTuple(physicalP.X);
y = new HalconDotNet.HTuple(physicalP.Y);
HalconDotNet.HOperatorSet.AffineTransPoint2d(_w2phomMat2D, x, y, out row, out col);
pixelP.Row = row.D;
pixelP.Col = col.D;
}
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject xldCross = new HalconDotNet.HObject();
xldCross.Dispose();
HalconDotNet.HOperatorSet.GenCrossContourXld(out xldCross, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), 9999, 0);
HalconDotNet.HOperatorSet.DispObj(xldCross, hwndHandle);
HalconDotNet.HObject rec1 = new HalconDotNet.HObject();
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
}
/// <summary>
/// 像素坐标转换为物理坐标
/// </summary>
/// <param name="pixelP"></param>
/// <param name="physicalP"></param>
public void TransferPixelToPhysical(ProVision.Communal.PixelCoordinate pixelP, out ProVision.Communal.WorldCoordinate physicalP)
{
physicalP = new Communal.WorldCoordinate()
{
X = pixelP.Row, Y = pixelP.Col, Z = 0
};
if (CaliSolution != null &&
CaliSolution.IsEffective)
{
HalconDotNet.HTuple row, col, x, y;
row = new HalconDotNet.HTuple(pixelP.Row);
col = new HalconDotNet.HTuple(pixelP.Col);
HalconDotNet.HOperatorSet.AffineTransPoint2d(_p2whomMat2D, row, col, out x, out y);
physicalP.X = x.D;
physicalP.Y = y.D;
}
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
_circularArc.Dispose();
HalconDotNet.HOperatorSet.GenCircleContourXld(out _circularArc,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(_radius),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(_startPhi + _extentPhi),
new HalconDotNet.HTuple(_circularArcDir),
new HalconDotNet.HTuple(1.0));
HalconDotNet.HOperatorSet.DispObj(_circularArc, hwndHandle);
HalconDotNet.HObject rec1, rec2, rec3;
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_sizeRow),
new HalconDotNet.HTuple(_sizeCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
HalconDotNet.HOperatorSet.GenRectangle2(out rec3,
new HalconDotNet.HTuple(_startRow),
new HalconDotNet.HTuple(_startCol),
new HalconDotNet.HTuple(_startPhi),
new HalconDotNet.HTuple(10),
new HalconDotNet.HTuple(2));
HalconDotNet.HOperatorSet.DispObj(rec3, hwndHandle);
if (_arrowHandle != null &&
_arrowHandle.IsInitialized())
{
HalconDotNet.HOperatorSet.DispObj(_arrowHandle, hwndHandle);
}
}
/// <summary>
/// Sets the sign of a ROI object to be positive or negative.
/// The sign is used when creating a model region for matching
/// applications by summing up all positive and negative ROI models
/// created so far.
/// 设置ROI标记
/// </summary>
/// <param name="flag">Sign of ROI object</param>
public void SetOperationFlag(int flag)
{
OperationFlag = flag;
switch (OperationFlag)
{
case ROI.MODE_POSITIVE:
LineStyle = PosOperation;
break;
case ROI.MODE_NEGATIVE:
LineStyle = NegOperation;
break;
default:
LineStyle = PosOperation;
break;
}
}
public override void CreateROI(double row, double col)
{
_locateRow = row;
_locateCol = col;
_length1 = 100;
_length2 = 50;
_phi = 0.0;
//角点order :midpoint,upperright,upperleft,lowerleft,lowerright,arrowmidpoint
rowsInit = new HalconDotNet.HTuple(new double[] { 0.0, -1.0, -1.0, 1.0, 1.0, 0.0 });
colsInit = new HalconDotNet.HTuple(new double[] { 0.0, 1.0, -1.0, -1.0, 1.0, 0.8 });
homMat2D = new HalconDotNet.HTuple();
tmp2D = new HalconDotNet.HTuple();
DetermineHandlePos();
}
/// <summary>
/// Sets the sign of a ROI object to be positive or negative.
/// The sign is used when creating a model region for matching
/// applications by summing up all positive and negative ROI models
/// created so far.
