Exemple #1
0
        /// <summary>
        /// 计算出每个Pin针的偏移量
        /// </summary>
        /// <param name="InspectPinParamIn"></param>
        /// <param name="PinRows"></param>
        /// <param name="PinCols"></param>
        /// <param name="OffSetRows"></param>
        /// <param name="OffSetCols"></param>
        /// <param name="OffSetDist"></param>
        /// <returns></returns>
        public static bool CalculatePinOffset(St_InspectPinParam InspectPinParamIn, HTuple PinRows, HTuple PinCols, out HTuple OffSetRows, out HTuple OffSetCols, out HTuple OffSetDist)
        {
            OffSetRows = new HTuple();
            OffSetCols = new HTuple();
            OffSetDist = new HTuple();
            HTuple TeachPinRows = new HTuple(), TeachPinCols = new HTuple();

            for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
            {
                HTuple row0 = new HTuple(), col0 = new HTuple();
                MyVisionBase.ListToHTuple(InspectPinParamIn.ListRows[i], out row0);
                MyVisionBase.ListToHTuple(InspectPinParamIn.ListCols[i], out col0);
                TeachPinRows = TeachPinRows.TupleConcat(row0);
                TeachPinCols = TeachPinCols.TupleConcat(col0);
            }
            HTuple HomMat = new HTuple();

            HOperatorSet.VectorToHomMat2d(TeachPinCols, TeachPinRows, PinCols, PinRows, out HomMat); //计算平移矩阵
            HTuple TargetRows = new HTuple(), TargetCols = new HTuple();

            HOperatorSet.AffineTransPixel(HomMat, TeachPinCols, TeachPinRows, out TargetCols, out TargetRows); //平移示教点的坐标
            if (TargetRows.Length != TeachPinRows.Length)
            {
                return(false);
            }
            HTuple OffSetRows0 = new HTuple(), OffSetCols0 = new HTuple(), OffSetDist0 = new HTuple();

            OffSetCols0 = PinCols - TargetCols;
            OffSetRows0 = PinRows - TargetRows;
            HOperatorSet.DistancePp(TargetRows, TargetCols, PinRows, PinCols, out OffSetDist0); //计算出偏移量
            OffSetRows = OffSetRows0;
            OffSetCols = OffSetCols0;
            OffSetDist = OffSetDist0;
            return(true);
        }
Exemple #2
0
 public SubFrmPinInspect(St_InspectPinParam inspectPinParamIn, HWindow InHWindow, HObject ImgIn, Action <bool> drawRoiInHWindow)
 {
     InitializeComponent();
     TeachInspectPinParam = inspectPinParamIn;
     ShowWindow           = InHWindow;
     ActionIsDrawingRoi   = drawRoiInHWindow;
     if (ImgIn != null && ImgIn.IsInitialized())
     {
         HOperatorSet.CopyImage(ImgIn, out GrabedImg);
     }
 }
Exemple #3
0
        private void ClearParaBtn_Click(object sender, EventArgs e)
        {
            DialogResult rlt = MessageBox.Show("真的要清除参数?", "提示", MessageBoxButtons.YesNo, MessageBoxIcon.Question);

            if (rlt != DialogResult.Yes)
            {
                return;
            }
            int initLineCount = 1;

