/// <summary>
/// 找到一个圆
/// </summary>
/// <param name="image">图片</param>
/// <param name="rect">ROI</param>
/// <param name="minr">最小圆半径</param>
/// <param name="maxr">最大圆半径</param>
/// <param name="center">圆心</param>
/// <param name="radius">半径</param>
/// <param name="gain">预处理参数</param>
/// <param name="offset">预处理参数</param>
/// <param name="cycle">预处理参数</param>
/// <returns>找到/没找到</returns>
public static bool FindCircle(VisionImage image, RectangleContour rect, short minr, short maxr, ref PointContour center, ref double radius, double gain, double offset, int cycle)
{
if (image == null)
{
return(false);
}
for (int i = 0; i < cycle; i++)
{
image = Form_Main.Instance.GainOffset(image, gain, offset);
}
Roi roi = rect.ConvertToRoi();
short rtn = 0;
try
{
rtn = Form_Main.Instance.CamDetect_Circle(image, roi, minr, maxr, ref center, ref radius);
if (rtn != 0)
{
return(false);
}
}
catch
{
return(false);
}
return(true);
}
private double MeasureMaximumDistance(VisionImage image, RectangleContour searchRectangle, RakeDirection rakeDirection, DrawOptions drawOptions, CoordinateTransform transform)
{
// Convert the search rectangle to an Roi.
Roi roi = searchRectangle.ConvertToRoi();
// Transform the Roi.
Algorithms.TransformRoi(roi, transform);
// Perform a rake operation.
RakeReport report = Algorithms.Rake(image, roi, rakeDirection, EdgeProcess.FirstAndLast);
// Find the maximum edge positions and compute the distance.
Collection <LineContour> perpendicularLines;
PointContour closestFirstEdge, closestLastEdge;
double distance = FindMinMaxPosition(report, out perpendicularLines, out closestFirstEdge, out closestLastEdge);
// Draw the results.
if (drawOptions.ShowSearchLines)
{
foreach (SearchLineInfo lineInfo in report.SearchLines)
{
image.Overlays.Default.AddLine(lineInfo.Line, Rgb32Value.BlueColor);
}
}
if (drawOptions.ShowSearchArea)
{
image.Overlays.Default.AddRoi(roi);
}
if (drawOptions.ShowEdgesFound)
{
foreach (EdgeInfo edgeInfo in report.FirstEdges)
{
image.Overlays.Default.AddRectangle(new RectangleContour(edgeInfo.Position.X - 1, edgeInfo.Position.Y - 1, 3, 3), Rgb32Value.YellowColor, DrawingMode.PaintValue);
}
foreach (EdgeInfo edgeInfo in report.LastEdges)
{
image.Overlays.Default.AddRectangle(new RectangleContour(edgeInfo.Position.X - 1, edgeInfo.Position.Y - 1, 3, 3), Rgb32Value.YellowColor);
}
}
if (drawOptions.ShowResult)
{
// Overlay the measurement edge points.
image.Overlays.Default.AddOval(new OvalContour(closestFirstEdge.X - 2, closestFirstEdge.Y - 2, 5, 5), Rgb32Value.RedColor, DrawingMode.PaintValue);
image.Overlays.Default.AddOval(new OvalContour(closestLastEdge.X - 2, closestLastEdge.Y - 2, 5, 5), Rgb32Value.RedColor, DrawingMode.PaintValue);
// Overlay the two lines that point inward from the search area to the clamp position.
LineContour line1 = new LineContour(FindMidpoint(report.SearchLines[0].Line.Start, report.SearchLines[report.SearchLines.Count - 1].Line.Start),
FindMidpoint(perpendicularLines[0]));
image.Overlays.Default.AddLine(line1, Rgb32Value.RedColor);
DrawArrow(image.Overlays.Default, line1, Rgb32Value.RedColor);
LineContour line2 = new LineContour(FindMidpoint(report.SearchLines[0].Line.End, report.SearchLines[report.SearchLines.Count - 1].Line.End),
FindMidpoint(perpendicularLines[1]));
image.Overlays.Default.AddLine(line2, Rgb32Value.RedColor);
DrawArrow(image.Overlays.Default, line2, Rgb32Value.RedColor);
// Overlay the two lines perpendicular to the search lines that correspond to the clamp position.