/// 设置ROI标记
/// </summary>
/// <param name="sign">Sign of ROI object</param>
public void SetROISign(int sign)
{
_sgin = sign;
switch (_sgin)
{
case ROI.SIGN_POSITIVE:
LineStyle = _posLineStyle;
break;
case ROI.SIGN_NEGATIVE:
LineStyle = _negLineStyle;
break;
default:
LineStyle = _posLineStyle;
break;
}
}
public override void CreateROI(HalconDotNet.HWindow window, double row, double col)
{
HalconDotNet.HObject polygonXLD = new HalconDotNet.HObject();
HalconDotNet.HTuple tmpRows = new HalconDotNet.HTuple();
HalconDotNet.HTuple tmpCols = new HalconDotNet.HTuple();
HalconDotNet.HTuple tmpWights = new HalconDotNet.HTuple();
HalconDotNet.HTuple area = new HalconDotNet.HTuple();
HalconDotNet.HTuple r = new HalconDotNet.HTuple();
HalconDotNet.HTuple c = new HalconDotNet.HTuple();
HalconDotNet.HTuple pointer = new HalconDotNet.HTuple();
try
{
polygonXLD.Dispose();
HalconDotNet.HOperatorSet.DrawNurbs(out polygonXLD, window, "true", "true", "true", "true", 3,
out tmpRows, out tmpCols, out tmpWights);
if (tmpRows.TupleLength() > 0)
{
polygonXLD.Dispose();
HalconDotNet.HOperatorSet.GenContourPolygonXld(out polygonXLD, tmpRows, tmpCols);
HalconDotNet.HOperatorSet.AreaCenterXld(polygonXLD, out area, out r, out c, out pointer);
_locateRow = r[0].D;
_locateCol = c[0].D;
window.DispPolygon(tmpRows, tmpCols);
window.DispRectangle2(_locateRow, _locateCol, 0, 5, 5); //几何中心
this._numHandles = tmpRows.TupleLength() + 1; //几何中心+边点
for (int i = 0; i < tmpRows.TupleLength(); i++)
{
_sizeRows.Add(tmpRows[i].D);
_sizeCols.Add(tmpCols[i].D);
window.DispRectangle2(tmpRows[i].D, tmpCols[i].D, 0, 2, 2);
}
}
}
catch (HalconDotNet.HalconException hex)
{
}
}
public override void MoveByHandle(double row, double col)
{
double vX, vY, x = 0, y = 0;
switch (_activeHandleIdx)
{
//定位点(平移)
case 0:
_locateRow = row;
_locateCol = col;
break;
//四个角点(缩放)
case 1:
case 2:
case 3:
case 4:
tmp = hom2D.HomMat2dInvert();
y = tmp.AffineTransPoint2d(row, col, out x);
_length1 = Math.Abs(x);
_length2 = Math.Abs(y);
//计算并判断
CheckeForRange(y, x);
break;
//箭头
case 5:
//旋角向量
vY = row - rows[0];
vX = col - cols[0];
//角度参考:角度是以水平方向为零,逆时针为正，反之为负,角度范围[-Π,Π]
HalconDotNet.HTuple rad = new HalconDotNet.HTuple();
HalconDotNet.HOperatorSet.AngleLx((HalconDotNet.HTuple) 0, (HalconDotNet.HTuple) 0, (HalconDotNet.HTuple)vY, (HalconDotNet.HTuple)vX, out rad);
//_phi = Math.Atan2(vX, vY);
_phi = rad[0].D;
break;
}
UpdateHandlePos();
}
public override void Draw(HalconDotNet.HTuple hwndHandle)
{
HalconDotNet.HObject rgInternal = new HalconDotNet.HObject();
rgInternal.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgInternal, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radiusInternal));
HalconDotNet.HOperatorSet.DispObj(rgInternal, hwndHandle);
HalconDotNet.HObject rgExternal = new HalconDotNet.HObject();
rgExternal.Dispose();
HalconDotNet.HOperatorSet.GenCircle(out rgExternal, new HalconDotNet.HTuple(_locateRow), new HalconDotNet.HTuple(_locateCol), new HalconDotNet.HTuple(_radiusExternal));
HalconDotNet.HOperatorSet.DispObj(rgExternal, hwndHandle);
HalconDotNet.HObject rec1 = new HalconDotNet.HObject(), rec2 = new HalconDotNet.HObject(), rec3 = new HalconDotNet.HObject();
rec1.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec1,
new HalconDotNet.HTuple(_locateRow),
new HalconDotNet.HTuple(_locateCol),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec1, hwndHandle);
rec2.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec2,
new HalconDotNet.HTuple(_sizeRowInternal),
new HalconDotNet.HTuple(_sizeColInternal),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec2, hwndHandle);
rec3.Dispose();
HalconDotNet.HOperatorSet.GenRectangle2(out rec3,
new HalconDotNet.HTuple(_sizeRowExternal),
new HalconDotNet.HTuple(_sizeColExternal),
new HalconDotNet.HTuple(0),
new HalconDotNet.HTuple(5),
new HalconDotNet.HTuple(5));
HalconDotNet.HOperatorSet.DispObj(rec3, hwndHandle);
}