            if (true)
            {
                rlt = MessageBox.Show("示教3条线?", "线数量确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
                if (rlt == DialogResult.Yes)
                {
                    initLineCount = 3;
                }
                if (initLineCount != 3)
                {
                    rlt = MessageBox.Show("示教2条线?", "线数量确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
                    if (rlt == DialogResult.Yes)
                    {
                        initLineCount = 2;
                    }
                    else
                    {
                        rlt = MessageBox.Show("示教1条线?", "线数量确认", MessageBoxButtons.YesNo, MessageBoxIcon.Question);
                        if (rlt == DialogResult.Yes)
                        {
                            initLineCount = 1;
                        }
                        else
                        {
                            MessageBox.Show("即将示教4条线。", "线数量确认");
                            initLineCount = 4;
                        }
                    }
                }
            }
            TeachInspectPinParam = new St_InspectPinParam(initLineCount, true);
            InitCombox();
        }
Exemple #4
0
        /// <summary>
        /// 计算出所有Pin针的坐标
        /// </summary>
        /// <param name="InspectPinParamIn"></param>
        /// <param name="ImgIn"></param>
        /// <param name="PinRows"></param>
        /// <param name="PinCols"></param>
        /// <returns></returns>
        public static bool FindPinPos(St_InspectPinParam InspectPinParamIn, HObject ImgIn, out HTuple PinRows, out HTuple PinCols)
        {
            PinRows = new HTuple();
            PinCols = new HTuple();
            //1.0获得最新图片PIN针的中心坐标
            #region //定义参数
            if (InspectPinParamIn.Elements.Count() == 0 || InspectPinParamIn.Elements == null)
            {
                return(false);
            }
            double  Element       = InspectPinParamIn.Elements[0];
            double  DetectHight   = InspectPinParamIn.DetectHeights[0];
            double  DtetectWidth  = InspectPinParamIn.DetectWidths[0];
            double  LineRow1      = InspectPinParamIn.Row1s[0];
            double  LineCol1      = InspectPinParamIn.Col1s[0];
            double  LineRow2      = InspectPinParamIn.Row2s[0];
            double  LineCol2      = InspectPinParamIn.Col2s[0];
            HObject DetectRegions = new HObject();
            HObject RoiContour    = new HObject();
            double  DnThreshold   = InspectPinParamIn.DnThresholds[0];
            double  UpThreshold   = InspectPinParamIn.UpThresholds[0];
            double  MinArea       = InspectPinParamIn.MinAreas[0];
            double  MaxArea       = InspectPinParamIn.MaxAreas[0];
            #endregion