image.Overlays.Default.AddLine(perpendicularLines[0], Rgb32Value.RedColor);
image.Overlays.Default.AddLine(perpendicularLines[1], Rgb32Value.RedColor);
}
return(distance);
}
public static short FitLine(VisionImage image, RectangleContour roi, double EdgeStength, int searchDir, int edgeMode, ref PointContour PointStart, ref PointContour PointEnd)//视觉抓边算法
{
SearchDirection SearchDirection = SearchDirection.BottomToTop;
EdgePolaritySearchMode EdgeMode = EdgePolaritySearchMode.Falling;
if (searchDir == 0)
{
SearchDirection = SearchDirection.LeftToRight;
}
else if (searchDir == 1)
{
SearchDirection = SearchDirection.RightToLeft;
}
else if (searchDir == 2)
{
SearchDirection = SearchDirection.TopToBottom;
}
else if (searchDir == 3)
{
SearchDirection = SearchDirection.BottomToTop;
}
if (edgeMode == 0)
{
EdgeMode = EdgePolaritySearchMode.Rising;
}
else if (edgeMode == 1)
{
EdgeMode = EdgePolaritySearchMode.Falling;
}
if (roi != null)
{
VisionImage imageTemp = new VisionImage();
Algorithms.Extract(image, imageTemp, roi);
Algorithms.ImageToImage(imageTemp, image, new PointContour(roi.Left, roi.Top));
#region 抓边参数
StraightEdgeOptions vaStraightEdgeOptions = new StraightEdgeOptions();
vaStraightEdgeOptions.NumberOfLines = 1;
vaStraightEdgeOptions.SearchMode = StraightEdgeSearchMode.FirstRakeEdges;
vaStraightEdgeOptions.ScoreRange = new Range(0, 1024);
vaStraightEdgeOptions.Orientation = 0;
vaStraightEdgeOptions.AngleRange = 90;
vaStraightEdgeOptions.AngleTolerance = 1;
vaStraightEdgeOptions.StepSize = 3;
vaStraightEdgeOptions.MinimumSignalToNoiseRatio = 0;
vaStraightEdgeOptions.MinimumCoverage = 25;
vaStraightEdgeOptions.HoughIterations = 5;
// Set EdgeOptions
EdgeOptions vaEdgeOptions = new EdgeOptions();
vaEdgeOptions.Polarity = EdgeMode;
vaEdgeOptions.KernelSize = 7;
vaEdgeOptions.Width = 3;
vaEdgeOptions.MinimumThreshold = EdgeStength;
vaEdgeOptions.InterpolationType = InterpolationMethod.ZeroOrder;
vaEdgeOptions.ColumnProcessingMode = ColumnProcessingMode.Average;
#endregion
try
{
StraightEdgeReport report1 = Algorithms.StraightEdge2(image, roi.ConvertToRoi(), SearchDirection, vaEdgeOptions, vaStraightEdgeOptions, false);
if (report1.StraightEdges.Count > 0)
{
PointStart = report1.StraightEdges[0].StraightEdge.Start;
PointEnd = report1.StraightEdges[0].StraightEdge.End;
//image.Overlays.Default.Clear();
image.Overlays.Default.AddLine(new LineContour(report1.StraightEdges[0].StraightEdge.Start, report1.StraightEdges[0].StraightEdge.End));
return(0);
}
}
catch { }
}
PointStart.X = 0;
PointStart.Y = 0;
PointEnd.X = 0;
PointEnd.Y = 0;
return(1);
}
public static void AutoCheck()
{
MachineOrgConfig MachineCFG = new MachineOrgConfig();
SerializableHelper <MachineOrgConfig> helper = new SerializableHelper <MachineOrgConfig>(MachineCFG);
MachineCFG = helper.DeXMLSerialize(System.AppDomain.CurrentDomain.BaseDirectory + "Configure\\MachineOrg.xml");
if (Form_Main.Instance.RunMode != 1)
{
try
{
PointF circle = new PointF();
double offsetX = 0;
double offsetY = 0;
PointContour center = null;
RectangleContour roi = null;
VisionImage img = null;
double rCenter = 0;
var machine = Form_Main.Instance;
var config = Form_Main.VariableSys;
var vel = config.VelMode_Current_Manual;
if (!machine.All_ZGoSafeTillStop(3000, vel))
{
new Exception("Z轴回原点失败");
}
short rtn = machine.XYGoPosTillStop(3000, config.pReadyPoint, vel);