            HTuple PinRows0 = new HTuple(), PinCols0 = new HTuple();
            for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
            {
                #region 参数赋值
                Element      = InspectPinParamIn.Elements[i];
                DetectHight  = InspectPinParamIn.DetectHeights[i];
                DtetectWidth = InspectPinParamIn.DetectWidths[i];
                LineRow1     = InspectPinParamIn.Row1s[i];
                LineCol1     = InspectPinParamIn.Col1s[i];
                LineRow2     = InspectPinParamIn.Row2s[i];
                LineCol2     = InspectPinParamIn.Col2s[i];
                DnThreshold  = InspectPinParamIn.DnThresholds[i];
                UpThreshold  = InspectPinParamIn.UpThresholds[i];
                MinArea      = InspectPinParamIn.MinAreas[i];
                MaxArea      = InspectPinParamIn.MaxAreas[i];
                #endregion
                //1.1 生成单行Pin针ROI
                MyVisionBase.gen_rake_ROI1(ImgIn, out DetectRegions, out RoiContour, Element, DetectHight,
                                           DtetectWidth, LineRow1, LineCol1, LineRow2, LineCol2);
                HObject ReduceImg;
                HTuple  area = new HTuple(), row = new HTuple(), col = new HTuple();
                HObject CircleObj = new HObject();
                HOperatorSet.GenCircle(out CircleObj, 10, 10, 5);
                #region 找出每行Pin针的中心坐标
                for (int j = 0; j < DetectRegions.CountObj(); j++) //计算每根针的中心
                {
                    HObject RegionI = new HObject();
                    HOperatorSet.CopyObj(DetectRegions, out RegionI, j + 1, 1);
                    HOperatorSet.ReduceDomain(ImgIn, RegionI, out ReduceImg); RegionI.Dispose();                                         //获取目标区域的图像
                    HObject ThrdRegion;
                    HOperatorSet.Threshold(ReduceImg, out ThrdRegion, DnThreshold, UpThreshold); ReduceImg.Dispose();                    //阈值分割
                    HObject ExpandRegion = new HObject();
                    HOperatorSet.ExpandRegion(ThrdRegion, CircleObj, out ExpandRegion, 3, "image"); ThrdRegion.Dispose();                //膨胀
                    HObject ConnectRegion;
                    HOperatorSet.Connection(ExpandRegion, out ConnectRegion); ExpandRegion.Dispose();                                    //链接
                    HObject SelectRegion = new HObject();
                    HOperatorSet.SelectShape(ConnectRegion, out SelectRegion, "area", "and", MinArea, MaxArea); ConnectRegion.Dispose(); //挑出目标区域
                    HTuple areaI, RowI, ColI;
                    HOperatorSet.AreaCenter(SelectRegion, out areaI, out RowI, out ColI);                                                //获取Pin针中心坐标
                    if (RowI.Length > 0)
                    {
                        HTuple MaxValue = areaI.TupleMax();
                        int    MaxIndex = areaI.TupleFind(MaxValue);
                        row[j] = RowI[MaxIndex].D;
                        col[j] = ColI[MaxIndex].D;
                    }
                    else
                    {
                        row[j] = 0;
                        col[j] = 0;
                    }
                }
                #endregion
                PinRows0 = PinRows0.TupleConcat(row);
                PinCols0 = PinCols0.TupleConcat(col);
                CircleObj.Dispose();
            }
            PinRows = PinRows0;
            PinCols = PinCols0;
            return(true);
        }
Exemple #5
0
        public static bool InspectPinPos(St_InspectPinParam InspectPinParamIn, HObject ImgIn, out HTuple OffSetRows, out HTuple OffSetCols, out HTuple OffSetDist, out HObject PinContour, out HObject ErrorContour)
        {
            //1.0获得最新图片PIN针的中心坐标
            OffSetRows   = new HTuple();
            OffSetCols   = new HTuple();
            OffSetDist   = new HTuple();
            ErrorContour = new HObject();
            PinContour   = new HObject();
            #region //定义参数
            if (InspectPinParamIn.Elements.Count() == 0 || InspectPinParamIn.Elements == null)
            {
                return(false);
            }
            double  Element       = InspectPinParamIn.Elements[0];
            double  DetectHight   = InspectPinParamIn.DetectHeights[0];
            double  DtetectWidth  = InspectPinParamIn.DetectWidths[0];
            double  LineRow1      = InspectPinParamIn.Row1s[0];
            double  LineCol1      = InspectPinParamIn.Col1s[0];
            double  LineRow2      = InspectPinParamIn.Row2s[0];
            double  LineCol2      = InspectPinParamIn.Col2s[0];
            HObject DetectRegions = new HObject();
            HObject RoiContour    = new HObject();
            double  DnThreshold   = InspectPinParamIn.DnThresholds[0];
            double  UpThreshold   = InspectPinParamIn.UpThresholds[0];
            double  MinArea       = InspectPinParamIn.MinAreas[0];
            double  MaxArea       = InspectPinParamIn.MaxAreas[0];
            #endregion

            HTuple PinRows = new HTuple(), PinCols = new HTuple();
            for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
            {
                #region 参数赋值
                Element      = InspectPinParamIn.Elements[i];
                DetectHight  = InspectPinParamIn.DetectHeights[i];
                DtetectWidth = InspectPinParamIn.DetectWidths[i];
                LineRow1     = InspectPinParamIn.Row1s[i];
                LineCol1     = InspectPinParamIn.Col1s[i];
                LineRow2     = InspectPinParamIn.Row2s[i];
                LineCol2     = InspectPinParamIn.Col2s[i];
                DnThreshold  = InspectPinParamIn.DnThresholds[i];
                UpThreshold  = InspectPinParamIn.UpThresholds[i];
                MinArea      = InspectPinParamIn.MinAreas[i];
                MaxArea      = InspectPinParamIn.MaxAreas[i];
                #endregion
                //1.1 生成单行Pin针ROI
                MyVisionBase.gen_rake_ROI1(ImgIn, out DetectRegions, out RoiContour, Element, DetectHight,
                                           DtetectWidth, LineRow1, LineCol1, LineRow2, LineCol2);
                HObject ReduceImg;
                HTuple  area = new HTuple(), row = new HTuple(), col = new HTuple();
                HObject CircleObj = new HObject();
                HOperatorSet.GenCircle(out CircleObj, 10, 10, 5);
                #region 找出每行Pin针的中心坐标
                for (int j = 0; j < DetectRegions.CountObj(); j++) //计算每根针的中心
                {
                    HObject RegionI = new HObject();
                    HOperatorSet.CopyObj(DetectRegions, out RegionI, j + 1, 1);
                    HOperatorSet.ReduceDomain(ImgIn, RegionI, out ReduceImg); RegionI.Dispose();                      //获取目标区域的图像
                    HObject ThrdRegion;
                    HOperatorSet.Threshold(ReduceImg, out ThrdRegion, DnThreshold, UpThreshold); ReduceImg.Dispose(); //阈值分割
                    HObject ExpandRegion = new HObject();
                    HOperatorSet.ExpandRegion(ThrdRegion, CircleObj, out ExpandRegion, 3, "image");                   //膨胀
                    ThrdRegion.Dispose();;
                    HObject ConnectRegion;
                    HOperatorSet.Connection(ExpandRegion, out ConnectRegion); ExpandRegion.Dispose();                                    //链接
                    HObject SelectRegion = new HObject();
                    HOperatorSet.SelectShape(ConnectRegion, out SelectRegion, "area", "and", MinArea, MaxArea); ConnectRegion.Dispose(); //挑出目标区域
                    HTuple areaI, RowI, ColI;
                    HOperatorSet.AreaCenter(SelectRegion, out areaI, out RowI, out ColI);                                                //获取Pin针中心坐标
                    if (RowI.Length > 0)
                    {
                        HTuple MaxValue = areaI.TupleMax();
                        int    MaxIndex = areaI.TupleFind(MaxValue);
                        row[j] = RowI[MaxIndex].D;
                        col[j] = ColI[MaxIndex].D;
                    }
                    else
                    {
                        row[j] = 0;
                        col[j] = 0;
                    }
                }
                #endregion
                PinRows = PinRows.TupleConcat(row);
                PinCols = PinCols.TupleConcat(col);
                CircleObj.Dispose();
            }
            HTuple TeachPinRows = new HTuple(), TeachPinCols = new HTuple();
            for (int i = 0; i < InspectPinParamIn.Elements.Count(); i++)
            {
                HTuple row0 = new HTuple(), col0 = new HTuple();
                MyVisionBase.ListToHTuple(InspectPinParamIn.ListRows[i], out row0);
                MyVisionBase.ListToHTuple(InspectPinParamIn.ListCols[i], out col0);
                TeachPinRows = TeachPinRows.TupleConcat(row0);
                TeachPinCols = TeachPinCols.TupleConcat(col0);
            }
            HTuple HomMat = new HTuple();
            HOperatorSet.VectorToHomMat2d(TeachPinCols, TeachPinRows, PinCols, PinRows, out HomMat);           //计算平移矩阵
            HTuple TargetRows = new HTuple(), TargetCols = new HTuple();
            HOperatorSet.AffineTransPixel(HomMat, TeachPinCols, TeachPinRows, out TargetCols, out TargetRows); //平移示教点的坐标
            if (TargetRows.Length != TeachPinRows.Length)
            {
                return(false);
            }
            HTuple OffSetRows0 = new HTuple(), OffSetCols0 = new HTuple(), OffSetDist0 = new HTuple();
            OffSetCols0 = PinCols - TargetCols;
            OffSetRows0 = PinRows - TargetRows;
            HOperatorSet.DistancePp(TargetRows, TargetCols, PinRows, PinCols, out OffSetDist0); //计算出偏移量
            HTuple Max       = OffSetDist0.TupleMax();
            HTuple MaxIndex0 = OffSetDist0.TupleFind(Max);

            HOperatorSet.GenCircleContourXld(out ErrorContour, PinRows[MaxIndex0[0].I], PinCols[MaxIndex0[0].I], 50, 0, Math.PI * 2, "positive", 1.0);

            HOperatorSet.GenCrossContourXld(out PinContour, PinRows, PinCols, 50, 0);


            OffSetRows = OffSetRows0;
            OffSetCols = OffSetCols0;
            OffSetDist = OffSetDist0;
            return(true);
        }