if (rtn != 0)
{
throw new Exception("移动XY到位失败");
}
rtn += machine.Turn.GoPosTillStop(3000, config.dTurnXIAngle, vel);
if (rtn != 0)
{
throw new Exception("移动翻转到位失败");
}
machine.LightON_U();
machine.SetShutter(MachineCFG.Exp, CAM.Top);
// 到机械原点
rtn += machine.XYGoPosTillStop(3000, MachineCFG.OrgXY, vel);
if (rtn != 0)
{
throw new Exception("移动XY到位失败");
}
Thread.Sleep(1000);
img = CameraDefine.Instance[CAM.Top]._Session.Snap(machine.imageSet.Image);
roi = new RectangleContour(0, 0, img.Width, img.Height);
center = new PointContour();
rCenter = 0;
rtn = Form_Main.Instance.CamDetect_Circle(img
, roi.ConvertToRoi(), (short)MachineCFG.MinR, (short)MachineCFG.MaxR, ref center, ref rCenter);
if (rtn != 0)
{
throw new Exception("抓取XY机械原点失败");
}
circle = CameraDefine.Instance[CAM.Top].ImagePt2WorldPt(MachineCFG.OrgXY, center, 0);
offsetX = circle.X - MachineCFG.OrgXY.X;
offsetY = circle.Y - MachineCFG.OrgXY.Y;
if (Math.Abs(offsetX) > MachineCFG.UpLimit || Math.Abs(offsetY) > MachineCFG.UpLimit)
{
new Exception($"XY 机械原点检验成功,误差过大 X:{offsetX:N3} Y:{offsetY:N3}");
}
File.AppendAllText("D://机械原点校验数据.csv", $"XY机械原点误差,{offsetX:N3},{offsetY:N3},");
// 到翻转头
Thread.Sleep(500);
machine.LightON_D();
machine.SetShutter(MachineCFG.D_Exp, CAM.Bottom1);
#region 检验翻转头机械原点1
rtn += machine.XYGoPosTillStop(3000, MachineCFG.D_Org1XY, vel);
if (rtn != 0)
{
throw new Exception("移动XY到位失败");
}
Thread.Sleep(1000);
img = CameraDefine.Instance[CAM.Bottom1]._Session.Snap(machine.imageSet.Image);
roi = new RectangleContour(0, 0, img.Width, img.Height);
center = new PointContour();
rCenter = 0;
rtn = Form_Main.Instance.CamDetect_Circle(img
, roi.ConvertToRoi(), (short)MachineCFG.D_MinR, (short)MachineCFG.D_MaxR, ref center, ref rCenter);
if (rtn != 0)
{
throw new Exception("抓取翻转头1机械原点失败");
}
circle = CameraDefine.Instance[CAM.Bottom1].ImagePt2WorldPt(MachineCFG.D_Org1XY, center, 0);
offsetX = circle.X - MachineCFG.D_Org1XY.X;
offsetY = circle.Y - MachineCFG.D_Org1XY.Y;
if (Math.Abs(offsetX) > MachineCFG.UpLimit || Math.Abs(offsetY) > MachineCFG.UpLimit)
{
throw new Exception($"翻转头机械1原点检验成功,误差过大 X:{offsetX:N3} Y:{offsetY:N3}");
}
File.AppendAllText("D://机械原点校验数据.csv", $"翻转头机械1原点误差,{offsetX:N3},{offsetY:N3},");
#endregion
#region 检验翻转头机械原点2
rtn += machine.XYGoPosTillStop(3000, MachineCFG.D_Org2XY, vel);
if (rtn != 0)
{
throw new Exception("移动XY到位失败");
}
Thread.Sleep(1000);
img = CameraDefine.Instance[CAM.Bottom1]._Session.Snap(machine.imageSet.Image);
roi = new RectangleContour(0, 0, img.Width, img.Height);
center = new PointContour();
rCenter = 0;
rtn += Form_Main.Instance.CamDetect_Circle(img
, roi.ConvertToRoi(), (short)MachineCFG.D_MinR, (short)MachineCFG.D_MaxR, ref center, ref rCenter);
if (rtn != 0)
{
throw new Exception("抓取翻转头2机械原点失败");
}
circle = CameraDefine.Instance[CAM.Bottom1].ImagePt2WorldPt(MachineCFG.D_Org2XY, center, 0);
offsetX = circle.X - MachineCFG.D_Org2XY.X;
offsetY = circle.Y - MachineCFG.D_Org2XY.Y;
if (Math.Abs(offsetX) > MachineCFG.UpLimit || Math.Abs(offsetY) > MachineCFG.UpLimit)
{
throw new Exception($"翻转头机械2原点检验成功,误差过大 X:{offsetX:N3} Y:{offsetY:N3}");
}
File.AppendAllText("D://机械原点校验数据.csv", $"翻转头机械2原点误差,{offsetX:N3},{offsetY:N3}\r\n");
}
catch (Exception ex) {
File.AppendAllText("D://机械原点校验数据.csv", $"失败原因{ex.Message}\r\n");
}
#endregion
}
}
